EP2937120B1 - Véhicule jouet avec une réponse tactile - Google Patents

Véhicule jouet avec une réponse tactile Download PDF

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Publication number
EP2937120B1
EP2937120B1 EP14183577.7A EP14183577A EP2937120B1 EP 2937120 B1 EP2937120 B1 EP 2937120B1 EP 14183577 A EP14183577 A EP 14183577A EP 2937120 B1 EP2937120 B1 EP 2937120B1
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EP
European Patent Office
Prior art keywords
motor
processor
toy
skateboard
toy vehicle
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.)
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Application number
EP14183577.7A
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German (de)
English (en)
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EP2937120A1 (fr
Inventor
David Anthony Norman
Iii Robert H. Mimlitch
Mitch Randall
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Innovation First Inc
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Innovation First Inc
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Priority claimed from US14/332,599 external-priority patent/US20150306514A1/en
Application filed by Innovation First Inc filed Critical Innovation First Inc
Publication of EP2937120A1 publication Critical patent/EP2937120A1/fr
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Publication of EP2937120B1 publication Critical patent/EP2937120B1/fr
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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
    • A63H17/26—Details; Accessories
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H29/00—Drive mechanisms for toys in general
    • A63H29/22—Electric drives

Definitions

  • the present invention relates to a toy vehicle and more particularly to a toy skateboard.
  • the housing 202 defined for the motorized rear truck assembly 200 includes an upper surface profile 203 to match the lower surface 104 of the deck 102, as such the housing includes a rearward portion of the second battery compartment 224 that is angled from a horizontal at an angle between 10 and 45 degrees and more particularly at about 22 degrees to match the upturn angle in the rear end 108 of the deck.
  • the remote controlled battery powered skateboard is defined as a fingerboard toy skateboard approximately 4 inches long.
  • the motors may be small 6mm diameter by 11 mm long cylinder motors. Each motor independently controls one rear wheel.
  • a high efficiency gear reduction provides a drive speed near 1 meter per second.
  • the circuit board receives power from the battery, receives infrared signals from the remote control device, and commands the motors using a processor, DC-DC switch, H-Bridges and software.
  • Various play patterns and accessories in the field demand various attributes in order for the toy motorized skateboard to operate properly.
  • Various maneuvering capabilities would include the ability to drive straight forward or reverse, turn wide in any four directions, spin left or right, and climb hills starting from a stop position at the base of the hill and from a moving position.
  • Boost circuits known to those in the arts, are used to power logic circuits that require a narrow range of voltage to operate. In this application where motor current is relatively low, it is possible to use low cost boost circuits to power two motors.
  • Buck circuits may also be employed to provide a consistent and repeatable motor voltage.
  • the choice of buck versus boost circuit depends on whether the motor supply voltage is required to be higher or lower than the battery voltage, which depends on the specific requirements of the embodiment. Either choice of converter type falls within the scope and spirit of the present invention.
  • the remote for the toy skateboard will have the usual forward/reverse and right/left controls.
  • the remote employs "tank" control, with left controls to control the left propulsion and right controls to control the right propulsion.
  • additional "Trick” buttons are added.
  • a Trick button sends a single trick command to the toy skateboard. In one embodiment this trick is a simple 180 degree wide turn. In another embodiment the trick is something more complex. Once the trick command is received user controls are disabled. In another embodiment, user controls are allowedto let the user perform a half of a trick followed by their own move if their timing is good. Embodiments disallowing trick termination may be better for younger users. In another embodiment, holding the trick Play button causes the trick to be repeated.
  • the afformentioned technique requires a means of turning off skateboard 100 on demand, and thus, the embodiment provides for a means where the skateboard 100 goes to sleep when it is rolled backwards by the user. Turning OFF additionally increases battery life. Since rolling the skateboard forward is associated with ON, it is intuitive and therefore provided that the opposite would turn the device OFF.
  • the turn ON feature's haptic response of the skateboard 100 moving the desired intuitive feedback corresponding to the act of turning OFF.
  • a haptic response that does match the action is for the skate board to stop, or resist, motion, and thus is implemented in the preferred embodiment.
  • the motors 240 are set into braking mode to accomplish this wherein the motor 240 leads are shorted to one another.
  • as similar sensation is implemented by the application of momentary power to the motor in the opposite direction, creating more resistance than braking alone.
  • additional rolling input from the user changes the skateboards performance.
  • a roll function of the skateboard 100 is recognized by processor 406 when a roll-forward is detected after the skateboard is ON. This causes the skateboard 100 to toggle between modes. In one example, the skateboard 100 alternates between 100% maximum speed and 50% maximum speed. A reduction in overall skateboard speed allows new types of low speed tricks that are more difficult at higher speeds.
  • the skateboard 100 includes a rear weight member 350 removably secured to the rear end 352 of the deck 102.
  • the rear weight member 350 includes a channel 354 that clips into or frictionally engages the rear end of the deck 102.
  • the weight member 350 as noted above allows the user to move the center of spin of the skateboard 100.
  • the instructions may be permanent (e.g., firmware) or modifiable (e.g., software) instructions.
  • the instructions can be bundled or otherwise associated with other instructions in functional profiles, which can be saved as, e.g., an electronic file on one or more memory device.
  • the processor 406 may be configured to execute hard coded functionality.
  • the processor 406 may represent an entity (e.g., physically embodied in circuitry) capable of performing operations according to embodiments of the present invention while configured accordingly.
  • the processor 406 may be specifically configured hardware for conducting the operations described herein.
  • Haptics involve tactile feedback provided by a device to a user.
  • Low-cost haptic devices tend to provide tactile feedback, in which forces are transmitted to a housing or portion thereof and felt by the user, rather than kinesthetic feedback, in which forces are output directly in the degrees of freedom of motion of the interface device.
  • the tactile feedback is typically provided by applying forces, vibrations and/or motions to one or more portions of a user interface device.
  • Haptics are sometimes used to enhance remote control devices associated with machines and devices. In such systems, sensors in the slave device are sometimes used to detect forces exerted upon such device.
  • the embodiments provided herein use elements, such as wheels and actuated arms that are in communication with a motor.
  • the direct interaction by the user with these elements generates a back electromotive force through the motor, which is monitored or detected by the processor.
  • the processor when triggered by the generated back electromotive force can access and play-back a pre-recorded motion to the element.
  • the user still interacting with the element feels the pre-recorded motion which causes the tactile response.
  • the tactile response felt by the user allows the user to determine or deduce the object or toy's setting or mode, as further detailed and explained herein.
  • the toy 400 may include a number of elements connected separately to motors. All or some of the illustrated elements (wheel 420, appendage(s) 422, propeller 424, etc.) can be included.
  • the processor may yet be further configured to detect a second back EMF voltage generated by the rotation of the motor in an opposite direction due to the manipulation of the element by a human in an opposite direction.
  • the processor is configured to control the motor in accordance with one or more of the following pre-programmed motions resulting in a tactile response: (a) move said element momentarily, (b) move said element continuously, (c) resist motion of said element momentarily, (d) resist motion of said element continuously, (e) oscillate said element momentarily, and (f) oscillate said element continuously.
  • the pre-programmed motions are selected based on the rotational direction of the motor and based on whether the processor is in the wake state or sleep state. This allows for greater functions and motion responses.
  • the processor when either the detectable back EMF voltage reaches a pre-determined value, the processor may be further configured to a delay by a pre-determined time internal prior to the pre-programmed motions resulting in a tactile response.
  • the pre-programmed motions resulting in a tactile response may be at less than 100% motor speed. In other aspects, the pre-programmed motions result in a tactile response at variating motor speed.
  • the toy may include a second motor configured to cause a motion of a second element and the motion of the second element is accessible for manipulation by a human, which when manipulated in turn rotates the motor.
  • the processor is further configured to control the second motor, and wherein the pre-programmed output is further configured to control both motors and rotate both wheels resulting in a tactile response.
  • the processor may be further configured to detect a second back EMF voltage generated by the rotation of the motor in an opposite direction due to the manipulation by a human in an opposite direction.
  • the processor is further configured to control said motors in accordance with one or more pre-programmed motions resulting in a tactile response, when either of the detectable back EMF voltages reach a pre-determined value.
  • the pre-programmed motions resulting in a tactile response may include the following: (a) move one or more of said elements momentarily, (b) move one or more of said elements continuously, (c) resist motion of one or more of said elements momentarily, (d) resist motion of one or more of said elements continuously, (e) oscillate one or more of said elements momentarily, and (f) oscillate one or more of said elements continuously.
  • the processor is further configured to include at least two of the following states: (a) a lower power state configured to turn the at least one motor off and power the vehicle off; (b) a lower power sleep state configured to turn the at least one motor off and put the processor in a low power sleep state and halt executing code; (c) a wake state configured to power the vehicle on; (d) a wake state configured to bring the processor out of a low power sleep state and begin to executing code; (e) a user controllable drive state configured to control the at least one motor and rotate the at least one wheel; (f) a user controllable drive state configured to control the at least one motor and rotate the at least one wheel at a slower than maximum speed; (g) a user controllable drive state configured to control the at least one motor and rotate the at least one wheel in accordance to a pre-programmed set of instructions and user input from a remote device to cause the vehicle to perform a maneuver; and (h) a non-user autonomous drive state configured to control the at least one motor
  • the processor further includes a function configured to transition between states when the detected back EMF voltage reaches a pre-determined value. Furthermore, when the detected back EMF voltage reaches a pre-determined value, the processor is further configured to control the motor in accordance with one or more pre-programmed motions resulting in a tactile response.
  • the processor is yet further configured to control the second motor in accordance with one or more pre-programmed motions resulting in a tactile response when the detected second back EMF voltage reaches a pre-determined value, which may be the same or different value set to the first back EMF voltage.
  • the processor when either of the detectable first or second back EMF voltage reaches a pre-determined value, the processor is further configured to a delay by a pre-determined time internal prior to the pre-programmed motions resulting in a tactile response.
  • the embodiment of the invention may include pre-programmed motions resulting in a tactile response that are at less than 100% motor speed or at variating motor speeds.
  • the embodiment of the invention may include an electrical circuit designed to alter at least one of the first and second back EMF voltages prior to detection by the processor.
  • Conversion of the toy in accordance with one embodiment of the present invention may be an important aspect.
  • the rear truck may be removed from the deck and a truck similar to the front truck can be secured to the deck.
  • a surface of the deck opposite of the lower surface can define a finger engaging region accessible for manipulation by a human to move the toy vehicle.
  • an embodiment of the present invention may provide for a convertible toy skateboard assembly.
  • the skateboard assembly typically includes a deck, a pair of non-motorized truck assemblies and a rear motorized truck assembly.
  • the toy skateboard is convertible as one of the non-motorized truck assemblies may be easily swapped with the rear motorized truck assembly. This allows for the toy skateboard to either have a pair of non-motorized truck assemblies, which allows the operator to use their fingers to manipulate and move the toy skateboard; or have one non-motorized truck assembly and a motorized truck assembly, which allows the operator to use a remote control unit to control and move the toy skateboard.
  • the non-motorized truck assembly as used throughout the various embodiments is typically secured to the lower surface of the deck.
  • the non-motorized truck assembly includes a pair of freely rotatable wheels that are positioned transversely to a longitudinal axis of the deck when attached.
  • the motorized rear truck assembly includes a housing is configured to removably attachment to the deck. This may include clips, fasteners, or other attachment means well known in the art.
  • the motorized truck assembly is configured to house at least (i) a battery, (ii) a processor, (iii) a receiver in communication with the processor, and (iv) a pair of motors, each motor separately controlling a rear wheel, of a pair of rear wheels, and wherein the pair of rear wheels are positioned transversely to the longitudinal axis of the deck and behind the pair of front wheels.
  • the receiver is configured to receive signals to control the movement of the pair of rear wheels.
  • the toy skateboard would therefore include two configurations: a first configuration is defined by having the front non-motorized truck assembly attached to the lower surface towards the front region of the deck and having the rear non-motorized truck assembly removably attached to the lower surface towards the rear region of the deck.
  • the upper surface of the deck defines a finger engaging region for a user's fingers to engage and move the toy skateboard.
  • a second configuration is defined by removing the rear non-motorized truck assembly and removably attaching the motorized rear truck assembly to the lower surface towards the rear region of the deck, wherein the movement of the toy skateboard is controllable by the processor in response to signals received by the receiver.
  • the toy skateboard may include a circuit in communication with the processor and battery.
  • the circuit configured to change the battery voltage to a fixed voltage to define a more consistent performance from the battery. This helps increase the enjoyment from the toy skateboard and it no longer seems sluggish as the batteries wear down.
  • the remote control unit may include one or more signals to initiate a set of pre-program instructions on the processor to control the pair of rear wheels to perform one or more skateboard maneuvers. These skateboard maneuvers may include, but is not limited to, a skateboard trick, a hill climb, variable speed control, and playback of user recorded input.
  • the skateboard in any one of the embodiment may further be defined to have a first motor (from the pair of motors) coupled to a first rear wheel (from the pair of rear wheels) and the processor is configured to detect a back electromotive force (“EMF") voltage generated by the rotation of the first motor caused by a manual manipulation of the first rear wheel.
  • the processor is further configured to include at least a sleep state and a wake state and is configured to transition between the sleep state and the wake state when the detected back EMF voltage reaches a pre-determined value.
  • the processor may further control the pair of motors in accordance with one or more pre-programmed motions resulting in a tactile response when the detected back EMF voltage reaches a pre-determined value.
  • the processor may further be configured to detect a second back EMF voltage generated by the rotation of the first motor in an opposite direction due to a manual manipulation of the first rear wheel in an opposite direction.
  • the processor is further configured to control the first motor in accordance with one or more of the following pre-programmed motions resulting in a tactile response: (a) move the first rear wheel momentarily, (b) move the first rear wheel continuously, (c) resist motion of the first rear wheel momentarily, (d) resist motion of the first rear wheel continuously, (e) oscillate the first rear wheel momentarily, and (f) oscillate the first rear wheel continuously.
  • the motorized rear truck assembly includes a housing defined to include a top profile substantially conforming to a portion of the lower surface of the deck towards the rear region.
  • the battery, processor, receiver, and pair of motors are completely positioned within the housing below the top profile of the housing and thus below the lower surface of the deck.
  • the housing may also include a front end and a rear end with an intermediate region there-between. This provides space for a power source, such as batteries, defined by two battery compartments separately positioned in the front end and rear end of the housing and the pair of motors and the pair of rear wheels being positioned between the two battery compartments.
  • the rear end of the housing containing one of the battery compartments may be angled upwardly to match an angle of the rear end of the deck such that the at least one battery contained in the battery compartment is angled.
  • the placement and number of battery compartments may change, as illustrated in Figures 22A - 22E .
  • the receiver may be defined as an IR sensor for receiving signals from the remote control unit.
  • the IR sensor can be positioned in a window defined in the motorized rear truck assembly towards a front portion thereof and under the lower surface of the deck such that the IR sensor is positioned to receive signals reflected from a surface under the deck of the skateboard.
  • the toy skateboard may include a weight removably secured to a portion of the deck to adjust a center of gravity and configured to adjust a center of spin.
  • the toy skateboard is poised to define a motorized toy skateboard that can be controlled without needing an object on the upper surface of the deck.
  • the toy skateboard does not need a figurine, with linkages, and control mechanics in the deck to maneuver properly.
  • the toy skateboard may include a truck assembly housing that encloses both a front truck and a motorized rear truck. The truck assembly may be removed and replaced with a pair of non-motorized truck assemblies so the user is able to manually maneuver.
  • the toy could include multiple responses, such as: Toy response A: Before the child finishes pulling, the toy applies power to the wheels in the opposite direction it was just pulled; Toy response B: Before the child finishes pulling, the toy pulses power to the wheels in a opposite direction it was just pulled; or Toy response C: Before the child finishes pulling, the toy applies brakes to the wheels. From the user's perception, the user feels that the toy is no longer just rolling backward but is now trying to stop his hand, relaying to the child that the toy is trying to stop and turn OFF. The result of the actions and functions of the vehicle is that the toy goes into a low power sleep mode.
  • To Select the Next Mode the child is playing with a toy that is ON and wishes to alter the way it behaves and/or change an action state of the toy.
  • the child as an example, rolls the toy forward across the floor.
  • the toy could include multiple responses, such as: Toy response: After the child finishes rolling the toy, the toy briefly applies low speed power to the wheels in the same direction it was just rolled. From the user's perception, the user feels that the toy is spinning its wheels slowly, relaying to the child that the toy is now in a low speed drive mode. The result of the actions and functions of the vehicle is that the toy is now set to low speed mode.
  • the remote control unit transmits a Packet of data to the receiver (box 530). After transmission, the remote control unit checks IF All buttons Off then the remote control unit will set Sleep to Sleep + 1, otherwise Sleep is set to Zero (box 532). If Sleep is greater than 10 (about 1 second) (box 534), then the remote control unit will SLEEP (box 436); otherwise the remote control unit returns to box 520 and WAITS.
  • Figures 29A thru 29C show the current waveform in the motor at three different PWM frequencies, 10 kHz, 100 kHz, and 1000 kHz. It can be seen that a 10kHz PWM frequency has not achieved continuous current conduction, which results in current surges that will adversely affect battery run time. It can be see that 100 kHz results in an improvement, but 1000 kHz is approximately required in order to approach acceptable continuous current conduction. Common low cost processers, which are found in low cost toys and vehicles, cannot create the desired 1000 kHz PWM frequency.
  • DC-DC switches often called buck converters
  • the embodiment employs a variable output DC-DC switch 600 with the voltage set by a voltage divider.
  • the output voltage is typically fixed to one value as defined by the circuits' needs.
  • the voltage divider can be changed by the use of processor IO pins and multiple resistors R8 and R9, resulting in three output speeds by connecting R8, R9, or R8 + R9 to the voltage divider (as illustrated in Figures 26A ).
  • a toy vehicle having a low inductance motor powered by a high frequency switched voltage at a frequency high enough to create continuous conduction.
  • the vehicle includes an H-bridge circuit configured to control a direction of the motor and an adjustable high frequency DC-DC switch configured to convert a supply voltage to an output voltage, that is lower than the supply voltage, for use by the H-bridge circuit to power the low inductance motor in a forward or reverse direction.
  • a processor is provided with instructions configured to change the output voltage from the DC-DC switch from a first voltage to a second voltage.
  • the motor may have an inductance of approximately less than 500 uH and more preferably of about 140uH.
  • the DC-DC switch may be operating at a frequency greater than 250kHz and more preferably at about 1000kHz or higher.
  • the DC-DC switch may be changed digitally.
  • the output voltage from the DC-DC switch may be selected by a voltage divider, having a first resistor value and a second resistor value selected by the instructions from the processor such that the output voltage from the DC-DC switch can define a first output voltage and a second output voltage.
  • the DC-DC switch can be further configured to define a third output voltage.
  • the second resistor value may be selected from a pair of resistors, defined separately to create the first output voltage and the second output voltage respectively and defined in series to create the third output voltage.
  • the processor further includes instructions to the H-bridge circuit to only control the direction of the motor.
  • the processor determines if Sleep is greater than 2 minutes (box 634).
  • Ramp Time may be equated to the user holding a button down or holding a slider in a specific position for a predetermined time. If the Ramp Time is 2 then the processor Sets the DC-DC switch to change the voltage to either Normal Speed or Turbo (high) Speed based on the Slider button input on the remote control (box 674). If the Ramp Time is not 2 (from box 672); or after the DC-DC switch is set (from box 674) the processor will Set the DRV directions based on input from the remote control such that the skateboard is moving Forward, Coasting, Reverse or Turning (box 680).
  • the DC-DC switch is able to change the speed of the motor(s) by adjusted voltages by resistor changes to 3 separate speeds, a Start Up Speed, a Normal Speed, and a High Speed; which as noted herein was extremely difficult to obtain using convention chop cycles.
  • motors 240 are connected by resistor means to provide increased back EMF detection by processor 406.
  • a simplified schematic drawing of an H-bridge 700 is shown in Figure 30 to illustrate the protective flyback diodes D1, D2, D3, D4 integral to such an H-bridge 700.
  • diodes D1, D2, D3, D4 are present as the parasitic diode intrinsic to the MOSFET Q1, Q2, Q3, Q4 drivers.
  • diodes D1, D2, D3, D4 are explicitly built into the IC to provide faster reverse recovery performance.
  • the present feature of the invention requires diodes D1, D2, D3, D4 to be electrically present.
  • MOSFET Q1, Q2, Q3, Q4 are energized in various combinations to provide drive to motor 240.
  • MSOFET Q1, Q2, Q3, Q4 of the simplified schematic of Figure 30 are not energized, and so appear as open circuits.
  • diodes D1, D2, D3, D4 may conduct electrical current so as to present motor 240 back EMF across its terminals 702, 704 to generate voltages V1, V2.
  • resistors R1, R3 prevent damage to processor 406 inputs, while resistor R2 prevents excessive current from flowing between the nodes labeled voltage V2 and voltage V3.
  • MOSFET Q1, Q2, Q3, Q4, Q5, Q6, Q7, Q8 are all off. In this state, the equivalent circuit is as shown in Figure 32 .
  • D7 conducts to hold voltage V4 to a diode drop below ground (approximately -0.65V).
  • voltages V2, V3 are approximately Vemf - 0.65V.
  • the back EMF of motor 240a adds to voltage V2 to produce a voltage V1 equal to 2 X Vemf - 0.65V. This enhanced voltage exceeds the input logic high threshold of processor 406 with approximately half the rolling velocity required without this feature.
  • V1 conducts to hold voltage V1 to a diode drop below ground (approximately - 0.65V).
  • voltages V2, V3 are approximately -Vemf - 0.65V.
  • the back EMF of motor 240b adds to voltage V3 to produce a voltage V4 equal to -2 X Vemf - 0.65V. This enhanced voltage exceeds the input logic high threshold of processor 406 with approximately half the rolling velocity required without this feature.
  • supply voltage Vm may be produced by an adjustable regulator that is disabled when processor 406 is in a sleep state.
  • the sense voltage that appears on the nodes demarked by V1 and V4 may be high enough to cause conduction in diodes D2 and D8 respectively.
  • This conduction charges the capacitance on the supply voltage Vm signal through resistor R2.
  • the sensitivity enhancement feature of the present invention may be extended to electromechanical devices employing three or more electric motors. This is implemented by cascading additional H-bridges 700 for each additional electric motor. For example, if a third electric motor were used, the method of this feature of the present invention would call for a third motor 240 and H-bridge 700 as shown in Figure 30 added to the right-hand side of the schematic of figure 31 .
  • the node demarked by voltage V4 is connected to the node demarked V1 in Figure 30 .
  • An additional resistor R4 connects to the node demarked V2 of Figure 30 to the input of processor 406. In this way, the back EMF of three motors would add to create the back EMF sense signal.

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Claims (13)

  1. Un véhicule jouet comprenant :
    un moteur (240, 240a, 240b, 404) configuré pour provoquer un déplacement d'un élément (402) dudit jouet, ledit déplacement dudit élément (402) par ailleurs accessible en vue d'une manipulation par un humain pour à son tour faire tourner ledit moteur (240, 240a, 240b, 404) ; et
    un processeur (406) caractérisé en ce que le processeur (406) est configuré pour détecter une tension de force électromotrice (« FEM ») arrière générée par la mise en marche dudit moteur (240, 240a, 240b, 404) provoquée par ladite manipulation par un humain et dans un sens identique à un sens de rotation de l'élément commandé par moteur et dans un sens opposé au sens de rotation de l'élément commandé par moteur, et
    ledit processeur (406) étant en outre configuré pour comporter au moins deux états (408) ; et
    ledit processeur (406) comprenant une fonction configurée pour la transition entre les états lorsque ladite tension de FEM arrière atteint une valeur prédéterminée (412).
  2. Le véhicule jouet de la revendication 1 comprenant en outre :
    ledit processeur (406) étant en outre configuré pour comporter au moins deux états (408) des états suivants :
    (a) un état de plus faible puissance configuré pour éteindre le au moins un moteur (240, 240a, 240b, 404) et arrêter le véhicule ;
    (b) un état de sommeil de plus faible puissance configuré pour éteindre le au moins un moteur (240, 240a, 240b, 404) et mettre le processeur (406) dans un état de sommeil de faible puissance et stopper le code d'exécution ;
    (c) un état d'éveil configuré pour mettre en marche le véhicule ;
    (d) un état d'éveil configuré pour sortir le processeur (406) d'un état de sommeil de faible puissance et commencer à exécuter le code ;
    (e) un état d'entraînement contrôlable par l'utilisateur configuré pour contrôler le au moins un moteur (240, 240a, 240b, 404) et faire tourner la au moins une roue (126) ;
    (f) un état d'entraînement contrôlable par l'utilisateur configuré pour contrôler le au moins un moteur (240, 240a, 240b, 404) et faire tourner la au moins une roue (126) à une vitesse plus basse que la vitesse maximale ;
    (g) un état d'entraînement contrôlable par l'utilisateur configuré pour contrôler le au moins un moteur (240, 240a, 240b, 404) et faire tourner la au moins une roue (126) conformément à un ensemble d'instructions préprogrammé et à une saisie utilisateur à partir d'un dispositif de commande à distance pour faire faire une manoeuvre au véhicule ;
    (h) un état d'entraînement autonome de non-utilisateur configuré pour contrôler le au moins un moteur (240, 240a, 240b, 404) et faire tourner la au moins une roue (126) ; et
    ledit processeur est de plus configuré pour commander ledit moteur (240, 240a, 240b, 404) selon un ou plusieurs déplacements préprogrammés (414) provoquant une réponse tactile lorsque ladite tension de FEM arrière détectée atteint une valeur prédéterminée (412).
  3. Le véhicule jouet de l'une ou plusieurs des revendications précédentes, dans lequel ledit élément (402) est une roue (126).
  4. Le véhicule jouet de l'une ou plusieurs des revendications précédentes, dans lequel les au moins deux états (408) comprennent mais ne sont pas limités à un état de sommeil et un état d'éveil.
  5. Le véhicule jouet de l'une ou plusieurs des revendications précédentes, dans lequel ledit processeur (406) est de plus configuré pour commander ledit moteur (240, 240a, 240b, 404) selon un ou plusieurs déplacements préprogrammés (414) provoquant une réponse tactile lorsque ladite tension de FEM arrière détectée atteint une valeur prédéterminée (412).
  6. Le véhicule jouet de l'une ou plusieurs des revendications précédentes, dans lequel lorsque ladite tension de FEM arrière détectée atteint une valeur prédéterminée (412), ledit processeur (406) est de plus configuré pour commander ledit moteur (240, 240a, 240b, 404) selon un ou plusieurs déplacements préprogrammés (414) provoquant une perception auditive, et lorsque une desdites tensions de FEM arrière détectable atteint une valeur prédéterminée (412), ledit processeur (406) est de plus configuré pour commander ledit moteur (240, 240a, 240b, 404) selon un ou plusieurs des déplacements préprogrammés (414) suivants provoquant une réponse tactile : (a) déplacer ledit élément (402) momentanément, (b) déplacer ledit élément (402) de façon continue, (c) résister momentanément au déplacement dudit élément (402), (d) résister de façon continue au déplacement dudit élément (402), (e) faire osciller ledit élément (402) momentanément, et (f) faire osciller ledit élément (402) de façon continue.
  7. Le véhicule jouet de la revendication 6, dans lequel lesdits déplacements préprogrammés sont sélectionnés sur la base du sens de rotation du moteur (240, 240a, 240b, 404) et selon le fait que le processeur (406) est soit en état d'éveil, soit en état de sommeil.
  8. Le véhicule jouet de la revendication 6 ou 7, dans lequel lorsque une desdites tensions de FEM arrière détectable atteint une valeur prédéterminée (412), le processeur (406) est de plus configuré pour un retard par un intervalle de temps prédéterminé avant lesdits déplacements préprogrammés (414) provoquant une réponse tactile.
  9. Le véhicule jouet de la revendication 6, 7 ou 8, dans lequel les déplacements préprogrammés (414) provoquant une réponse tactile sont à une vitesse de moteur inférieure à 100%.
  10. Le véhicule jouet de la revendication 6, 7 ou 8, dans lequel les déplacements préprogrammés (414) provoquant une réponse tactile sont à des vitesses de moteur variables.
  11. Le véhicule jouet de l'une ou plusieurs des revendications précédentes comprenant en outre :
    un second moteur configuré pour provoquer un déplacement d'un second élément dudit jouet, ledit déplacement dudit second élément par ailleurs accessible en vue d'une manipulation par un humain pour à son tour faire tourner ledit moteur ; et
    ledit processeur (406) est de plus configuré pour commander ledit second moteur, et dans lequel la sortie préprogrammée est de plus configurée pour commander les deux moteurs et faire tourner les deux roues provoquant une réponse tactile.
  12. Le véhicule jouet de l'une ou plusieurs des revendications précédentes comprenant en outre un circuit électrique conçu pour modifier ladite tension de FEM arrière avant la détection par ledit processeur (406).
  13. Le véhicule jouet de l'une ou plusieurs des revendications précédentes, dans lequel les réponses tactiles préprogrammées font démarrer ledit moteur (240, 240a, 240b, 404) en sens direct ou en sens inverse ou font freiner ledit moteur (240, 240a, 240b, 404).
EP14183577.7A 2014-04-23 2014-09-04 Véhicule jouet avec une réponse tactile Active EP2937120B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201461983189P 2014-04-23 2014-04-23
US14/332,599 US20150306514A1 (en) 2014-04-23 2014-07-16 Toy Skateboard
US201414451685A 2014-08-05 2014-08-05

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EP2937120A1 EP2937120A1 (fr) 2015-10-28
EP2937120B1 true EP2937120B1 (fr) 2016-06-15

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EP (1) EP2937120B1 (fr)
CN (1) CN105283234B (fr)
DK (1) DK2937120T3 (fr)
ES (1) ES2586944T3 (fr)
MX (1) MX2016009680A (fr)
WO (1) WO2015163933A1 (fr)

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CN111966088B (zh) * 2020-07-14 2022-04-05 合肥工业大学 一种自动驾驶儿童玩具车控制系统及控制方法

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DE69207750D1 (de) * 1992-04-28 1996-02-29 Sega Enterprises Kk Gleichstrommotorantriebsvorrichtung
JP3999110B2 (ja) * 2002-11-22 2007-10-31 大陽工業株式会社 無線操縦二輪車玩具
JPWO2005014127A1 (ja) * 2003-08-07 2006-09-28 ヤマハ発動機株式会社 スケートボード
US7988519B2 (en) * 2004-11-08 2011-08-02 Go Products, Inc. Apparatus, method, and computer program product for toy vehicle
US20100261406A1 (en) * 2009-04-13 2010-10-14 James Russell Hornsby Interactive Intelligent Toy
US20100291830A1 (en) * 2009-05-18 2010-11-18 Gregory Doherty Reconfigurable transmission for toy vehicles
US20120126972A1 (en) * 2010-11-22 2012-05-24 Dainuri Rott Ruggedized control glove allowing dynamic balance and undivided visual attention
CN201921500U (zh) * 2011-01-11 2011-08-10 陈立堂 多控位阶梯变速儿童玩具车
WO2012163789A1 (fr) * 2011-05-27 2012-12-06 Micro-Beam Sa Trottinette à assistance électrique
CN103253151B (zh) * 2012-02-16 2015-09-16 赫尼斯有限公司 儿童用电动车及其制动控制方法
CN203264272U (zh) * 2013-04-16 2013-11-06 广东银润实业有限公司 一种双马达玩具车

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Publication number Publication date
CN105283234B (zh) 2017-07-07
DK2937120T3 (en) 2016-09-12
CN105283234A (zh) 2016-01-27
WO2015163933A1 (fr) 2015-10-29
EP2937120A1 (fr) 2015-10-28
MX2016009680A (es) 2017-05-01
ES2586944T3 (es) 2016-10-19

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