ES2586944T3 - Toy vehicle with a tactile response - Google Patents

Abstract

A toy vehicle comprising: a motor (240, 240a, 240b, 404) configured to cause a movement of an element (402) of said toy, said movement of said element (402) further accessible for manipulation by a human to turn said motor (240, 240a, 240b, 404) in turn; and a processor (406) characterized in that the processor (406) is configured to detect a counter-electric force ("EMF") voltage generated by the driving of said motor (240, 240a, 240b, 404) due to said manipulation by a human both in a direction equal to a direction of rotation of the motor-controlled element and in a direction opposite to the direction of rotation of the motor-controlled element, and said processor (406) is further configured to include at least two states (408); and said processor (406) comprising a function configured for the transition between the states when said detected counter-electric force voltage reaches a predetermined value (412).

Description

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DESCRIPTION

Toy vehicle with a tactile response Field of the invention

The present invention relates to a toy vehicle and more particularly to a toy monopatm. Background of the invention

Toy skateboards have been a pillar in children's toys for several years. Toy skateboards are often referred to as finger boards because the user of the toy skateboards uses two of their fingers in the operation of the toy. An expert toy skateboard operator is able to replicate the skateboarding maneuvers with his hands. These skateboards are very popular but have become stagnant in their ability to reach a wider audience since their introduction in the 1990s.

As a result, several types of toy skateboards have been proposed. Such skateboards range from simple rope toy skateboards with mounted figures, to the most advanced radio-controlled toy skateboards with figures that can be controlled to some extent to portray body movement during skateboarding and acrobatics maneuvers. These motorized skateboards typically include mobile bat packages, interchangeable engine positions, and interchangeable wheel weights to provide different balance centers to adjust the performance of various maneuvers. Additionally, some motorized skateboards include a drive mechanism but not the steering mechanism. Therefore, the monopatm is only maneuverable through the movement of the body of the figure, as in a real monopatm, and therefore the control of the monopatm may be less than convenient, especially for the less advanced skill levels. With this need, a toy monopatm must be provided that offers the enjoyment of both a motorized toy monopatm and a non-motorized toy monopatm with a simple control system that allows the performance of several maneuvers without having to use a toy figure .

Moreover, the direct motor drive device is known as described in EP0567695A1. EP0567695A1 describes a direct current motor drive device for driving a direct current motor applied to mobile toys. This device is capable of identifying a counter-electric force generated by the direct current motor through the rotation of the motor caused by an external force in a direction opposite to its direction of rotation of drive.

Summary of the invention

The present invention provides a toy vehicle according to claim 1.

Brief description of the drawings

A more complete understanding of the above can be done with reference to the attached drawings, where:

Figure 1 is a perspective view of a toy monopatm illustrating a pair of front and rear axles;

Figure 2 is an exploded view of the toy monopatm of Figure 1;

Figure 3A is a partial exploded view of the platform of the toy monopatm of Figure 1 illustrating a front axle unit and a motorized rear axle unit in accordance with an embodiment of the present invention;

Figure 3B is a bottom view of the toy monopatm of Figure 3A;

Figure 4A is a perspective view of one of the non-motorized shaft units according to an embodiment of the present invention;

Figure 4B is an exploded view of Figure 4A in accordance with an embodiment of the present invention;

Figure 4C is a view from below of the unit of Figure 4B in accordance with an embodiment of the present invention.

Figure 5A is a perspective view of a motorized toy monopatm in accordance with an embodiment of the present invention.

Figure 5B is a bottom view of the motorized toy monopatm of Figure 5A in accordance with an embodiment of the present invention;

Figure 5C is a bottom view of the motorized toy monopatm of Figure 5A in accordance with an embodiment of the present invention;

Figure 6 is a side view of the toy monopatm platform of Figure 1 which is further illustrated with the non-motorized axle units compared to a non-motorized front axle and unit and motorized rear axle unit to further illustrate the two configurations in accordance with an embodiment of the present invention;

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Figure 7A is a perspective view of the motorized rear axle unit assembled in accordance with an embodiment of the present invention;

Figure 7B is a bottom view of the assembled motorized rear axle unit of Figure 7A in accordance with an embodiment of the present invention;

Figure 8 is an exploded view of the motorized rear axle unit of Figure 7A in accordance with an embodiment of the present invention;

Figure 9 is a partial exploded view of the motorized rear axle unit of Figure 7A in accordance with an embodiment of the present invention;

Figure 10 is a perspective view of the housing of the motorized rear axle unit of Figure 7A in accordance with an embodiment of the present invention;

Figure 11 is a partial perspective view of the gear housing compartment of the motorized rear axle unit of Figure 7A in accordance with an embodiment of the present invention;

Figure 12 is an exploded view of the gear housing compartment of Figure 11 in accordance with an embodiment of the present invention;

Figure 13 is a side perspective view of the assembled motorized rear axle unit of Figure 7A in accordance with an embodiment of the present invention;

Figure 14A is an electrical schematic drawing of a motorized toy monopatm according to an embodiment of the present invention illustrating the use of direct wiring to activate different functional states in the vehicle;

Figure 14B is an electrical schematic drawing of a motorized toy monopatm in accordance with an embodiment of the present invention;

Figure 15 is an electrical schematic drawing of a motorized toy monopatm according to an embodiment of the present invention illustrating the use of a lifting component to activate different states of functionality in the vehicle;

Figure 16 is an electrical schematic drawing of a motorized toy monopatm according to a

embodiment of the present invention illustrating the use of a FET component to activate different states of

functionality in the vehicle;

Figure 17 is an electrical schematic drawing of a motorized toy monopatm according to a

embodiment of the present invention illustrating the use of a component of a polarization resistor for

activate different functionality states in the vehicle;

Figure 18 is an electrical schematic drawing of a motorized toy monopatm according to an embodiment of the present invention illustrating the use of a component of a series of resistors to activate different states of functionality in the vehicle;

Figure 19 is a perspective view of a monopatm having clips to secure the motorized shaft unit to the platform;

Figure 20A is a perspective view of a monopatm having a weight for coupled tricks;

Figure 20B is a perspective view of the monopatm of Figure 20A with the weight for the tricks removed from the platform of the monopatm;

Figure 21A is a box diagram of an embodiment of a toy showing a processor that monitors one or more motors for a manually generated counter-electric force voltage;

Figure 21B is a box diagram of an embodiment of another toy showing a processor that monitors one or more motors for a manually generated counter-electric force voltage;

Figures 22A-22E illustrate various embodiments of toy skateboards that have various housing configurations for the different compartments of the batter;

Figure 23 is a diagram depicting a transmitter according to an embodiment of the present invention for use with a motorized toy monopatm;

Figure 24 is an electrical schematic drawing of a remote control unit in accordance with an embodiment of the present invention for use with a motorized toy monopatm;

Figure 25 is a block diagram for a transmitter in accordance with an embodiment of the present invention for use with a motorized toy monopatm;

Figure 26A is an electrical schematic drawing of a motorized toy monopatm according to an embodiment of the present invention illustrating the use of a CD to CD switch to vary the voltage supply supplied to the motors;

Figure 26B is an electrical schematic drawing of a motorized toy monopatm according to an embodiment of the present invention illustrating the use of a CD to CD switch to vary the voltage supply supplied to the motors;

Figure 27 is a flow chart for a monopatm according to an embodiment of the present invention;

Figure 28 is a flow chart for a system in a monopatm according to an embodiment of the present invention for establishing the voltage and bridge circuits in H;

Figures 29A - 29C illustrate a current waveform in the motor at three different PWM frequencies, 10 kHz, 100 kHz, and 1000 kHz;

Figure 30 is an electrical schematic drawing of a simplified H bridge motor actuator with four drive transistors and four return diodes connected to a motor;

Figure 31 is an electrical schematic drawing of a pair of simplified H-bridge motor actuators each connected to a pair of motors that are resistively further connected to provide additive EMF detection according to a feature of the present invention; Y

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Figure 32 is an electrical schematic drawing of the equivalent circuit of a pair of simplified H-bridge motor actuators each connected to a pair of motors that are resistively further connected to provide additive EMF detection according to a characteristic of the present invention when none of the drive MOSFET transistors are energized.

Detailed description of the figures

Although the invention can be applied to embodiments in many different forms, they are shown in the figures and will be described in detail herein in the various embodiments of the present invention. It should be understood, however, that the present description should be considered an example of the principles of the invention and is not intended to limit the scope of the invention.

With reference now to the drawings, and to Figures 1 to 3B in particular, a toy monopatm according to an embodiment of the invention is illustrated and is generally designated as the number 100. The toy monopatm 100 includes a platform 102 with a upper surface 103 and a lower surface 104. As illustrated in Figures 1 and 3A, the monopatm 100 includes a front axle unit 110 secured towards the front end 106 of the platform 102 and a rear axle unit 120 or a unit of motorized rear axle 200 secured towards rear end 108 of platform 102. The axles are secured to platform 102 with fasteners 109 that the operator can easily remove. The front and rear non-motorized axle units 110 and 120 can be configured the same as the others, however, the orientation of the axle units can be reversed.

Referring now to Figures 4A to 4C, one of the non-motorized axle units (110/120) is illustrated, which includes an axle housing support 122 with a pair of axes 124 extending transversely to the platform 102 and through the support 122. The wheels 126 are mounted separately at the opposite ends of the pair of axles 124 and are secured on the axles by a nut 128. Preferably, the wheels 126 rotate independently of each other so that the monopatm can handle the turns without locking. The nut 128 can be replaced with a more general retainer that allows the user to replace or exchange the wheels to customize the monopatm. The support 122 is coupled to a base plate 130, which is secured to the bottom surface 104 of the platform 102. The base plate 130 includes a pivot cup 132 (Figure 4C) that receives a pivot member 134 extending from the support 122. A main pin 136 is placed in a hole 140 in the base plate and is aligned through an opening 142 in the support 122 with a main pin nut 138 that is secured at the end; and a pair of bushings 144 are positioned on each side of the opening 142 in the support 122.

An important aspect for one or more embodiments of the present invention is that platform 102 is relatively small in thickness over the entire length of the table. This allows the platform 102 to be used by an operator as illustrated in Figure 1 without an engine unit or controlled with a remote control unit when the rear axle unit 120 is removed and replaced with a rear axle unit motorized 200. As such, the motorized rear axle unit 200 is completely independent. As found in the prior art, motorized toy skateboards include one or more components on a large constructed platform. These components can be bats, circuit boards, mechanical links, motors, and / or gears. As illustrated in the present description, the motorized rear axle unit 200 is completely independent and therefore can be easily removed and exchanged with a non-motorized rear axle unit 120.

Referring now to Figures 5A through 6, the monopatm 100 is illustrated with a front axle unit 110 and a motorized rear axle unit 200 in accordance with an embodiment of the present invention. As foreseen in the present description, when the monopatm 100 is used with the motorized rear axle unit 200 it still rests on the surface in a similar configuration as if the monopatm 100 included a non-motorized rear axle unit 120 (see Figure 6) and it does so without having to place any of the components in a large size platform unit. However, when motorized, the maneuverability of the monopatm 100 can be controlled by an operator through a remote control unit 300. Therefore, two complete game patterns are developed. First, by using a non-motorized shaft unit 120, the monopatm 100 can be used as a typical finger board. Second, by removing the fasteners 109, the non-motorized shaft unit 120 can be removed and replaced with the independent motorized shaft unit 200, and then secured to the platform with the same fasteners 109.

Referring now to Figures 7A to 12, the motorized rear axle unit 200 includes a housing 202 that is elongated with an upper surface 204 or upper profile 203 substantially coinciding with the lower surface 104 of the platform 102 that helps maintain all components substantially below the lower surface of the platform and allows the pair of rear wheels 206 to align substantially along a similar plane as the front wheels 126 when the wheels rest on a surface. A holding plate 210 is positioned under a portion 205 of the upper surface 204 of the housing 202. The portion 205 of the upper surface 204 includes the openings 207 that align with the threaded openings 209 in the holding plate 210 and that are aligned with the rear openings through the platform 102 so that the

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fasteners 109 can easily secure and release the entire housing 202 by the fastening plate 210, and therefore be configured to release or secure the rear motor shaft unit 200.

The housing 202 includes a gear housing compartment 220, a first compartment of the drum 222 forward of the gear housing compartment 220, and includes a second compartment of the drum 224 toward the rear of the gear housing compartment 220. The first compartment of the baton 222 accommodates a first baton 214 in front of the gear housing compartment 220, while the second compartment of the battan 224 accommodates a pair of battens 214 towards the rear of the gear housing compartment 220. The first and second compartments of the baton is accessible from below the housing 202 and secured with doors for the batts 226. The battens are connected to a circuit board 230 through several wires 228. To help secure the wires 228 in place the second compartment of The baton 224 may include a stand of the baton 225 secured on the compartment 224.

The housing 202 also includes a front window 232 for the placement of an IR sensor 234 which is in communication with the circuit board 230; its control can be shown and illustrated in the electrical diagram of Figure 14. The IR sensor 234 is positioned to receive the signals from the remote control unit 300. From a top view, the circuit board 230 is positioned on the front window 232 with a PCB coating 240 secured on circuit board 230 and secured to a front section of housing 202. Since all components are positioned within the housing and below the bottom surface of the platform, the IR sensor 234 is positioned to receive the signals from the remote control unit 205 that bounce from a surface S. Additionally, the IR transmitter 305, from the remote control unit 300, tilts down to help ensure that the signal is shrouded. down towards the surface.

The gear housing compartment 220 contains a pair of rotating motors 240 that drive each of the rear wheels 206 separately. Each motor 240 includes a drive gear 242 that engages a gear reducer 244 and which also engages a wheel axle gear 246 that is capable of rotating freely on a rear axle 248. The rear axle 248 extends through the housing 202 transversely to the platform 102. A pin 250 is used to rotatably secure the gear reducer 244 to the gear housing compartment 220. The wheel axle gear 246 also includes an end key 252 with an external profile 254 that coincides with an internal profile 256 positioned on a wheel hub 258. A tire 260 it is positioned on the wheel hub 258 to create the rear wheel 206. The gear housing compartment 220 includes a gear housing coating lower 262 that secures the components in place.

Referring now to Figure 13, as indicated above, the housing 202 defined by the motorized rear axle unit 200 includes a profile of the upper surface 203 to match the lower surface 104 of the platform 102, as such the housing It includes a rear portion of the second compartment of the baton 224 that tilts from a horizontal position at an angle between 10 and 45 degrees and more particularly at approximately 22 degrees to match the recovery angle at the rear end 108 of the platform.

As defined in several embodiments herein, the remote-powered bat-fed monopatm is defined as a finger board toy monopatm approximately 4 inches long. Fully positioned below the bottom surface of the platform are the bats, motors, gears, and circuit board. The engines can be small cylinder engines 6 mm in diameter by 11 mm long. Each engine independently controls a rear wheel. A high efficiency gear reduction provides a drive speed of about 1 meter per second. The circuit board receives power from the battery, receives infrared signals from the remote control device, and controls the motors through the use of a processor, CD-CD switch, H-bridges and software.

It is convenient in one or more embodiments to provide a toy monopatm that is both fast and capable of climbing steep ramps. Various game patterns and accessories in the field require various attributes for the motorized toy monopatm to function properly. Several maneuvering capabilities include the ability to drive forward or backward, turn broadly in all four directions, turn left or right, and climb hills from a stop position at the base of the hill and from a position of movement.

The placement of all components under the monopatm platform has two specific advantages. First this hides them from the user's vision line, making the monopatm look like a normal driverless monopatm. Second, keeping the center of gravity as close to the ground as possible reduces the rolling forces in the monopatm when turning. The reduction of rolling forces will help keep the monopatm completely in contact with the ground and improve maneuverability and control.

Constant repeatable performance will be critical for the user. Typical products energized by battens move faster when bats are full and slower when bats are almost exhausted. This

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The practice of tricks is more difficult since the user will have to adjust their time to the current level of the bat. Additionally, some maneuvers may not be possible at the lower levels of the bat. To eliminate this problem, a constant voltage is generated and supplied to the motors. This constant voltage will cause all maneuvers and tricks to be synchronized constantly from when the bat is complete and until the bat is used up. Elevator circuits, known to those skilled in the art, are used for logic supply circuits that require a narrow voltage range to function. In this application where the motor current is relatively low, it is possible to use low-cost lifting circuits to energize the two motors. The reducing circuits, known to those skilled in the art, can also be used to provide a constant and repeatable motor voltage. The choice of the reduction circuit against the elevator 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. Any option of the type of converter falls within the scope and spirit of the present invention.

The remote control for the toy monopatm will have the usual forward / reverse and right / left controls. In another embodiment, the remote control employs "tank" control, with the left controls to control the left propulsion and the right controls to control the right propulsion. In an alternative embodiment, 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 somewhat more complex. Once the trick command is received, the user controls are disabled. In another embodiment, the user controls may allow the user to perform a half of a trick followed by their own movement if their synchronization is good. Performances that override the trick end may be better for younger users. In another embodiment, holding down the trick play button causes the trick to be repeated. In an additional embodiment, the remote control has a recording button. When the recording function is started, each button pressed by the user is transmitted and registered simultaneously until the recording button is pressed again. In this case, when the trick button is pressed, the registered movements are transmitted to the toy monopatm, which performs a trick maneuver generated from a personalized user.

The forward drive can be modified by the addition of a weight 350 at the rear end of the toy skateboard as shown in Figure 20B. This weight displaces the center of gravity of the stern, which allows the skateboard 100 to raise the front wheels 126 from the ground when accelerated. Depending on the amount of weight, location of weight 350, and the configuration of the toy skateboard 100, the front wheels 126 can be kept off the ground while the skateboard 100 continues forward.

The one-turn drive involves turning the rear wheels 206 in opposite directions. This causes the toy monopatm to rotate around a center of rotation. The center of rotation is a function of the center of the driving wheels 206, the center of gravity, and the resistance created by friction and load on the wheels 206, 126. The addition of weight 350 at the rear end of the toy skateboard Modify the turn. When weight 350 is present, the center of gravity moves aft and the load is transferred outside the front wheels. This causes the toy monopatm to rotate around a point very close to the rear wheels 206, which significantly increases the speed of rotation.

The two functions of adding a rear weight can be carried out by the same weight 350, hereinafter referred to as a weight for tricks 350.

In another embodiment of the present invention, the toy monopatm 100 is not used with an on / off switch. To turn on the toy monopatm 100, the operator can push or roll the toy monopatm 100 forward while on a support surface. This "On" function simplifies the use, feels more real for children, and reduces the cost. Once it is turned on, the toy monopatm 100 immediately makes an easily recognizable preprogrammed motion pattern to indicate that it is on. In one embodiment, the pattern is to drive forward for a predetermined amount of time. In another embodiment, the monopatm 100 turns to the right, then to the left several times. In one embodiment, the ignition pattern can be initiated immediately after detection. In another embodiment, the ignition pattern is delayed until the user stops rolling the toy. In this embodiment, the delay improves the recognition of a successful ignition, and is more visually appealing. In yet another embodiment, the motors can be driven in a pattern to create a haptic response that the user can feel. In one embodiment, the detection of a forward bearing is achieved by connecting one of the two motor cables 240 to an input of the processor 406. When the toy monopatm 100 is rolled, the wheels rotate, which causes the The motor 240 generates a counter-electric force voltage. The generated counter-electric force voltage is a function of the speed when the motor 240 is started and the specific design of the motor 240. As an example, voltages up to 1.5 v are easily generated, and voltages up to 3 v are generated with speeds Higher bearing Once the detected counter-electric force voltage reaches a predetermined value, such as 0.7 v, or the threshold voltage of an input pin of a processor 406 or transistor, or read a specific voltage by an analog to digital input, the processor 406 It is set to wake up from a sleep state. The monopatm circuit must be carefully designed to minimize current consumption during the suspension state. This power-up method eliminates the typical power button or switch, which reduces the cost.

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In another embodiment, the circuit connects both motor wires 240 to two separate processor input pins 406. In this way, both the forward and reverse bearings are detected by the processor 406. These bearing commands are recognized in a state of suspension, and at any time. The processor 406 monitors the input pins for both cables of the motor 240, when the motors 240 are not ordered to move, in this way, the processor 406 detects the user's bearing commands. In an alternative embodiment, this method is expanded to detect both motors 240 and both directions of motor 240. In this embodiment, the rotation of the monopatm can also be detected, and provides additional user input to improve control of the monopatm. In the embodiment, the processor 406 detects the bearing forward to wake up to the on state, and the bearing backward to turn it off to a suspended state.

In one embodiment the use of a plurality of controllers 300 to individually operate a plurality of skateboards 100 is incorporated. This is done by using channel address bits in the command signal issued from the controller 300 and received by the monopatm 100. In the embodiment, the transmitters 300 are factory set with specific channel designations. The channel designations are transmitted with each command by the controllers 300 comprising the channel addresses. When a monopatm 100 is turned on, it initially does not know which channel is intended to respond. However, it sets its channel address based on the first command it receives. In this way, a user can make a particular monopatm 100 respond to a particular controller 300 by ensuring that the first command of the monopatm 100 that is received after it is turned on comes from the desired controller 300.

As it may be, in the execution of the prior art a monopatm 100 may accidentally receive a first command from an unwanted controller, in this way its channel address is incorrectly set. In this case, the user only has to turn off the monopatm 100, and then turn on the monopatm 100, ensuring this time that he receives his first command from the desired controller 300. This can be repeated as necessary until proper pairing has been achieved.

The aforementioned technique requires a means to rotate the demand monopatm 100, and therefore, the embodiment provides a means where the monopatm 100 is suspended when it is rolled back by the user. The shutdown increases the duration of the bat even more. Since the bearing of the monopatm forward is associated with the shutdown, it is intuitive and therefore on condition that otherwise the device will be turned off. The haptic response of the ignition function of the monopatm 100 that moves the desired intuitive feedback corresponds to the act of switching off. A haptic response that coincides with the action is for the monopatm to stop, or resist movement, and therefore is implemented in the preferred embodiment. In one embodiment, the motors 240 are set in braking mode to achieve this where the motor wires 240 are shorted to each other. In an alternative embodiment, as a similar sensation is implemented by the application of momentary energy to the motor in the opposite direction, more resistance is created than braking alone.

In one embodiment, the user's additional bearing input changes the performance of the skateboards. In the embodiment, a bearing function of the monopatm 100 is recognized by the processor 406 when a forward bearing is detected after the monopatm is turned off. This causes the monopatm 100 to alternate between the modes. In one example, the monopatm 100 alternates between 100% of the maximum speed and 50% of the maximum speed. A reduction in monopatm speed in general allows new types of low speed tricks that are more difficult at higher speeds.

Additionally, there are more settings that can be used such as disable or enable inertia operation, disable or enable 50% of the maximum speed or 100% of the maximum speed, slow turn with full forward / reverse control, fast turn and more slow forward / reverse, forward and normal turn with braking instead of reverse, and ramp braking. These can be controlled and adjusted by the user either through a remote control unit or through manual manipulation of the toy skateboard, as described herein.

Referring now to Figure 19, a toy monopatm 100 according to one or more of the present embodiments is shown, in which the rear axle unit 200 includes the clips 301 positioned on the upper surface of the rear axle housing 202 and that are used to engage the platform 102. In this embodiment the rear axle unit 200 can be removed and secured to the platform 102 so that the rear axle housing 202 is below the bottom surface of the platform 102. Without However, in this embodiment the clips 301 allow the rear axle to either be snapped or slid on the platform 102.

With reference now to Figures 20A and 20B, a toy monopatm 100 according to one or more of the present embodiments is shown. The skateboard 100 includes a rear weight member 350 removably secured to the rear end 352 of the platform 102. The rear weight member 350 includes a channel 354 that is clamped on or frictionally coupled to the rear end of the platform 102. The weight member 350 as indicated above allows the user to move the center of rotation of the monopatm 100.

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As provided in one or more embodiments of the present invention, a processor 406 is used and described and can be implemented in a number of different ways. For example, the processor 406 may be implemented as one or more of the various processing means or devices such as a coprocessor, a microprocessor, a controller, a digital signal processor (DSP), a processing element with or without a companion DSP, or several other processing devices that include integrated circuits such as, for example, an ASIC (specific application integrated circuit), an FPGA (programmable field gate array), a microcontroller unit (MCU), an accelerator of hardware, a special purpose computer chip, or the like. In an illustrative embodiment, the processor 406 may be configured to execute the instructions stored in a memory device or in any other way accessible to the processor 406. The instructions may be permanent (for example, microprogram) or modifiable (for example, software) instructions. . The instructions can be grouped or in any other way associated with other instructions in the functional profiles, which can be saved as, for example, an electronic file on one or more memory devices. Alternatively or additionally, processor 406 may be configured to execute fixed coding functionality. As such, if configured by means of hardware or software methods, or by one of their combinations, the processor 406 may represent an entity (for example, physically incorporated in the circuits) capable of performing operations in accordance with the embodiments herein. invention while being configured accordingly. Therefore, for example, when the processor 406 is incorporated as an ASIC, FPGA or the like, the processor 406 can be configured specifically by hardware to conduct the operations described in the present description. Alternatively, as another example, when the processor 406 is incorporated as an executor of the software or microprogram instructions, the instructions may specifically configure the processor 406 to perform the algorithms and / or operations described in this description when the instructions are executed. The processor 406 may include, among other things, a clock or any other type of timer, an arithmetic logic unit (ALU) and logic gates configured to support the operation of the processor 406.

Additionally and as described in the present description, haptic or haptic technology can be included in one or more of the described embodiments. 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 kinetic feedback, in which the forces leave directly in the degrees of freedom of movement of the interface device. Touch feedback is typically provided by the application of forces, vibrations and / or movements to one or more portions of a user interface device. Haptics are sometimes used to improve the remote control devices associated with machines and devices. In such systems, the sensors in the slave device are sometimes used to detect the forces exerted from such device. Information related to such forces is communicated to a processor, where the information is used to generate adequate tactile feedback for a user. The present invention does not use haptics to improve the tactile experience or to allow the use of feeling a virtual object or to simulate reaction forces. The present invention creates tactile responses to a user interaction with a device that the user can easily correlate or deduce to an invisible setting or object mode. Unlike pressing a locator in different patterns to provide a tactile response, the present invention provides tactile responses so that the user can determine which setting or mode of the object is now configured. Another important aspect of one or more embodiments is that the tactile responses are retransmitted back to the user through the element or mechanism that the user touches to create the entry in the first place. Unlike the use of sensors or switches in the prior art, the embodiments provided in the present description use elements, such as wheels and driven arms that are in communication with an engine. The direct interaction by the user with these elements generates a counter-electric force through the motor, which is monitored or detected by the processor. When the processor is activated by the generated counter-electric force, it can access and reproduce a movement previously registered for the element. The user who still interacts with the element feels the previously registered movement caused by the tactile response. The tactile response that the user feels allows the user to determine or deduce the adjustment or mode of the object or toy, as detailed and explained further in this description.

As provided in one or more embodiments described in the present description and as provided and illustrated in Figures 21A-21B, a toy 400 is generally illustrated, which may include one or more elements 402, such as the wheels on a monopatm, an appendix in a robot or toy figure, or a propeller in a toy vehicle. These elements are external to the toy 400 and are moved / controlled separately by a 404 engine, whether it moves directly or indirectly or physically or not physically coupled also within the scope of the various embodiments provided by the present description. The processor 406 is as described in the present description, and as such an additional definition is not warranted. The processor is configured to include at least one state of suspension and one state of wakefulness and is further configured for the transition between the two states 408. Another aspect of the embodiment is that the element is accessible for manipulation by the user, operator, or human that when it moves it will turn the engine. When the user manipulates the element, which rotates the motor, the rotation of the motor generates a counter-electromotive force voltage (hereafter "EMF"). The processor is configured to detect the counter-electric force voltage 410 and is further configured for the transition between the two states when the detected counter-electric force voltage reaches a predetermined value.

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In another aspect of the embodiment, when the detected counter-electromotive force voltage reaches the predetermined value 412, the processor is further configured to control the motor according to one or more pre-programmed movements 414, which when executed result in a tactile response. Additionally, when the detected counter-electric force voltage reaches the predetermined value, the processor is further configured to control the motor in accordance with one or more preprogrammed movements resulting in auditory perception.

As provided in Figure 21B, toy 400 may include a number of elements connected separately to the motors. All or some of the elements illustrated (wheel 420, appendix (s) 422, helix 424, etc.) may be included.

The processor can be further configured to detect a second voltage of counter-electric force 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. In this case, when any detectable counter-electric force voltage reaches the predetermined value, the processor is configured to control the motor according to one or more of the following preprogrammed movements resulting in a tactile response: (a) moving said element momentarily, (b) moving said element continuously, (c) resisting movement of said element momentarily, (d) resisting movement of said element continuously, (e) oscillating said element momentarily, and (f) oscillating said element element continuously. In some cases the preprogrammed movements are selected based on the direction of rotation of the motor and based on whether the processor is in the waking state or suspended state. This allows for greater functions and movement responses.

In variations of embodiments, when any detectable counter-electric force voltage reaches a predetermined value, the processor can also be configured for a delay for an internal predetermined time before the preprogrammed movements result in a tactile response. Additionally, the preprogrammed movements that result in a tactile response can be less than 100% of the engine speed. In other aspects, the preprogrammed movements result in a tactile response to the variable motor speed.

The embodiments may also include a second motor configured to cause a movement of a second element of the toy and the second element is more accessible for manipulation by a human, which when moving causes a rotation in the motor. The processor is also configured to control the second motor and the preprogrammed output is also configured to control both motors and rotate both wheels resulting in a tactile response. If an electrical circuit is desired or needed, it can be included to alter the counter-electric force voltage before detection by the processor. The electrical circuit can be a transistor, resistance, elevator, one of its combinations, or other circuits known in the industry.

In another embodiment a toy vehicle is provided with an element, a processor, and an engine configured to cause movement of the element. The movement of the element is more accessible for manipulation by a human, who in turn is able to turn the engine. The processor is configured to detect a counter-electric force ("EMF") voltage that is generated by motor rotation when the element is manipulated by the user. The processor is further configured to include at least two states and the processor includes a function configured for the transition between the states when the detected counter-electric force voltage reaches a predetermined value. Additionally, the processor is further configured to control the motor according to one or more preprogrammed movements that result in a tactile response when the detected counter-electric force voltage reaches a predetermined value. In this embodiment, the preprogrammed touch responses can rotate the motor in a forward or reverse direction or engine braking.

In the variations of this embodiment, the toy may include a second motor configured to cause a movement of a second element and the movement of the second element is accessible for manipulation by a human, which, when manipulated, in turn turns the motor. The processor is also configured to control the second motor, and where the preprogrammed output is also configured to control both motors and turn both wheels resulting in a tactile response.

The processor can also be configured to detect a second voltage of counter-electric force generated by the rotation of the motor in an opposite direction due to manipulation by a human in an opposite direction. The processor is further configured to control said motors in accordance with one or more preprogrammed movements that result in a tactile response, when any of the detectable counter-electromotive force voltages reaches a predetermined value. Preprogrammed movements that result in a tactile response may include the following: (a) move one or more of these elements momentarily, (b) move one or more of these elements continuously, (c) resist the movement of one or more of said elements momentarily, (d) resisting the movement of one or more of said elements continuously, (e) oscillating one or more of said elements momentarily, and (f) oscillating one or more of said elements continuously .

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As indicated above in other embodiments, the preprogrammed movements can be selected based on the direction of motor rotation and based on whether the processor is in the waking state or suspension state. Additionally, when any of the detectable counter-electromotive force voltages reaches a predetermined value, the processor is further configured for a delay for a predetermined internal time before the preprogrammed movements result in a tactile response.

As anticipated in yet another embodiment, a toy vehicle is provided that has an element, a processor, and an engine configured to cause movement of the element and movement of the element is more accessible for manipulation by a human, than when move causes engine rotation. The processor is configured to detect a counter-electric force ("EMF") voltage generated by motor rotation due to user manipulation of the element. The processor is further configured to include at least two of the following states: (a) a low power consumption state configured to turn off the at least one motor and turn off the vehicle; (b) a low energy consumption suspension state configured to shut down the at least one motor and put the processor in a low energy consumption suspension state and stop the execution of the code; (c) a waking state configured to start the vehicle; (d) a wakeful state configured to remove the processor from a state of low energy consumption suspension and start the execution of the code; (e) a user controllable drive state configured to control the at least one motor and turn 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 speed than the maximum speed; (g) a user controllable drive state configured to control the at least one motor and turn the at least one wheel according to a preprogrammed set of instructions and user input from a remote device to cause the vehicle to perform a maneuver; and (h) a non-autonomous user drive state configured to control the at least one motor and rotate the at least one wheel. The processor also includes a function configured for the transition between the states when the detected counter-electric force voltage reaches a predetermined value. In addition, when the detected counter-electric force voltage reaches a predetermined value, the processor is further configured to control the motor in accordance with one or more preprogrammed movements resulting in a tactile response.

In another aspect, the vehicle may include a second motor configured to cause the movement of a second element and the movement of the second element is more accessible for manipulation by a human, which in turn causes the motor to rotate. The processor is also configured to control the second motor, and where the preprogrammed output is also configured to control both motors and turn both wheels resulting in a tactile response. The vehicle processor can also be configured to detect the second counter-electric force voltage generated by the rotation of the second motor due to manipulation by a human in an opposite direction. The processor is also configured for the transition between the states when the second voltage of detected counter-electric force reaches a predetermined value. The processor is further configured to control the second motor according to one or more preprogrammed movements that result in a tactile response when the second detected counter-electric force voltage reaches a predetermined value, which may be the same or different value set for the first counter-electric force voltage.

Various combinations of aspects may be included to provide variations in the scope of the embodiments without departing from the spirit of the invention. As such when combined with a toy monopatm, an embodiment of the invention may provide a toy vehicle or monopatm that includes a platform, a front axle with a pair of front wheels that can be secured to the platform towards the front portion, and a rear axle that can be secured to the platform towards the rear portion. The rear axle has the first and second wheels and a housing configured to include a baton, a processor, a receiver, the first and second motors separately controlling the first and second wheels respectively. The first motor is configured to cause a movement of the first wheel, and the movement of the first wheel is also accessible for manipulation by a human, which when manipulated turns the first motor. Similarly, the second motor is configured to cause a movement of the second wheel, and the movement of the second wheel is also accessible for manipulation by a human, which when manipulated turns the second motor. The receiver is configured to receive signals from a remote control unit and the processor is configured to receive signals from the receiver to control the first and second motors in response to it. The processor is further configured to detect a first counter-electric force ("EMF") voltage generated by the rotation of the first or second motor due to the manipulation by a human of the toy against a surface and in a first direction. The processor is further configured to detect a second voltage of counter-electric force generated by the rotation of the first or second motor due to the manipulation by a human of the toy against a surface and in a second direction generally opposite to the first direction. The processor is further configured to include at least one suspension state and one waking state and the processor has a function configured for the transition between the suspension state and the waking state when the detected counter-electric force voltage reaches a predetermined value.

In aspects of this embodiment, the processor is further configured to control at least one of the motors according to one or more preprogrammed movements resulting in a tactile response, when at least one of the first and second detected voltages of counter-electric force reaches a default value. The

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Preprogrammed movements that result in a tactile response may include one or more of the following: (a) turn one or more of said first and second wheels momentarily; (b) move one or more of said first and second wheels continuously; (c) resist the movement of one or more of said first and second wheels momentarily; (d) resist the movement of one or more of said first and second wheels continuously; (e) swing one or more of said first and second wheels momentarily; and / or (f) swing one or more of said first and second wheels continuously.

In still other aspects, when any of the first or second detectable counter-electric force voltage reaches a predetermined value, the processor is also configured for a delay for an internal predetermined time before the preprogrammed movements result in a tactile response. The embodiment of the invention may include preprogrammed movements that result in a tactile response that is less than 100% of the engine speed or at variable engine speeds. In addition to this, the embodiment of the invention may include an electrical circuit designed to alter at least one of the first and second voltages of counter-electric force before detection by the processor.

The conversion of the toy according to an embodiment of the present invention can be an important aspect. As such, the rear axle can be removed from the platform and an axle similar to the front axle can be secured to the platform. In this case, an opposite platform surface of the lower surface can define a finger coupling region accessible for manipulation by a human to move the toy vehicle.

According to the figures and various embodiments and combinations of the aspects provided in the present description, an embodiment of the present invention may provide a convertible toy monopatm unit. The monopatm unit typically includes a platform, a pair of non-motorized axle units and a rear motorized axle unit. The toy monopatm is convertible as one of the non-motorized axle units can be easily exchanged with the rear motorized axle unit. This allows the toy monopatm to either have a pair of non-motorized axle units, which allows the operator to use their fingers to manipulate and move the toy monopatm; or have a non-motorized shaft unit and a motorized shaft unit, which allows the operator to use a remote control unit to control and move the toy monopatm.

The non-motorized shaft unit as used throughout the various embodiments is typically secured to the bottom surface of the platform. The non-motorized axle unit includes a pair of freely rotating wheels that are positioned transversely to a longitudinal axis of the platform when coupled. The motorized rear axle unit includes a housing that is configured to removably attach to the platform. This may include clips, fasteners, or other coupling means well known in the art. The motorized shaft unit is configured to accommodate at least (i) a baton, (ii) a processor, (iii) a receiver in communication with the processor, and (iv) a pair of motors, each motor that separately controls a rear wheel, of a pair of rear wheels, and where the pair of rear wheels is positioned transversely to the longitudinal axis of the platform and behind the pair of front wheels. The receiver is configured to receive signals to control the movement of the pair of rear wheels.

As mentioned, the toy monopatm could therefore include two configurations: a first configuration is defined by having the front non-motorized axle unit coupled to the lower surface towards the front region of the platform and having the non-motorized axle unit rear removably coupled to the bottom surface towards the rear region of the platform. In the first configuration, the upper surface of the platform defines a region of engagement of the fingers of a user to couple and move the toy skateboard. A second configuration is defined by removing the rear non-motorized axle unit and removably attaching the motorized rear axle unit to the lower surface towards the rear region of the platform, where the movement of the toy skateboard can be controlled by the processor in response to the signals received by the receiver.

According to one or more of the embodiments, the toy monopatm may include a circuit in communication with the processor and the baton. The circuit configured to change the voltage of the baton to a fixed voltage to define a more constant performance of the bat. This helps increase the enjoyment of the toy monopatm and no longer seems slow as bats wear out. Additionally, the remote control unit may include one or more signals to initiate a set of preprogrammed instructions in the processor to control the pair of rear wheels to perform one or more maneuvers of the monopatm. These monopatm maneuvers may include, but are not limited to, a monopatm trick, a hill climb, variable speed control, and reproduction of the user's registered entry.

The monopatm in any of the embodiments, can be further defined to have a first motor (of the motor pair) coupled to a first rear wheel (of the rear wheel pair) and the processor is configured to detect a counter-electromotive force voltage (" EMF ") generated by the rotation of the first engine caused by a manual manipulation of the first rear wheel. The processor is further configured to include at least one suspension state and one waking state and is configured for the transition between the suspension state and the waking state when the detected counter-electric force voltage reaches a predetermined value. He

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The processor can further control the motor torque according to one or more preprogrammed movements that result in a tactile response when the detected counter-electric force voltage reaches a predetermined value. Additionally, the processor can also be configured to detect a second counter-electric force 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. When any of the detectable counter electromotive force voltages reaches a predetermined value, the processor is further configured to control the first motor according to one or more of the following preprogrammed movements resulting in a tactile response: (a) move the first rear wheel momentarily, (b) move the first rear wheel continuously, (c) resist the movement of the first rear wheel momentarily, (d) resist the movement of the first rear wheel continuously, (e) swing the first wheel rear momentarily, and (f) swing the first rear wheel continuously.

In one or more of the embodiments, the motorized rear axle unit includes a housing defined to include an upper profile that substantially conforms to a portion of the lower surface of the platform towards the rear region. In this case, the baton, processor, receiver, and the motor torque are positioned completely within the housing below the upper profile of the housing and therefore below the lower surface of the platform. The housing may also include a front end and a rear end with an intermediate region between them. This provides space for a power source, such as the battens, defined by two bay compartments positioned separately at the front end and rear end of the housing and the pair of engines and the pair of rear wheels are positioned between the two compartments. of the bat. The rear end of the housing containing one of the compartments of the bat can be tilted upwards to match an angle of the rear end of the platform so that the at least one bat contained in the bat compartment is inclined. In various embodiments, the placement and compartment number of the batter may change, as illustrated in Figures 22A-22E.

In one or more of the embodiments described in the present description, the receiver can be defined as an IR sensor to receive the signals from the remote control unit. The IR sensor can be positioned in a defined window in the motorized rear axle unit towards a front portion thereof and under the lower surface of the platform so that the IR sensor is positioned to receive the reflected signals from a surface under the surface. monopatm platform. In another aspect, the toy monopatm may include a removably secured weight to a portion of the platform to adjust a center of gravity and configured to adjust a center of rotation.

As defined in one or more aspects, the toy monopatm is prepared to define a motorized toy monopatm that can be controlled without the need of an object on the upper surface of the platform. The toy monopatm does not need a figure, with links, and control mechanisms on the platform to maneuver properly. Separately, the toy monopatm may include an axle unit housing that encloses both a front axle and a motorized rear axle. The axle unit can be removed and replaced with a pair of non-motorized axle units so that the user is able to maneuver manually.

In another embodiment and based on the ability to have a toy vehicle, be it a monopatm, car, motorcycle or any other motorized vehicle with wheels there is a continuing need to provide significant physical user input combined with a haptic feedback powered by the wheel accessible. This type of user-machine interface that involves physical input, machine interpretation and adaptations to it can be combined with a feedback based on the touch wheel. For a user's point of view, young users do not usually read user manuals. Additionally, small products require very small user manuals with very small letters, which increases the likelihood that the user will not read the manual. On the contrary there is a clear need for manufacturers to increase the number of functions contained within a toy, either to differentiate the toy, or to allow more flexible usage patterns. The third factor that drives manufacturers is cost reduction, which makes it convenient to eliminate or reduce buttons, switches, and LEDs. Therefore, it is convenient to make a product that is easy to use, rich in functions, and low cost. A method for physically manipulating a toy and having the toy provides physical and meaningful feedback can eliminate the need to read user manuals to understand the meaning of the different buttons, switches, and LED blink patterns.

Pushing and / or rolling a toy on the floor or tabletop is a natural game pattern for children. Therefore, the incorporation of bearing can be natural for children. However, just the act of rolling a toy is not enough for the child to deduce that they instructed the toy to do. The use of the wheels to provide a specialized form of haptic feedback can present the child with a physical recognition of his action, as well as convey the meaning of the action.

Additionally, the auditory tactile response may be included. For example, turning a motor creates a sound, and the frequency can be changed with speed so that slow speeds create lower frequencies of sound that can be interpreted as slow, while high speeds create high sound frequencies. which can be interpreted as fast. Additionally, the pulsation of a motor on and off at a low frequency creates lower frequencies of sound that can be interpreted as slow speeds. The

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Pressing an engine on and off at a high frequency creates higher frequencies of sound that can be interpreted as the fastest speed.

The following are examples of significant physical user input combined with haptic feedback driven by the accessible wheel, visual feedback, and auditory feedback. Multiple answers of the toy are proposed. Turn on the toy: The child takes a toy that is turned off and wants to turn it on. One possible entry action is for the child to roll the toy forward across the floor. The toy could include multiple answers, such as: Answer of the toy A: While the child rolls the toy along a surface, the toy wakes up from the suspension mode and applies energy to the wheels in the same direction in which It was rolled while the toy is still in contact with the child's hand and while the toy is still in contact with the surface, resulting in a tactile response of the toy that no longer requires energy to roll but now drags the hand from the child forward; alternatively the child may have released the toy after waking it from the suspension but before or during the time it is applied to the wheels, which provides a combination of tactile response until the toy is released and an additional visual response tailored that the toy continues to advance under its own energy. Alternatively, the child can lift the toy from the surface after waking it from the suspension but before or during the time it is applied to the wheels, which provides a combination of tactile response until the toy is lifted from the surface and a Additional auditory response as the toy continues to apply energy to the engine, which creates a sound from a combination of the spinning motor, gears, axles, and / or wheels.

Toy response B: Before the child finishes rolling the toy, the toy wakes up from the sleep mode and drives the wheels in the same direction that it was rolled and in a way that resembles the car engine that accelerated; or toy response C: Before the child finishes rolling the toy, the toy wakes up from the sleep mode and a percentage of the total power is applied to the wheels in the same direction in which it was rolled and in a way that It resembles the engine of a car that accelerates. From the user's perception, the user feels that the toy no longer only rolls forward but now tries to accelerate it forward with the hand, which relays to the child that the toy is on and ready to work. The result of the actions and functions of the vehicle is that the toy is now in normal drive mode.

Turn off the toy, the child takes a toy that is on and wants to turn it off. One action is for the child to pull the toy backwards across the floor. The toy could include multiple answers, such as: Answer of the toy A: Before the child finishes dragging the toy, energy is applied to the wheels in the opposite direction in which it was thrown; Toy response B: Before the child finishes dragging the toy, it powers the wheels in an opposite direction in which it was pulled; o toy response C: Before the child finishes dragging the toy, apply the brakes to the wheels. From the user's perception, the user feels that the toy no longer rolls back only but now tries to stop his hand, which relays to the child that the toy tries to stop and turn off. The result of the actions and functions of the vehicle is that the toy enters a low consumption suspension mode.

To select the following mode, the child is playing with a toy that is on and wants to modify the way he behaves and / or change a toy's action state. 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 rolled. From the user's perception, the user feels that the toy turns its wheels slowly, which relays to the child that the toy is now in the 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.

In another section as follows - now at high speed, the child is playing with a toy that is on and wants to modify the way he behaves and / or change a toy's action state. The child rolls the toy forward across the floor. The toy could include multiple responses, such as: Response of the toy: After the child finishes rolling the toy, the toy briefly applies high-speed power to the wheels in the same direction it was rolled. From the user's perception, the user feels that the toy spins its wheels quickly, which relays to the child that the toy is now in a high speed drive mode. The result of the actions and functions of the vehicle is that the toy is now set to high speed mode.

In another aspect, the vehicle may be able to directly establish a user interface mode with the vehicle. The child is playing with a toy that is on and wants to modify the way in which it behaves / or change a state of action of the toy. The child rolls the toy forward through the ground at a slow or fast speed. After the child finishes rolling the toy, the toy briefly applies energy to the wheels in the same direction it was rolled and at a speed similar to the speed at which the child rolled the toy. The child feels that the toy spins its wheels at a specific speed, which relays to the child that the toy is now in a custom speed mode. The toy is now set to high speed, low speed, or specific measured speed mode respectively.

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Other embodiments that may benefit from awakening counter-electric force, processor changes, haptic response could include vehicles, robots, and cars.

Referring now to Figures 23 through 25, electrical diagrams and flow charts are illustrated to illustrate an embodiment of the present invention. A remote control unit 500 is shown in Figures 23 and 24 that has several functional buttons 502 and slide switches 504. The remote control unit 500 may be set to a channel selection or may have an additional slide switch to allow the user Switch channels The remote control unit 300 includes a transmitter 506 for sending signals or information packets to the monopatm 100. In Figure 25, the remote control unit executes awakening (box 510) when any button is pressed. The remote control unit can first determine the channel (box 512) and then an exploration of the buttons and switches (box 514) is completed. A 1st data packet is transmitted (box 516) to the receiver and then the remote control unit sets the time and sleep functions to zero (box 518). The unit will then wait for 25 msec (box 520), set time to time + 1 (box 522) and then explore the buttons and switches (box 524). The remote control unit will then determine if the buttons or switch have changed (box 526), if not, the remote control unit then determines if the internal time is equal to 4 (or approximately 100 msec) (box 528). If not, the remote control unit returns to box 520 to wait. If the buttons or switch have changed (from box 526) or if the time is equal to 4 (from box 528), then the remote control unit transmits a data packet to the receiver (box 530). After transmission, the remote control unit checks if all buttons are turned off after the remote control unit will set suspension to suspension + 1, otherwise the suspension is set to zero (box 532). If the suspension is greater than 10 (approximately 1 second) (box 534), then the remote control unit will be suspended (box 436); otherwise, the remote control unit returns to box 520 and waits.

It is well known that the speed of a CD motor can be controlled by changing the voltage. Cutting the DC current into "on" and "off" cycles that have a lower effective voltage is a way to reduce or control the speed. This method is also called pulse width modulation (PWN) and is often controlled by a processor. Since the monopatm according to the present invention incorporates an extremely small CD motor (CD motor in the range of 4 mm to 8 mm in diameter), the motor has a low inductance of approximately 140 uH.

Figures 29A through 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 PWM frequency of 10 kHz has not reached the direct current conduction, which results in current peaks that will adversely affect the operating time of the baton. It can be seen that 100 kHz results in an improvement, but approximately 1000 kHz is required to approach the acceptable direct current conduction. Common low-cost processors, found in low-cost toys and vehicles, cannot create the desired 1000 kHz PWM frequency.

Referring to Figures 26A-28, in one embodiment of the present invention a novel and unique method of controlling and changing the voltage for extremely small CD motors is employed. CD-CD switches, often called reducing converters, can be used to reach PWM frequencies of more than 1000 kHz. The embodiment employs a variable output CD-CD switch 600 with the voltage set by a voltage divider. The output voltage is typically set to a value as defined by the needs of the circuits. 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). The resulting voltage supplied to the H-bridge circuits (referred to herein as DRV) 610, which are in communication with the motors and are controlled to direct the direction of the motors at a high frequency. The result is the direct current conduction to the motor. A second benefit of this design is that the processor is not required to generate a PWM frequency, which simplifies the software and allows the use of a less expensive processor. In Figure 26B, the three output speeds are represented by connecting different resistance values for the resistance value R31.

In accordance with one embodiment of the present invention, a toy vehicle is provided having a low inductance motor driven by a low voltage frequency switched to a frequency high enough to create continuous conduction. The vehicle includes an H-bridge circuit configured to control a motor direction and an adjustable high-frequency CD-CD switch configured to convert a supply voltage to an output voltage, which is less than the supply voltage, to its use by the H-bridge circuit to energize the low inductance motor in a forward or reverse direction. A processor with instructions configured to change the output voltage of the CD-CD switch from a first voltage to a second voltage is provided.

In the different aspect of this embodiment, the motor may have an inductance of approximately less than 500 uH and more preferably of approximately 140uH. The CD-CD switch can be operated at a frequency greater than 250 kHz and more preferably at approximately 1000 kHz or greater. Additionally, the CD-CD switch can be changed digitally.

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Additionally, the output voltage of the CD-CD switch can be selected by a voltage divider, which has a first resistance value and a second resistance value selected by the processor instructions so that the output voltage of the CD switch -CD can define a first output voltage and a second output voltage. In another aspect, the CD-CD switch can also be configured to define a third output voltage. The second resistance value can be selected from a pair of resistors, defined separately to create the first output voltage and the second output voltage respectively and is defined in series to create the third output voltage. Additionally, the processor also includes instructions for the H-bridge circuit to control only the motor direction.

As shown in reference to Figure 27, the processor wakes up when rolling in any direction (box 620), the processor sets the old Package to 0,0,0,0 (box 622) and then sets Suspension = 0 and Packetless Time = 0 (box 624). The processor then checks to see if the IR data has started (box 626). If no IR data is received, the processor sets Suspension = suspension + 1 (box 628), sets Packet-Free Time = Packet-Free Time + 1 (box 630), and if Packet-Free Time> 200 msec then the processor disables the CD-CD switch and disables the DRV (box 632). The processor then determines if the suspension is longer than 2 minutes (box 634). If it is Yes then the processor with Go to suspension (box 636), if it is No then the process returns to box 626 to determine if IR data is received. When the IR data is started, the processor receives the IR packet (box 638) and checks to determine if the packet is Good (box 640). If not, the processor returns to box 626. If Yes, the process will set the channel to match if the package is the 1st package (box 642). If the package is not the 1st package the processor checks to ensure that the package is from the correct Channel (box 644). If it is not the correct channel, the processor determines if the Unpackage Time> 200 msec later the processor disables the CD-CD switch and disables the DRVs (box 646) and then returns to box 626. If the channel is correct, the processor set Suspension = 0 (box 648), the processor moves to Figure 28 (box 650) and then when the processor returns from Figure 28, the processor saves the information from the last package (box 652) and moves to the box 626 to continue.

Referring also to Figure 28, of box 650, the processor checks to see if the buttons on the remote control are off (box 660), if all the buttons are off, the processor disables the CD-CD switch and disables the dRv (box 662) and then return to box 652 (see Figure 27). If all the buttons are not turned off, then the processor enables the CD-CD switch and enables the DRVs (box 664). The processor then checks to determine if any buttons from 0 to 1 were moved (box 668). If not, the processor sets the Ramp Time = Ramp Time + 1 (box 670). The processor then checks to determine if the Ramp Time is equal to 2 (box 672). In this aspect, the Ramp Time can be equalized to the user who keeps a button pressed or who maintains a slider in a specific position for a predetermined time. If the Ramp Time is 2 then the processor sets the CD-CD switch to change the voltage to any normal Speed or Turbo Speed (high) 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 CD-CD switch is set (from box 674) the processor will set the DRV addresses based on the remote control input so that the monopatm is moving forward, inertia, Reverse or turn (box 680). Back to box 668, if some of the buttons moved from 0 to 1, the processor set the speed of the CD-CD switch to 1 (box 676), and set the Ramp Time = 0 (box 678). The processor will then establish the DRV addresses based on remote control input so that the monopatm is moved forward, inertially operated, in reverse or rotated (box 680). The processor returns from box 680 to box 652 (Figure 27).

In this aspect the CD-CD switch is capable of changing the speed (s) of the motor (s) by the voltages set by the resistance changes at 3 separate speeds, a start-up speed, a normal speed, and a high speed; which, as indicated herein, was extremely difficult to obtain through the use of conventional cutting cycles.

In one embodiment, the motors 240 are connected by the resistance means to provide an increase in counter-electromotive force detection by the processor 406. A simplified schematic drawing of an H-bridge 700 is shown in Figure 30 to illustrate the return diodes of protection D1, D2, D3, D4 integral to such a bridge in H 700. In some integrated bridge circuits in H 700 the commercially available devices, diodes D1, D2, D3, D4 are present as the intrusive parasite diode to the actuators MOSFET Q1, Q2, Q3, Q4. In other integrated circuit H bridge devices, diodes D1, D2, D3, D4 are explicitly constructed in the IC to provide faster reverse recovery performance. Regardless of the specific implementation of the bridge at H 700, the present feature of the invention requires that diodes D1, D2, D3, D4 be electrically present.

During operation, the MOSFET Q1, Q2, Q3, Q4 are energized in various combinations to provide drive to the motor 240. During the period in which the processor 406 is attempting to detect a counter-electromotive force signal of the motor 240, the MSOFET Q1, Q2 , Q3, Q4 of the simplified scheme of Figure 30 are not energized, and therefore appear as open circuits. On the H-bridge in non-energized state 700,

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only diodes D1, D2, D3, D4 can conduct the electric current in order to present the force

Counter-electromotive of the motor 240 through its terminals 702, 704 to generate the voltages V1, V2.

Figure 31 illustrates the resistive interconnection means of a feature of the present invention. The resistor R1 is connected between the motor cable 702a of the motor 240a and the voltage detection terminal at the node indicated by the voltage V1. The resistor R2 is connected between the motor cable 704a of the motor 240a and a resistance cable R2 at the node indicated by the voltage V2. The remaining cable of the resistor R2 in the node indicated by the voltage V3 is connected to the motor cable 702b of the motor 240b. Motor cable 704b is connected to resistor R3. The remaining wire of resistor R3 is connected to the voltage detection terminal on the node indicated by voltage V4. The voltage detection terminal V1 and voltage detection terminal V4 constitute the forward and reverse force detection signals that drive the inputs of the processor 406 to detect and the counterelectromotive force voltage of the motors 240a, 240b.

When motors 240a, 240b are driven by MOSFET Q1, Q2, Q3, Q4, Q5, Q6, Q7, Q8, in several

combinations, resistors R1, R3 prevent damage to the 406s processor input, while the

R2 resistor prevents excess current from flowing between the nodes labeled voltage V2 and voltage V3. During the EMF measurement status periods when the processor 406 is set to sf to measure the detection voltages V1, V4, the MOSFET Q1, Q2, Q3, Q4, Q5, Q6, Q7, Q8 are all turned off. In this state, the equivalent circuit is as shown in Figure 32. It is also assumed, but not shown in any figure, that the EMF detection inputs of the processor 406 provide a polarization resistance that offers a current path of high impedance (but finite) of the entrances to the ground. Therefore, nominally, when the motors are not turning, and the processor is in the EMF measurement state, the voltages V1, V2, V3, V4 are near zero volts.

The feature of the present invention in which the sensitivity of the EMF detection is improved is now described in reference to the simplified equivalent circuit of Figure 32. In the case of an embodiment of the toy skateboard of the present invention where the player moves the monopatm, the motors 240a, 240b are forced to rotate, thus generating the EMF Vemf signals. In this case, the current through resistors R1, R2, R3 is quickly set to substantially zero. Therefore the voltage V2 is approximately equal to the voltage V3. The counter-electric force, defined as V1 - V2 for motor 240a and V3 - V4 for motor 240b, is substantially equal to a value of Vemf. In the case of the skateboard that rolls forward, Vemf is positive. Therefore D7 is conducted to keep the voltage V4 to a diode brown below ground (approximately -0.65 V). In this case the voltages V2, V3 are approximately Vemf - 0.65 V. By means of this invention, the counter electromotive force of the motor 240a is added to the voltage V2 to produce a voltage V1 equal to 2 X Vemf - 0.65 V. This improved voltage exceeds the high threshold of the input logic of the processor 406 with approximately half of the required rolling speed without this feature.

Similarly, in the case of the monopatm that rolls backwards, Vemf is negative. Therefore D1 is conducted to maintain the voltage V1 to a diode brown below ground (approximately - 0.65 V). In this case the voltages V2, V3 are approximately -Vemf - 0.65 V. By means of this invention, the motor counter-electric force 240b is added to the voltage V3 to produce a voltage V4 equal to -2 X Vemf - 0.65 V. This voltage Improved exceeds the high threshold of the input logic of the processor 406 with approximately half of the required rolling speed without this feature.

In some embodiments, the supply voltage Vm can be produced by an adjustable regulator that is disabled when the processor 406 is in a suspended state. In this case, the detection voltage that appears in the nodes demarcated by V1 and V4 can be high enough to cause conduction in diodes D2 and D8 respectively. This conduction, in turn, charges the capacitance in the signal of the supply voltage Vm through the resistor R2. As long as the time constant defined by the capacitance of the power supply and the resistance R2 is small enough, the realization of this characteristic of the invention continues to provide a greater sensitivity of counter-electromotive force.

The sensitivity improvement feature of the present invention can be extended to electromechanical devices that employ three or more electric motors. This is implemented by additional H-bridges in cascade 700 for each additional electric motor. For example, if a third electric motor was used, the method of this feature of the present invention required a third motor 240 and the H-bridge 700 as shown in Figure 30 added to the right side of the scheme of Figure 31. node demarcated by voltage V4 is connected to node demarcated V1 in Figure 30. An additional resistor R4 is connected to node demarcated V2 of Figure 30 to processor input 406. In this way, the counter-electric force of the three motors is add to create the signal of detection of the counter-electric force.

From the foregoing and as mentioned above, it is observed that numerous variations and modifications may be affected, without departing from the scope of the new concept of the invention. It should be understood that no limitation with respect to the embodiments illustrated herein is intended to be inferred or should be inferred. The scope of the invention is defined by the appended claims.

Claims (13)

1. A toy vehicle comprising: 5 a motor (240, 240a, 240b, 404) configured to cause a movement of an element (402) of said toy, said movement of said element (402) further accessible for manipulation by a human to turn said motor (240, 240a, 240b, 404); Y a processor (406) characterized in that the processor (406) is configured to detect a counter-electric force ("EMF") voltage generated by the driving of said motor (240, 240a, 240b, 404) due to said manipulation by a human both in a direction equal to a direction of rotation of the element motor controlled as in a direction opposite to the direction of rotation of the motor controlled element, and said processor (406) is further configured to include at least two states (408); and said processor (406) comprising a function configured for the transition between the states when said detected counter-electromotive force voltage reaches a predetermined value (412). 2. twenty 25 30 35 40 The toy vehicle according to claim 1, further comprising: said processor (406) is further configured to include at least two states (408) of the following states: (a) a low power consumption state configured to turn off the at least one motor (240, 240a, 240b, 404) and turn off the vehicle; (b) a low energy consumption suspension state configured to shut down the at least one motor (240, 240a, 240b, 404) and put the processor (406) into a low energy consumption suspension state and stop the execution Of code; (c) a waking state configured to start the vehicle; (d) a wake state configured to remove the processor (406) from a state of suspension of low energy consumption and start the execution of the code; (e) a user controllable drive state configured to control the at least one motor (240, 240a, 240b, 404) and turn the at least one wheel (126); (f) a user controllable drive state configured to control the at least one motor (240, 240a, 240b, 404) and turn the at least one wheel (126) at a slower speed than the maximum speed; (g) a user controllable drive state configured to control the at least one motor (240, 240a, 240b, 404) and turn the at least one wheel (126) according to a preprogrammed set of instructions and the input of user from a remote device to cause the vehicle to perform a maneuver; (h) a non-autonomous user drive state configured to control the at least one motor (240, 240a, 240b, 404) and turn the at least one wheel (126); Y said processor is further configured to control said motor (240, 240a, 240b, 404) in accordance with one or more preprogrammed movements (414) resulting in a tactile response when said detected counter-electromotive force voltage reaches a predetermined value (412) . 3. The toy vehicle of one or more of the preceding claims, wherein said element (402) is a wheel (126). Four. Five 4. The toy vehicle of one or more of the preceding claims, wherein the at least two states (408) include but are not limited to a state of suspension and a state of wakefulness. 5. The toy vehicle of one or more of the preceding claims, wherein said processor (406) is 50 also configures to control said motor (240, 240a, 240b, 404) according to one or more movements preprogrammed (414) which results in a tactile response when said detected counter-electromotive force voltage reaches a predetermined value (412). 6. The toy vehicle of one or more of the preceding claims, wherein when said detected counter-electric force voltage reaches a predetermined value (412), said processor (406) is further configures to control said motor (240, 240a, 240b, 404) according to one or more preprogrammed movements (414) resulting in auditory perception, and when any of said detectable counter-electric force voltage reaches a predetermined value (412) , the processor (406) is further configured to control said motor (240, 240a, 240b, 404) according to one or more of the following 60 preprogrammed movements (414) resulting in a tactile response: (a) moving said element (402) momentarily, (b) moving said element (402) continuously, (c) resisting the movement of said element (402) momentarily, (d) resisting the movement of said element (402) continuously, (e) oscillating said element (402) momentarily, and (f) oscillating said element (402) continuously. 5 10 fifteen twenty 25 30 7. The toy vehicle according to claim 6, wherein said preprogrammed movements are selected based on the direction of motor rotation (240, 240a, 240b, 404) and based on whether the processor (406) is in the waking state or suspension status. 8. The toy vehicle according to claim 6 or 7, wherein when any of said detectable counter electromotive force voltage reaches a predetermined value (412), the processor (406) is further configured for a delay over a period of time predetermined before said preprogrammed movements (414) result in a tactile response. 9. The toy vehicle according to claim 6, 7, or 8, wherein the preprogrammed movements (414) resulting in a tactile response are at least 100% of the engine speed. 10. The toy vehicle according to claim 6, 7, or 8, wherein the preprogrammed movements (414) that result in a tactile response are at varying engine speeds. 11. The toy vehicle of one or more of the preceding claims further comprising: a second motor configured to cause a movement of a second element of said toy, said movement of said second element further accessible for manipulation by a human to turn said motor; Y said processor (406) is further configured to control said second motor, and wherein the preprogrammed output is further configured to control both motors and rotate both wheels resulting in a tactile response. 12. The toy vehicle of one or more of the preceding claims further comprising an electric circuit designed to alter said counter-electric force voltage before detection by said processor (406). 13. The toy vehicle of one or more of the preceding claims, wherein the preprogrammed tactile responses is to rotate said motor (240, 240a, 240b, 404) in a forward or reverse direction or to brake said motor (240, 240a, 240b, 404).