DE102018101862A1 - Toy remote control system - Google Patents

Abstract

The invention relates to a toy remote control system (1) with at least one remotely controllable vehicle (2) for movement on a route (3), wherein the remotely controllable vehicle (2) has its own drive, its own power source and its own steering, the drive of a Player controllable via a remote control, the toy remote control system (1) having an observation unit (4) with a stationary camera (5) which can be set up to detect a playing area (6) within which the driving route (3) is located, wherein the toy remote control system (1) comprises a locating module which is adapted to determine the position of the remotely controllable vehicle (2) on the basis of image data acquired by the camera (5), the toy remote control system (1) comprising a control unit which is set up Image data from the observation unit (4) and position data from the locating module to receive and set the posi Track the remote controlled vehicle (2) on the route (3) and steer the steering of the remotely controllable vehicle (2) via a remote control.Furthermore, the invention relates to an observation unit (4), a remotely controllable vehicle (2) and a computer program product for Structure of the described toy remote control system (1). According to the invention, the procedure is that the game area (6) detected by the observation unit (4) can be displayed on an input / output device, wherein the input / output device has a touch screen, and the route ( 3) in the game area (6) by the player in an image displayed by the input / output device image of the game area (6) can be determined by finger interaction.

Description

The invention relates to a toy remote control system, and a remotely controllable vehicle, an observation unit and a computer program product for building a toy remote control system.

State of the art

Remote controlled toy models such as Toy cars are normally controlled completely manually. This means that both the control of the drive unit, specifically the acceleration and possibly deceleration of a toy model, as well as all steering movements are made by a player via a suitable remote control in "real time". Although the toy model can be steered flexibly over any area, complex pathways at higher speeds can only be traversed with very high learning and training effort.

Easier is the operation of toy systems with a fixed predetermined, for example, by rails or road sections set route, such as model trains or car racing. Thus, in popular car racing tracks, based on the English name also known as a slot car track, the stretch guide defined by a slot in the lane. Thus, the steering of the vehicles is taken over by the slot guide, so that the players are relieved in this regard and can concentrate on the regulation of the speed.

The easier operation compared to freely movable models is associated with the disadvantage of being set on a fixed rail or a road course. Changes in the course can only be achieved by conversion measures, route extensions often associated with the need for acquisitions, the facilities require a certain assembly and dismantling, require storage space and are mostly suitable only for indoor use.

Disclosure of the invention

Object of the present invention is to provide a simple and inexpensive way to enjoy the joy of playing a remotely controllable vehicle without much training and overcoming the aforementioned disadvantages.

The object is achieved by the features of the independent claims. Advantageous embodiments of the invention are specified in the subclaims.

Provided according to the invention is a toy remote control system with at least one remotely controllable vehicle for moving on a driving route, wherein the remotely controlled vehicle has its own drive, its own power source and its own steering, the drive is controlled by a player via a remote control, the toy remote control system is a stationary Observation unit with a camera that is set up to detect a game area, within which the route is, the toy remote control system having a tracking module, which is adapted to determine the position of the remotely controllable vehicle based on captured by the camera image data, the toy remote control system has a control unit which is set up to receive acquired image data from the observation unit and to receive position data from the positioning module and to set the position of the remotely controllable vehicle on the vehicle track and control the steering of the remotely controllable vehicle via a radio remote control, and wherein the area covered by the observation unit, advantageously by means of an imaging configuration unit, on an input / output device is reproduced, the input / output device has a touch screen, and the route in the game area can be determined by the player in an image of the game area displayed by the input / output device by a finger interaction.

Such a toy remote control system has the advantage that the route for the remotely controllable vehicle can be set almost anywhere within the game area. The route may have a limited length or be self-contained in the form of a racetrack. It can have arbitrarily curved curves as well as intersections. Apart from any obstacles or unsuitable ground conditions, there are basically no restrictions regarding the definition of the route.

By defining the route by a finger interaction on an image of the gaming area on a touchscreen, the definition of the real game area is initially virtual. Without a mental connection of the fixed route with fixed points on the playing area, for example to avoiding obstacles such as pylons in the open air or furniture / other indoor toys, the specified route on the playing area for the player is not apparent.

In order to mark the route on the playing area, the player can affix or design appropriate markers on the playing area. Advantageously, the toy remote control system a projector for the projection of the route on the Have game area. A projector can advantageously be installed directly next to the camera and can be part of the observation unit. Advantageously, the driving distance entered by finger interaction has a predefinable width on the playing area. With the help of a projector, for example, the lane can be projected in the form of a bright band in the appropriate width on the ground. Alternatively or additionally, the toy remote control system may include a laser projector for projecting the route. Through this example, the lane boundaries can be highlighted. Also applies to the input of the route, that in an advantageous embodiment of the invention, the left and the right boundary of the route can be entered separately by means of finger interaction.

A toy remote control system with a fixable on an input / output device driving route also has the advantage that incurred for the construction and dismantling or conversion no significant set-up times. For the route and any route extensions no materials are incurred, for which consequently no storage capacities are needed.

Advantageously, the toy remote control system is mobile, the route can be set up by the mobile assembly of at least one observation unit in both indoor and outdoor scenarios. Advantageously, the inputable route from the toy remote control system can be stored, so that the same route can be used again at different times on the same conditions.

The described toy remote control system also has the advantage that it can provide players with different levels of training different demanding game modes. A game mode may be performed such that during remote control by a player, the control unit takes over the steering of the remotely controllable vehicle. The control of remote control of the steering by the control unit may include local route planning to ideally approach leading curves or, for example, to prevent collision with other vehicles. Another game mode may be such that the player has full control of the remotely controllable vehicle and the control unit takes control of the vehicle only upon leaving the route, for example, until it is returned to the route. Another game mode may allow the movement outside the route. Advantageously, the toy remote control system, for example, in addition to the camera, one or more laser pointers to mark the boundary of the detection range of the camera and thus the game area have.

Advantageously, the toy remote control system has an automatic calibration function for calibrating the image between the real game area and the image on an input / output device. An automatic calibration function shortens the commissioning time for the first or repeated use of the toy remote control system and supports mobile use.

Advantageously, the camera of the observation unit on a known internal calibration, wherein also the toy remote control system, specifically, for example, its location module is set up, an external calibration of the camera and the determination of imaging parameters for the transformation of points from the game area on an image plane and vice versa of the image plane to determine the game area initially on the basis of several detection points of a directional marker of a parked centrally in the game area remote controlled vehicle.

In an ideal case, the camera of the observation unit is aligned in an orthographic plan view of a flat game area. In this case, the image plane as well as the game area would lie on mutually parallel planes, so that the mapping between the image plane and the game area could be effected by a linear scaling.

However, since such an installation specification is associated with corresponding expenditure and, in particular, can not always be achieved outdoors, it must be assumed that the image plane has a pitch and a tilt angle relative to the playing area. For example, it may be necessary for the observation unit to be installed at a raised point to the side of the playing area.

Advantageously, the determination of the imaging parameters, for example a projective image, is carried out by the identification of four reference points of a known object located on the playing area. Advantageously, this object can be a directional, areal marker of a vehicle, which is advantageously arranged flat on it, wherein the marker is advantageously designed as a rectangular April tag and the corner points of the April tag are used as reference points.

1. 1. Erfassung der Bilddaten durch die Kamera bei einer Platzierung des Fahrzeugs mit richtungsgebendem, flächigen Marker, vorteilhaft einem April-Tag, in einer initialen Lage auf dem Spielareal, vorteilhaft in dessen Mitte.
2. 2. Detektion des Markers und Bestimmung von zumindest vier linear unabhängigen Punkten, vorteilhaft den vier Eckpunkten eines April-Tags.
3. 3. Bestimmung der räumlichen Lage sowie der Orientierung des Markers relativ zur bekannten Kamerageometrie.
4. 4. Definition des räumlichen Koordinatensystems des Spielareals auf Basis der Lage und Orientierung des Markers.
5. 5. Speicherung/Festlegung des Koordinatensystems für den weiteren Spielverlauf.

To determine the imaging parameters, the toy remote control system is advantageously set up to proceed as follows:

1. 1. Capture of the image data by the camera at a placement of the vehicle with directional, area marker, advantageously an April day, in an initial position on the game area, advantageously in the middle.
2. 2. Detection of the marker and determination of at least four linearly independent points, advantageously the four vertices of an April tag.
3. 3. Determination of the spatial position and the orientation of the marker relative to the known camera geometry.
4. 4. Definition of the spatial coordinate system of the play area based on the location and orientation of the marker.
5. 5. Storage / definition of the coordinate system for the rest of the game.

• 1. Wiederholte, zumindest zehnmalige Erfassung von Bilddaten pro Sekunde
• 2. Jeweilige Detektion des Markers in der Bildebene
• 3.  
  • a) Berechnung einer räumlichen Transformation von initialer zu aktueller Markerlage, welche die Verschiebung und Drehung des Markers relativ zum Spielareal beinhaltet, oder, alternativ,
  • b) Berechnung der jeweiligen Position und Ausrichtung des Fahrzeugs in dem Spielareal über die initial bestimmten Transformationsparameter.

For the further course of the game, the toy remote control system may be arranged to track the position and orientation of the vehicle in the plane by displacement and rotation as follows:

• 1. Repeated, at least ten times acquisition of image data per second
• 2. Respective detection of the marker in the image plane
• Third
  • a) Calculation of a spatial transformation from initial to current marker position, which includes the displacement and rotation of the marker relative to the game area, or, alternatively,
  • b) calculation of the respective position and orientation of the vehicle in the game area over the initially determined transformation parameters.

However, especially in the outdoor area, it can not be assumed that the play area is a flat area. Advantageously, the toy remote control system is set up to determine the topography of the game area by moving a vehicle with directional, area marker.

As described above, from points of a directional area marker, for example the four corners of an April day, its spatial position can be determined during a movement of the vehicle over the topology of the playing area relative to the camera.

Advantageously, the toy remote control system is set up to determine the spatial position and the rotation relative to the initial reference plane, ie the location and the plane of the vehicle during initialization, and from the three-dimensional position data by the transformation into the initially defined spatial coordinate system of the game area height information to derive the topography of the game area.

After the toy remote control system has been calibrated for the first time, the topography of the subsoil can be recorded successively in this way. The detection can be done by targeted calibration trips, for example in an autopilot mode, successively in game mode, or at regular intervals.

Further advantageously, the toy remote control system is set up to determine and track the positions of several remotely controllable vehicles. It is advantageously designed to do this simultaneously or in a fast, imperceptible to the player timing.

Advantageously, the remotely controllable vehicles as directional, area marker different 2D binary patterns, especially April tags on. Further advantageous is a marker non-reflective, for example by a coloring in the form of a light-absorbing color or in the form of a felt material.

In a further advantageous embodiment, a remotely controllable vehicle may comprise odometry sensors. These may be suitable for assisting in determining the position even in shading situations, for example due to underpasses, tunnels or high obstacles. For this purpose, the remote control of the remotely controllable vehicle may have a return channel for the transmission of odometry data to the control unit. The remote control between the vehicle and the control unit can advantageously be based on Bluetooth or WLAN technology.

The observation unit for constructing the described toy remote control system advantageously has a camera and a projector, wherein the observation unit for transmitting image data to the positioning module and / or the control unit, and for the projection of a transmitted from the control unit route is set up.

The locating module can be integrated in the observation unit or in the control unit. Advantageously, the observation unit has a radio transceiver for wireless communication with the control unit and, advantageously, an electrical energy store and / or a solar panel. Such an observation unit can be conveniently and quickly positioned without any wiring. Camera opening and solar panel are advantageously arranged on mutual sides of the observation unit, so that in a downwardly directed camera, the light of the sun or a lamp for recharging the energy storage can be used. Advantageously, the observation unit has one or more, possibly alternative Suspension devices, for example for attachment to a ceiling light.

Further advantageously, the observation unit has a laser pointer which is set up to mark the corner points of the captured image area and thus the corner points of the playing area. In this case, the marking can be useful both during the installation of the observation unit and in the game mode in order to be able to recognize the playing area covered by the observation unit. Advantageously, the laser pointers can be designed to be switchable directly and / or via a remote control connection to the control unit.

Advantageously, the observation unit can also have a camera housing or a camera housing with a diaphragm whose funnel shape corresponds to the aperture angle of the camera, so that the detection range of the camera can be estimated on the basis of the shape of the camera housing.

In an advantageous embodiment of the observation unit, this is formed by a computer program product in conjunction with a smartphone.

Remote control of the remotely controllable vehicle may be via a single radio remote control connecting the vehicle to the control unit, or via two remote controls, one of which transmits the player remote control signals and another the control unit remote control signals.

Provided according to the invention is a remotely controllable vehicle for operating on the described toy remote control system, wherein the vehicle is arranged for at least quasi-parallel reception of control signals from two remote control transmitters, wherein the remote control signals of a player and a second remote control transmitter the remote control signals of the control unit can be transmitted by a first of the two remote control transmitter are. Such a remotely controllable vehicle is operable both with and without the control unit of the toy remote control system and, for example, independent of a control unit, the remote control signals of a player, for example, transmitted by means of a handheld remote control received.

• - ob Lenkbefehle des Spielers umgesetzt werden,
• - ob Antriebsbefehle des Spielers umgesetzt werden, und
• - ob oder wann eine Fahrzeugkontrolle vollständig durch die Kontrolleinheit erfolgt.

Advantageously, the remotely controllable vehicle is set up to evaluate the remote control signals in such a way that a received remote control signal of a control unit has priority, wherein it can be determined by the radio control signal of the control unit or by configuration settings in the vehicle,

• - whether steering commands of the player are implemented,
• - whether drive commands of the player are implemented, and
• - whether or when a vehicle inspection is carried out completely by the control unit.

Advantageously, the control unit can be set up for the transmission of configuration data relating to the remotely controllable vehicle.

Also provided according to the invention is a computer program product for execution on a personal computer, tablet computer, notebook or smartphone, wherein the computer program product is designed to control a previously described toy remote control system, and is set up in connection with the personal computer, the tablet computer, the notebook or the smartphone to form the control unit or both control unit and tracking unit of the toy remote control system.

The mentioned devices often have high-performance processors which allow the processing of the image transformation algorithms. In addition, the required input / output functionality is provided by these devices, as well as usually a WLAN and / or Bluetooth interface for connecting the control unit with the observation unit and the at least one vehicle.

The computer program product also advantageously has a configuration module, which is set up in connection with the personal computer, the tablet computer, the notebook or the smartphone, to record the route in a reproduced image of the gaming area by means of a finger interaction of a player.

drawings

The invention will be explained in more detail below with reference to the attached, schematic drawings based on preferred embodiments.

• 1 eine Skizze einer Spielzeugfernsteueranlage in perspektivischer Darstellung;
• 2 ein Beispiel eines richtungsgebenden flächigen Markers in Form eins April-Tags

Show it

• 1 a sketch of a toy remote control system in perspective view;
• 2 an example of a directional area marker in the form of an April tag

1 shows a sketch of a toy remote control system in perspective view.

Out 1 is a toy remote control system 1 with a remotely controllable vehicle 2 to move on a route 3 it can be seen, wherein the remotely controllable vehicle 2 has its own drive, its own energy source and its own steering. The drive and depending on the game mode and the steering are controlled by a player via a remote control.

The toy remote control system 1 has a stationary observation unit 4 with a camera 5 which is set up, a game area 6 , within which is the driving distance 3 is to be detected. The toy remote control system 1 has an unillustrated locating module, which is set up, the position of the remotely controllable vehicle 2 by looking through the camera 5 to determine captured image data.

Furthermore, the toy remote control system 1 an unillustrated control unit which is arranged to acquire captured image data from the observation unit 4 and to receive position data from the locator module. The control station is further set up, the position of the remotely controlled vehicle 2 on the route 3 to track and steer the remotely controllable vehicle 2 to control via a radio remote control.

That of the observation unit 4 recorded game area 6 can be displayed on an input / output device, for example a tablet PC, by means of an imaging configuration unit that can also be labeled as an app. On a screen of the tablet PC running as a touchscreen is the driving distance 3 in the illustrated play area 6 determinable by the player by means of a finger interaction. The driving distance entered by the finger interaction 3 points to the playing area 6 a predetermined width

Right next to the camera 5 has the observation unit 4 a projector 7 for the projection of the route 3 on the game area 6 on. The projector 7 is designed as a laser projector and is set up, the lane boundaries of the route 3 to mark.

Plan to the underground in the form of the playing area 6 indicates the remotely controllable vehicle 2 a 2-dimensional binary marker 8th in the form of an April tag.

The observation unit 4 has a solar panel on the back 9 on, through which a not shown electrical energy storage of the observation unit 4 reloadable. Indoors, the solar panel can 9 be aligned in the direction of a lighting device, which may also be used to attach the observation unit 4 may be suitable.

2 shows an example of a directional area marker 8th in the form of an April tag.

Claims (15)

Toy remote control system (1) with at least one remotely controllable vehicle (2) for movement on a driving route (3), the remotely controllable vehicle (2) having its own drive, its own energy source and its own steering, the drive being provided by a player via a remote control is controllable, wherein the toy remote control system (1) has an observation unit (4) with a stationary camera (5) which can be set up to detect a game area (6) within which the route (3) is located, wherein the toy remote control system ( 1) has a locating module which is set up to determine the position of the remotely controllable vehicle (2) on the basis of image data captured by the camera (5), the toy remote control system (1) having a control unit which is set up, acquires acquired image data from the observation unit (4) and position data from the locating module is received and set up, the position of the remotely controllable Fah to track vehicles (2) on the route (3) and to control the steering of the remotely controllable vehicle (2) via a remote control, characterized in that the game area (6) detected by the observation unit (4) reproduced on an input / output device is, wherein the input / output device has a touch screen, and the route (3) in the game area (6) by the player in an image displayed by the input / output device image of the gaming area (6) can be determined by finger interaction. Toy remote control system (1) after Claim 1 , characterized in that the camera (5) of the observation unit (4) has a known internal calibration and the toy remote control system (1) is set up, an external calibration of the camera (5) as well as the determination of imaging parameters for the transformation of points from the playing area ( 6) on an image plane and vice versa from the image plane to the game area (6) initially on the basis of several detection points of a directional area marker (8) of a game area (6) arranged remotely controllable vehicle (2) to determine. Toy remote control system (1) after Claim 2 , characterized in that the toy remote control system (1) is arranged to determine by movement of the vehicle (2) with directional area marker (8), the topography of the playing area (6). Toy remote control system (1) according to one of the preceding claims, characterized in that the toy remote control system (1) at least a remotely controllable vehicle (2) having a directional area marker (8) in the form of a 2D binary pattern, in particular an April tag has. Toy remote control system (1) according to one of the preceding claims, characterized in that the direction- giving area marker (8) is not reflective, in particular in the form of a light-absorbing color or a felt material is executed. Toy remote control system (1) according to one of the preceding claims, characterized in that the toy remote control system (1) has a projector (7) for projecting the route (3) on the playing area (6). Toy remote control system (1) according to one of the preceding claims, characterized in that the toy remote control system (1) has a laser projector (7) for projecting the route (3) on the playing area (6). Toy remote control system (1) according to one of the preceding claims, characterized in that the toy remote control system (1) has one or more laser pointers for marking the boundary of the detection range of the camera (5). Toy remote control system (1) according to any one of the preceding claims, characterized in that the predeterminable by finger interaction on the image plane route on the playing area (6) has a predetermined width. Toy remote control system (1) according to one of the preceding claims, characterized in that the left / right boundary of the route (3) can be entered separately. Observation unit (4) for setting up a toy remote control system (1) according to one of the preceding claims, characterized in that the observation unit (4) comprises a camera (5) and a projector (7), wherein the observation unit (4) for transmitting image data the locating module and / or the control unit, and for the projection of a transmitted by the control unit route (3) is set up. Remote controllable vehicle (2) for setting up a toy remote control system (1) according to one of the preceding claims, characterized in that the remotely controllable vehicle (2) is arranged for at least quasi-parallel reception of control signals from two remote control transmitters, wherein by a first of the two remote control transmitters the remote control signals the player and from a second remote control transmitter, the remote control signals of the control unit can be transmitted. Remote controllable vehicle (2) to Claim 12 characterized in that the remotely controllable vehicle (2) is arranged to evaluate the remote control signals such that a received remote control signal of a control unit is paramount and determines: - whether steering commands of the player are implemented, - whether drive commands of the player are implemented, and - if or when a vehicle inspection is completed by the control unit. Computer program product for execution on a personal computer, tablet computer, notebook or smartphone, characterized in that the computer program product for controlling a toy remote control system (1) according to one of Claims 1 to 10 is set up, and is set up in conjunction with the personal computer, the tablet computer, the notebook or the smartphone, the control unit of the toy remote control system (1). Computer program product Claim 14 , characterized in that the computer program product has a configuration module which is set up in connection with the personal computer, the tablet computer, the notebook or the smartphone to detect the route (3) in a reproduced image of the playing area (6) by means of a finger interaction ,

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