EP0935493A1 - Vorrichtung zur beeinflussung des fahrverhaltens von ferngesteuerten modellfahrzeugen - Google Patents
Vorrichtung zur beeinflussung des fahrverhaltens von ferngesteuerten modellfahrzeugenInfo
- Publication number
- EP0935493A1 EP0935493A1 EP96934521A EP96934521A EP0935493A1 EP 0935493 A1 EP0935493 A1 EP 0935493A1 EP 96934521 A EP96934521 A EP 96934521A EP 96934521 A EP96934521 A EP 96934521A EP 0935493 A1 EP0935493 A1 EP 0935493A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- variable
- control signal
- remote
- signal
- influencing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H30/00—Remote-control arrangements specially adapted for toys, e.g. for toy vehicles
- A63H30/02—Electrical arrangements
- A63H30/04—Electrical arrangements using wireless transmission
Definitions
- the invention relates to a device for influencing the driving behavior of remote-controlled model vehicles.
- the object of the invention is to prevent this.
- a device with a first input connection for a first control signal that reproduces a first command variable that can be specified by a vehicle driver, a sensor device that emits a second control signal that correlates with the rotational speed or lateral acceleration of the model vehicle Reproduces disturbance variable, and a processing device which is connected to the first input terminal for receiving the first control signal and has a second input terminal for receiving the second control signal, and generates a first output signal which reproduces a first manipulated variable dependent on the first reference variable and the disturbance variable , wherein the first manipulated variable generated by the processing device is the reference variable which is limited or changed as a function of the disturbance variable to a predeterminable amount.
- the first command variable which can be predetermined by the vehicle driver is preferably a steering arrangement control signal and the first manipulated variable generated by the processing device is a limited and / or reversed steering arrangement control signal.
- the first command variable which can be predetermined by the vehicle driver to be an acceleration or speed signal
- the first manipulated variable generated by the processing device to be a limited acceleration or speed signal.
- a third input connection can be provided for a further control signal, which reproduces a further command variable which can be specified by a vehicle driver, and the first output signal generated by the processing device reproduces a first manipulated variable which is dependent on the first and the further command variable and on the disturbance variable.
- the device has a third input connection for a further control signal, which reproduces a further command variable which can be specified by a vehicle driver.
- the processing device generates a second output signal which reproduces a further manipulated variable which is dependent on the first and / or further reference variable and on the disturbance variable.
- the processing device preferably also limits the acceleration or speed signal.
- the degree of limitation of the acceleration or speed signal as a function of the limitation and / or reversal of direction of the steering arrangement drive signal is influenced by the processing device.
- setting means are provided by which the degree and rate of the limitation of the acceleration or speed signal and / or the limitation and / or reversal of direction of the steering arrangement control signal are changed by the processing device.
- the processing device is set up so that when the vehicle is cornering, the steering arrangement control signal is reduced, limited or inverted to a predetermined extent depending on the sensor signal.
- the first sensor device is formed by a gyroscope, preferably a piezoelectric vibration gyroscope.
- the first sensor device can also be formed by two acceleration sensors arranged at a distance from one another in the vehicle.
- the processing device is set up to process and / or output signals of a predetermined shape.
- the first control signal, the steering arrangement control signal and / or the acceleration or speed signal are each a pulse-shaped signal of preferably 0.5-2.6 msec duration.
- the device according to the invention described above is preferably structurally integrated in a remote control receiver, in a model vehicle servo drive, and / or in a model vehicle travel controller (speed controller).
- a model vehicle travel controller speed controller
- the device for model vehicles has been described, the invention is not limited to this. Rather, the device according to the invention can also be used in passenger vehicles or trucks.
- FIG. 1 shows a schematic block diagram of a device according to the invention in a model vehicle.
- FIG. 2 shows a schematic block diagram of a device according to the invention in detail.
- FIG. 3 shows a circuit diagram of an embodiment of a device according to the invention.
- the device 10 is referred to as an evaluation circuit, which has a first input terminal 12 for a first control signal 14, which by a
- Vehicle driver specifiable first command variable wa in the form of a steering input signal.
- a gyro sensor or two acceleration sensors form a sensor device 16 which emits a second control signal 18 which reproduces a disturbance variable which is correlated with the rotational speed or lateral acceleration of the model vehicle.
- the device according to the invention has a processing device illustrated in more detail below, which is connected to the first input connection 14 for receiving the first control signal 14 and has a second input connection 20 for receiving the second control signal 18.
- This processing device generates a first output signal 22 which is one of the first reference variable wa and the disturbance variable z .
- Dependent first manipulated variable y_l reproduces, the first manipulated variable y_l generated by the processing device which, depending on the disturbance variable z . is a limited or changed command variable w.
- the first command variable w that can be predetermined by the vehicle driver is an steering control signal L and the first manipulated variable y_ generated by the processing device is a limited and / or reversed steering control signal L '.
- This steering arrangement control signal L ' is amplified in a driver stage 24 and fed to a servomotor 26 for steering.
- the device according to the invention is illustrated in a second embodiment.
- another signal the "gas signal” G
- G is processed.
- a third input connection 30 is provided for a further control signal G, which represents a further command variable wb which can be specified by a vehicle driver.
- This control signal G is a speed command signal.
- the first output signal generated by the processing device is influenced in such a way that it reproduces a first manipulated variable yL which is dependent on the first and the further reference variable wa, wb and on the disturbance variable z_.
- the steering signal L 'supplied to the servo motor of the steering system is influenced not only by the signal from the first sensor 16, but also by the speed command signal G specified by the vehicle driver.
- the processing device generates a second output signal G ', which is one of the first and the further reference variable wa, wb and another manipulated variable y2 which is dependent on the disturbance variable z_.
- a control signal for the speed of the drive motor for example, the engine throttle position in an internal combustion engine
- the processing device in dependence on the steering angle specification and the speed specification, as well as on the signal of the Sensor device 16 is generated.
- the processing unit is set up to design the output signals in such a way that when the steering arrangement control signal L 'is limited and / or reversed in direction, the acceleration or speed signal G' is also limited.
- the processing device has setting means 42, 44 to determine the degree and rate of limitation of the acceleration or speed signal G 1 , and setting means 46, 48 to determine the degree and rate of limitation and reversal of direction of the steering arrangement control signal by the processing device .
- the setting means are illustrated by trimming potentiometers. This applies in particular if the device according to the invention and the processing device are an analog circuit (see also the following description of FIG. 3). However, it is also possible to implement the invention by means of a microcontroller. In this case, the setting means can each be implemented, for example, by 8-way DIP switches, the switch position of which is set by the
- Microcontroller is detected and taken into account when executing the control program.
- the processing device determines when the vehicle is cornering from the sensor signal to a predetermined extent, the steering arrangement control signal L and / or the speed specification signal is reduced, limited, or inverted and output as a corresponding pulse-shaped signal G 1 or L 'of preferably 0.5-2.6 msec duration.
- FIG. 3 shows a simple analog circuit which embodies the essential features of the invention.
- a reference voltage signal with 2.3V ⁇ 1.0V generated by the gyro sensor 16 is compared with the input signal 14 by a first operational amplifier OP1, which is connected as a comparator.
- the output signal of the comparator is fed to the inverting input of an operational amplifier OP2 connected as an integrator, while the signal coming from the gyro sensor is fed to the non-inverting input of this integrator.
- the output signal of the integrator is fed to the non-inverting input of an operational amplifier OP3 operating as a comparator, while a pulse signal generated by the gyro sensor with a bandwidth of 50 Hz is amplified in an operational amplifier OP4 and fed to the inverting input of the operational amplifier OP3.
- the output signal of the operational amplifier OP3 is fed to the output stage 24 in FIG. 1.
- the operational amplifier OP4 has a trim potentiometer Kl in its feedback branch, via which the gain can be set.
- the gyro sensor emits a signal corresponding to the rotation of the vehicle (1.11 mV / DEG / sec). This variable, which corresponds to the rotational speed of the vehicle, is used to determine the extent to which countermeasures are to be taken. When cornering, the steering deflection is reduced depending on the trimmer position Kl.
- the steering servo position can also be made dependent on other factors.
Description
Claims
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/EP1996/004303 WO1998014253A1 (de) | 1996-10-02 | 1996-10-02 | Vorrichtung zur beeinflussung des fahrverhaltens von ferngesteuerten modellfahrzeugen |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0935493A1 true EP0935493A1 (de) | 1999-08-18 |
EP0935493B1 EP0935493B1 (de) | 2002-03-13 |
Family
ID=8166346
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP96934521A Expired - Lifetime EP0935493B1 (de) | 1996-10-02 | 1996-10-02 | Vorrichtung zur beeinflussung des fahrverhaltens von ferngesteuerten modellfahrzeugen |
Country Status (6)
Country | Link |
---|---|
US (1) | US6241574B1 (de) |
EP (1) | EP0935493B1 (de) |
JP (1) | JP3725174B2 (de) |
AT (1) | ATE214300T1 (de) |
DE (1) | DE59608889D1 (de) |
WO (1) | WO1998014253A1 (de) |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6374255B1 (en) * | 1996-05-21 | 2002-04-16 | Immersion Corporation | Haptic authoring |
US6256011B1 (en) | 1997-12-03 | 2001-07-03 | Immersion Corporation | Multi-function control device with force feedback |
US6693626B1 (en) | 1999-12-07 | 2004-02-17 | Immersion Corporation | Haptic feedback using a keyboard device |
US6338664B1 (en) * | 2000-06-12 | 2002-01-15 | New Bright Industrial Co., Ltd. | Toy vehicle having center steering circuit and remote controller with toggle function |
US9625905B2 (en) * | 2001-03-30 | 2017-04-18 | Immersion Corporation | Haptic remote control for toys |
JP3706831B2 (ja) * | 2002-01-24 | 2005-10-19 | 株式会社エイト | 模型自動車の停車機構 |
US6904823B2 (en) | 2002-04-03 | 2005-06-14 | Immersion Corporation | Haptic shifting devices |
US8917234B2 (en) | 2002-10-15 | 2014-12-23 | Immersion Corporation | Products and processes for providing force sensations in a user interface |
US8992322B2 (en) | 2003-06-09 | 2015-03-31 | Immersion Corporation | Interactive gaming systems with haptic feedback |
CN104656900A (zh) | 2006-09-13 | 2015-05-27 | 意美森公司 | 用于游戏厅游戏触觉的系统和方法 |
DE202007017801U1 (de) * | 2007-12-20 | 2008-03-06 | Stadlbauer Spiel- Und Freizeitartikel Gmbh | Fahrspielzeug mit elektrischem Antriebsmotor |
US9486292B2 (en) | 2008-02-14 | 2016-11-08 | Immersion Corporation | Systems and methods for real-time winding analysis for knot detection |
US9104791B2 (en) | 2009-05-28 | 2015-08-11 | Immersion Corporation | Systems and methods for editing a model of a physical system for a simulation |
US9245428B2 (en) | 2012-08-02 | 2016-01-26 | Immersion Corporation | Systems and methods for haptic remote control gaming |
US9866924B2 (en) | 2013-03-14 | 2018-01-09 | Immersion Corporation | Systems and methods for enhanced television interaction |
CN108905227B (zh) * | 2014-11-07 | 2020-12-08 | 特拉克赛卡斯公司 | 自回正式模型交通工具 |
CN107635630B (zh) | 2015-04-17 | 2019-11-15 | 特拉克赛卡斯公司 | 用于模型车辆的使用自动参数下载的转向稳定系统 |
WO2016168854A1 (en) * | 2015-04-17 | 2016-10-20 | Traxxas Lp | Steering stabilizing apparatus for a model vehicle |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE1900786A1 (de) * | 1968-01-08 | 1969-09-25 | Takalo Kauko Armas | Fernsteuerungssystem fuer Miniaturfahrzeuge |
US3736484A (en) * | 1971-09-27 | 1973-05-29 | R Reynolds | System for operating electrically powered vehicles on a roadbed |
US4019391A (en) | 1975-07-25 | 1977-04-26 | The Singer Company | Vibratory gyroscope |
FR2397001A1 (fr) * | 1977-07-07 | 1979-02-02 | Anvar | Capteur de signal d'erreur a inertie et pilote automatique associe |
US4143307A (en) * | 1977-07-22 | 1979-03-06 | Hansen Russel W | Motor speed control circuit apparatus |
US4213270A (en) * | 1978-08-07 | 1980-07-22 | Nobuo Oda | Radio controlled wheel toy |
JPS5847568B2 (ja) | 1981-10-14 | 1983-10-24 | 日産自動車株式会社 | ベアリングビ−ム |
DE3565601D1 (en) | 1984-09-07 | 1988-11-17 | Marconi Co Ltd | Vibrational gyroscope |
JPH0763548B2 (ja) * | 1992-12-25 | 1995-07-12 | サコム株式会社 | ホビー用ラジコンヘリコプタの姿勢制御装置 |
US5465620A (en) | 1993-06-14 | 1995-11-14 | Rensselaer Polytechnic Institute | Micromechanical vibratory gyroscope sensor array |
JPH07163765A (ja) * | 1993-12-16 | 1995-06-27 | B I:Kk | リモ−トコントロ−ル玩具 |
US5507455A (en) * | 1993-12-28 | 1996-04-16 | Yang; Ro-King | Automatic control device for flying state of remote-control toy airplane |
US5667420A (en) * | 1994-01-25 | 1997-09-16 | Tyco Industries, Inc. | Rotating vehicle toy |
US5762533A (en) * | 1996-01-04 | 1998-06-09 | Mattel, Inc. | Toy vehicle with adjustably positioned wheels |
-
1996
- 1996-10-02 US US09/269,827 patent/US6241574B1/en not_active Expired - Fee Related
- 1996-10-02 EP EP96934521A patent/EP0935493B1/de not_active Expired - Lifetime
- 1996-10-02 DE DE59608889T patent/DE59608889D1/de not_active Expired - Fee Related
- 1996-10-02 WO PCT/EP1996/004303 patent/WO1998014253A1/de active IP Right Grant
- 1996-10-02 JP JP51616098A patent/JP3725174B2/ja not_active Expired - Fee Related
- 1996-10-02 AT AT96934521T patent/ATE214300T1/de not_active IP Right Cessation
Non-Patent Citations (1)
Title |
---|
See references of WO9814253A1 * |
Also Published As
Publication number | Publication date |
---|---|
WO1998014253A1 (de) | 1998-04-09 |
DE59608889D1 (de) | 2002-04-18 |
JP2001502200A (ja) | 2001-02-20 |
US6241574B1 (en) | 2001-06-05 |
JP3725174B2 (ja) | 2005-12-07 |
EP0935493B1 (de) | 2002-03-13 |
ATE214300T1 (de) | 2002-03-15 |
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