EP0935493B1 - Vorrichtung zur beeinflussung des fahrverhaltens von ferngesteuerten modellfahrzeugen - Google Patents
Vorrichtung zur beeinflussung des fahrverhaltens von ferngesteuerten modellfahrzeugen Download PDFInfo
- Publication number
- EP0935493B1 EP0935493B1 EP96934521A EP96934521A EP0935493B1 EP 0935493 B1 EP0935493 B1 EP 0935493B1 EP 96934521 A EP96934521 A EP 96934521A EP 96934521 A EP96934521 A EP 96934521A EP 0935493 B1 EP0935493 B1 EP 0935493B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- signal
- model
- remote
- variable
- 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.)
- Expired - Lifetime
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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.
- model vehicles such as model cars or model ships the movement in one plane, i.e. in just two dimensions.
- the movement is therefore a lot by the driver the movement desired by the driver can be specified more easily can e.g. in a model car very precisely through a steering signal to be controlled. So there’s no problem that the movement is adjusted to that desired by the driver must become. On the other hand, this creates problems that the movement desired by the vehicle operator as such cannot be carried out by the model vehicle.
- the invention is based on the object to prevent this.
- a third input connection for another Control signal can be provided, one by a vehicle driver specifies a further reference variable that can be specified, and that first output signal generated by the processing device one of the first and the further management variable and reproduces the first manipulated variable dependent on the disturbance variable.
- the device has a third input connection for another control signal, the one by a driver specifies predeterminable further reference variable. Moreover the processing device generates a second output signal, one of the first and / or further management variable and reproduces another manipulated variable dependent on the disturbance variable.
- the degree of limitation of the acceleration or speed signal depending on the limitation and / or reversal of direction of the steering arrangement drive signal influenced by the processing device.
- adjustment means are provided by which the measure and rate of Limitation of the acceleration or speed signal and / or the limitation and / or reversal of direction of the steering arrangement drive signal through the processing facility to be changed.
- the processing device is set up so that cornering of the vehicle as a function of the sensor signal to a predetermined extent the steering arrangement drive signal is reduced, limited, or inverted.
- the device according to the invention is the first sensor device through a gyroscope, preferably a piezoelectric vibration gyroscope is formed.
- the first sensor device can also be used two acceleration sensors arranged at a distance from one another in the vehicle be educated.
- the processing device sets up signals of predetermined values Process shape and / or output.
- the first control signal, the steering arrangement control signal and / or the acceleration or speed signal each a pulse-shaped signal of preferably 0.5 - 2.6 msec duration.
- the one described above is preferably according to the invention Device in a remote control receiver, in a model vehicle servo drive, and / or a model vehicle travel controller (Speed controller) structurally integrated.
- the invention is not limited to this. Rather can the device according to the invention also in passenger vehicles or use trucks.
- Fig. 1 shows a schematic block diagram of an inventive Device in a model vehicle.
- Fig. 2 shows a schematic block diagram of an inventive Device in detail.
- Fig. 3 shows a circuit diagram of an embodiment of an inventive Contraption.
- the device 10 is referred to as an evaluation circuit, which has a first input connection 12 for a first control signal 14, which reproduces a first command variable wa which can be predetermined by a vehicle driver, 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 an interference variable z correlated with the rotational speed or lateral acceleration of the model vehicle.
- the device according to the invention has a further Processing equipment illustrated in more detail below on to receive the first control signal 14 with the first Input terminal 14 is connected and for receiving the second control signal 18 a second input terminal 20th having.
- This processing device generates a first output signal 22 which reproduces a first manipulated variable y1 which is dependent on the first command variable wa and on the disturbance variable z, the first manipulated variable y1 generated by the processing device representing the command variable which is limited or changed as a function of the disturbance variable z w is.
- the first command variable w that can be predetermined by the vehicle driver is a steering arrangement control signal L and the first manipulated variable y generated by the processing device is a limited and / or reversed steering arrangement 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 is processed here.
- 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 y1 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 servomotor of the steering system is influenced not only by the signal from the first sensor 16, but also by the speed specification signal G specified by the vehicle driver.
- the processing device generates a second output signal G 'which reproduces a further manipulated variable y2 which is dependent on the first and the further reference variable wa , wb and 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 output the signals to be designed so that with a limitation and / or reversal of direction of the steering arrangement drive signal L ' also a limitation of the acceleration or speed signal G 'takes place.
- the processing device has setting means 42, 44 on to the extent and rate of limitation of the acceleration or speed signal G ', and setting means 46, 48 to the extent and rate of limitation and reversal of direction of the steering arrangement drive signal by the processing device set.
- the setting means are in the embodiment shown illustrated by trim potentiometers. This is true especially when it is in the device according to the invention and the processing device by an analog circuit (see also the following description of Fig. 3) acts.
- a microcontroller it is also possible to use the invention a microcontroller. In this case, you can the setting means, for example, each with 8-way DIP switches be realized, the switch position by the Microcontroller is detected and when the control program is executed is taken into account.
- an analog circuit or a microcontroller Is used by the processing facility when cornering the vehicle depending the steering arrangement drive signal from the sensor signal to a predetermined extent L and / or the speed command signal reduced, limited, or inverted and as a corresponding pulse-shaped signal G 'or L' of preferably 0.5 - 2.6 msec duration output.
- Fig. 3 a simple analog circuit is shown, the embodies essential features of the invention.
- One of those Gyro sensor 16 generates reference voltage signal with 2.3V ⁇ 1.0V is powered by a first operational amplifier OP1, which is connected as a comparator, compared with the input signal 14.
- the output signal of the comparator is the inverting Input of an operational amplifier connected as an integrator OP2 fed while the coming from the gyro sensor Signal to the non-inverting input of this integrator is fed.
- the output signal of the integrator is the non-inverting input of a comparator Operational amplifier OP3 fed while one of pulse signal generated with a bandwidth with the gyro sensor amplified by 50 Hz in an operational amplifier OP4 and that inverting input of the operational amplifier OP3 supplied becomes.
- the output signal of the operational amplifier OP3 is the output stage 24 in Fig. 1 supplied.
- the operational amplifier OP4 has a trim potentiometer in its feedback branch K1, via which the gain can be set.
- the gyro sensor gives a corresponding to the rotation of the vehicle Signal (1.11 mV / DEG / sec). This is the speed of rotation size of the vehicle is used to Determine the extent to which countermeasures are to be taken. at when cornering, the steering angle is dependent on the trimmer position K1 withdrawn.
- the steering servo position can be in addition to the steering input signal and / or the gas / brake signal also from other factors be made dependent.
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Toys (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Selective Calling Equipment (AREA)
Description
Claims (10)
- Vorrichtung zur Beeinflussung des Fahrverhaltens von ferngesteuerten Modellautos oder Modellschiffen, miteinem ersten Eingangsanschluß (12) für ein erstes Steuersignal (14), das eine durch einen Fahrzeugführer vorgebbare erste Führungsgröße (wa) wiedergibt,einer Sensoreinrichtung (16), die ein zweites Steuersignal (18) abgibt, das eine mit der Drehgeschwindigkeit oder Querbeschleunigung des Modellfahrzeuges korrelierte Störgröße (Z) wiedergibt, und
einem dritten Eingangsanschluß (30) für ein weiteres Steuersignal (G), das eine durch einen Fahrzeugführer vorgebbare weitere Führungsgröße (wb) wiedergibt, undeiner Verarbeitungseinrichtung, diezum Empfang des ersten Steuersignals (14) mit dem ersten Eingangsanschluß (12) verbunden ist, undzum Empfang des weiteren Steuersignals (G) mit dem dritten Eingangsanschluß (30) verbunden ist,zum Empfang-des zweiten Steuersignals (18) einen zweiten Eingangsanschluß (20) aufweist, undein erstes Ausgangssignal (22) erzeugt, das eine von der ersten und der weiteren Führungsgröße (wa, wb) und von der Störgröße (Z) abhängige erste Stellgröße (Y1) wiedergibt, wobeidie durch den Fahrzeugführer vorgebbare erste Führungsgröße (wa) ein Lenkanordnungsansteuersignal (L) und die von der Verarbeitungseinrichtung erzeugte erste Stellgröße (Y) ein begrenztes und/oder in seiner Richtung umgekehrtes Lenkanordnungsansteuersignal (L') ist oderwobei die durch den Fahrzeugführer vorgebbare erste Führungsgröße (wa) ein Beschleunigungs- oder Geschwindigkeitssignal und die von der Verarbeitungseinrichtung erzeugte erste Stellgröße (Y1) ein begrenztes Beschleunigungs- oder Geschwindigkeitssignal ist. - Vorrichtung zur Beeinflussung des Fahrverhaltens von ferngesteuerten Modellautos oder Modellschiffen nach Anspruch 1, wobei
die Verarbeitungseinrichtung ein zweites Ausgangssignal (G') erzeugt, das eine von der ersten und/oder weitere Führungsgröße (wa, wb) und von der Störgröße (Z) abhängige weitere Stellgröße (Y2) wiedergibt. - Vorrichtung zur Beeinflussung des Fahrverhaltens von ferngesteuerten Modellautos oder Modellschiffen nach Anspruch 1 oder 2, wobei
die erste Führungsgröße (wa) ein Lenkanordnungsansteuersignal (L) und die weitere Führungsgröße (wb) ein Beschleunigungs- oder Geschwindigkeitssignal ist undbei einer Begrenzung und/oder Richtungsumkehr des Lenkanordnungsansteuersignals auch eine Begrenzung des Beschleunigungs- oder Geschwindigkeitssignals durch die Verarbeitungseinrichtung erfolgt. - Vorrichtung zur Beeinflussung des Fahrverhaltens von ferngesteuerten Modellautos oder Modellschiffen nach einem der vorhergehenden Ansprüche, wobeidas Maß der Begrenzung des Beschleunigungs- oder Geschwindigkeitssignals in Abhängigkeit von der Begrenzung und/oder Richtungsumkehr des Lenkanordnungsansteuersignal durch die Verarbeitungseinrichtung erfolgt.
- Vorrichtung zur Beeinflussung des Fahrverhaltens von ferngesteuerten Modellautos oder Modellschiffen nach einem der vorhergehenden Ansprüche, wobeidurch Einstellmittel (42, 44) das Maß und die Rate der Begrenzung des Beschleunigungs- oder Geschwindigkeitssignals und/oder das Maß und die Rate (46, 48) der Begrenzung und/oder Richtungsumkehr des Lenkanordnungsansteuersignal für die Verarbeitungseinrichtung vorgebbar ist.
- Vorrichtung zur Beeinflussung des Fahrverhaltens von ferngesteuerten Modellautos oder Modellschiffen nach einem der vorhergehenden Ansprüche, wobeidurch die Verarbeitungseinrichtung bei einer Kurvenfahrt des Fahrzeuges in Abhängigkeit von dem Sensorsignal in einem vorbestimmten Maß das Lenkanordnungsansteuersignal verringert, begrenzt, oder invertiert wird.
- Vorrichtung zur Beeinflussung des Fahrverhaltens von ferngesteuerten Modellautos oder Modellschiffen nach einem der vorhergehenden Ansprüche, wobeidie Sensoreinrichtung (16) ein Gyroskop, vorzugsweise ein piezoelektrisches Vibrations-Gyroskop ist.
- Vorrichtung zur Beeinflussung des Fahrverhaltens von ferngesteuerten Modellautos oder Modellschiffen nach einem der vorhergehenden Ansprüche, wobeidie Sensoreinrichtung (16) durch zwei im Abstand zu einander in dem Fahrzeug angeordnete Beschleunigungssensoren gebildet ist.
- Vorrichtung zur Beeinflussung des Fahrverhaltens von ferngesteuerten Modellautos oder Modellschiffen nach einem der vorhergehenden Ansprüche, wobeidas erste Steuersignal, das Lenkanordnungsansteuersignal und/oder das Beschleunigungs- oder Geschwindigkeitssignal ein impulsförmiges Signal von vorzugsweise 0.5 - 2.6 msec Dauer sind.
- Vorrichtung zur Beeinflussung des Fahrverhaltens von ferngesteuerten Modellautos oder Modellschiffen nach einem der vorhergehenden Ansprüche, wobeidiese in einen Fernsteuerempfänger, in einen Modellfahrzeugservoantrieb, und/oder einen Modellfahrzeugfahrtenregler (Geschwindigkeitsregler) baulich integriert ist.
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 EP0935493A1 (de) | 1999-08-18 |
EP0935493B1 true 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 |
GB2418475B (en) | 2003-06-09 | 2007-10-24 | Immersion Corp | Interactive gaming systems with haptic feedback |
CN101517514A (zh) | 2006-09-13 | 2009-08-26 | 伊梅森公司 | 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 |
CN106999780B (zh) * | 2014-11-07 | 2018-10-09 | 特拉克赛卡斯公司 | 自回正式模型交通工具 |
US10073448B2 (en) | 2015-04-17 | 2018-09-11 | Traxxas, LP | Steering stabilizing system with automatic parameter download for a model vehicle |
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 |
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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 |
US4644793A (en) | 1984-09-07 | 1987-02-24 | The Marconi Company Limited | 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 AT AT96934521T patent/ATE214300T1/de not_active IP Right Cessation
- 1996-10-02 JP JP51616098A patent/JP3725174B2/ja not_active Expired - Fee Related
- 1996-10-02 WO PCT/EP1996/004303 patent/WO1998014253A1/de active IP Right Grant
- 1996-10-02 US US09/269,827 patent/US6241574B1/en not_active Expired - Fee Related
- 1996-10-02 DE DE59608889T patent/DE59608889D1/de not_active Expired - Fee Related
- 1996-10-02 EP EP96934521A patent/EP0935493B1/de not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
WO1998014253A1 (de) | 1998-04-09 |
DE59608889D1 (de) | 2002-04-18 |
US6241574B1 (en) | 2001-06-05 |
JP3725174B2 (ja) | 2005-12-07 |
JP2001502200A (ja) | 2001-02-20 |
ATE214300T1 (de) | 2002-03-15 |
EP0935493A1 (de) | 1999-08-18 |
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