EP0935493B1 - Vorrichtung zur beeinflussung des fahrverhaltens von ferngesteuerten modellfahrzeugen - Google Patents

Vorrichtung zur beeinflussung des fahrverhaltens von ferngesteuerten modellfahrzeugen Download PDF

Info

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
Application number
EP96934521A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0935493A1 (de
Inventor
Ralf Helbing
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Graupner & Co KG GmbH
Original Assignee
Graupner & Co KG GmbH
Graupner & Co KG GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Graupner & Co KG GmbH, Graupner & Co KG GmbH filed Critical Graupner & Co KG GmbH
Publication of EP0935493A1 publication Critical patent/EP0935493A1/de
Application granted granted Critical
Publication of EP0935493B1 publication Critical patent/EP0935493B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

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)
  • Selective Calling Equipment (AREA)
  • Motorcycle And Bicycle Frame (AREA)
EP96934521A 1996-10-02 1996-10-02 Vorrichtung zur beeinflussung des fahrverhaltens von ferngesteuerten modellfahrzeugen Expired - Lifetime EP0935493B1 (de)

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 (ja)
EP (1) EP0935493B1 (ja)
JP (1) JP3725174B2 (ja)
AT (1) ATE214300T1 (ja)
DE (1) DE59608889D1 (ja)
WO (1) WO1998014253A1 (ja)

Families Citing this family (18)

* Cited by examiner, † Cited by third party
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
GB2410995B (en) 2002-10-15 2007-05-09 Immersion Corp 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
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
TWI656902B (zh) * 2014-11-07 2019-04-21 美商崔賽斯公司 自行翻正的模型車
WO2016168859A1 (en) 2015-04-17 2016-10-20 Traxxas Lp Steering stabilizing system with automatic parameter download for a model vehicle
CN107690350B (zh) * 2015-04-17 2020-11-06 特拉克赛卡斯公司 用于模型车辆的转向稳定装置

Family Cites Families (14)

* Cited by examiner, † Cited by third party
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

Also Published As

Publication number Publication date
JP3725174B2 (ja) 2005-12-07
ATE214300T1 (de) 2002-03-15
US6241574B1 (en) 2001-06-05
DE59608889D1 (de) 2002-04-18
WO1998014253A1 (de) 1998-04-09
JP2001502200A (ja) 2001-02-20
EP0935493A1 (de) 1999-08-18

Similar Documents

Publication Publication Date Title
EP0935493B1 (de) Vorrichtung zur beeinflussung des fahrverhaltens von ferngesteuerten modellfahrzeugen
DE69722554T2 (de) Steuerungshilfevorrichtung für ein Flugzeug mit einem elektrischen Flugsteuerungssystem
DE69306721T2 (de) Handsteuerungsystem
DE112016002910B4 (de) Spurhaltevorrichtung
DE69029894T2 (de) Selbstanpassendes Steuerungssystem für Fahrzeuge
DE102019105922A1 (de) Verfahren zum Betreiben eines Lenksystems und Lenksystem
WO2000061413A1 (de) Verfahren und vorrichtung zum überwachen oder zum beeinflussen der bewegung eines fahrzeugs auf einem weg
DE2310045A1 (de) Flugsteuereinrichtung fuer senkrechtoder kurzstartende luftfahrzeuge
EP0474130A2 (de) Verfahren zum Lenken eines Strassenfahrzeugs mit Vorder- und Hinterradlenkung
DE60008944T2 (de) Vorrichtung zur Steuerung des Gierwinkels eines Flugzeuges
DE102004006387A1 (de) System und Verfahren zum Steuern bzw. Regeln eines Fahrzeugs mit einer Gierstabilitätssteuerung bzw. -regelung
EP0559114B1 (de) Verfahren zum Lenken eines Strassenfahrzeugs mit Vorder- und Hinterradlenkung
DE4307420C1 (de) Verfahren zum Lenken eines Straßenfahrzeugs mit Vorderradlenkung
DE4106767A1 (de) Verfahren zur ermittlung von fahrzeugdrehraten und fahrzeuganordnung zur durchfuehrung des verfahrens
EP0546295B1 (de) Semiaktives Fahrwerksregelungssystem
DE102019219263A1 (de) Verfahren und System zur Verbesserung der Fahrstabilität
DE69817615T2 (de) VORRICHTUNG UND VERFAHREN ZUR STEUERUNG DER LENKUNGSKRAFT EINES MECHANISCHEN STEUERUNGSSYSTEMS fÜR EIN FLUGZEUG
DE112019001855B4 (de) Fahrzeugsteuervorrichtung und eigenschaftsabschätzverfahren
EP1157915A2 (de) Verfahren zum Steuern des Lenkwinkels eines Fahrzeugs sowie System zur Durchführung des Verfahrens
WO2022189021A1 (de) Vorrichtung und verfahren zur beeinflussung eines fahrzeugverhaltens
EP4008612A1 (de) Lage- und höhenregelung einer fahrerkabine relativ zum fahrzeugchassis
EP0947412A2 (de) Steuereinrichtung zur Beeinflussung der Fahrdynamik eines vierrädrigen Fahrzeugs
DE102019217417A1 (de) Verfahren und ein System zur Steuerung/Regelung der Lenkung eines Anhängers
DE4206654C2 (de) Verfahren zum Lenken eines Straßenfahrzeugs mit Vorder- und Hinterradlenkung
DE10206730B4 (de) Gierdämpfung bei der Fahrzeuglenkung

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 19990308

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT DE ES FR GB IT

17Q First examination report despatched

Effective date: 20000912

GRAG Despatch of communication of intention to grant

Free format text: ORIGINAL CODE: EPIDOS AGRA

GRAG Despatch of communication of intention to grant

Free format text: ORIGINAL CODE: EPIDOS AGRA

GRAH Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOS IGRA

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: GRAUPNER GMBH & CO. KG

GRAH Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOS IGRA

REG Reference to a national code

Ref country code: GB

Ref legal event code: IF02

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AT DE ES FR GB IT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT;WARNING: LAPSES OF ITALIAN PATENTS WITH EFFECTIVE DATE BEFORE 2007 MAY HAVE OCCURRED AT ANY TIME BEFORE 2007. THE CORRECT EFFECTIVE DATE MAY BE DIFFERENT FROM THE ONE RECORDED.

Effective date: 20020313

REF Corresponds to:

Ref document number: 214300

Country of ref document: AT

Date of ref document: 20020315

Kind code of ref document: T

REF Corresponds to:

Ref document number: 59608889

Country of ref document: DE

Date of ref document: 20020418

GBT Gb: translation of ep patent filed (gb section 77(6)(a)/1977)

Effective date: 20020521

ET Fr: translation filed
PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20020925

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed

Effective date: 20021216

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: AT

Payment date: 20071024

Year of fee payment: 12

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20071022

Year of fee payment: 12

Ref country code: FR

Payment date: 20071019

Year of fee payment: 12

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20071215

Year of fee payment: 12

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20081002

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST

Effective date: 20090630

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20090501

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20081002

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20081031

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20081002