JP2014528803A - Autonomous vehicle system - Google Patents

Abstract

The apparatus includes a housing, a rotary motor positioned within the housing, an eccentric load adapted to rotate by the rotary motor, and a plurality of leg bases, each leg tip being at the tip with respect to the leg base. With legs. The leg is coupled to the housing at its leg base and includes at least one driving leg. At least one driving leg is constructed from a flexible material and is configured to move the device in a direction generally defined by an offset between the leg base and the leg tip when the rotary motor rotates the eccentric load. Has been.

Description

[Cross-reference of related applications]
This application is a continuation-in-part application and is based on Section 120 of US Patent Application No. 13 / 305,613, filed Nov. 28, 2011, which is incorporated herein by reference in its entirety. No. 61 / 543,047 entitled US Patent Application No. 61 / 543,047, filed Aug. 4, 2011, filed August 4, 2011, which is hereby incorporated by reference in its entirety. Insist on a profit under section 119 (e).
The present description relates to a device that moves based on oscillatory motion and / or vibration, an autonomous device that can be partially controlled using a magnetic field, and a track for the device.

  One example of vibration driven movement is a vibration electric football game. An oscillating horizontal metal surface guides a non-living plastic object and moves it randomly or with some direction. A more recent example of a vibration driven motion uses an internal power source and a vibration mechanism positioned on the vehicle.

  One way to create vibration that induces movement is to use a rotary motor that spins a shaft attached to the counterweight. Counterweight rotation induces reciprocating motion. The power source comprises a mainspring or a DC electric motor that is manually powered. The latest trend is to use pager motors designed to vibrate pagers or cell phones in silent mode. Bibbots and Bristolbots are two modern examples of vehicles that use vibrations to guide movement. For example, a small robot apparatus such as a bib robot or a Bristol bot can generate vibration using a motor having a counterweight. Robot legs are typically metal wires or hard plastic bristles. Vibration vibrates and rotates the entire robot up and down. Since these robot devices do not realize effective direction control, they are likely to drift and rotate.

  Bib robots tend to use long metal wire legs. The shape and size of this vehicle varies widely and typically ranges from as low as 2 inches (50.8 mm) to as high as 10 inches (254 mm). In many cases, rubber feet are attached to the legs to prevent the table surface from being damaged and to change the coefficient of friction. Bib robots typically have 3 or 4 legs, but designs with 10-20 legs also exist. The body and leg vibrations create a movement pattern that is substantially random in direction and rotation. The collision with the wall does not result in a new direction, and the result is that the wall only restricts movement in that direction. Because of its extremely random movement, it does not look like a creature-like movement.

  A Bristol bot is sometimes described as a literally small directional bibbot. Bristol bots use a number of short nylon bristles as legs. The most common raw material for Bristol and car body is the entire head of the toothbrush. The pager motor and battery complete a typical design. The motion can be random with no directionality depending on the orientation of the motor and body and the direction of Bristol. A rough forward direction in which the amount of turning and the amount of side drift varies can be achieved by a design that uses a rear angled bristol with a rotating motor attached. The vehicle stops due to a collision with an object such as a wall, then turns left or right, and continues to move in a rough forward direction. Creature-like movements are minimal due to their sliding movements and zombie-like reactions that strike walls.

  In general, one of the innovative aspects of the subject matter described herein is to contact and roll on a surface, a motor, a battery, a switch adapted to connect the battery to the motor, and the surface. It can be implemented in an apparatus (for example, a toy vehicle) comprising a plurality of wheels, a vibration mechanism connected to a motor, and at least one driving leg. Vibration caused by the vibration mechanism causes the vehicle to move on the surface to at least one driving leg.

  Each of these and other embodiments can optionally include one or more of the following features. One or more driving legs are curved toward the rear end of the vehicle. The vehicle includes a single driving leg. A single driving leg is positioned in the lateral center and / or toward the front end of the vehicle. One or more driving legs are constructed from a rubber material or other elastomer. The motor is a rotary motor, and the vibration mechanism includes an eccentric load that is rotated by the rotary motor. The rotary motor includes a housing, and the eccentric load includes a counterweight disposed inside the housing. The housing of the rotary motor comprises two flat round sides connected by a cylindrical part. The motor has a rotation axis that is perpendicular to the direction in which the vehicle is moving and parallel to the plane that supports the vehicle. The motor rotates in the clockwise direction when viewed from the right side of the vehicle. The vehicle includes a chassis, and a motor, a battery, a switch, and at least one driving leg are connected to the chassis. The chassis includes a hole that receives an axle for the wheel. The chassis includes a plurality of holes adapted to support a plurality of alternative wheelbases. One or more holes for receiving the axles are formed in a slot shape so that when the toy vehicle jumps, the corresponding axles can move in the vertical direction. The switch comprises a reed switch adapted to be actuated by a magnet adjacent to the vehicle. The vehicle is a reproduction of a mass-produced vehicle and has dimensions smaller than the 1:75 scale of a mass-produced vehicle. The vehicle has a length of less than 2 inches (50.8 mm) and a width of less than 1 inch (25.4 mm). The plurality of wheels include a front wheel and a rear wheel, and the motor is located between the front wheel and the rear wheel in the longitudinal direction. The motor is located at the center in the lateral direction of the vehicle. The motor is positioned as forward as possible so that the vehicle type can transmit maximum energy to the legs. The motor is shifted to one side and an eccentric gear is possible. The vehicle includes a rear axle adapted to engage with the rear wheel, and the battery is positioned above the rear axle in the longitudinal direction. The battery is located toward the rear of the vehicle with respect to the motor. A battery is located between the front and rear wheels in the longitudinal direction. The plurality of wheels include a rubber peripheral surface. The plurality of wheels are composed of a plastic material.

  In general, another aspect of the subject matter described herein includes a motor adapted to induce vehicle motion, a battery, and a battery connected to or disconnected from a motor based on a magnetic field in the vicinity of the vehicle. It can be implemented in an apparatus comprising a reed switch and a plurality of wheels.

  In general, other aspects of the subject matter described herein are implemented in a system that includes at least one intersection component having a plurality of connectors adapted to interconnect the intersection component with at least one other track component. be able to. Each of the components comprises at least one lane, and the intersection component is at least a first position below the first lane and a second position or second lane defining one of the retracted positions. A magnet selectively movable between the lower second position is provided. A selectively movable magnet is provided in a modular interaction device that can be selectively attached to a truck component.

  Each of these and other embodiments can optionally include one or more of the following features. The magnet activates a reed switch provided in the toy vehicle when the toy vehicle moves on the first lane when the magnet is in the first position. The magnet rotates around an axis perpendicular to the plane on which the toy vehicle moves. A magnet is indirectly coupled to a knob adapted to rotate the magnet at least between a first position and a second position. The intersection part comprises a detent adapted to maintain the magnet in a respective position of the first position and the second position. The intersection part comprises a three-way intersection. The intersection part comprises a curved wall adapted to turn the toy vehicle. The intersection part has a cross intersection. At least one of the lanes of the intersection part comprises a selectively rotatable vertical converter adjacent to the lane wall of the intersection part, the selectively rotatable vertical converter being at least by the lane wall of the intersection part It is selectively positioned between the first plane defined and the second plane located at an oblique angle with respect to the first plane. Positioning the selectively turnable vertical turner at an oblique angle with respect to the first plane turns the toy vehicle. Positioning the selectively rotatable vertical diverter at an oblique angle with respect to the first plane causes the toy vehicle to turn towards lanes having different directions. The intersection part comprises a set of one or more main lanes and a set of one or more secondary lanes, the first position of the magnet being below a particular one of the secondary lanes. The magnet is connected to a button for lowering the magnet, and the second position is positioned below a specific secondary lane than the first position. The system further comprises a plurality of straight track parts and a plurality of curved track parts, each of the parts being connected to at least one of the other parts. The vehicle includes a reed switch that connects the vehicle battery to the vehicle motor or disconnects the battery from the motor based on proximity to the magnet. A vehicle has a motor, a battery, a switch adapted to connect the battery to the motor, a plurality of wheels adapted to contact and roll on the surface, and vibrations connected to the motor. A mechanism and at least one driving leg are provided, and vibrations caused by the vibration mechanism cause the vehicle to move on the surface to the at least one driving leg. At least a portion of the one or more track parts includes a first surface feature adapted to contact at least one driving leg when any number of wheels of the plurality of wheels are in contact with the surface. A second surface feature wherein at least a portion of the one or more track parts are not in contact with at least one driving leg when any number of wheels of the plurality of wheels are in contact with the surface; Prepare. A curved two lane truck has a solid raised lane separator that keeps the car in the lane inside the lane. A straight two-lane truck is provided with a dash-like lane separator that allows the car to be diverted to the opposite lane when a car collision occurs in a single lane.

  In general, another aspect of the subject matter described herein is to induce vibration of a toy vehicle having a vibratory drive to include one or more drive appendages that contact the first surface of the truck and wheels that contact the truck. Use to move the toy vehicle, to roll the wheel on the toy vehicle based on the second side of the truck that is not in contact with the one or more drive appendages, and to be connected to the truck Using a magnet that actuates a reed switch that connects the vehicle battery to the motor and at least one of stopping the vehicle.

  In general, other aspects of the subject matter described herein include a battery, a plurality of wheels in which at least one wheel contacts and rolls on the surface, and vibrations connected to the battery. It can be implemented in a vehicle or other device comprising a mechanism and at least one driving leg. Vibrations caused by the vibration mechanism cause the vehicle to move on the surface to at least one driving leg.

  Each of these and other embodiments can optionally include one or more of the following features. The vibration mechanism includes a motor and a counterweight adapted to reciprocate by the motor. At least one driving leg is curved toward the rear end of the vehicle. A toy vehicle comprises a single driving leg. A single driving leg is at least either laterally centered or positioned toward the front end of the vehicle. The vehicle includes a pair of driving legs. A pair of driving legs are positioned toward the front end of the vehicle, and are laterally spaced inside the pair of front wheels. At least one driving leg is composed of a rubber material, an elastomer or a thermoplastic elastomer. The vibration mechanism includes a rotary motor having a housing and a counterweight disposed inside the housing and rotated by the rotary motor, the housing of the rotary motor having two flat round shapes connected by a cylindrical portion. With side parts. The vibration mechanism includes a rotation motor and a counterweight that is rotated by the rotation motor, and the counterweight is perpendicular to the direction in which the vehicle is moving and supports a vehicle. Rotate around a parallel axis. The center of gravity of the counterweight is substantially aligned with the longitudinal center line of the vehicle. A counterweight is located in the vicinity of the front axle of the vehicle that supports the pair of front wheels. The rotation axis of the counterweight is substantially aligned with the front axle of the vehicle that supports the pair of front wheels. The motor has a rotation axis that is perpendicular to the direction in which the vehicle is moving and parallel to the plane that supports the vehicle. The motor rotates in the clockwise direction when viewed from the right side of the vehicle. The vehicle includes a chassis, and a vibration mechanism, a battery, a switch, and at least one driving leg are connected to the chassis. The chassis includes a hole for receiving an axle for the wheel. One or more holes for receiving the axle are formed in a slot shape so that when the toy vehicle jumps, the corresponding axle can move in the vertical direction. A front linkage is connected to the chassis, and the linkage is attached to a pivot so that the front wheels can move vertically when the toy vehicle jumps. The front wheel is rotatably connected to a front axle supported by a front linkage, and the front linkage has a pivot parallel to the front axle and spaced from the front axle. The front axle engages with a slot adapted to limit the vertical movement of the front axle. The longitudinal offset between the leg tip and the leg base of at least one driving leg and the vertical offset between the leg tip and the leg base of the at least one driving leg are orthogonal to the longitudinal dimension of the vehicle An angle of at least 35 degrees is formed with respect to the vertical plane. The longitudinal offset between the leg tip and the leg base of at least one driving leg and the vertical offset between the leg tip and the leg base of the at least one driving leg are orthogonal to the longitudinal dimension of the vehicle An angle of about 40 degrees is formed with respect to the vertical plane. At least one peripheral surface of the plurality of wheels is formed in a tapered shape that decreases as the distance from the outer edge of the wheel increases. The switch is actuated by a magnet adjacent to the vehicle. The vehicle is a reproduction of a mass-produced vehicle and has dimensions smaller than the 1:75 scale of a mass-produced vehicle. The vehicle has a length of less than 2 inches (50.8 mm) and a width of less than 1 inch (25.4 mm). The plurality of wheels include a front wheel and a rear wheel, and the vibration mechanism is located between the front wheel and the rear wheel in the longitudinal direction. The vehicle includes a rear axle, and the rear axle engages a rear wheel and a battery positioned above the rear axle in the longitudinal direction. The battery is located toward the rear of the vehicle with respect to the vibration mechanism. A battery is located between the front and rear wheels in the longitudinal direction.

  In general, other aspects of the subject matter described herein include a battery, a plurality of wheels in which at least one wheel contacts and rolls on the surface, and vibrations connected to the battery. It can be implemented in a vehicle or other device comprising a mechanism and a plurality of bristles. The vibrations caused by the vibration mechanism cause the vehicle to move on the surface to a plurality of Bristols.

  Each of these and other embodiments can optionally include one or more of the following features. The vibration mechanism includes a motor and a counterweight adapted to reciprocate by the motor. The vibration mechanism includes a rotary motor having a housing and a counterweight disposed inside the housing and rotated by the rotary motor, the housing of the rotary motor having two flat round shapes connected by a cylindrical portion. With side parts. The vibration mechanism includes a rotation motor and a counterweight that is rotated by the rotation motor, and the counterweight is perpendicular to the direction in which the vehicle is moving and supports a vehicle. Rotate around a parallel axis. The center of gravity of the counterweight is substantially aligned with the longitudinal center line of the vehicle. A counterweight is located in the vicinity of the front axle of the vehicle that supports the pair of front wheels. The rotation axis of the counterweight is substantially aligned with the front axle of the vehicle that supports the pair of front wheels. The motor has a rotation axis that is perpendicular to the direction in which the vehicle is moving and parallel to the plane that supports the vehicle. The motor rotates in the clockwise direction when viewed from the right side of the vehicle. The vibration mechanism includes a rotation motor having a rotation axis that is perpendicular to a direction in which the vehicle is moving and parallel to a surface that supports the vehicle. The motor rotates in the clockwise direction when viewed from the right side of the vehicle. The vehicle includes a chassis, and a vibration mechanism, a battery, and a switch are connected to the chassis. The chassis includes a hole for receiving an axle for the wheel. One or more holes for receiving the axle are formed in a slot shape so that when the toy vehicle jumps, the corresponding axle can move in the vertical direction. The front linkage is connected to the chassis, and the front linkage is attached to the pivot so that when the toy vehicle moves in the vertical direction, the wheel connected to the front linkage can move in the vertical direction. . The front wheel is rotatably connected to a front axle supported by a front linkage, and the front linkage has a pivot parallel to the front axle and spaced from the front axle. The front axle engages with a slot adapted to allow vertical movement of the front axle. At least one peripheral surface of the plurality of wheels is formed in a tapered shape that decreases as the distance from the outer edge of the wheel increases. The switch is actuated by a magnet adjacent to the vehicle.

  In general, other aspects of the subject matter described herein connect a battery to a motor based on a motor adapted to induce movement of an autonomous vehicle, a battery and signals in the vicinity of the vehicle, or It can be implemented in a vehicle or other device comprising a switch adapted to disconnect the battery from the motor and a plurality of wheels.

  Each of these and other embodiments can optionally include one or more of the following features. The switch includes a reed switch and the signal includes a magnetic field. The switch includes an optical switch and the signal includes an optical signal. The switch is adapted to receive a radio signal, and the signal includes a radio signal. The switch includes a touch sensor and includes a contact adapted to engage a signal with the touch sensor. At least one peripheral surface of the plurality of wheels is formed in a tapered shape that decreases as the distance from the outer edge of the wheel increases. The vehicle includes a chassis, a motor, a battery, and a switch are connected to the chassis, the chassis includes a hole for receiving an axle for a wheel, and one or more of the holes for receiving the axle It is formed in a slot shape so that when the toy vehicle jumps, the corresponding axle can move in the vertical direction.

  In general, other aspects of the subject matter described in this specification include at least one intersection component, the at least one intersection component interconnecting the intersection component with at least one other track component. A first position adjacent to the first lane and a second position defining one of the retracted positions, wherein each of the parts comprises at least one lane, It can be implemented in a truck system for a toy vehicle comprising a magnet that is selectively movable between a second position adjacent to the second lane.

  Each of these and other embodiments can optionally include one or more of the following features. When the toy vehicle moves on the first lane when the magnet is in the first position, a switch provided in the toy vehicle is activated. The magnet rotates around an axis perpendicular to the plane on which the toy vehicle moves.

  In general, another aspect of the subject matter described herein includes one or more straight track components having sidewalls and a plurality of lanes defined by a dash-like raised centerline, the dash-like raised The center line can be implemented in a truck system for a toy vehicle in which a vehicle moving in one of the lanes is allowed to stay in that lane.

  Each of these and other embodiments can optionally include one or more of the following features. One or more curved track parts comprise a side wall and a substantially continuous raised center line, the center line that moves the vehicle as it moves through one of the lanes as it passes the curve. Each of the straight track parts is provided with a connector adapted to interconnect the track part with at least one other track part. A dash-like raised center line and a substantially continuous raised center line are defined by an upward slope located at least at the edge of the lane. A dash-like raised center line and a substantially continuous raised center line are defined by vertical protrusions having substantially vertical sides at the edge of the lane.

  In general, another aspect of the subject matter described herein includes an attachment for a truck component such that the track component includes one or more lanes and interconnects with one or more other track components. A switch in the vehicle in which the attachment comprises a signal generation mechanism adapted to selectively generate a signal in the vicinity of the lane of the track part adjacent to the attachment, wherein the signal is positioned in the lane The switch can be operated in a truck system for a toy vehicle in which the power from the vehicle battery is disconnected from the vehicle motor.

  Each of these and other embodiments can optionally include one or more of the following features. The signal generating mechanism includes a magnet that is selectively movable between at least a first position adjacent to the first lane and a second position that defines a retracted position, and the magnet is in the first position. The magnet interacts with the switch in the vehicle to disconnect the power from the battery from the motor. The signal generation mechanism selectively interacts with an optical sensor in the vehicle to disconnect power from the battery from the motor when the vehicle is in the first lane adjacent to the signal generation mechanism. generate. The signal generating mechanism selectively interacts with a wireless sensor in the vehicle to disconnect power from the battery from the motor when the vehicle is in the first lane adjacent to the signal generating mechanism. generate.

  In general, another aspect of the subject matter described herein includes an attachment for a truck component such that the track component includes one or more lanes and interconnects with one or more other track components. When the vehicle is in the first lane adjacent to the attachment, the manual switch in the vehicle is selectively operated according to the position of the switch provided on the attachment, and the power from the battery is motorized. It can be implemented in a truck system for toy vehicles that is intended to be separated from the vehicle.

  In general, another aspect of the subject matter described herein includes a truck component that includes one or more lanes for an autonomous vehicle and one or more parking spaces for the vehicle, the track component comprising: The vehicle when interconnected with one or more other truck parts, the truck part includes a magnet adjacent to each of the one or more parking spaces, and the magnet is in the corresponding parking space It can be implemented in a truck system for a toy vehicle that interacts with an internal switch to disconnect power from the battery from the motor.

  Each of these and other embodiments can optionally include one or more of the following features. Each of the one or more parking spaces further comprises at least one sidewall and a low ridge that separates the parking space from the lane of truck parts.

  The details of one or more embodiments of the subject matter described in this specification are set forth in the accompanying drawings and the description below. Other features, aspects, and advantages of the subject matter will be apparent from the description, drawings, and claims.

1 is a side view of an exemplary wheeled vehicle device. FIG. 1 is a bottom view of an exemplary wheeled vehicle device. FIG. FIG. 4 is an enlarged side view of a portion of the chassis of the device showing a vertical slot that moves up and down on the front axle when the device jumps. Fig. 4 illustrates an alternative rotational vibration motor that can be used to induce vibration of a wheeled vehicle device. Figure 4 illustrates another alternative rotational vibration motor that can be used to induce vibrations of a wheeled vehicle device. It is a side view of the vehicle apparatus with an alternative wheel. It is a bottom view of the vehicle apparatus with a wheel of an alternative of Drawing 4. FIG. 4 illustrates a bottom view of an exemplary chassis assembly for a vehicle with vibration driven wheels. It is a bottom part perspective view of a vehicle with a vibration drive wheel. 2 illustrates an example of a suspension bar assembly. Fig. 4 illustrates a capped end of a suspension bar adapted to hold a wheel on an axle. Fig. 4 illustrates a capped end of a suspension bar adapted to hold a wheel on an axle. Figure 4 illustrates an alternative embodiment of a suspension bar assembly. An example of a wheel is illustrated. Fig. 2 illustrates a side view of a vibration drive device. Figure 3 illustrates an alternative embodiment of a vibration drive. 1 is an exemplary track system. Fig. 4 illustrates an exemplary intersection part with a stop function. Fig. 4 illustrates an alternative stop component that facilitates stopping the vehicle. 1 illustrates an exemplary intersection part having a rotatable vertical turner for selectively turning a vehicle. 1 illustrates an exemplary intersection part having a rotatable vertical turner for selectively turning a vehicle. Fig. 4 illustrates an alternative vertical diverter that can be manually moved back and forth between a linear configuration and a swivel guidance configuration. Figure 2 illustrates a cross-sectional view of a track lane with grooves between the side walls. Figure 2 illustrates a cross-sectional view of a track lane with raised features between sidewalls. It is an end view of a track section. FIG. 6 is an end view of an alternative track section. FIG. 6 is a perspective view of a straight track section. FIG. 6 is a perspective view of a curved track section. 1 illustrates an example of a vehicle on a truck section with a modular attachment. Fig. 4 illustrates a main track section and a track section with a stop sign attachment. FIG. 3 is a perspective view of a truck section having a main truck section and a tollgate attachment. FIG. 5 is a perspective view of a truck section having a main truck section with lane control markings and a tollgate attachment. FIG. 28B is a perspective view of the track section of FIG. 28B with the lane control markings hidden. FIG. 29 is a front view of the track section shown in FIGS. 28A-28C. FIG. 6 is a perspective view of an intersecting track section. FIG. 6 is a perspective view of an alternative cross track section. It is a perspective view of a parking lot track section. FIG. 6 is a flow diagram of a process for inducing movement of a toy vehicle having a vibration drive.

  In the various drawings, like numerals and symbols indicate like elements.

  Small autonomous devices or vibration powered vehicles can be designed to move on a surface, such as a floor or table, or other relatively smooth and / or flat surface. Small devices (eg, made to resemble a small scale car) can move autonomously and turn in response to external forces (eg, by being guided by the side walls of a truck). Also, when the device collides with an object (eg, a wall or other vehicle), the device can be configured to deviate relatively randomly. Generally, the device induces reciprocation of a chassis, a plurality of wheels, one or more driving legs or driving bristles, and a vibration mechanism (eg, a motor or spring-loaded mechanical winding mechanism that rotates an eccentric load, counterweight). Motor or other mechanism or other arrangement of components adapted to quickly change the center of gravity of the device. As a result of the vibration induced by the vibration mechanism, the one or more driving legs come into contact with the support surface, so that the driving legs can propel the small device in the forward direction.

  The movement of the small device can be induced by a combination of the movement of a rotary motor inside or attached to the device and a rotary weight having a center of gravity offset with respect to the rotation axis of the motor. The rotational movement of the weight vibrates the motor and the device to which it is attached. In some implementations, the rotation is in the range of about 6000 to 9000 revolutions per minute (rpm), although higher or lower rpm values can be used. Alternatively, the vibration mechanism can operate to induce vibration non-rotatably. As an example, the device can use many types of vibration mechanisms that are present in many pagers or cell phones and vibrate the pager or cell phone in vibration mode. One or more legs or bristles configured to cause the vibration induced by the vibration mechanism to alternately bend (in a vertical direction based on contact with the surface) and return to its original position as the device moves up and down due to the vibration ( For example, a group of Bristols can be used to move the device on a surface (eg, floor) (eg, by rolling a wheel).

  Various functions can be incorporated into a small device. For example, various implementations of the device include features that facilitate efficient transmission of vibrations to forward motion (eg, leg shape and number of legs, leg tip friction properties, leg relative stiffness or Flexibility, leg elasticity, relative position of the rotating counterweight with respect to the leg, etc.). The speed and direction of movement of the equipment depends on many factors, including the rotational speed of the motor, the size of the offset weight attached to the motor, the power source, and one or more driving legs attached to the equipment chassis. Characteristics (eg, size, orientation, shape, material, elasticity, friction properties, etc.), the characteristics of the surface on which the device operates, the total weight of the device, the natural vibration frequency of the device or driving leg, etc. The parts of the device can be positioned to maintain a relatively low center of gravity that can prevent rollover (eg, based on the lateral distance between the leg tips).

  FIG. 1 is a side view of an exemplary wheeled vehicle device 100. FIG. 2A is a bottom view of the exemplary wheeled vehicle device 100. The apparatus 100 includes a chassis 105 and a plurality of wheels 110 including a pair of front wheels 110a and a pair of rear wheels 110b. The chassis 105 includes a rotary vibration motor 115 (in this embodiment a coin or pancake vibration motor with an eccentric weight or load, but other types of vibration mechanisms are possible) and a housing for the battery power source 120. Support or provide. A wiring 125 connects the battery 120 to the motor 115 via the switching mechanism 130. The switching mechanism 130 includes an external sliding switch 135 for manually switching the device 100 on and off. In certain implementations, as further described below, the switching mechanism is configured such that the battery (when the sliding switch 135 is in the on position) is in the vicinity of the device 100 when there is sufficient magnetic field to operate the reed switch. A reed switch adapted to disconnect (or connect) 120 from motor 115 may be provided. Other types of switching mechanisms can also be used, including other types of switching mechanisms, such as selectively generated light signals (eg, when actively generated light or ambient light is present). Optical sensors (eg, photodetectors) that can be activated in the presence of marking color or reflection on the surface), or radio signals that can be activated in the presence of selectively generated radio signals, selectively There are touch sensors that can be activated when there is a movable contact. A driving leg 140 is attached to the chassis 105. In this example, a single driving leg 140 is shown positioned toward the forward longitudinal end of the device 100. Driving leg 140 is also positioned at or near the middle of the lateral dimension of device 100. In some embodiments, more than one driving leg 140 can be used, and one or more driving legs can be placed anywhere along the longitudinal dimension (eg, near the midpoint or rear end of the device 100). And can be spaced laterally (eg, near the lateral edges of the device 100). Although each pair of wheels 100a, 100b is attached to the chassis 105 by a corresponding axle 145a, 145b, in some embodiments, each wheel 110 may have a corresponding independent axle 145. Thus, the device 100 is supported on the surface 150 by the wheels 110 that are adapted to rest on the support surface 150. The driving leg 140 is also in contact with the support surface 150. In general, the driving leg 140 is attached to the chassis 105 in front of the device rather than the leg tip that contacts the support surface 150 and has sufficient length and sufficient rigidity to support at least a portion of the weight of the device 100. . At the same time, the driving leg 140 is flexible enough to bend when the rotary motor induces vibrations of the device 100. In some embodiments, the wheel 110 a is generally lifted from the support surface 150 by the driving leg 140. At least in this situation, the pair of front wheels 110a does not necessarily rotate on the corresponding axle 145, but can be fixedly attached to the device 100 by means of an axle-like rod or any other connection.

  In operation, when the switch 130 is turned on, the rotary motor 115 vibrates by rotating an internal eccentric load or counterweight on a plane perpendicular to the support surface 150 and aligned with the longitudinal dimension of the device 100. To induce. Therefore, the rotational axis of the eccentric load is perpendicular to the movement direction and parallel to the support surface 150. This orientation can minimize or eliminate the lateral forces that may exist when the motor 115 is in other orientations, and as a result can help the device 100 move in a linear direction. Further, by placing the motor 115 at the center in the lateral direction, the torque can be minimized or eliminated, and movement in the linear direction can be further facilitated. The rotary motor 115 can be positioned within the longitudinal dimension between the front and rear axles 145a and 145b.

  The vibration of the device 100 causes the driving leg 140 to propel the device 100 in the forward direction. In particular, a force in the vertical direction (that is, a force in a direction to come in contact with the support surface 150) is induced by the rotation of the eccentric load. The driving leg 140 is compressed and bent by the downward force induced by the rotation of the eccentric load, and the device 100 jumps by the elastic force of the leg with the upward force induced by the rotation of the eccentric load. The apparatus 100 moves in the forward direction by repeated compression, bending and jumping of the legs. In some cases, the jump is sufficient for the driving leg 140 to leave the support surface, and in other cases, the jump does not leave the driving leg 140 from the support surface, but the driving leg 140 and the support surface. Is sufficient to reduce the friction between the two. By orienting the motor 115 so that the direction of rotation of the radial motor is clockwise when facing the right side of the device 100, the forward component of the motor force is reduced when the driving leg 140 is away from the support surface 150. Further, the vehicle is pushed forward, and when the driving leg 140 is in contact with the support surface, the rear component of the motor force is minimized and acts as a brake against backward movement. However, in some implementations, the motor 115 can be oriented such that the rotation of the radial motor is clockwise when facing the left side of the device 100. The battery 120 can also be positioned towards the back of the device 100 (eg, close to the top of the rear axle 145b). Thereby, the jump of the front end can be facilitated by reducing the rotational moment of inertia around the rear axle 145b. Alternatively, in some embodiments, the battery 120 can be positioned longitudinally between the front and rear axles 145a, 145b. The device 100 can also include a vertical slot (indicated by 155) that allows the front axle 145a (and thus the front wheel 110a) to move up and down when the device 100 jumps. This allows the front wheel 110a to maintain contact with the support surface 150 for at least most of the time, thereby promoting a tendency to move in a straight direction and at the time the front of the device 100 jumps. The rotational moment of inertia around the rear axle 145b can be further reduced.

  FIG. 2B is an enlarged side view of the portion 160 of the chassis 105 and illustrates a vertical slot 165 that allows the front axle 145a to move up and down when the device 100 jumps. As indicated by 170, the axle 145a is restricted from moving back and forth within the slot, but can freely slide up and down within the slot 165.

  Although not shown in FIGS. 1 and 2A, the apparatus 100 can include a housing or cover (eg, similar to a vehicle). With such a housing, the driving components (eg, the motor 115, the battery 120, the wiring 125, and the switch mechanism 130) can be hidden. In some embodiments, the housing can be removable (eg, using a tab that snaps onto the chassis 105), which allows the use of a replaceable housing. . The device 110 can, for example, be a reproduction of a mass production vehicle and can have dimensions smaller than the 1:75 scale of a production vehicle (eg, with a compact drive system). The apparatus 100 can have a length of less than 2 inches (50.8 mm) and a width of less than 1 inch (25.4 mm), for example. In some embodiments, the chassis 105 can include a plurality of front and rear axle holes at different front and rear positions to move the axle and support different wheelbases (eg, for different housings). It becomes possible. A longer wheelbase can further increase the tendency to move in a linear direction.

  The movement of the device can also be influenced by the shape (geometry) of the driving leg 140 (or legs). For example, when the device vibrates, there is a longitudinal offset between the leg tip of the driving leg (ie, the end of the leg that contacts the surface 150) and the leg base (ie, the end of the leg attached to the device housing). Guiding forward movement. By including a certain curvature, at least in the driving leg, when the vibration depresses the device and rebounds to a linear configuration as the vibration pushes up the device (eg, the leg tip moves forward or above the surface 150) As a result of jumping away completely or partially away from the surface so that it slides forward at the same time), it is possible to further facilitate the forward movement of the leg bending and moving the device forward. The speed can also be increased by changing the angle of the driving leg 140 relative to the surface 150 so that the leg 140 does not jump too much and pushes more forward. In particular, the speed can be increased by increasing the longitudinal offset between the leg tip and the leg base (without increasing the leg length). For example, the longitudinal offset between the leg tip and the leg base can be approximately equal to the vertical offset between the leg tip and the leg base (ie, the leg is bent to about 90 degrees) In certain embodiments, the legs are bent at least 10 degrees (eg, 15 degrees), and are typically bent greater than about 25 degrees (eg, about 40 degrees). The smaller the angle (ie closer to the vertical), the easier the device will jump, and the larger the angle, the faster the device will move.

  The ability of the driving leg 140 to induce forward motion is partially the ability of the device to vibrate vertically on an elastic leg (eg, using a rubber material or other elastomer using a flexible plastic, or Bristol). Is the result of Depending on the characteristics of the driving leg 140 such as the position of the leg base with respect to the leg tip, the elasticity of the leg 140, the magnitude of curvature, the angle of the leg with respect to the support surface, and the coefficient of friction (at least the leg tip contacting the support surface 150) This contributes to the tendency of the driving leg 140 to be generated and the speed at which the device 100 moves. By using a wheel 110 with a peripheral surface (eg, rubber or other elastomer) having a sufficient coefficient of friction, the tendency to drift laterally can also be reduced. In some cases, however, at least some lateral drift is desirable (e.g., swiveling around obstacles and / or along other guides intended to swivel the side wall or device 100). For). Thus, a wheel 110 having a relatively low coefficient of friction (for example, a wheel made of a relatively hard plastic) can be used.

  For example, the device can be configured to encourage a certain degree of rotation when vibrations induced by the rotation of the eccentric load induce a jump. Jumping can further induce vertical acceleration (eg, away from surface 110) and forward acceleration (eg, generally in the direction of forward movement of device 100). During each jump, the driving leg 140 and front wheel 110a will jump (whether or not completely away from the support surface 150) and cause the device 100 to react in response to at least an external lateral force (eg, from the sidewall). It can be swung to the side or the other side. The tendency to facilitate swirl can be increased by setting the shape and / or configuration of the legs to increase the jump amplitude.

  The shape (geometry) of the driving leg 140 can contribute to the movement of the device 100. The shape of the leg shape (geometry) includes, for example, the position of the leg base in front of the leg tip, the curvature of the leg, and the deflection characteristics of the leg. In general, depending on the position of the leg tip relative to the leg base, the device 100 may experience different behavior including the speed of the device 100. For example, when the device 100 is positioned on the support surface 150, the movement of the device 100 caused by vibration is limited or prevented if the leg tip is substantially directly below the leg base. This is because there is little or no slope in the line connecting the leg tip and leg base in space. In other words, there is no “tilt” in the leg 140 between the leg tip and the leg base. However, when the leg tip is positioned behind the leg base (eg, away from the front end of the device 100), the inclination or tilt of the driving leg 140 is optimized to provide a leg shape (geometry) that is more likely to conduct movement. Thus, the device 100 can move faster.

  The legs can be straight or curved. The leg shape (geometry) can be defined and implemented based on the ratio of various measurements of the leg including leg length, diameter, and radius of curvature. One ratio that can be used is the ratio of the radius of curvature of the leg to the length of the leg 140. By way of example only, if the leg radius of curvature is 49.14 mm and the leg length is 10.276 mm, the ratio is 4.78. As another example, if the radius of curvature of the leg is 2.0 inches (50.8 mm) and the leg length is 0.4 inches (10.16 mm), the ratio is 5.0. Other lengths and radii of leg 140 can be used that result in a ratio of the radius of curvature to the length of the leg that can lead to proper movement of the device 100. In general, the ratio of the radius of curvature to the leg length can be in the range of 2.5 to 20.0. The radius of curvature can be substantially constant from the leg base to the leg tip. However, this substantially constant curvature may include changes. For example, during manufacture of the device, the legs may require a predetermined taper angle (eg, to allow removal from the mold). Such a taper angle can cause a slight change in the overall curvature, but generally this change does not prevent the radius of curvature from being substantially constant from the leg base to the leg tip.

  Other ratios that can be used to characterize the device 100 include leg length as measured by leg diameter or thickness (eg, measured at the center of the leg, or average leg around the entire leg length and / or around the leg). (Measured based on diameter). For example, the length of the leg 140 is 0.2 inch (5.08 mm) to 0.8 inch (20.32 mm) (for example, 0.405 inch (10.287 mm)), and 0.03 to 0.15. It can be proportional (eg, 5.25 times) to a leg thickness (eg, 0.077 inch (1.9558 mm)) within an inch (0.762-3.81 mm) range. In other words, the leg 140 can have a thickness of about 10% to 25% of its length, but the thickness can be larger or smaller (for example, the leg length 5). % -60%). The leg length and thickness are further determined by the overall size of the device 100. In general, the ratio of leg length to leg diameter of at least one driving leg can be in the range of 0.2 to 20.0 (ie, in the range of 5% to 50% of the leg length).

  As described above, the driving leg 140 may be curved. Since the leg 140 is typically made from a flexible material, the curvature of the leg 140 can contribute to the forward movement of the device 100. By curving the leg, the amount of compression of the leg with respect to the leg in a straight state increases, so that the forward movement of the device 100 can be emphasized. This increased amount of compression can also increase the jump of the vehicle. Driving leg 140 may have at least some taper from the leg base to the leg tip.

  Leg 140 generally has a rubber or other flexible elastic material (eg, a durometer hardness based on the Shore A scale near 55 or a durometer hardness based on the Shore A scale in the range of 45-75. Polystyrene butadiene styrene). Thus, the legs tend to flex when force is applied. In general, the leg 140 includes sufficient rigidity and elasticity to facilitate consistent forward movement when the device vibrates. The choice of leg material can affect how the device 100 moves. For example, the type of material used and the degree of elasticity can affect the amount of bounce of the leg 140 caused by vibration. As a result, the speed of the device 100 can vary depending on the stiffness of the material (among other factors including the position of the leg tip relative to the leg base). In general, using a stiffer material for leg 140 is more likely to rebound, while a more flexible material tends to absorb some of the energy caused by vibration and reduce the speed of device 100. is there.

  3A and 3B illustrate two alternative rotational vibration motors that can be used to induce vibrations of a wheeled vehicle device. FIG. 3A shows a rotary motor 305, which rotates the external eccentric load 310 around the rotation axis 315 when electric power is supplied to the motor 305. FIG. 3B shows a rotary motor 320 (eg, as provided in the apparatus 100 of FIG. 1) that rotates an internal eccentric load contained within the housing of the motor 320 about a rotation axis. In any case, the motors 305 and 320 are connected to a counterweight or an eccentric load having a center of gravity (CG) whose axis is offset with respect to the rotation axis 315 of the motor 310 or 320, and rotate the counterweight or the eccentric load. Let

  FIG. 4 is a side view of an alternative wheeled vehicle device 400. FIG. 5 is a bottom view of the alternative wheeled vehicle apparatus 400 of FIG. The alternative wheeled vehicle device 400 includes two driving legs 440 positioned behind the front wheels 410a in this example. The apparatus 400 further includes a battery 420 and a rotation motor 415 positioned between the front wheel 410a and the rear wheel 410b in the longitudinal direction. In addition, the apparatus 400 includes an eccentric load 460 outside the motor 415 (for example, the motor 305 and the external eccentric load 310 in FIG. 3A). The eccentric load 460 may generate a greater lateral force than that present in the device 100 of FIG. Such lateral forces tend to cause the device to move more irregularly than it moves on a straight line. Other alternative implementations are possible. For example, the rotary motor may have a rotation axis that is perpendicular to the direction of movement of the device and / or the rotary motor and the battery may be positioned in parallel.

  Vehicles with vibration drive wheels, such as device 100 or device 400, or vehicles with other drive mechanisms can be used in conjunction with the track system. The track system can be modular and can include parts that are assembled in virtually any configuration (eg, snapped together using connectors). The track system can include walls or other protrusions for guiding the vehicle along straight and curved roads. Also, several protrusions or guide members may be selectively positioned to cause different behavior (eg, turning or linear travel). The track system can include a built-in magnet that can be used to actuate a reed switch in the vehicle to stop the vehicle. Such magnets are selectively moved to approach or separate from a vehicle adjacent to the magnet (eg, above or to the side) to selectively activate / deactivate such reed switches. be able to. A truck system component may include one or more lanes.

  FIG. 6 illustrates a bottom perspective view of an exemplary chassis assembly 600 for a vehicle with vibration driven wheels. The assembly 600 includes a chassis 605 adapted to support the rotation motor 615 and a battery housing 620 (for example, a battery can be inserted and removed from above). The rotation motor 615 can rotate the pinion 630 having a plurality of teeth that engage with the crown gear 635, thereby rotating the counterweight 625. The counterweight 625 can be formed integrally with the crown gear 635, for example. Two driving legs 640 are attached to the chassis on both sides of the counterweight 625. The chassis 605 further includes axle holes 645a and 645b for front and rear axles, respectively. In the illustrated exemplary chassis assembly 600, the counterweight 625 rotates coaxially with the front axle hole 645a and thus can rotate on the axle that also supports the wheels, but the wheels are not driven by the rotation of the counterweight 625. May be. In some embodiments, the center of gravity of the eccentric portion of the counterweight is substantially aligned with the vehicle centerline to facilitate more linear tracking (ie, generally linear movement). Further, the center of gravity of the counterweight is substantially aligned with the center line of the vehicle, thereby avoiding the tendency to turn to one side or the other side.

  FIG. 7 is a bottom perspective view of the vehicle 700 with vibration-driven wheels. The vehicle 700 can be assembled on the chassis assembly 600 shown in FIG. 6, and includes a front wheel 710 a and a rear wheel 710 b, a chassis cover 750, and a switch 735 protruding through the chassis cover 750. The suspension bar 755 supports the front axle 745a and rotates around an axis defined by the front portion of the suspension bar indicated by 760, so that the axle 745a can move up and down within the slot 765. This vertical movement allows the front wheel 710a to maintain contact with the support surface when the driving leg 740 tends to jump the vehicle 700 up and down. A front portion 770 of the chassis cover 750 restricts the rotation of the suspension bar 755 at the lower end.

  FIG. 8 illustrates an example of a suspension bar assembly 800. The assembly 800 includes a suspension bar 805, a portion of which serves as an axle (indicated by 815) for a pair of wheels 810.

  9A and 9B illustrate a suspension bar capped end 900 adapted to hold a wheel (eg, wheel 810 of FIG. 8) on an axle.

  FIG. 10 illustrates an alternative embodiment of the suspension bar assembly 1000. The assembly 1000 includes a suspension bar 1005, a portion of which serves as an axle (indicated by 1015) for a pair of wheels 1010. However, in this embodiment, the axle portion 1015 of the suspension bar 1005 is engaged with the inside portion of the axle bearing 1020 fitted in the bearing hole of the wheel 1010.

  FIG. 11 illustrates an example of a wheel 1110. The wheel 110 has an inwardly tapered taper (indicated by 1115), which can reduce the tendency of the vibration driven vehicle to jump over low obstacles.

  FIG. 12 illustrates a side view of the vibration drive device 1200. As shown, the device 1200 shows two driving legs in an alternative configuration: a more upright driving leg 1210 and a more angled or inclined driving leg 1205. By using the more inclined driving leg 1205, the speed of the forward movement can be optimized, and the jump amount can be reduced. Also, FIG. 12 illustrates the relative positions of the leg tip and wheel movement. In general, the legs 1205 or 1210 need to contact the support surface at a distance (indicated by 1215, eg 0.5 mm) below the highest position of the front wheel, and the highest distance of the front wheel (shown) The total distance (denoted by 1220) to the lowest position (denoted by 1225) means that the wheel is in contact with the support surface even when the device 1200 jumps as a result of interaction with the driving leg 1205 or 1210 of the vibration mechanism. Need to be sufficient to maintain In general, for a given material, the longer the leg, the smaller the slope required to achieve maximum speed.

  FIG. 13 illustrates an alternative embodiment of the vibration driver 1300. The apparatus 1300 includes one or more longer driving legs 1310 connected to the chassis 1305 above the upper end of the wheel. Such a longer driving leg 1310 helps speed up. Furthermore, it is also easy to increase the speed by arranging the rotary motor 1315 above the front axle as compared with the case where the motor is arranged further rearward in the apparatus.

  FIG. 14 is an exemplary track system 1400. The track system 1400 can comprise a plurality of track parts including a straight track part 1405, a curved track part 1410, a trident intersection part 1415 and a cross intersection part 1420. Each truck component can include one, two, or more lanes 1425, which can include, at least in part, side walls that change the direction of the vehicle 1430 across the lane 1425. The three-pronged intersection component 1415 can include a turning function 1435 incorporated in the side wall, and when the vehicle 1430 enters the intersection and reaches the side wall, the curved protrusion (shown by an arrow 1436) on the side wall. The vehicle 1430 (eg, to the left) is turned by changing the direction of the vehicle 1430 along (shown). Intersection components 1415 and 1420 may include a stop function 1440 that selectively stops the vehicle at the intersection. For example, the stop function 1440 can use a magnet 1445 that can rotate under the lane or move up and down under the lane to selectively activate a reed switch in the vehicle 1430. The position of the magnet 1445 can be controlled by using a control knob or button 1450. Intersection components 1415 and 1420 can further include a vertical diverter protrusion 1455 that can be selectively rotated using a control knob or lever 1460 to cause the vehicle 1430 to continue turning or linear movement. . The truck system can also include special components 1465 that can be used to convert the vehicle 1430 to one or more secondary lanes (eg, a pit stop or gas station type area). Special component 1465 can also include a magnet that stops vehicle 1430 until button 1470 is pressed to release vehicle 1430 from the magnetic field (ie, by moving the magnet below the secondary lane).

  FIG. 15 illustrates an exemplary intersection piece 1500 with a stop function. The stop function can be implemented by using a rotatable wheel 1505 hidden under the intersection part 1500, and a magnet 1510 is attached to the rotatable wheel 1505. The rotatable wheel 1505 can be rotated by using a knob 1515 (eg, using a gear mechanism). Knob 1515 indirectly rotates the rotatable wheel 1505 and causes magnet 1510 to move below a given lane (ie, stop the vehicle in that lane) or away from the lane (ie, vehicle To pass freely). Thus, the magnet 1510 can rotate about an axis perpendicular to the surface of the truck component 1500 on which the vehicle moves. The detent can be used to cause the rotatable wheel to go to a predetermined position. In some implementations, the knob 1515 allows the user to press the rotatable wheel 1505 and lock it at a sufficient distance below the intersection piece 1500 so that the magnet 1510 does not interfere with the vehicle in some direction. You may be able to do it.

  FIG. 16 illustrates an alternative stop component 1600 that facilitates stopping the vehicle. An alternative stop piece 1600 includes a knob 1605 for rotating a magnet 1610 connected to the knob 1605 by an arm 1615. Knob 1605 can be used to selectively position magnet 1610 below the lane (stops the vehicle) or away from the lane (passes the vehicle).

  17 and 18 illustrate an exemplary intersection piece 1700 having a rotatable vertical diverter 1705 for selectively turning the vehicle. A rotatable vertical converter 1705 can be connected to a rotatable wheel 1710, which uses a gear mechanism 1720 with a knob 1715 indirectly coupled to the rotatable wheel. Can be rotated using. By rotating the knob 1715, the vertical converter 1705 is moved between a position that is substantially in the same plane as the adjacent lane wall 1725 and a plane that is inclined with respect to the adjacent lane wall 1725. be able to. Detents are used to direct the vertical diverter 1705 to a desired position (eg, to facilitate the vehicle traveling straight, or to turn the vehicle toward a lane having a different direction). Can be made to

  FIG. 19 illustrates an alternative vertical diverter 1900 that can be manually moved back and forth between a linear configuration and a swivel guidance configuration. Again, detents can be used to direct the vertical converter 1900 to more than one desired position.

  In some implementations, the track system can comprise a slope or downhill. By providing the track with a surface feature that at least substantially prevents one or more driving legs from contacting the surface, it is possible to freely roll (eg, downhill) the vibration driven wheeled device.

  FIG. 20 illustrates a cross-sectional view of a track lane 2000 that includes a groove 2005 between sidewalls 2010 to prevent a driving leg of a vibration driven wheeled device (eg, device 100 of FIG. 1) from contacting the track surface 2015. To do. The groove 2005 can be used, for example, in a downhill track section to allow the device to roll freely. The groove 2005 may be used for a short section to decelerate the vehicle.

  Alternatively, if a shorter driving leg is used in the device, the device may be rolled freely using a flat surface instead of groove 2005. In such cases, a portion of the track can be provided with a raised feature that engages the driving leg to allow the driving leg to propel the device.

  FIG. 21 illustrates a track lane 2100 that includes a raised feature 2105 between sidewalls 2110 for engaging a driving leg of a vibration driven wheeled device (eg, device 100 of FIG. 1) whose wheels roll on a track surface 2115. A cross-sectional view is illustrated. The raised feature 2105 can be used on a section of a truck where the vehicle can be propelled using one or more driving legs.

  FIG. 22 is an end view of the track section 2200. The track section 2200 includes a lane 2205 defined by a side wall 2210 and a centerline protrusion 2215. Centerline protrusion 2215 can be used to manage vehicle lane usage across the track. Centerline protrusion 2215 is high enough to keep the vehicle in a particular lane and sometimes on the vehicle (eg, when a collision occurs or when the vehicle approaches centerline protrusion 2215 at a sufficient angle). It can be low enough to cross another lane.

  FIG. 23 is an end view of an alternative track section 2300. The track section 2300 includes a lane 2305 defined by a side wall 2310 and a raised centerline 2315. Accordingly, each lane 2305 is inclined from the raised center line 2315 toward the respective side wall 2310. The raised centerline 2315 can be used to manage vehicle lane usage across the truck. The raised center line 2315 can be high enough to keep the vehicle in a particular lane and low enough to cause the vehicle to cross to another lane at least under certain circumstances.

  FIG. 24 is a perspective view of the linear track section 2400. The track section includes a dash pattern of centerline protrusions 2415 between lanes 2405. The dash pattern tends to keep the vehicle in each lane on a straight track section, but sometimes provides some ability to cross other lanes. Furthermore, the dash pattern serves the purpose of allowing the vehicle to easily complete a lane change (or return to the original lane) when the vehicle begins to cross the center line. In particular, the wheel and / or rear wheel on one side of the vehicle can more easily slide through the gap in the dash pattern to complete the lane change.

  FIG. 25 is a perspective view of the curved track section 2500. The curved track section 2500 includes a solid centerline protrusion 2515 between the lanes 2505. The solid centerline protrusion 2515 prevents better lane management, particularly in the lanes inside the turn, where the vehicle crosses into other lanes. In some embodiments, a substantially continuous centerline protrusion 2515 is used to facilitate, for example, a vehicle that partially crosses the centerline completing the crossing or returning to the original lane. be able to.

  FIG. 26 is an example of a vehicle 2605 on the truck section 2600. The track section 2600 includes a main track section 2610 and a modular attachment 2615 that is fastened to a groove (indicated by 2620) in the main track section 2610. The modular attachment can include a magnet 2625 adjacent to the side wall 2630 of the main track section 2610. The magnet 2625 can generate a magnetic field that stops the vehicle 2605 by interacting with the reed switch 2635 of the vehicle 2605 and cutting power to the drive mechanism (for example, the rotary motor 115 in FIG. 1). The magnet 2625 can be moved away from the position shown in FIG. 26 (eg, up or one side) (eg, by a manual or automatic lever or switch) so that the magnetic field interacts with the reed switch. The vehicle 2605 can be re-applied by re-powering the drive mechanism and no longer acting.

  In an alternative embodiment, instead of using magnets and reed switches, the switch 2635 includes a photodetector that detects markings on the surface of the track section 2600 or reacts to light characteristics in the vicinity of the vehicle 2605. Can do. The marking can comprise a line of varying width, for example, so that the switch 2635 can disconnect the power from the motor when the photodetector detects the line on which the car is moving. Therefore, the vehicle 2605 can be stopped using such marking. Also, by using a relatively thin line, alternately turning off the motor when the vehicle 2605 moves on the thin line and operating the motor when the vehicle passes on the thin line by propulsive force The vehicle 2605 can be decelerated. A thicker line can be used to stop the vehicle 2605 completely. Furthermore, the vehicle can be decelerated more slowly and stopped using a gradually thicker line. Other types of markings besides lines can also be used. The line or marking can be a different color than the other side of the track, and the photo detector is sensitive enough to detect differences in reflected light (eg, when the vehicle 2605 passes over the marking). May have different reflectivities). The photodetector may also be sensitive to ambient lighting conditions and may depend on the active light function provided in the track section 2600.

  Different patterns of markings on the track surface can be used to cause the vehicle 2605 to perform different actions. For example, the processor provided in the vehicle 2605 can receive data from the photodetector when the photodetector senses a marking on the track surface, and the processor can be programmed to cause different response actions. . For example, the vehicle 2605 can be gradually decelerated by a series of equally spaced lines, the vehicle 2605 can be stopped by a thick solid line, and the vehicle 2605 can be turned right by a series of two lines. In addition, the vehicle 2605 can be turned to the left by a series of three lines. Alternatively, different colors can be used to cause different actions. As another alternative, the vehicle 2605 can include two or more laterally spaced photodetectors that can be operated depending on which photodetector detects the marking on the surface. The pivoting can be accomplished using any suitable technique including techniques known in the art.

  FIG. 27 illustrates a track section 2700 having a main track section 2710 and a stop sign attachment 2715. When a vehicle having a reed switch moves near the stop sign attachment 2715, the reed switch that is normally closed by the magnet 2725 is opened to turn off the vehicle motor and stop the vehicle. A magnet 2725 can be coupled to the base of the stop sign 2740. Rotate stop sign 2740 downward as shown at 2745 or rotate around the axis of the stop sign pole as shown at 2750 to close the reed switch again, turn on the motor and the vehicle begins to move The magnet 2725 can be moved so that it can. By returning the stop sign 2740 to the position shown in the drawing, the vehicle approaching the stop sign attachment 2715 can be stopped again. Alternatively, the magnet 2725 can be positioned below the track section 2710, and the rotation or movement of the stop sign 2740 can cause the magnet to slide or rotate away from the track section 2710. Other techniques for selectively stopping the vehicle can also be used. For example, as described above, the vehicle can include a photodetector that detects a pattern or marking on the surface of the track section 2700. By rotating or moving the stop sign 2740 in the first direction or to the first position, the pattern or marking can be moved to or exposed from a position below the lane of the track, and the second By rotating or moving in a direction or to a second position, the pattern or marking can be moved away or hidden.

  FIG. 28A is a perspective view of a truck section 2800 having a main truck section 2810 and a tollgate attachment 2815. FIG. 28B is a perspective view of a truck section having a main truck section with lane control markings 2850 and a tollgate attachment. FIG. 28C is a perspective view of the track section of FIG. 28B with the lane control markings hidden (indicated by 2855). FIG. 29 is a front view of the track section 2800. The tollgate attachment 2815 can include a rotatable toll gate 2840 that is attached to a magnet similar to the magnet 2727 of FIG. Toll gate 2840 can be rotated back and forth between the closed position shown in FIG. 28A and the open position shown in FIG. 29 (eg, by rotating a toll gate sign on the toll gate). In the closed position, the reed switch of the vehicle 2805 is opened by the magnet to cut the power to the vehicle motor (or the light detector cuts the power to the motor by the pattern on the track). In the open position, the reed switch is allowed to close (or changed or hidden by the pattern on the track) to repower the vehicle motor. Accordingly, the toll gate attachment 2815 and the toll gate 2840 can operate in a manner similar to the stop sign attachment 2715 and stop sign 2740 of FIG. Attachments 2715 and 2815 (or other similar attachments with magnets) or other attachments (eg without magnets) or straight track sections (eg as shown in FIG. 24) or (eg as shown in FIG. 25) And can be selectively mounted at any location along the entire track assembly (eg, the track system 1400 of FIG. 14).

  Instead of using a magnet to actuate the reed switch, a mechanism for changing the pattern appearing on the track surface as shown in FIGS. FIG. 28B includes lane markings 2850 that are detected by a vehicle on the lane (eg, using a photodetector at the bottom of the vehicle). When the marking 2850 is detected, the power to the motor is cut off, and the motor is powered again where the marking 2850 is not present. Therefore, when the vehicle passes the intermittent portion of the marking 2850, the motor is alternately turned on and off to decelerate the vehicle. And if a vehicle passes the solid line part of lane marking 2850, power will be cut off from a motor for a longer time, and a vehicle can be stopped. Lane markings 2850 can be configured such that they can be selectively removed or hidden (as shown at 2855 in FIG. 28C). By hiding the lane markings, the vehicle can be selectively stopped or traversed across the track section 2800 without interruption. For example, when the toll gate 2840 is in the closed position (as shown in FIG. 28B), the lane marking 2850 can be exposed, thereby stopping the vehicle on the lane. When the toll gate 2840 is in the open position (as shown in FIG. 28C), the lane marking 2850 can be hidden (indicated by 2855), which keeps the vehicle on the lane moving with little or no slowdown. be able to. Accordingly, the charge gate 2840 can control a mechanism for exposing or hiding the lane marking 2850 based on the position of the charge gate 2840. In some embodiments, the main track section 2810 is pre-configured to include a lane marking 2850 that can be selectively exposed to selectively expose or hide the lane marking when the tollgate attachment 2815 is connected to the lane. Can be able to. In other embodiments, the main truck section 2810 and the toll gate attachment can be configured as a single piece. The lane marking 2850 can comprise, for example, an actinic light that changes the color of the area of the lane, or a sliding surface that slides into or out of view depending on the position of the charge gate 2840. Other mechanisms for exposing or hiding the lane marking 2850 can also be used.

  FIG. 30 is a perspective view of the cross track section 3000. The cross track section 3000 includes a slot 3005 that can be used to mount a modular attachment (eg, attachment 2715 or 2815) that can be used to control traffic. For example, stop sign attachments 2715 can be placed at four different locations around the intersection track section 3000 to allow the user to selectively stop the vehicle at the intersection.

  FIG. 31 is a perspective view of an alternative cross track section 3100. An alternative cross track section 3100 includes a rotatable disk 3110 below the track surface. The rotatable disk 3110 includes a magnet 3125 that can be selectively positioned below the intersection lane to stop the vehicle at the intersection. The rotatable disk 3110 can be manually rotated using the lever 3120. The magnet 3125 can be positioned to allow the vehicle to stop on the two opposite sides of the intersection and pass through the intersection without stopping the crossing traffic. Also, the disk 3110 can stop crossing traffic while allowing it to pass through an intersection on the two opposite sides. In some embodiments, a magnet (attached to a rotating disk, stop sign attachment, toll gate attachment, or any other attachment) can be moved using an automated control system. Alternatively, rotation of the rotatable disk 3110 can alternately expose or hide the pattern under one or more lanes of the track section 3100 and away from the lane.

  FIG. 32 is a perspective view of the parking lot track section 3200. FIG. Until the vehicle is pushed into traffic lane 3215 or the magnet is moved using a manual or automatic control mechanism, a motor positioned below parking space 3205 can turn off the motor of the vehicle on parking space 3205. . Further, the ridgeline 3210 can prevent the vehicle from turning to or interfering with the vehicle on the parking space 3205.

  FIG. 33 is a flow diagram of a process 3300 for guiding the movement of a toy vehicle having a vibration drive. When vibration of the toy vehicle is induced (3305), the toy vehicle is moved using one or more drive appendages that contact the first surface of the truck and wheels that contact the truck. Based on the second side of the truck that is not in contact with the one or more drive appendages, the toy vehicle rolls wheels (3310). The vehicle is stopped using the magnet connected to the truck (3315). For example, the reed switch that connects the battery to the motor of the vehicle is actuated by the magnet to stop the vibration of the toy vehicle.

  Thus, specific embodiments of the subject matter have been described. Other embodiments are within the scope of the following claims.

Claims (35)

Battery,
A plurality of wheels such that at least one wheel contacts the surface and rolls on the surface;
A vibration mechanism connected to the battery;
One or more driving legs or at least one of a plurality of bristles,
A toy vehicle in which vibrations caused by the vibration mechanism cause the vehicle to move on the surface to the one or more driving legs or the plurality of bristles.   The toy vehicle according to claim 1, wherein the vibration mechanism includes a motor and a counterweight adapted to reciprocate by the motor.   The toy vehicle according to claim 1, wherein the at least one driving leg is curved toward a rear end of the vehicle.   The toy vehicle according to claim 1, further comprising a pair of driving legs positioned toward a front end of the vehicle and spaced laterally inside a pair of front wheels.   The toy vehicle according to claim 1, wherein the at least one driving leg is made of a rubber material, an elastomer, or a thermoplastic elastomer. The vibration mechanism includes a rotary motor and a counterweight adapted to rotate by the rotary motor;
The toy according to claim 1, wherein the counterweight rotates about an axis perpendicular to a direction in which the vehicle is moving and parallel to a surface supporting the vehicle. vehicle.   The toy vehicle according to claim 6, wherein a center of gravity of the counterweight is substantially aligned with a longitudinal center line of the vehicle.   The toy vehicle according to claim 6, wherein the counterweight is located in the vicinity of a front axle of the vehicle that supports a pair of front wheels. The motor includes a rotation axis perpendicular to a direction in which the vehicle is moving and parallel to a surface supporting the vehicle;
The toy vehicle according to claim 2, wherein the motor rotates in a clockwise direction when viewed from the right side of the vehicle.   The vehicle includes a chassis, the vibration mechanism, the battery, the switch, and the at least one driving leg are connected to the chassis, the chassis includes a hole that receives an axle for a wheel, and receives the axle. The toy vehicle according to claim 1, wherein one or more of the holes to be formed are formed in a slot shape so that when the toy vehicle jumps, a corresponding axle can move in a vertical direction.   A longitudinal offset between a leg tip and a leg base of the at least one driving leg, and a vertical offset between the leg tip and the leg base of the at least one driving leg are the longitudinal directions of the vehicle. The toy vehicle of claim 1, wherein the toy vehicle forms an angle of about 40 degrees with respect to a vertical plane orthogonal to the dimension.   The toy vehicle according to claim 1, wherein at least one peripheral surface of the plurality of wheels is formed in a tapered shape that becomes smaller as the distance from the outer edge of the wheel increases.   The toy vehicle according to claim 1, further comprising a switch configured to be operated by a magnet adjacent to the vehicle.   The toy vehicle according to claim 1, further comprising a photodetector configured to operate according to a light characteristic in the vicinity of the vehicle. When the vibration mechanism is adapted to rotate by the rotation motor and the rotation motor, a counterweight is provided,
The toy according to claim 1, wherein the counterweight rotates about an axis perpendicular to a direction in which the vehicle is moving and parallel to a surface supporting the vehicle. vehicle. An autonomous toy vehicle,
A motor adapted to guide the movement of the autonomous vehicle;
Battery,
An autonomous toy vehicle comprising a switch and a plurality of wheels configured to connect the battery to the motor or to disconnect the battery from the motor based on detection of the presence of physical characteristics in the vicinity of the vehicle.   The toy vehicle of claim 16, wherein the switch comprises a reed switch and the physical property includes a magnetic field.   The toy vehicle according to claim 16, wherein the switch includes a photodetector, and the physical property relates to the property of light.   The toy vehicle of claim 16, wherein the switch is adapted to receive a radio signal and the physical property includes a radio signal.   The toy vehicle according to claim 16, wherein the switch includes a touch sensor, and the contact includes a contact in which the physical property is interlocked with the touch sensor. Comprising at least one intersection part;
The at least one intersection component comprises a plurality of connectors adapted to interconnect the intersection component with at least one other track component;
Each of the components comprises at least one lane;
The intersection part is selected at least between a first position adjacent to the first lane and a second position adjacent to the second lane or a second position defining one of the retracted positions. Truck system for toy vehicles, with a movable magnet.   23. The magnet according to claim 21, wherein when the toy vehicle moves on the first lane when the magnet is in the first position, a switch provided in the toy vehicle is activated. Truck system.   The track system according to claim 22, wherein the magnet rotates around an axis perpendicular to a plane on which the toy vehicle moves.   One or more straight track parts having side walls and a plurality of lanes defined by a dash-like raised center line, the dash-like raised center line moving in one of the lanes A truck system for toy vehicles that keeps the vehicle in the lane. Further comprising one or more curved track parts having side walls and a substantially continuous raised centerline, wherein the centerline passes a curve as a vehicle moving in one of the lanes. Making it easier for the vehicle to stay in the lane,
25. The track system of claim 24, wherein each of the linear track parts comprises a connector adapted to interconnect the track part with at least one other track part.   26. The track system of claim 25, wherein the dash-like raised center line and the substantially continuous raised center line are defined by an upward slope located at least at an edge of the lane.   26. The dash-like raised center line and the substantially continuous raised center line are defined by vertical protrusions having substantially vertical sides at the edge of the lane. Track system as described in. With attachments for truck parts,
The track component comprises one or more lanes and is interconnected with one or more other track components;
The attachment includes a signal generation mechanism configured to selectively generate a signal in the vicinity of a lane of the track part adjacent to the attachment;
The signal activates a switch in a vehicle located in the lane;
A truck system for a toy vehicle, wherein actuation of the switch disconnects power from a battery of the vehicle from a motor of the vehicle. The signal generating mechanism includes a magnet that is selectively movable between at least a first position adjacent to the first lane and a second position that defines a retracted position;
29. A truck system according to claim 28, wherein when the magnet is in the first position, the magnet interacts with a switch in the vehicle to disconnect power from the battery from the motor. .   The signal generating mechanism interacts with an optical sensor in the vehicle to disconnect the power from the battery from the motor when the vehicle is in a first lane adjacent to the signal generating mechanism. 30. The track system of claim 28, wherein the signal is selectively generated.   The signal generating mechanism interacts with a wireless sensor in the vehicle to disconnect power from the battery from the motor when the vehicle is in a first lane adjacent to the signal generating mechanism. 30. The track system of claim 28, wherein the signal is selectively generated. With attachments for truck parts,
The track component comprises one or more lanes and is interconnected with one or more other track components;
When the attachment is in a first lane adjacent to the attachment, a manual switch in the vehicle is selectively operated according to a position of a switch provided in the attachment, and the power from the battery is A truck system for toy vehicles that is designed to be disconnected from the motor. A truck component comprising one or more lanes for an autonomous vehicle and one or more parking spaces for the vehicle;
The track component is adapted to interconnect with one or more other track components;
The truck component includes a magnet adjacent to each of the one or more parking spaces;
A truck system for a toy vehicle, wherein the magnet interacts with a switch in the vehicle when the vehicle is in a corresponding parking space to disconnect power from the battery from the motor.   34. The truck system of claim 33, wherein each of the one or more parking spaces further comprises at least one side wall and a low ridge that separates the parking space from a lane of the truck part. A method for inducing movement of a toy vehicle having vibration drive,
Inducing vibration of the toy vehicle to move the toy vehicle using one or more drive appendages that contact the first surface of the track and wheels that contact the track;
Rolling the toy vehicle with wheels based on a second surface of the truck that is not in contact with the one or more drive appendages; and a magnet connected to the truck, And at least one of stopping the vehicle using a magnet that activates a reed switch that connects the vehicle battery to a motor.