EP3302743B1 - Spielfahrzeugsystem - Google Patents

Spielfahrzeugsystem Download PDF

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Publication number
EP3302743B1
EP3302743B1 EP16727953.8A EP16727953A EP3302743B1 EP 3302743 B1 EP3302743 B1 EP 3302743B1 EP 16727953 A EP16727953 A EP 16727953A EP 3302743 B1 EP3302743 B1 EP 3302743B1
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EP
European Patent Office
Prior art keywords
friction force
toy vehicle
virtual
drive
control unit
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EP16727953.8A
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German (de)
English (en)
French (fr)
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EP3302743A2 (de
Inventor
Martin Müller
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Individual
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Individual
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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
    • A63H17/36—Steering-mechanisms for toy vehicles
    • A63H17/395—Steering-mechanisms for toy vehicles steered by program
    • 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
    • A63H17/262—Chassis; Wheel mountings; Wheels; Axles; Suspensions; Fitting body portions to chassis
    • 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
    • A63H17/36—Steering-mechanisms for toy vehicles
    • 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 toy vehicle system with the features according to the preamble of claim 1, a toy vehicle system with the features according to the preamble of claim 9 and a method for operating a toy vehicle system with the features according to the preamble of claim 10.
  • Toy and model vehicles have found widespread use in numerous variations.
  • the user operates a remote control transmitter for operation. Its control output signals are usually transmitted over a radio link to a receiver of the toy vehicle and converted there into a corresponding driving movement.
  • the main control functions consist of a right-left control and the setting of a desired driving speed including acceleration and deceleration.
  • the toy vehicle itself is based on the basic technical features of the usual design of a motor vehicle:
  • the front and rear axles are provided with a total of four wheels, one of the axles, usually the front axle, being steerable. At least one of the wheels is driven by a drive motor, whereby the toy vehicle can be accelerated.
  • a braking device is also provided for a deceleration.
  • the acceleration and deceleration can be carried out with the same electric motor on the one hand in motor operation and on the other hand in generator operation.
  • cornering, accelerations and / or decelerations mean that at least some of the wheels have frictional forces on the ground in longitudinal and / or transverse direction. So that the toy vehicle does not slip on the ground, the wheels have tires made of rubber, elastomer plastics or similar materials.
  • a corresponding toy vehicle system is from, for example US 2014/0227941 A1 known.
  • the toy vehicle has a drive with two drive motors, two wheels for transmitting frictional forces and drive torque to a surface, and a steering device.
  • the entire toy vehicle system additionally comprises a control unit, into which control input signals of the remote control transmitter are fed, and which generates control output signals which act on the drive motors and the steering device.
  • a similar toy vehicle is in US 2012/0253554 A1 disclosed.
  • the drive acts either on the two wheels on the front axle, on the two wheels on the rear axle or on the wheels of both axles.
  • the invention is based on the object of developing a generic toy vehicle system such that even under cramped spatial conditions realistic impression of a trip under drift conditions can be given.
  • the invention is furthermore based on the object of developing a generic toy vehicle system in such a way that a dynamically acting and yet controllable driving operation is possible even in confined spaces.
  • the invention is also based on the object of specifying an operating method for a toy vehicle system, by means of which a model vehicle can be operated in a dynamically acting and yet more manageable manner even in confined spaces.
  • the invention is initially based on the knowledge that a toy vehicle can be significantly reduced compared to a man-carrying motor vehicle, but that certain parameters of physics do not follow such a reduction.
  • the latter relates in particular to two parameters of driving physics, namely the acceleration due to gravity g and the coefficient of friction ⁇ .
  • the acceleration due to gravity g can be assumed to be constant.
  • the coefficients of friction acting between the wheels and the ground are different from vehicle to vehicle, but are in the Essentially of the same order of magnitude. This means that the horizontal accelerations (longitudinal acceleration, deceleration, centripetal acceleration when cornering) that can be achieved with different vehicles are at least approximately the same, and this is completely independent of the actual size of the vehicle.
  • the invention is further based on the finding that as the vehicle becomes smaller, the available engine and / or braking power increases disproportionately to the size of the vehicle. This means that in toy vehicles of the usual size, the driving physics is determined less by the drive and / or braking power, but rather by the available frictional force between the wheels and the ground. Under these circumstances, you can use a small toy vehicle Utilize the static friction limit to achieve horizontal accelerations that are of the same order of magnitude as for a large vehicle. With a toy vehicle, for example, scaled down to a scale of 1:10, braking decelerations can be achieved which, when scaled to the size of the model vehicle, are 10 times as high as in the original vehicle.
  • an essential concept of the invention lies in the fact that the maximum friction force that is actually too high and actually transferable is not reduced, but that a suitably reduced virtual limit force is specified, and that based on this reduced virtual limit force two different operating states are simulated mathematically :
  • the driving behavior of the toy vehicle is simulated in the amount of the uncorrected operating force under the local influence of a virtual operating force.
  • the driving physics with wheels stuck to the ground are shown mathematically here.
  • the driving behavior of the toy vehicle is simulated under the local influence of a virtual, ie corrected operating friction in the amount of the virtual sliding friction.
  • the driving physics of the slipping vehicle is shown mathematically here.
  • the toy vehicle has a control unit, a drive with rolling elements for transmitting frictional forces to the ground, and a steering device.
  • the control unit is designed to carry out the computational driving simulation outlined above, to generate control output signals from it and to act on the drive with the rolling elements and on the steering device such that the toy vehicle executes a driving movement in accordance with the computational driving simulation under the influence of the virtual operating force.
  • the driver can devote himself to demanding and realistic driving tasks.
  • the virtual limit friction force which has replaced the actually transferable maximum friction force, not only contributes to a more realistic overall impression of the driving behavior, but also considerably reduces the speeds and accelerations required for the border area between sticking and sliding.
  • the space required for realistic driving maneuvers can be reduced to a minimum. Entire vehicle races including drift curves and the like can be carried out on the size of a desktop, while giving the visual impression of high speeds and accelerations arise. However, the actual speeds and accelerations are so low that the driver maintains sufficient control.
  • an acceleration in the direction of the vehicle's longitudinal axis is specified and a frictional force in the direction of the vehicle's longitudinal axis is derived therefrom. If this frictional force exceeds the virtual limit friction force, the acceleration in the direction of the vehicle longitudinal axis is reduced to a limit acceleration which corresponds to the virtual sliding friction force.
  • Acceleration here means any acceleration in the direction of the vehicle's longitudinal axis, which in addition to a forward increase in speed also includes a braking deceleration corresponding to a rearward acceleration. In any case, this way either becomes forward directional acceleration with spinning wheels or a braking deceleration with locked wheels and thus creates a realistic driving behavior.
  • an acceleration of the toy vehicle in the direction of the local radius and a friction force transverse to the direction of the longitudinal axis of the vehicle is derived therefrom. If this frictional force acting transversely to the direction of the vehicle's longitudinal axis exceeds the virtual limiting frictional force, the control unit acts on the drive and / or on the steering device of the toy vehicle such that the toy vehicle executes a local movement component transverse to the vehicle's longitudinal axis.
  • the "local" movement component means that it can, but does not have to, apply to the entire vehicle. It may be sufficient if only the bow or the rear of the vehicle carries out such a lateral movement component to represent the "breakaway".
  • the toy vehicle executes a movement that corresponds to a lateral sliding away without changing the direction of the longitudinal axis.
  • the longitudinal axis of the vehicle lies in the normal mode at a first angle to the local tangent of the driving curve, the longitudinal axis of the vehicle then being transferred from the first angle mentioned in a second angle to the local tangent of the driving curve in the simulated slip mode.
  • the toy vehicle comprises at least two drive motors and at least two rolling elements for transmitting the drive torque to the ground, the rolling elements being able to be driven to rotate independently of one another about respective axes of rotation by means of the drive motors.
  • the toy vehicle further comprises at least one steering device for adjusting orientation directions of the axes of rotation relative to the longitudinal axis of the vehicle.
  • the control unit which is designed in particular in accordance with the above-described requirements, acts on the drive motors and the at least one steering device.
  • the model vehicle can be moved in any direction detached from the actual alignment of its longitudinal axis.
  • the longitudinal axis of the vehicle can be brought into any orientation relative to the current direction of movement, so that on the one hand the normal mode and on the other hand the slip mode can be implemented in a striking and realistic manner without the rolling elements actually sliding on the surface.
  • the operating method described above or a correspondingly designed control unit it is not absolutely necessary that the operating method described above or a correspondingly designed control unit is used. Rather, in a further aspect of the invention, it may also be sufficient to make the control unit simpler and to dispense with the aforementioned simulation in whole or in part, provided that the toy vehicle is otherwise physically configured as described above.
  • the toy vehicle can be moved so that its Vehicle longitudinal axis is not parallel to the local direction of movement. In any case, this also creates a possibility of driving with the realistic impression of a drift movement even with a comparably slow drive and / or under spatially restricted conditions.
  • two drive units each with a drive motor, each with a rolling element and each with its own steering device, are provided, one drive unit being arranged in the direction of the vehicle longitudinal axis in front of and behind the center of gravity of the toy vehicle.
  • the vehicle stands on one of these drive units in the bow area and in the rear area.
  • the bow area and the rear area of the toy vehicle can be set independently of one another in more or less pronounced lateral movement, which enables almost any possibilities of mapping the driving behavior in the border area between static and sliding friction.
  • the two steering devices each comprise a bogie with a vertical steering axis and with an associated steering drive, a drive motor being assigned to each bogie.
  • At least one rolling element is designed in the form of a drive wheel and is mounted on the respective bogie with an assigned first or second axis of rotation such that the first axis of rotation and the second axis of rotation can be adjusted independently of one another by means of the two bogies.
  • two drive wheels are arranged at an axial distance from one another on each of the two axes of rotation. The arrangement is mechanically simple in structure and reliable in operation. With a total of three and preferably four drive wheels, the model vehicle stands solidly on these drive wheels in most cases. Additional support measures are at most necessary in the case of strongly deflected drive units, and then only to a minor extent, which does not impair driving behavior.
  • the rolling elements may be spherical, the first and second drive shafts, each with an associated drive motor, being arranged at a right angle to one another and frictionally engaging the spherical surface of the rolling elements.
  • the steering device is provided by a coordination unit for coordinated speed adjustment of the first and second Drive shafts formed.
  • the balls allow an immediate and instantaneous change in the orientation of their currently acting axis of rotation without the need for a separate rotary drive. Transient changes in state can be displayed without delay.
  • not one, but only one drive unit which comprises two drive motors, two rolling elements in the form of wheels and a steering device.
  • the first drive element can be driven by the first drive motor about the first axis of rotation.
  • the second rolling element is arranged at an axial distance from the first rolling element and can be driven by the second drive motor about the second axis of rotation, independently of the first drive motor.
  • the first axis of rotation and the second axis of rotation are jointly adjustable by the one steering device.
  • the center point between the two rolling elements lies in the area of the center of gravity of the toy vehicle, so that the toy vehicle stands with the largest part of its own weight on the roller elements of this one drive unit.
  • Such dummies may stand on the surface to be driven on and, if necessary, also roll on it.
  • the wheel dummies therefore do not specify the movement of the toy vehicle, which is the task of the aforementioned rolling elements or the one or two aforementioned drive units.
  • a possibly existing steering movement of the wheel dummies has no direct influence on the direction of travel of the toy vehicle.
  • the wheel dummies can be attached in the vehicle-typical position and look like ordinary wheels, but in contrast to these they have neither a driving nor a tracking function.
  • the low but existing contact forces of the wheel dummies in connection with a swivel bearing and a caster can be used to ensure that these wheel dummies follow the respective course of the path in their orientation, that is to say they are freely steering. In the greater part of the driving states that can be achieved, this reinforces the visual impression of an accurate representation of the driving behavior.
  • the wheel dummies can also be designed such that they visually cover the actually acting drive units and in particular their rolling elements that generate the driving movement. This also contributes to a realistic appearance of the driving movement.
  • the toy vehicle is based at least to the extent that it is based on an original wheeled vehicle that it has at least one pair of wheeled dummies, these wheeled dummies are also used as the basis for the driving simulation. More precisely, the computational driving simulation is based on the virtual limit friction, the virtual sliding friction force, the uncorrected operating friction force and the virtual operating friction force between the wheel dummies and the ground, on the assumption that the toy vehicle on wheels would roll according to the wheel dummies and would be driven by them.
  • control unit in which the computational simulation of the driving physics and the generation of the control output signals take place in the toy vehicle or in its receiving unit.
  • control unit is preferably arranged in the remote control transmitter, so that only the control output signals processed in the manner according to the invention have to be transmitted from the remote control transmitter to the receiver of the toy vehicle. No special requirements are placed on the receiving unit of the toy vehicle, so that it is very small and also very small can be built inexpensively.
  • a commercially available remote control transmitter can be considered, which must be supplemented with a corresponding control unit, or which is reprogrammed in a suitable manner.
  • control unit and remote control transmitter is preferably formed by a programmed smartphone or by another mobile terminal such as a tablet or the like.
  • the devices mentioned have sufficient computing power and also suitable radio interfaces, so that appropriate hardware is available to a wide audience without additional investments. Appropriate programming is all that is required.
  • Fig. 1 shows a schematic top view of a toy vehicle system according to the invention, which comprises a toy vehicle 1 and an associated remote control transmitter 2.
  • the remote control transmitter 2 can be a radio remote control transmitter customary in model making.
  • a smartphone is selected as the remote control transmitter 2.
  • a tablet in the usual configuration or the like can also be considered.
  • the toy vehicle 1 is provided with a receiver 4 which receives control output signals from the remote control transmitter 2.
  • the toy vehicle 1 further comprises rolling elements 6, 8, not shown here, but described in more detail below, which drives the toy vehicle 1, as well as a steering device which are controlled or actuated by the receiver 4 in accordance with the specifications of the remote control transmitter 2.
  • the receiver 4 receives the control output signals of the remote control transmitter 2 via an intermediate radio link.
  • This can be a Bluetooth connection, for example, but also other transmission protocols and transmission frequencies come into consideration.
  • Other forms of signal transmission, for example via infrared or wired, can also be implemented within the scope of the invention.
  • the toy vehicle 1 may have a more or less pronounced similarity to a model vehicle carrying a man, but is smaller than this. No particular requirements are placed on the actual size of the toy vehicle 1. For the desired operation in confined spaces, however, a maximum vehicle length of one meter down to a few centimeters is desirable and can also be implemented within the scope of the invention. In the case of a scale-down of a prototype vehicle, the usual scaling-down scales from 1: 8, 1:10 and 1:12 to 1:24 or even smaller can be used. Irrespective of an actual or not to scale illustration, at least one virtual front axle 23 and at least one virtual rear axle 24 are advantageously included in FIGS Fig. 5 ff. shown wheel dummies 21, 22 are provided. The designation of the front and rear axles 23, 24 chosen here as "virtual" results from the following explanations of the invention.
  • the toy vehicle 1 In operation, the toy vehicle 1 travels on a surface 5, not shown in detail. When driving straight ahead, no significant horizontal forces act between the toy vehicle 1 and the surface 5 in the plane of the surface 5. The latter changes as soon as accelerations act on the toy vehicle 1 in the plane of the underground 5.
  • Fig. 1 the simple case of an operational acceleration a b to the front in the direction of the longitudinal axis 10 of the vehicle is initially shown as an example.
  • a partial goal of the design according to the invention and the process sequence according to the invention is to give the impression that the toy vehicle 1 stands up and drives on its dummy wheels 21, 22 of the virtual front and rear axles 23, 24 would.
  • an opposing driving friction force would now have to act between the toy vehicle 1 and the ground 5.
  • the operational acceleration increases, the amount of friction required increases.
  • the maximum of the frictional force is limited as follows:
  • control input signals generated by the user are not directly converted into control output signals by the remote control transmitter 2.
  • a control unit 3 is provided, which is integrated here in the remote control transmitter 2 and into which the control input signals of the remote control transmitter 2 generated by the user or by the driver are fed. Based on this, the control unit 3 generates modified control output signals, which then act on the drive and on the steering device of the toy vehicle 1.
  • a control unit 3 is used, which is designed and programmed for a specific computational driving simulation described below.
  • the driving behavior influenced according to the invention is based on a limitation of the maximum achievable operating acceleration ab by substituting the uncorrected operating friction force F b by a corrected, virtual operating friction force F v , as is shown schematically in the diagram below Fig. 2 is shown.
  • a virtual Limit adhesive force F m is defined, which is smaller than that actually by means of the drive elements 6, 8 ( Fig. 5 ff.) maximum friction force that can be transmitted to the substrate 5.
  • a virtual sliding friction force F g is defined, which in turn is ⁇ the virtual limit friction force F m . All of these powers are in Fig. 1 is shown schematically and can be called up in the control unit 3 as fixed or variable parameters.
  • the virtual limit adhesive force F m and the virtual sliding friction force F g can optionally be dimensioned such that the resulting operating accelerations a b are reduced in magnitude at least approximately on the same scale as an original as the toy vehicle 1 itself, with such an actual reference value for this reduction Boundary force, such an actual sliding friction force and such an actual operating acceleration a b of the original can be used as they are known or expected from the interplay between the original tire and the original surface.
  • the principle of the invention in one aspect of the invention is based on the simple example of accelerating according to the synopsis of 1 and 2 clear: the driver uses the remote control transmitter 2 to "accelerate", ie generates the control input signal for accelerating. Based on this, a computational driving simulation is carried out in the control unit 3, within which the operating friction forces F b acting between the toy vehicle 1 and the ground 5 and initially still uncorrected are calculated and compared with the virtual limit friction force F m . More precisely, the uncorrected operating driving forces F b acting between the virtually non-existent, but virtually assumed, wheels of the virtual front and rear axles 23, 24 and the ground 5 are used as the basis for the computational simulation.
  • the dummies 21, 22 represent the virtual wheels mentioned only visually, but do not fulfill their physical function.
  • a virtual operating friction force F v is determined as one of the output variables in the computational driving simulation. In normal mode, the virtual operating friction force F v is set equal to the uncorrected operating friction force F b in amount and direction.
  • the driving behavior of the toy vehicle 1 is consequently simulated in the control unit 3 under the local influence of the operating friction force F b corresponding to a static friction force.
  • the control output signals corresponding to the arithmetically determined virtual operating friction forces F v are generated in such a way that the toy vehicle 1 executes a driving movement according to the arithmetical driving simulation.
  • the uncorrected operating friction force F b is set in the amount and direction to the virtual sliding friction force F g , which leads to a correspondingly limited forward acceleration.
  • the simulation ratios for the simple case of longitudinal acceleration are described above.
  • Fig. 3 the toy vehicle 1 after Fig. 1 in cornering.
  • the toy vehicle 1 moves at a certain forward speed along a driving curve 27 with a local curve radius r around an assigned local center point M.
  • An arbitrary reference point can be selected on the toy vehicle 1 for determining the local movement and force relationships.
  • the center of gravity S of the toy vehicle 1 is selected as the reference point.
  • the center of gravity S moves in the direction of a tangent t to the driving curve 27 at a specific speed.
  • This speed and the local curve radius r result in a centripetal acceleration a y directed towards the center point M and an associated transverse force F y directed radially outwards. Both can be determined in the context of the computational driving simulation carried out by means of the control unit 3.
  • a longitudinal acceleration a x can also be carried out, which in this example is directed backwards and thus corresponds to a braking maneuver.
  • An opposing longitudinal force F x corresponds to this, the longitudinal acceleration a x and the longitudinal force F x corresponding to the procedure FIG. 1 be determined.
  • the longitudinal and lateral accelerations a x , a y can be vectorially combined to form an uncorrected operating acceleration ab.
  • the same also applies to a vectorial addition of the longitudinal force F x and the transverse force F y to the uncorrected operating friction force F b .
  • the same conditions apply as for the uncorrected operating friction force F b acting in the longitudinal direction according to FIG 1, 2 :
  • the control unit 3 generates control output signals from the computational driving simulation and supplies them to the drive and the steering device of the toy vehicle 1 in such a way that the toy vehicle 1 executes a driving movement in accordance with the computational driving simulation mentioned.
  • Fig. 3 it can also be seen that the longitudinal axis 10 of the toy vehicle 1 in the normal mode shown here lies at a first angle ⁇ to the local tangent t of the driving curve 27.
  • This first angle ⁇ can be determined for any reference point of the toy vehicle 1.
  • the center of gravity S of the toy vehicle 1 is selected here as a reference point.
  • the angle ⁇ depends on the underlying steering geometry of the virtual front axle 23 and the virtual rear axle 24. In the exemplary embodiment shown, it is assumed that the virtual front axle 23 can be steered, while the virtual rear axle 24 maintains its orientation relative to the toy vehicle 1.
  • the first angle ⁇ between the vehicle longitudinal axis 10 and the tangent t has the value zero and increases with increasing distance to the virtual rear axle 24.
  • the first angle ⁇ assumes its maximum in the area of the virtual front axle 23.
  • a steerable virtual rear axle 24 is used as the basis for the driving simulation.
  • such a first angle ⁇ can be determined for a specific reference point, here the center of gravity S, for the normal mode shown here.
  • the calculated uncorrected operating friction force F b exceeds the virtual limit friction force F m ( Fig. 2 ), so that the slip mode now comes into play in the calculated driving simulation.
  • the virtual sliding friction force F g ( Fig. 2 ) as the virtual operating friction force F v , whereby however a lateral force direction component comes into play.
  • the vehicle can now move laterally or transversely to the tangent t.
  • the radius r can become larger up to ⁇ , which corresponds to a so-called understeer.
  • the vehicle longitudinal axis 10 can also be converted from the first angle ⁇ into a second angle ⁇ to the local tangent t of the driving curve 27 in the simulated slip mode.
  • a case is exemplified in Fig. 4 shown.
  • the position of the longitudinal vehicle axis 10 ′ is inclined to the inside of the curve by the second angle ⁇ , which corresponds to the so-called oversteer or drift.
  • This case can also be represented by means of the control unit 3 in the arithmetic driving simulation in the slip mode and converted into corresponding control output signals, in which case the toy vehicle 1 actually takes the corresponding cornering, depicting oversteering or understeering according to 3 and 4 performs.
  • the speeds and accelerations are so limited that there is actually no slipping between the rolling elements 6, 8 ( Fig. 5 ff.) of the toy vehicle 1 and the underground 5 takes place.
  • the toy vehicle 1 executes a driving movement predetermined by the control unit 3, which gives a realistic impression as if the toy vehicle 1 were rolling or slipping on its wheel dummies when understeering or oversteering, braking and / or accelerating.
  • the computational simulation and the driving movement of the toy vehicle 1 derived therefrom can also reverse angular accelerations include the vertical axis and transient transitions between different driving conditions.
  • the computational driving simulation can be refined as desired and converted into a corresponding driving movement of toy vehicle 1.
  • this also includes a limitation of the possible speeds.
  • the distinction between static and slip friction, that is to say between normal and slip mode, can be carried out individually for each dummy wheel 21, 22 in order, for example, to take account of distributions of the individual wheel loads that change depending on the situation.
  • Simplifications are also possible, however, in which these distinctions are only made for each virtual front or rear axle 23, 24 or for the toy vehicle 1 in its entirety.
  • fictitious reference points can also be chosen as replacements.
  • the same simulation principle can be transferred to vehicles without wheels in an analog way.
  • the virtual limit adhesive force F m which acts as a switchover signal between the two operating modes, does not have to be set to a specific amount.
  • You can e.g. B. may be different depending on the direction, accordingly different limit values for a forward acceleration, a braking maneuver, and / or laterally acting centripetal accelerations are applied.
  • the virtual limit adhesive forces F m can be changed during operation.
  • z. B. progressive tire wear or driving on different surfaces with different adhesive properties can be simulated.
  • the toy vehicle 1 can, for example, be provided with a detector (not shown) which recognizes a section of the route which is to be regarded as particularly slippery and which, as a result, brings about a reduction in the already reduced virtual limit adhesive force F m .
  • switching between the two Operating modes cannot be carried out on the basis of the computational driving simulation described above. Rather, it may be sufficient to carry out this changeover automatically, for example, based on the fulfillment of simple logical conditions (if-then conditions) or on the basis of a signal given by the user (actuation of a control function), any combination of computational simulations, logic functions and / or user signals comes into consideration. In extreme cases, it can be sufficient within the scope of the invention to bring the longitudinal axis of the vehicle out of parallel with the local direction of movement and thereby to give the impression of a drift movement, in particular when cornering.
  • Fig. 5 shows a perspective bottom view of a first embodiment of the toy vehicle 1 according to the 1 to 4 with the body removed.
  • a chassis 25 carries on its surface 5 ( Fig. 1 ) two drive units 13, 14 facing during operation.
  • One drive unit 13 is positioned in the direction of the vehicle longitudinal axis 10 in front of the center of gravity S of the toy vehicle 1, while the second drive unit 14 lies behind it.
  • the front drive unit 13 comprises a pair of rolling elements 6, which can be driven to rotate coaxially to one another about a common axis of rotation 7.
  • the two rolling elements 6 are designed here as a friction wheel and for a frictional drive of the toy vehicle 1 relative to the ground 5 ( Fig. 1 ) designed.
  • a drive motor 11 acting jointly on both rolling elements 6 is provided.
  • Both drive units 13, 14 are each provided with their own steering device which can be actuated independently of one another and by means of which the orientation directions of the axes of rotation 7, 9 can be adjusted about a respective vertical steering axis 16 relative to the longitudinal axis 10 of the vehicle. Details of these steering devices result from the Synopsis of the 5 and 6 , in which Fig. 6 a perspective top view of part of the arrangement Fig. 5 with the rear drive unit 14 missing. From the synopsis of these two 5 and 6 it can be seen that the two steering devices each comprise a bogie 15 with a vertical steering axis 16 and each with an associated steering drive 17.
  • the front drive unit 13 and the front bogie 15 are referred to below, but the same applies analogously to the rear drive unit 14 with the rear bogie 15.
  • the two rolling elements 6 are mounted on the bogie 15 with their horizontal axis of rotation 7.
  • the associated drive motor 11 is also mounted on the bogie 15. In the event of a steering movement about the vertical longitudinal axis 16, the entire bogie 15, including the two rolling elements 6, its axis of rotation 7 and the drive motor 11, rotates.
  • the steering drive 17 is fixedly mounted on the chassis 25 and acts on the bogie 15 via gear wheels in such a way that it carries out a steering swiveling movement about the vertical or steering axis 16.
  • a reverse embodiment may be possible, in which the steering drive 17 is mounted on the bogie 15 and rotates together with it.
  • the rear drive unit 14 with the bogie 15, which is constructed in an analogous manner, here even in a mechanically identical manner, can be driven and steered independently of the front drive unit 13 with the bogie 15.
  • the chassis 25 in the area of the virtual front axle 23 and also in the area of the virtual rear axle 24 each carries a pair of dummy wheels 21, 22.
  • the two wheel dummies 22 of the virtual rear axle 24, which are arranged on both sides of the longitudinal axis 10, have a fixed orientation relative to the chassis 25 and are therefore not steerable.
  • the two wheel dummies 21 attached in an analogous manner in the region of the virtual front axle 23 to the chassis 25 are designed to steer freely, in contrast to this, only a single wheel dummy 21 with steering deflection being shown here for a better overview.
  • a pivot bearing with caster for the front wheel dummies 21 is provided.
  • the front wheel dummies 21 thus align themselves automatically in the respective direction of travel.
  • active steering of the front wheel dummies 21 with its own steering drives can also be considered.
  • a steering movement can also be dispensed with for simplification.
  • the wheel dummies 21, 22 are dummies insofar as they have the external appearance of wheels, but not their function of tracking and / or Exercise drive. They are resiliently mounted on the chassis 25 and / or mounted high with respect to the rolling elements 6, 8 in such a way that they either do not support the base 5 during operation or at most with only slight contact forces. Fig. 1 ) touch. On the contrary, due to its center of gravity S lying between the two drive units 13, 14, the toy vehicle 1 stands up on the ground 5 with its rolling elements 6, 8 in such a way that the vast majority of the acting weight forces are borne by the rolling elements 6, 8.
  • drives are thus formed, by means of which the rolling elements 6, 8 transmit frictional forces to the ground 5 in such a way that the toy vehicle 1 is driven.
  • the rolling elements 6, 8 are provided with friction-increasing tires, for example made of rubber or comparable elastomer materials.
  • the wheel dummies 21, 22 from materials with low coefficients of friction, such as hard plastic or the like, in order to generate the lowest possible frictional forces in the event of contact with the ground, thereby falsifying the drive and steering effects generated by the drive units 13, 14 the ground contact of the wheel dummies 21, 22 is reduced to a minimum or even completely switched off.
  • a special feature is that the axial distance between the two rolling elements 6 on the front axis of rotation 7 and also the axial distance between the two rolling elements 8 on the rear axis of rotation 9 is optionally significantly smaller than the width of the chassis 25. that the rolling elements 6, 8 and the position of their axes of rotation 7, 9 are practically not visible or extremely limited during operation. This effect can also be intensified in that the two drive units 13, 14 are each arranged between a pair of dummy wheels 21, 22.
  • any movement of the toy vehicle 1 according to the 1 to 4 including simulated or otherwise initiated slip movements can be achieved by coordinated control of the two drive units 13, 14 and the corresponding steering devices.
  • any movement of the toy vehicle 1 according to the 1 to 4 are carried out, these driving movements actually taking place by rolling the rolling elements 6, 8 more or less non-slip on the ground, while at the same time the visual impression of a sliding movement can be generated.
  • the angles ⁇ , ⁇ can be determined independently of one another for the virtual front axle 23 and the virtual rear axle 24. If the drive units 13, 14 as in the 5, 6 are positioned more or less precisely on the virtual front axle 23 or the virtual rear axle 24, their axes of rotation 7, 9 are pivoted by the respective angle ⁇ , ⁇ . In conjunction with a suitable rotational speed of the rolling elements 6, 8, the toy vehicle 1 then executes a driving movement in accordance with the above-described computational driving simulation, as also in FIGS 1 to 4 shown.
  • a mathematical correction of the angular position of the drive units 13, 14 can be carried out such that the virtual front axle 23 and also the virtual rear axle 24 execute movements in their respectively assigned angles ⁇ , ⁇ .
  • these driving movements are brought about essentially exclusively by the two drive units 13, 14 with the associated steering devices under the action of static friction between the rolling elements 6, 8 and the ground 5, without the wheel dummies 21, 22 playing a significant role.
  • the front and rear axles 23, 24 are therefore also referred to here as "virtual", since they have no significant influence on the actual driving situation.
  • the virtual limiting adhesive force F m should be smaller than the maximum frictional force that can actually be transmitted to the substrate 5 by means of the drive elements 6, 8. From the above explanations, this requirement is specified: The virtual limiting adhesive force F m should be smaller than the frictional force between the drive elements 6, 8 and the surface 5, which is required for its mapping during driving operation. This ensures that both the normal mode and the Slip mode can be represented by means of the drive elements 6, 8 in pure static friction operation.
  • Fig. 7 shows a perspective top view of a variant of the embodiment according to the 5 and 6 with only one central bogie 15.
  • the existing one Steering drive 17 ( Fig. 6 ) is not shown here for a better overview.
  • the steering device corresponds in structure and function to the design as it is in connection with the 5 and 6 is described.
  • the drive concept deviates from this:
  • the bogie 15 does not have a pair of jointly driven rolling elements. Rather, there is a first rolling element 6 and a second rolling element 8, each of which can be driven independently of one another by an associated drive motor 11, 12.
  • the drive motors 11, 12 shown only schematically here are fastened to the chassis 25 in accordance with a preferred embodiment, but can also, as in the exemplary embodiment according to FIGS 5 and 6 be arranged on the bogie 15.
  • the two rolling elements 6, 8 are designed in the form of wheels, their two assigned axes of rotation 7, 9 being at least axially parallel, in the exemplary embodiment shown even coaxially to one another. In addition, they are axially spaced from one another in relation to these axes of rotation 7, 9.
  • the bogie 15 is positioned on the chassis 25 such that the center of gravity S of the toy vehicle 1 lies as precisely as possible centrally between the two rolling elements 6, 8 on the axes of rotation 7, 9. Conversely, this means that the center point between the two rolling elements 6, 8 is as close as possible to the center of gravity S of the toy vehicle 1.
  • the acting weight forces are almost completely borne by the rolling elements 6, 8.
  • the wheel dummies 21, 22 support the toy vehicle 1 in the desired horizontal position, which, however, only requires negligible contact forces. It also applies here that the common adjustment of the orientation of the axes of rotation 7, 9 about the vertical steering axis 16 in conjunction with an independent drive of the two rolling elements 6, 8 enables any travel movements to be carried out in accordance with FIG 1 to 4 can be brought about, regardless of the orientation or steering angle of the wheel dummies 21, 22nd
  • Each drive unit 13, 14 carries only a single associated rolling element 6, 8, which is not designed as a pair of wheels but as a ball.
  • the rolling elements 6, 8 designed as balls protrude downward from the chassis 25 and thereby the function of the rolling elements 6, 8 according to the 5 and 6 exercise.
  • Each drive unit 13, 14 comprises at least one first drive shaft 18 and at least one second drive shaft 19 positioned orthogonally thereto and associated drive motors 11, 12.
  • a pair of first and second drive shafts 18, 19 is provided for each drive unit 13, 14 , which engage in opposing pairs on the spherical surface 20 of the rolling element 6, 8.
  • the spherical rolling elements 6, 8 located in between are fixed both in the longitudinal direction and in the transverse direction and that the drive shafts 18, 19 always provide a sufficient drive torque under corresponding loads.
  • a hold-down 26 is arranged above each spherical rolling element 6, 8, which counteracts the contact forces acting during operation.
  • Fig. 1 Schematically indicated coordination unit 28 for a coordinated speed adjustment of the first and second drive shafts 18, 19.
  • the coordination unit 28 is according to Fig. 1 arranged in the remote control transmitter 2 and can be part of the control unit 3 described above. Alternatively, a separate coordination unit 28 can also be provided in the toy vehicle 1 and integrated there, for example, in the receiver 4 or in the drive units 13, 14.
  • the position of the rotary axes 7, 9 relative to the toy vehicle 1 can be adjusted and varied independently of one another by coordinated speed coordination of the first and second drive shafts 18, 19 in both drive units 13, 14, so that drive and steering movements are analogous to the exemplary embodiment according to FIGS 5 and 6 enter.

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Toys (AREA)
  • Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
EP16727953.8A 2015-05-26 2016-05-27 Spielfahrzeugsystem Active EP3302743B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE202015003807.7U DE202015003807U1 (de) 2015-05-26 2015-05-26 Spielfahrzeugsystem
PCT/EP2016/000882 WO2016188638A2 (de) 2015-05-26 2016-05-27 Spielfahrzeugsystem

Publications (2)

Publication Number Publication Date
EP3302743A2 EP3302743A2 (de) 2018-04-11
EP3302743B1 true EP3302743B1 (de) 2019-12-18

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EP16727953.8A Active EP3302743B1 (de) 2015-05-26 2016-05-27 Spielfahrzeugsystem

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US (1) US10232277B2 (zh)
EP (1) EP3302743B1 (zh)
JP (1) JP2018522691A (zh)
CN (1) CN107624077B (zh)
DE (1) DE202015003807U1 (zh)
ES (1) ES2776463T3 (zh)
HK (1) HK1250022A1 (zh)
WO (1) WO2016188638A2 (zh)

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WO2020042062A1 (zh) * 2018-08-30 2020-03-05 深圳市大疆创新科技有限公司 地面遥控机器人的漂移控制方法、装置及地面遥控机器人
US20220314965A1 (en) * 2021-03-31 2022-10-06 Honda Motor Co., Ltd. Systems and methods for stabilizing a vehicle on two wheels
JP2022184154A (ja) * 2021-05-31 2022-12-13 双葉電子工業株式会社 模型自動車の操舵機構、及び操舵用サーボモータ
CN117502411A (zh) * 2023-12-25 2024-02-06 山东省林业科学研究院 一种林业防护专用活动式喷雾设备

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JPS63153089A (ja) * 1986-12-16 1988-06-25 株式会社　バンダイ 走行玩具
JP3469630B2 (ja) * 1994-05-25 2003-11-25 株式会社ニッコー 走行玩具
US5924512A (en) * 1994-12-14 1999-07-20 Fuji Electric Co., Ltd. Omnidirectional vehicle and method of controlling the same
WO2005079255A2 (en) * 2004-02-13 2005-09-01 Big Monster Toys, Llc Apparatus and method for gyroscopic steering
US20080268747A1 (en) * 2007-04-24 2008-10-30 Reynolds Ellsworth Moulton Motion sensor activated interactive device
US8142254B1 (en) * 2009-08-26 2012-03-27 G2 Inventions, Llc Toy vehicle
US20130109272A1 (en) * 2011-10-31 2013-05-02 Stephen M. RINDLISBACHER Method of Controlling a Vehicle or Toy via a Motion-Sensing Device and/or Touch Screen
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US20140227941A1 (en) * 2013-02-08 2014-08-14 J-Marketing Co., Ltd. Swing buggy toy model
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Publication number Publication date
CN107624077A (zh) 2018-01-23
DE202015003807U1 (de) 2015-06-10
CN107624077B (zh) 2020-07-10
WO2016188638A2 (de) 2016-12-01
HK1250022A1 (zh) 2018-11-23
EP3302743A2 (de) 2018-04-11
US20180078868A1 (en) 2018-03-22
JP2018522691A (ja) 2018-08-16
ES2776463T3 (es) 2020-07-30
US10232277B2 (en) 2019-03-19
WO2016188638A3 (de) 2017-01-19

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