KR910002926B1 - Moveable toy with sound detching apparatus - Google Patents

Abstract

The action toy is provided with a control circuit for controlling the direction and time of motor rotation to move the toy in the direction of sound detection in response to the finding of the sound signal by a sound sensor. The control system is arranged that detector section (1) is serially connected to a band pass filter section (2) to a comparison amplifier (3) to first sound detection circuit (4), whose output terminal connects to a region setting section (5) to determine the directional regions D1-D6. A wave cycle setter (7) connects to a time control (10) and a motor control signal logic circuit (9) connecting with a differtiation circuit (6) and the sound detector (4). The output terminal of the section (5) connects to a rotation time control (8) to connect via the control signal logic circuit (9) with left and sight motor drives (11,12).

Description

Motion toy with integrated sound direction detection device

1 is a block diagram showing the principle of detection of the acoustic direction acting on the present invention.

2 is a block diagram of the present invention.

3 and 4 are detailed circuit diagrams of the present invention.

5 is a waveform diagram of each output terminal in the present invention.

6 is a detailed circuit diagram of a motor control signal logic circuit part in the present invention.

7 and 8 are circuit diagrams showing another embodiment of the original sound detection circuit in the present invention.

* Explanation of symbols for main parts of the drawings

1: Sound signal sound detection unit 2: Band pass filler unit

3: comparison amplifier 4: first sound detection circuit

5: area setting unit 6: differential circuit

7: period setting unit 8: rotation time setting control unit

9: motor control signal logic circuit 10: time control unit

11, 12: left and right motor drive circuits R ₁ to R ₄₂ : resistance

C _{1 to} C ₁₅ : condenser D _{1 to} D ₆ : diode

OP _{1 to} OP ₆ : Comparative amplifiers A, B, C: Acoustic tone detection sensor

TM ₁ -TM ₂ : Timers NAND _1- NAND ₁₈ : NAND gate

NOR ₁ -NOR ₇ : NOR gate.

The present invention relates to a control circuit of a moving toy that detects the directionality of sound and moves in the detected direction. Specifically, the sound signal detected by the acoustic sensor is discriminated, and according to the direction in which the sound is emitted, the rotational direction of the motor on the left side, the rotation time and the running time at this time are controlled, and the toy is operated in the direction in which sound is detected. It is to provide a control circuit to move.

Toys developed in the prior art as a fixed toy not only gives a hard feeling, but also has a disadvantage that makes you feel tired easily.

In this invention, the invention is to create a moving toy that moves in the direction of the sound. When described in more detail based on the accompanying drawings as follows.

1 shows the position of the acoustic sensors A, B and C and the detection area in the corresponding direction. 2 is a system block diagram of the present invention, in which the acoustic signal sound detecting unit 1 is an area in which the band pass filter unit 2, the comparative amplifying unit 2, and the initial sound detecting circuit 4 are connected in series and connected to an output terminal thereof. The direction region of D ₁ to D ₆ is set by the setting section 5, and a differential circuit 6 for distinguishing the left and right directions is provided in the period setting section 7 for setting the period of the waveform. The motor control signal logic circuit 9 and the time controller 10 connected to the output terminal of the motor control signal logic controller 9 are connected to the rotation time setting controller 8 at the output terminal of the area setting unit 5. It is configured by connecting to the left and right motor drives (11, 12) through.

3 shows an acoustic signal sound detection unit 1 for sequentially comparing and detecting a sound signal of an incoming sound, an end pass filter unit 2 and a comparative amplifier 3 for filtering a disturbance noise signal, and an initial low level signal. A detailed circuit diagram of the sound detection circuit 4 is shown.

That is, the capacitors C ₁ and R ₁₆ to R ₁₈ connected in series between the respective resistors R _{1 to} R ₃ and the detection sensors A, B and C are connected to the amplifiers OP _{1 to} OP ₃ . Inverting terminal (-) is connected, the non-inverting terminal (+) is connected between resistors R ₄ to R ₉ and feedback resistors R ₁₉ to R _2l connected to the output terminals of amplifiers OP _{1 to} OP ₃ . ), the capacitor (C ₄ ~C ₆₎ and a resistor (R ₂₂ ~R ₂₄₎ connected in series to the inverting terminal (of the amplifier (OP ₄ ~OP ₆₎ - but connected to) the capacitor (C ₁ ~C _6), and a resistance (R ₂₂ ~R ₂₄₎ has a resistance (R ₂₅ ~R ₃₀₎ and a capacitor (C ₇ ~C ₉₎ and connected to the band-pass filter section (3) that is, the detection amplifier (OP ₄ ~OP ₆₎ between The first sound detection circuit 4 initialized by the clear terminal C _L is configured and connected to the output terminal as the NAND gates NAND ₁ to NAND ₁₂ , and the output terminals a, f, and b are e. The region setting unit 5 serving as the NOR gates NOR ₁ to NOR ₃ is connected to each other.

In addition, the diodes (D ₄ , D ₅ ) are connected in parallel to the input terminals (c, d) to connect the resistors (R ₃₈ , R ₃₇ ) and the capacitor (C ₁₀ ) to form a differential circuit (6), and the output terminal of connected to the trigger terminal (Tr) of the timer (TM _1), the control unit 10 and the output terminal (Q) is through a capacitor (C _13, C _l4) and a diode (D _6), resistor (R ₃₉ ~R ₄₂₎ sikimyeo connected to the initial terminal (TS) and a trigger terminal (Tr) of the timer (TM _2), has an initial terminal (TS) of the timer (TM ₁₎ output terminals (G, T, B) resistance (R are each connected in series The period setting unit 7 in which ₃₄ to R ₃₆ ) and the diodes D _{1 to} D ₃ are connected in parallel is connected, and the NAND gates NAND ₁₃ and NAND ₁₄ are connected to the output terminal B of the period setting unit 7. And the rotation time setting control unit 8 connected to the capacitor C ₁₅ and the resistor R ₄₃ to the NOR gate NOR ₄ .

6 is a detailed circuit diagram of the motor control signal logic circuit 9, and one end of the NOR gates NOR ₆ to NOR ₇ is connected to an output terminal of the NAND gates NAND ₁₅ and NAND _{17 to} which the input terminals c and d are connected. and an output terminal (Q ₂₎ is a NOR gate (NOR ₄₎ and the NAND gate is connected to one end of the NOR gate (NOR ₄₎ through (NAND _16), an output terminal (T _L) is a NAND gate (NAND ₁₆ is connected The output terminal of ˜NJAND _{18 is} connected to one end of the NOR gates NOR _{5 to} NOR ₇ .

FIG. 7 shows another example of the original sound detection circuit formed as a knock gate and FIG. 8 shows another original sound detection circuit composed of a D-flip flop.

This working effect is explained as follows.

1 shows the position of the acoustic sensor and the direction detection area according to the present invention.

That is, the three acoustic sensors are arbitrarily installed so as to intersect in six directions so that the acoustic signals generated and coming from an arbitrary target can be detected most ideally. For example, when whistling or clapping in the D ₂ direction, the sound is sequentially detected in the order of B sensor (B), A sensor (A), and C sensor (C), and when a sound signal is generated in the D ₄ direction, the C sensor (C) , B sensor (B), A sensor (A) in order.

2 is a block diagram of the present invention system shown for sequential control of a signal detected by an acoustic sensor. First, in the acoustic signal sound detection unit 1, three acoustic signal detection sensors A, B, and C detect the signal sound arriving in each direction (6 directions) as shown in FIG. This signal voltage is transmitted to the band pass filter 2 and filtered.

That is, the band pass filter 2 has a bandpass characteristic of a frequency domain corresponding to a human whistle.

In other words, in addition to human whistling, it also detects clapping, door closing, or “tapping” bumps that usually have a wide frequency bandwidth. It is for.

Therefore, the filtered signal voltage is transmitted to the first acoustic detection circuit 4 through the comparison amplifier 3 to compare and detect the signals of the three acoustic signal detection sensors A, B, and C and maintain the result as an output. Circuit.

The signal output from the final sound detection circuit 4 is input to the area setting unit 5 to set the three-direction region (for example, D ₁ direction or D ₂ , D ₃ , D ₄ direction) to drive circuit 7. Through the left and right direction setting unit (6).

Then, the left and right direction setting section 6 sets the signal period in the initial sound detection circuit 4. The set signal is input to the time controller 10 to rotate the operation toy in the set direction D _{1 to} D ₆ and then set a period of time to advance to the target in the detected direction for a predetermined time. The signal from the time control unit 10 is input to the motor control signal unit 9 to control the left and right motor drive circuits 11 and 12 in each direction.

For the detailed description thereof, FIG. 3 illustrates a circuit of the acoustic signal detecting unit 1. Therefore, when an embodiment in which an acoustic signal is generated in the direction of D ₁ is described, the signal sound is first detected by the A sensor A and converted into a voltage signal.

This voltage-converted signal is distributed by the resistor R ₂ and then input to the non-inverting terminal (−) of the amplifier OP ₁ via the filtering capacitor C ₁ and the resistor R ₁₆ . The amplifier OP ₁ sets the reference voltage as the resistors R ₄ and R _{5. When the} acoustic sensor A detects an acoustic signal frequency signal having a predetermined level width, its output is output as a low level signal. To be.

Therefore, the low level signal output from the amplifier OP ₁ is filtered through the condenser C ₄ and the band pass filter unit 2 and the disturbance signal included in the signal level is filtered. The detection signal sound filtered by the band pass filter 2 is amplified to a predetermined level while passing through the amplifier OP ₄ . Accordingly, a high level signal voltage is output from the amplifier OP ₄ and input to one end of the NAND gates NAND ₁ and NAND ₆ of the first acoustic detection circuit 4.

Here, the NAND gates NAND ₇ and NAND ₈ are flip-flop circuits, and the initial condition of the output terminal b is set to high level, and the output of the connection point a becomes low level. At this time, the output signal of the amplifier OP ₅ as described above is input to one end of the NAND gate NAND ₂ , and this input signal has a relationship in which the acoustic signal is detected by the B sensor B in the order after the A sensor A. Therefore, a high level signal is input to the input terminal.

Similarly, since the sensor C detects an acoustic signal in the order after the sensor B, the high level signal output from the amplifier OP ₆ is input to one end of the NAND gates NAND ₄ and NAND ₅ , respectively. In the same manner as described above, the output terminal e outputs a high level signal, and the output terminal f outputs a low level signal.

As a result, the first acoustic detection circuit 4 having the output terminals SA, S _... , S, of the amplifiers OP ₄ , OP ₅ , OP ₆ as inputs is S _A and S _B , S _B and S _c , S _c. By comparing the signals of and S _A, the first of the two signals senses sound (in this case, falls to the low level first) and keeps the result at the output.

When the acoustic signal is generated in the direction of D _{2 of} FIG. 1 as described above, B _B , S _A and S _c are detected in the order of B sensor (B), A sensor (A) and C sensor (C). The signal (low level detection) voltages detected in signal order are output.

The detected sound signal voltage is sequentially logic controlled by the first sound detection circuit 4, and its output terminals b, c, and f are output low level signals.

Here, when the detection sensors A, B, and C detect an acoustic beep, the connection points a and b in the first acoustic detection circuit 4 or c and d, e, and f The state of each terminal of) does not become " low level "

Because six acoustic detection directions D _{1 to} D ₆ are assumed to be symmetrical, S _... This is because the left and right directions are to be distinguished as the states of the output terminals c and d by comparing the and S _c signals.

Therefore, the six directions in the present invention determined the control time of the left and right motors in three directions in which the areas of D ₁ and D ₆ , D ₂ and D ₅ , D ₃ and D ₄ were combined, and the output terminals ( c, d).

TABLE 1

As shown in Table 1, the signal output from the initial sound detection circuit 4 is input to the area setting unit 5 to set the area in three directions.

For example, when the sensor A detects an acoustic tone in the D _l direction or the D ₆ direction, a signal of the Mou level output from the output terminals a and f is input to the NOR gate NOR _l , and the output terminal is output. The high level signal output from (b, e) is input to the NOR gate (NOR ₂ ), the output terminal (G) outputs the high level signal, and the output terminals (T, F) show the low level signal as shown in Table 2. Is output.

Similarly, when the B sensor B detects a sound tone in the D ₂ direction or the D ₅ direction, the output terminals G and F of the NOR gates NOR _l and NOR ₂ output low-level signals and the NOR gate The output terminal T of (NOR ₃ ) outputs a high level signal.

TABLE 2

Therefore, the signal output from the output terminals G, T and E of the area setting section 5 is input to the period setting section 7 of FIG. The role of this period setting section 7 is to adjust the waveform period of the timer TM ₁ at the output terminals G, T, E and when the signal is at a high level.

Example R ₃₄ , C ₁₁ (when input signal of G terminal is high level)

R ₃₅ , G ₁₁ (when input signal of T terminal is high level)

R ₃₆ , G ₁₁ (when input signal of B terminal is high level)

Applies only on

At this time, in the differential circuit 6 connected to the trigger terminal of the timer TM ₁ , when the input terminal c or d drops to the low level, the trigger is triggered by the resistors R ₃₇ and R ₃₈ and the capacitor C ₈ . A short low trigger signal is generated and input to the terminal Tr.

That is, when the acoustic signal is detected in the D ₁ direction, the first acoustic detection circuit 4 outputs a low level signal to the output terminal C as shown in Table 1, which is an input terminal of the differential circuit 6. It is transmitted to C) to input the trigger waveform to the trigger terminal Tr of the timer TM ₁ .

If at the same time input to the output terminal (B) initial terminal (T _s) a periodic pulse by T _B time through a resistor (R ₃₆₎ and a diode (D ₃₎ to an output terminal (Q _l) of the timer (TM ₁₎ also A high level signal is output at a time of T _{1 to} T ₂ .

This high level signal is again inputted to the initial terminal T _s of the timer TM ₂ through the diode D ₆ and placed in an operational standby state. At this time, a low level signal is output to the output terminal Q ₂ of the timer TM ₂ .

On the other hand where rotation time on the control unit 8 in the direction when motion toy in the direction of a sound beep D _l or D ₆ (e.g., automobile) for rotation after performing a recession operation for a period of time of D ₄ or D ₃ To advance in the direction. In this case, the signal of the output terminal B is applied only in the region of the high level T _B ).

That is, as shown in FIG. 5, when the signal of the layer force terminals Q ₁ and Q _{2 of the} timers TM ₁ and TM ₂ is in the S ₁ or S ₆ region, the operating toy is in a stopped state, and the acoustic signal sounds at T ₁ time. When detected during this area of S _2, the moving toy during the area S ₅ rotates the body in the detected direction and then advances by area I _{f, which} is area S _{5 in} that direction.

This I _f is the travel time from the forward state to the stop state when no other sound signal is detected. Also, if another acoustic signal is detected at T ₃ time before advancing by I _f , the output terminal Q ₂ is immediately reset at T ₃ time.

At the same time, the moving toy is intended to drive during the S ₅ (I _f ) area after turning the body for the S ₄ area in the direction in which the acoustic signal is detected. At this time, when the signal of the output terminal (C) at the low level in the S ₂ area means that the operating toy to turn the body to the right.

In this way, when the acoustic signal is detected in the D ₁ direction or the D ₆ direction, if the signal at the output terminal B is at a high level, the output terminal T _L of the reverse time setting controller 8 starts from the time T ₁ to T _BL. Generates a pulse waveform with to reverse the operating toy for this TBL time.

That is, when the signal at the output terminal B is in the region of T _B, the reverse time setting controller 8 rotates the body for the time of T _B -T _BL and then travels by I _f to track the series of acoustic directions. To do it.

TABLE 3

B is reverse rotation, f is forward rotation, and S is stationary.

Therefore, when a beep is detected in the direction of D _1, the output terminal C outputs a low level signal and the output terminal d outputs a high level signal. The timer TM ₁ generates a set time T _l -T _2. The high level signal is outputted by the high signal input to the output terminal B.

By the signal of the knee high level, the reverse time setting control section 8 outputs a low level signal for the time of T _BL and is input to the motor control signal logic circuit 9 of FIG.

Note that, in the T ₁ output terminal (Q ₂₎ of the timer (TM ₂₎ for a time of ₂ ~T a low level signal is output. The motor control signal logic circuit (9) is a NAND gate (NAND ₁₅ ~NAND _l8) and a NOR gate the reverse rotation signal to the output terminal (f _L, f _R), as shown in Table 3 by a (NOR ₄ ~NOR ₇₎ Output it.

By the reverse rotation signal, the left and right motor drive circuits 11 and 12 reversely rotate the left and right motors (not shown later). Therefore, the operation toy is to perform the reverse operation by T _BL time.

After that, when the reverse time setting controller B finishes the time T _BL by the resistor R ⁺ ₃ and the capacitor C ₁₀ , the output terminal T _L again outputs a high level signal.

This high level output signal is input to the logic circuit section 9 of the motor control signal together with the low level signal of the output terminal C. Accordingly, the motor control signal logic circuit 9 outputs the forward rotation signal to the left motor drive circuit 11 through the output terminal f _L and is reversed to the right motor drive circuit 11 connected to the output terminal f _R. It will output the rotation signal. When the left toy is rotated forward by this signal and the moving toy moves forward, the moving toy performs the right turning motion by the reverse rotation of the right motor.

Therefore, when the setting time of the timer TM ₁ ends, the output terminal Q ₁ outputs a low level signal, and as described above, another sound tone is generated as in the region of S ₄ within T _{2 to} T ₅ hours as described above. When this detection timer (TM ₂₎ is reset as S ₄ region copper only motor control signal logic circuit 9 as the acoustic tones are detected direction of left and the right motor drive circuits 11 and 12, as shown in Table 3 to the left or Turned right.

After the set time T _{1 to} T ₂ of the timer TM ₁ , the low level signal at the output terminal Q ₁ is transmitted to the initial terminal T _s of the timer TM ₂ through the diode D ₆ . To activate the timer TM ₂ .

The period of this timer is set while the signals determined by the resistors R ₃₉ and R ₄₂ and the capacitor C ₁₄ are input to the discharge terminal DC. In addition, the low level signal output from the timer TM ₁ is input to the trigger terminal Tr of the tire TM ₂ through the capacitor C ₁₃ and the resistors R ₄₁ and R ₄₂ to output the low level trigger signal. Generate. This low-level trigger signal is inputted to the clear terminal CL of the first acoustic detection circuit 4 of FIG. 2 to clear the flip-flop circuits serving as the NAND gates NAND _{7 to} NAND ₁₂ to be in an initialization state.

At this time, the adjustment of the bias voltage by the jing R ₄₁ and R ₄₂ is for producing a precise trigger input and a clear signal of the initial sound detection circuit 4. By this clear signal, the flip-flop circuit is initialized to output a high level signal to the output terminals c and d. This high level signal is input to the motor control signal logic control unit 9 to cause the forward rotation signal to be output to the output terminals f _L and f _R during the set time T _{4 to} T ₅ of the timer TM ₂ . . The operation maps (Kamaugh Map) of the left and right motor drives 11 and 12 are shown in Tables 4 and 5.

TABLE 4

[Operation Map of Table M _L (Left Motor)]

(Subscript L indicates left motor)

F _L = Q ₂ + T _L · C '

B _L = T _L '+ d' = (dT _L ) '

Stop = c, d (T _L ) T ₂ '= [(c d)' + (T _L T ₂ ')'] '

The formula is established.

TABLE 5

[MR (Operation Motor Map)]

(Subscript R points to the right motor)

Where F _R = T ₂ + T _L

B _R = C '+ T ₂ ' = (CT _L ')

Is established.

Then, the left and right motor drive circuits 11 and 12 perform the forward operation for the time I _f set by the timer TM ₂ by the forward rotation signal of the motor control signal logic circuit 9.

Similarly, when the acoustic signal sound is detected in the D ₂ -D ₅ direction, which is the detection area of the C sensor C or B sensor B, the repetitive operation is performed as in the truth table shown in Tables 1 to 5 as described above.

FIG. 7 shows another embodiment of the original sound detection circuit 8 composed of a knock gate, and FIG. 8 shows another embodiment of the original sound detection circuit 8 composed of a D-flip flop.

As described above, the children's toys are more inquisitive by recognizing the direction of clapping or whistling and moving in the direction of the acoustic signal detected by the left and right motors controlled according to the direction. It can also be applied to removable ashtrays, etc. as a moving toy.

Claims (6)

The acoustic signals having directivity are installed so that the detection sensors A, B, and C cross each other so as to have a detection area in six directions (D ₁ -D ₆ ), so that the direction Dl and D6 is the A sensor from the direction in which the acoustic signal sound comes. (A) D ₂ , D ₃ direction B sensor (B), D ₄ , D ₅ direction C sensor (C) detects the operation toy with a built-in acoustic direction detection device characterized in that the detection. The band pass filter 2, the comparison amplifier 2, and the first sound detection circuit 4 are connected in series to the sound setting device 1, and are connected to the area setting unit 5, and the period setting control unit 7 The time control unit 10 and the differential circuit 6 are connected, but the time control unit 10 connects the left and right motor drive circuits 11 and 12 in parallel via the motor control signal logic circuit 9 and the differential circuit 6 is connected. Is a built-in sound direction detection device which is connected to the motor control signal logic circuit section 9 to which the initial sound detection circuit 4 is connected once by connecting the rotation time control section 8 commonly connected to the area setting section 5. Action toys. The acoustic tone detection unit (1) according to claim 2, which detects the acoustic tone coming from the six directions, connects the detection sensors (A, B, C) in series with the resistors (R _1- R ₃ ), and the capacitor therebetween. Connect (C _l -C ₃ ) and resistor (R ₁₆ -R _l8 ) in series and connect it to the inverting terminal (-) of the comparator amplifier (OP ₁ -OP ₃ ) and the non-inverting terminal (+) is divided resistor (R). _4- R ₉ ) and the feedback resistor (R _19- R _2l ) is connected to the output terminal, and the output terminal of the acoustic signal sound detection unit (1) to prevent malfunction due to noise of the motor built into the operation toy The band pass filter unit 2, consisting of a capacitor C ₄ -C ₉ and a resistor R ₂₅ -R ₃₀ , is connected, and the output end of the end pass filter unit 2 has a predetermined level of detected sound signal sound. to maintain a resistance _{(R l0 -R 15), (} R 31 -R 33) and amplifier (OP ₄ -OP ₆₎ sound direction detecting device configured to connect the comparison amplifier section 4, which is a The built-in operating the toy. The output (S _A, S _B, S _C) using as input according to the direction of the region D ₁ -D ₆ S _A and S _B or S _B and S _C> S of the comparison amplifier unit (3) according to 2, wherein _The first acoustic detection circuit 4, which compares the signals of _C and S _B and maintains the first detected signal among the two detection signals, as an output, has a NAND gate (NAND ₇ -NAND ₁₂ ) at an output terminal of the NAND gates (NAND ₁ -NAND ₆ ). Is configured by connecting a flip-flop circuit of () and an area direction detecting unit (5) consisting of NOR gates (NOR _l --NOR ₃ ) at the output end thereof to set an area in three directions. Built-in action toys. The differential circuit 6 is configured by connecting diodes D ₄ and D ₅ to the input terminals c and d in parallel to connect resistors R ₃₈ and R ₃₉ and a capacitor C ₁₀ . , its output is connected to the trigger terminal (Tr) of the timer (TM _1), the time control section 10 and an output terminal (Q) a capacitor (C _l3, C ₁₄₎ and a diode (D _6), resistor (R ₃₉ - R _42), respectively in sikimyeo connected to the initial terminal (Ts) to the trigger terminal (Tr), has an initial terminal (Ts) of the timer (TM ₁₎ output terminals (G, T, B) of the timer (TM ₂₎ via the serial The period setting unit 7 is formed by connecting the connected resistors R ₃₄ -R ₃₆ and the diodes D ₁ -D ₃ in parallel, and the detected sound is output to the output terminal B of the period setting unit 7. Condenser (C ₁₅ ) and resistor (R ₄₃ ) are connected to NAND gates (NAND ₁₃ , NAND ₁₄ ) and NOR gate (NOR ₄ ) to make the operation toy reverse during TBL when the beep is D ₁ and D ₆ . Rotation time setting control part 8 to configure Sound direction detecting apparatus with a built action toy is. The motor control signal logic controller 9 connects one end of the NOR gates NOR _{6 to} NOR ₄ to an output terminal of the NAND gates NAND ₁₅ and NAND _{l7 to} which the input terminals c and d are connected. The output terminal Q ₂ is connected to one end of the NOR gate NOR ₄ through the NOR gate NOR ₄ and the NAND gate ₁₆ , and the NAND gate NAND ₁₆ -NAND to which the output terminal T _L is connected. ₁₈ ) is an operation toy with a built-in acoustic direction detection device that is connected to one end of the NOR gate (NOR ₅ -NOR ₇ ).

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