RU2458722C2 - Wireless interactive toy with electronic control unit - Google Patents

Abstract

FIELD: games.

SUBSTANCE: invention relates to the field of entertainment. Interactive wireless toy contains an electronic control unit configured to detect motion at a given distance from this toy, to determine the distance to other similar toy and to send and receive information. At that the electronic control unit implements these capabilities through the use of transceiver of non-sinusoidal ultra-wideband radio signals.

EFFECT: invention enables to simplify the design, to improve the efficiency of the device operation, to increase noninterference and to reduce the cost of manufacturing.

8 cl, 4 dwg

Description

This invention relates to an interactive wireless toy.

BACKGROUND

About ten years ago, talking toys began to appear en masse in the market, capable of pronouncing several recorded phrases.

Now there is a rapid development of the possibilities of such toys. With the help of sensors they receive information about events, react to them, if possible, adequately.

Currently, the following trends in the development of toys are observed:

- toys will have several actuators capable of creating one or another effect, including, but not limited to the reproduction of speech, music, movements (and facial expressions), lighting effects, movement,

- the sensors will supply the toys with more diverse information about the events around and the toys will be able to respond to events, such as touching them, approaching them, changing light conditions, sounds, including recognizing sounds and speech, recognizing people by voice,

- toys will be able to "recognize each other" using wireless transmission channels,

- the toys will be able to inform each other about the detected events, about the effects produced, that is, the first toy will know what the second did or said, not perceiving this action, but receiving information about it transmitted to the second via a wireless channel,

- toys will be able to determine their location relative to each other, on the playing field, as well as in the room.

These tendencies can be detected by studying toys on the market, such as, for example, the famous interactive little animals “Furby” (Furby), first released back in 1998, or dolls of the type “Amazing Amanda” that inherit from it (in the Russian version - "Clever Anyuta"). The main purpose of toys of this class is emotional and verbal communication with a child, for which they are equipped with both receptors (microphone, touch, tilt sensors, etc.) and peripheral devices (primarily mimic mechanics and sound reproduction system). Although all the reactions of these toys are pre-programmed, they are already quite diverse. So, “Clever Annie” has about 700 phrases in its speech arsenal. The built-in speech recognition system allows you to identify the owner and define commands (from a predefined set). In addition, such toys can exchange information with each other (usually via infrared) and update the script via the Internet. For example, the Pleo robot dinosaur can change the behavior from loving to aggressive (watchdog) in accordance with a re-installable program that can be taken from the manufacturer’s website. A number of toys recognize and avoid obstacles or voids (“Pleo”, “WooWee” toy android robot, etc.) However, the formation of genuine communication networks from an arbitrary set of interactive toys has not yet been done in practice. The implementation of the invention provides an effective solution in this direction.

The same trends are manifested in patents, such as, for example: US 6,491,566; US 6,729,934; US 6,089,942; US 6,110,000.

In particular, US Pat. No. 6,089,942 describes a talking doll having a motion sensor, a proximity sensor of one doll to another, an infrared transceiver for exchanging information between dolls. The doll also has peripheral devices, such as a speaker for reproducing sounds and electromechanical devices for simulating facial expressions.

The doll, pronouncing the phrase (or producing another effect), transfers information about it to other dolls, other dolls, having received this information, can respond to the phrase or effect with their actions in accordance with the scenario.

However, no solutions were found for using non-sinusoidal signals in one entertainment device for three tasks simultaneously: communication, motion detection, distance measurement.

This is probably due to the complexity of implementing ultra-wideband (UWB) systems using non-sinusoidal signals, and, in particular, the complexity of the initial synchronization between UWB devices necessary for data transmission.

For example, patent RU 2315425 is devoted to the issue of establishing synchronization in such systems.

However, the field of application claimed in this document - interactive toys - characterizes small communication distances (less than a meter) and thus it is possible to provide a high signal-to-noise ratio, in which extremely simple signal processing methods can be used and thus make a simple solution (and, therefore with a lower cost).

The technical solution disclosed in US patent 6,089,942, taken as a prototype.

The claimed invention is aimed at solving the problem of creating an interactive toy capable of exchanging information, determining the distance to another similar toy of its own type, with an accuracy of several centimeters and detecting movement in the nearest radius of 0.3-1.0 m.

Achievable technical result consists in simplifying the design of an interactive toy while increasing its performance and increasing noise immunity, as well as reducing cost.

The technical result is achieved in that an interactive wireless toy containing an electronic control unit, configured to

- determination of movement at a given distance from the specified toy;

- determining the distance to another similar toy;

- receiving and transmitting information,

implements these capabilities through the use of a transceiver of non-sinusoidal ultra-wideband radio signals. In addition, the specified transceiver can use one pulse generator and one antenna. The same pulses can be used to transmit information and to detect motion on the principles of radar. The specified transceiver can be implemented on one semiconductor chip using a phased array to determine the direction to another similar toy and / or direction to an arbitrary moving object in the range of the radar. In addition, the electronic control unit can be configured to change the functional state and / or algorithmic scenario of the toy’s behavior depending on the measured distance to another similar toy and / or information received from another toy.

SUMMARY OF THE INVENTION

The proposed technical solution consists in the use of electronic circuits using non-sinusoidal ultra-wideband radio signals to implement the functions:

- exchange of information between devices, i.e. radio communications

- measuring the distance between devices,

- motion detection at a given distance from the device (near).

This solution made it possible to combine several separate devices in one to perform all these functions. To realize all three functions, preferably using short pulses with a duration of not more than 1 ns. The invention is focused on single-chip execution using modern technologies used for the production of mass microelectronics.

DESCRIPTION OF GRAPHIC MATERIAL.

Figure 1 shows the General diagram, the composition of the devices of an interactive toy.

Figure 2 shows a diagram of a radio transceiver.

Figure 3 shows a data transmission scheme.

Figure 4 shows the transmission scheme of the packet, in which the first bit is 0, the second is 1, not shown further.

DETAILED DESCRIPTION OF THE INVENTION

A feature of ultra-wideband (UWB) locations is the use of short pulse signals with a characteristic pulse duration of 1 ns or less. The signal can be a pulse without filling the carrier at all (video pulse) or a very short carrier train containing several “periods”. Such signals have a very wide spectrum, comparable in order of magnitude with the carrier. For example, the US regulatory authority permits civilian applications with a 3 GHz-10 GHz emission spectrum.

The main advantages of the solution are related to the short pulse length. When propagating in space, a pulse of 100 ps in length has a length of 3 cm, which provides high spatial resolution. It becomes possible to distinguish signals coming from objects if the difference in distance to them is about ten centimeters; Due to the short pulse length, there is practically no “dead zone" near the device.

One of the advantages of UWB communication based on pulse signals is the ability to accurately measure the distance between subscribers. The accuracy achieved to date for determining the distance is several centimeters.

To implement the communication function, information is encoded by the position of the pulse in time. The pulse brevity provides a high transmission rate, which reduces the transmission time of information compared to using traditional narrow-band systems. This, in turn, allows for a shorter time to conduct a data exchange cycle between all devices in the network (in the access zone).

The use of short signals allows you to use the well-known method of measuring the distance between a pair of exchanging signals of devices, based on measuring the delay in the passage of a signal between devices.

The proposed principle provides precisely the measurement of distance, in contrast to the threshold sensor mentioned in US 6,089,942. In the presence of a group of devices (3 or more), knowing the distance between each pair of devices, it becomes possible to determine the relative spatial configuration of the device community. Other device interaction scenarios using this information are possible.

To detect motion, the radar principle is applied. For location use the same short pulse signals as for data transfer. The device captures a pulse (integrates electromagnetic energy), reflected from the object, arriving at the receiver for a certain period of time after the radiation of the pulse. Choosing the time interval after the impulse during which the impulse is fixed (electromagnetic energy integration), select the region of space in which the motion is detected. The appearance of a reflecting object in a given area leads to a change in the result of the fixation of the pulse (integration of electromagnetic energy), this is detected by the device. In order to improve sensitivity and noise immunity, fixation (energy storage) of the reflected signal from several pulses is performed.

In the claimed technical solution due to the fact that the transceiver uses one antenna, all three functions are implemented using one antenna, which simplifies the design of the toy, increases the manufacturability of manufacture, reduces its cost.

The maximum pulse length is calculated based on: the permissible dead zone of the radar, the requirements for the accuracy of measuring the distance between devices and the accuracy of determining the area of space in which it is necessary to detect movement. In these applications, all these accuracy are of the order of tens of centimeters, and therefore, the pulse length should be of the order of no more than 1 ns.

In the classical approach, this pulse should be filled with a carrier frequency and should contain at least dozens of carrier periods. This leads to the need to use operating frequencies of the order of tens of gigahertz. In the short term, a circuit using such frequencies cannot be cheap and massive. In the future, technological processes that allow the creation of microelectronic solutions operating at the indicated frequencies may become cheap, but the problem of high energy consumption will remain. High-frequency circuits fundamentally have high power consumption, determined by the need to recharge stray capacitors.

The proposed device uses non-sinusoidal ultra-wideband signals. The signal can be a pulse without filling the carrier at all (video pulse) or a very short carrier train containing several “periods”. It should be noted that a pure video pulse with a nonzero constant cannot be emitted. The practical shortest emitted signals are those that are close in shape to the first or second (the so-called “Mexican hat”) derivative of the Gaussian signal. The first Gaussian derivative for practical calculations can be well approximated by a single sine wave period. In this case, the center frequency of the spectrum is close to the frequency of the period, and the bandwidth is close to the center frequency.

The general scheme of the proposed interactive toys as a whole is shown in figure 1.

An interactive toy consists of an integrated circuit 8, one or more sensors (not shown in the figure), one or more peripheral devices 6, 7 (for example, electric drives, speakers), antenna 1, and an autonomous power supply (not shown in the figure).

The integrated circuit 8 contains the following elements: transceiver 2, microcomputer 4, a storage device 3 for storing programs and service data files (for example, sound), one or more blocks 5 for controlling peripheral devices 6, 7 and receiving information from sensors. In the proposed device, the transceiver 2 performs the functions usually performed by a motion sensor, a sensor measuring the distance between the devices, an infrared (or radio frequency) transceiver. This transceiver, unlike transceivers using sinusoidal signals, does not contain LC circuits, complicating the design of the device and its manufacture. Under the control of the microcomputer 4, the radio signal transceiver 2 implements the functions of transmitting and receiving data, measuring the distance between devices, motion detection.

The transceiver 2 contains a digital control circuit (DSS) 20, analog-to-digital converters 27, 28, a comparator 29, storage sampling devices (UVX) UVX0 25 and UVX1 26, a threshold detector 24, a pulse generator 22, an envelope detector 23, a switch 21 with an output to the antenna 1. The antenna can be made in the form of a phased antenna array / 1-7 / to determine the direction to another toy during communication and to determine the direction of a moving object in the motion sensor.

Description of the operation of the device (figure 3, figure 4).

One of the possible variants of the claimed device is shown in figure 2.

The radio transceiver 2 performs the following functions:

- sending the packet on the air at the command of the microcomputer,

- receiving a packet from the air,

- automatic confirmation of the received package,

- confirmation to the microcomputer that the last transmitted packet was successfully delivered,

- measurement of the reflected signal when sending a packet on the air.

Based on these functions of the transceiver 2, the device as a whole is capable of performing the following functions:

- radio communication with similar devices;

- measuring the distance to the devices of the same type with which radio communication is provided;

- motion detection at a given distance from the toy.

Radio communication. To implement the communication function, information is encoded by the position of the pulse in time. The pulse brevity provides a high transmission rate, which reduces the transmission time of information compared to using traditional narrow-band systems. This, in turn, allows for a shorter time to conduct a data exchange cycle between all devices in the network (in the access zone).

The use of short signals allows you to use the well-known method of measuring the distance between a pair of exchanging signals of devices, based on measuring the delay in the passage of a signal through the medium between devices. Radio communication is implemented using the functions of a transceiver - transmitting a packet and receiving a packet.

Packet transfer. Data transmission is carried out in bursts of pulses (figure 4).

One or more of the first pulses identify the beginning of the packet. Subsequent (m) pulses are used to transmit information. The information is encoded by the position of the pulses in time relative to the first pulse. For each pulse, two positions in time are determined, one with a delay of TNi (i = 1..m) relative to the first pulse corresponds to the transmission of zero, the other with a delay of TPi (i = 1..m) relative to the first pulse corresponds to the transmission of one. Thus, in one packet m bits of information are transmitted. To ensure immunity to interference, one of the redundant coding schemes known at the modern level of science is usually used, in which some of these m bits contain useful information, and the remaining bits contain redundant information necessary to detect error correction. Useful information contains at least the type of packet, the network address of the recipient, and the actual data. In the proposed embodiment of the device, there are two types of packages: “information” and “confirming”. The specific structure of the package can be developed based on the requirements for the operation of the device.

CSB 20, receiving data for transmission, generates a logical signal at the input of the pulse generator. The pulse generator along the front of the logical signal gives 1 pulse to the antenna. The generator is designed in such a way that the delay of the pulse emitted to the antenna 1 relative to the front of the input digital signal is almost constant from pulse to pulse (the changes are much smaller than the pulse length). As a result, a packet of pulses is emitted into the ether at intervals between pulses equal to the corresponding intervals of the logical signal. When transmitting the packet, the CSB 20 generates a logical signal at the input of the pulse generator, specifying the positions of the pulses of the packet corresponding to the sequence of bits of the transmitted packet, and thus transmits information to the air.

In this case, TPi = TNi + TD, that is, for any pulse, the position of the pulse when transmitting zero by TD is earlier than the position of the pulse when transmitting one. The TD value is assigned at least twice the pulse length and several times less than the interval between pulses.

It is known that if we use the linear set TNi, that is, TNi = C1 + C2 * i, then unwanted maxima may appear in the spectrum of the emitted signal due to the presence of the period C2 in the signal. To avoid this, the values of TNi are selected so that for any transmitted packet the spectrum does not have such maxima.

In the proposed embodiment of the device, the transmission of information packets is performed at the command of a microcomputer, while the microcomputer composes useful information for sending in a packet.

Reception of the package (figure 2, figure 3). Antenna 1 receives a pulse and sends it to the envelope detector 23, the output of which gives the envelope of the incoming signal. The envelope enters the threshold detector 23, which gives a unit if the envelope is greater than the threshold, and accordingly zero if the envelope is less than the threshold.

When a unit appears at the output of the threshold device, it starts receiving a packet. For this, a digital signal containing n pulses (where n is the number of pulses in the packet used to transmit information) is supplied to the strobe input of UVX0 25, a positive edge of the pulse i (i = 1..m) is generated with a delay of TNi + TC relative to the moment when the output of the threshold device has transitioned to state 1.

A digital signal containing n pulses (where n is the number of pulses in the packet used to transmit information) is supplied to the input of strobe UVX1 26, a positive edge of the pulse i (i = 1..m) is generated with a delay TPi + TC relative to the moment when the output of the threshold device is in state 1.

In this way, both the I / O devices go into storage mode and store the value of the envelope, while the I / O unit 25 goes into storage mode and stores the value of the envelope when they wait for the pulse to appear if pulse i transmits zero, and the I / O unit 26 25 enters storage mode and stores the value envelope at the moment when the appearance of an impulse is expected if impulse i transmits unity. The field, when both the UWX switched to the “storage” mode, the comparator 29 compares the values at the output of the UBX0 25 and the UBX1 26 and, if the value of the UBX0 25 is greater than the value of the UBX1 26, then it is assumed that zero was transmitted by the pulse i, respectively, if the UBX1 26 is greater than the value UVX0 25, it is believed that unit 1 was transmitted by pulse i. After receiving all m pulses, the error-correcting code is decoded. As a result, either useful information is restored, or the packet is rejected (if it cannot be restored).

Automatically send confirmation of the received package. The digital control circuit (DSS) 20, after successfully decoding a received informational type packet, may send a confirmation to the sender of the successful reception. The digital control circuit independently generates a packet addressed to the sender of the received packet, this packet is of the “confirming” type. This allows the sender to know that his package has been successfully delivered. Confirmation is also used to measure the distance between devices of the same type. In some cases, the microcomputer may prohibit sending confirmations.

Measurement of distance to devices of the same type. To measure the distance, use the automatic confirmation function. An information packet is sent from device A to device B. Device B automatically sends a confirmation to device A about the received packet. In this case, the first pulse of the confirmation packet from device B is sent through a predetermined fixed time interval TV after receiving the first pulse of the information packet from A. Device A measures the time from sending the first pulse of the information packet to B to receiving the first pulse of the confirmation packet from B, this time is indicated like TS, then the distance between devices L is (TS-TB) / 2.

The specified procedure is performed when sending all information packets. Thus, they determine the distance to all devices of the same type to which information packets were transmitted. With the intensive exchange of information between devices, there is no need to send special packets for measuring distance. However, if information packets were not sent to some device or the distance data is out of date, the microcomputer can instruct the device to send an information packet and thus measure the distance.

Motion detection at a given distance from the device.

The radio transceiver uses the radar principle to implement the motion detection function. The device detects movement in the sphere surrounding the device. The radius of the sphere R is adjusted by a microcomputer. The preferred radius is usually in the range of 1 m to 30 cm.

When transmitting a packet, a receiving path including an envelope detector 23, a storage sampling device 25, 26, etc., is used to receive a reflected signal.

The digital control circuit 20 after each transmitted pulse with a certain delay delivers a gating pulse to UVX0 25. This delay depends on the selected radius of the sphere R, on which the motion is detected, and (approximately) is equal to twice the propagation time of the radio signal to the sphere.

The value recorded by the strobe in the UVX characterizes the power of the reflected signal coming from a given distance. This ADC0 21 value is converted to digital form and transmitted to a microcomputer for analysis. In the absence of movement, this value will also be constant, it shows the presence of objects at a distance R from the antenna. Moving an object with high reflectivity at a distance R from the object leads to a change in the recorded power, this is detected by a microcomputer that analyzes the digital power value received from ADC 27.

The digital values characterizing the power of the reflected signal are then averaged for all pulses of one packet and the change in the already averaged values is recorded. Such processing reduces the influence of interference and increases the maximum radius R at the same amplitude of the transmitted pulse.

The described radar procedure is performed when sending any packet. Therefore, in many cases for radar there is no need to specifically send (emit) a packet, but use the radiation of the device during transmission. If the device does not transmit packets within a period of time for which an object can enter the sphere R (of the order of 100 ms), then the microcomputer can send a packet that does not contain meaningful information and is intended solely for motion detection.

Similarly, UVX1 26 and AOC1 28 are used to create a second sphere, and thus it becomes possible to create several spheres in which movement is determined. In this case, it is possible to implement scenarios in which the device reacts differently to movement in different areas. For example, the reaction to movement in a sphere with a smaller radius may be different than to movement in a sphere with a large radius.

If this is appropriate, it is possible to add a few more channels of the UVX + ADC in the same way or use one common ADC for several UVX and thus realize many areas that are sensitive to motion.

To perform mechanical actions, the device contains one or more peripheral actuators, including those equipped with feedback sensors.

An example of actuators may include:

- sound reproducing devices;

- electromechanical devices, incl. imitating facial expressions, ensuring the movement of the device and the implementation of a number of other physical actions (the movement of the limbs, as well as the tail, ears, etc., as applied to the toy);

- lighting and / or indicator

- and other devices.

In a preferred embodiment, such a peripheral device is a sound reproducing device and electromechanical devices for moving and gesturing.

The microcomputer constantly polls the sensors and responds to changes in their readings, activating peripheral devices and changing their internal state.

For example, by establishing a radio connection with some other similar device, the microcomputer may instruct the sound reproducing device to synthesize a set of sounds or a voice phrase, or reproduce a phrase or set of sounds from a set of pre-recorded in memory.

By reproducing or synthesizing a phrase or performing a physical action, the device transmits over the radio channel information about the completed action to other devices with which radio communication is established.

This allows devices to respond to actions committed by other devices of this type without directly perceiving and recognizing the action performed. In particular, if the action is to play sound, then the device does not need to recognize speech in order to respond to the phrase, the information about the pronounced phrase will be received by it through the radio channel. In this example, the microcomputer of the device, having received over the air the data that a sound (or synthesized voice) greeting was delivered to the device address, can give the command to reproduce the sound response to the greeting. Such an exchange of phrases and information about the said phrase allows you to play dialogs between devices. This feature is described in US patent 6,089,942 (taken as a prototype of the present invention).

The presence of a microcomputer allows devices to play complex behavior scenarios. According to the sensor or according to information received through the communication channel about the action performed by another device, the microcomputer can save this event in memory and respond after some time, or even change the behavior algorithm. For example, having received information on the communication channel that another device has said a nasty phrase, a quarrel scenario may be activated, and the device will behave more aggressively for some time. Also, for example, an event can be remembered that another device mentioned a certain set of words related to a certain topic, and the first device can return to this topic again if the pause in the conversation is prolonged.

Thus, the totality of the available and acquired data describing the interaction, in some way, stores the logical state of the device. The subsequent reaction of the device to events can be determined by this state. The device can save a history of its interaction with surrounding devices and / or objects.

The device may contain various additional sensors to receive information about events in the environment, to respond to them with their behavior. This allows you to make the behavior of the device more diverse and interesting.

The light sensor will allow the device to "understand" (get information) that the light is off, and respond to this, for example, say or show that he is scared, or simulate falling asleep.

A list of such sensors may include:

- temperature sensor,

- tilt sensor

- acceleration sensor (including acting as a motion sensor),

- microphone to detect sounds, etc.

The device may comprise various actuators (peripheral devices) depending on the embodiment of the device.

An example of such mechanisms are:

- facial imitation devices,

- devices for the movement of limbs (tail, ears, etc.),

- light bulbs or LEDs,

- wheels for moving the device,

- other mobility devices,

- mechanical limbs.

In many such toys, it may be in demand: communication between devices, measuring the distance between them, detecting objects nearby. This becomes especially true for toys that are capable of movement.

The preferred embodiment comprises recording sound fragments (primarily words) in the memory of the microcomputer and a reproducing device that, upon command of the microcomputer, reproduces the corresponding sound. Sound synthesis is possible with a peripheral device (sound synthesizer).

The choice of reproducible sound is carried out by a microcomputer, taking into account:

- sensor readings,

- information received from other devices over the radio channel, and

- the internal state stored in the memory and determined by the background, that is, previously received information and previously taken actions.

The proposed device is industrially applicable, since it can be manufactured industrially on a single crystal, which additionally assumes high automation of its production, which means low cost.

Literature

1. I. Shakhnovich “Ultra-wideband communication. Rebirth? ”Electronics NTB 4/2001.

Claims (7)

1. An interactive wireless toy comprising an electronic control unit configured to
determination of movement at a given distance from the specified toy,
determining the distance to another similar toy,
receiving and transmitting information,
characterized in that said electronic control unit implements these capabilities through the use of a transceiver of non-sinusoidal ultra-wideband radio signals. 2. The toy according to claim 1, characterized in that said transceiver uses a single pulse generator. 3. The toy according to claim 1, characterized in that the specified transceiver uses a single antenna. 4. The toy according to claim 1, characterized in that the same pulses are used to transmit information and to detect movement on the principles of radar. 5. The toy according to claim 1, characterized in that said transceiver is implemented on a single semiconductor chip. 6. The toy according to claim 1, characterized in that said transceiver is implemented using a phased antenna array to determine a direction to another similar toy and / or direction to an arbitrary moving object in the radar coverage area. 7. The toy according to claim 1, characterized in that the electronic control unit is configured to change the functional state and / or algorithmic behavior scenario of the toy depending on the measured distance to another similar toy and / or information received from another toy.

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