TWI670107B - Controllable balance toy - Google Patents

Abstract

A controllable balance toy comprising a body unit and at least one control unit. The body unit includes a first inertia measurement module for detecting a posture, a first operation module for calculating, and a drive module controlled by the first operation module. The first computing module calculates and drives the driving module according to the posture and the alternating message to maintain the balance of the body unit. The at least one control unit includes a second inertia measurement module for detecting a posture, and a second operation module for calculating. The second computing module controls the body unit according to the gesture operation and sends a message. The entertainment is controlled and the health of the user is promoted by manipulating the at least one control unit to control the body unit.

Description

Controllable balance toy

The present invention relates to a toy, and more particularly to a controllable balance toy.

In recent years, the care of the elderly and children has been a topic of great concern. In addition to the introduction of various welfare measures and related care products, it is a more fundamental solution to enable the elderly and children to increase their own activities and promote their own health. However, when it comes to activities, it is necessary to consider that the exercise intensity that the elderly and children can withstand is relatively weak relative to healthy adults, and not everyone has sports hobbies.

Therefore, sports can be popularized by the public through the act of play, and provide entertainment and help to promote good health. If you can move your limbs while you are playing, you can promote your health. The control of the intensity of the movement can be performed by the player by designing a suitable task content, such as setting a specified posture or completing the task through a series of actions.

Accordingly, it is an object of the present invention to provide a controllable balance toy that is also entertaining while also promoting physical activity of the user.

Thus, the balance toy controllable by the present invention comprises a body unit and at least one control unit.

The body unit includes a first inertial measurement module for detecting a posture and generating a first posture data, and a first for receiving at least one wireless message and generating a first communication message according to the at least one wireless message. a wireless module, a first computing module electrically connected to the first inertial measurement module and the first wireless module, and electrically connected to the first computing module and received by the first computing module The group-controlled driving module, a first power supply module for supplying electric energy, a plurality of building blocks, a plurality of mounting studs, and a plurality of mounting holes for fitting the mounting studs. The first computing module receives the first gesture data and the first communication message and calculates a first gesture message from the first gesture data. The first computing module calculates and generates a driving message according to at least one of the first gesture message and the first communication message. The driving message is used to drive the driving module to perform an action corresponding to the first communication message while maintaining the balance of the body unit. The drive module receives the drive message and performs a corresponding action. The first power supply module is electrically connected to the first inertia measurement module, the first wireless module, the first computing module, and the driving module. The building blocks, the first inertial measurement module, the first wireless module, the first computing module, the driving module and the first power supply module are provided with at least the mounting posts or the mounting One of the holes, the building block, the first inertial measurement module, the first wireless module, the first computing module, the driving module, and the first A power supply module in which an adjacent one of the two can be assembled with each other through the mounting posts and the mounting holes.

The at least one control unit is adapted to control the body unit. The at least one control unit includes an annular portion adapted to be worn on the limbs of the human body, and a sensing portion coupled to the annular portion. The sensing portion has a second inertial measurement module for detecting a posture and generating a second posture data, a second wireless module for transmitting the at least one wireless message, and an electrical connection to the second The second computing module used by the inertial measurement module and the second wireless module is used for computing, and a second power supply module for supplying electrical energy. The second computing module receives the second pose data and solves a second gesture message. The second computing module calculates and generates a second communication message according to the second posture information and sends the second communication message to the second wireless module. The second wireless module generates the at least one wireless message according to the second communication message. The second power supply module is electrically connected to the second inertial measurement module, the second wireless module, and the second computing module.

The effect of the invention is that the first inertial measurement module enables the body unit itself to maintain balance without dumping, and enables the user to control in a state where the center of gravity of the body unit is stable. And the at least one control unit is worn on the limbs, and is manipulated to create entertainment, and also increases the amount of movement of the user's limbs to promote the health of the user.

1‧‧‧body unit

11‧‧‧First inertial measurement module

111‧‧‧Three-axis accelerometer

112‧‧‧Three-axis gyroscope

113‧‧‧Three-axis magnetometer

12‧‧‧First wireless module

13‧‧‧First Computing Module

14‧‧‧Drive Module

141‧‧ ‧motor

142‧‧‧Foot wheel

143‧‧‧Encoder

144‧‧‧ drive shaft

15‧‧‧First power supply module

16‧‧‧Building blocks

17‧‧‧ Mounting studs

18‧‧‧Installation holes

2‧‧‧Control unit

21‧‧‧ ring section

22‧‧‧Sensing section

221‧‧‧Second inertial measurement module

222‧‧‧Second wireless module

223‧‧‧Second computing module

224‧‧‧second power supply module

226‧‧‧Three-axis gyroscope

227‧‧‧Three-axis magnetometer

D1‧‧‧Up and down direction

D2‧‧‧ direction

D3‧‧‧ direction

S1‧‧‧Wireless message

A1‧‧‧ first posture information

A2‧‧‧ first communication message

A3‧‧‧Drive message

B1‧‧‧Second posture data

B2‧‧‧Second exchange message

R‧‧‧ center axis

G‧‧‧around center point

L1‧‧‧1st straight line segment

O‧‧‧Line center point

M1‧‧‧ forward instructions

M2‧‧‧Retreating action

M3‧‧‧ Left turn action

M4‧‧‧Right turn

C1‧‧‧ Forward action

C2‧‧‧Retreating action

C3‧‧‧ Left turn action

C4‧‧‧right turn

225‧‧‧Three-axis accelerometer

Other features and effects of the present invention will be apparent from the following description of the drawings, wherein: FIG. 1 is a perspective view of a body unit of a first embodiment of a controllable balance toy of the present invention; 2 is a perspective exploded view of the first embodiment of the present invention; FIG. 3 is a schematic diagram of a control unit of the first embodiment; FIG. 4 is a system block diagram of the first embodiment; Figure 1 is a schematic view of the use of the first embodiment; Figure 7 is a schematic view of the wear of a second embodiment of the controllable balance toy of the present invention; Figure 8 is the second A schematic view of the use of a third embodiment of the controllable balance toy of the present invention; and FIG. 10 is a schematic view of the use of the third embodiment.

Before the present invention is described in detail, it should be noted that in the following description, similar elements are denoted by the same reference numerals.

Referring to Figures 1, 2 and 3, a first embodiment of a controllable balance toy of the present invention comprises a body unit 1 and a control unit 2.

Referring to FIGS. 1, 2, and 4, a vertical direction D1, a left-right direction D2 perpendicular to the vertical direction D1, and a front-back direction D3 perpendicular to the vertical direction D1 and the left-right direction D2 are defined. The body unit 1 includes a first inertial measurement module 11, a first wireless module 12, a first computing module 13, a driving module 14, a first power supply module 15, a plurality of building blocks 16, and a plurality of The mounting post 17 and a plurality of mounting holes 18 for fitting the mounting studs 17 are mounted.

The first inertial measurement module 11 is configured to detect a posture and generate a first posture data A1. The first inertia measurement module 11 is disposed above the first power supply module 15 along the vertical direction D1. The first inertial measurement module 11 has a three-axis accelerometer 111 for measuring acceleration, a three-axis gyroscope 112 for measuring angular velocity, and a three-axis magnetometer 113 for measuring the direction of the magnetic field. . It should be noted that the content of the first attitude data A1 covers the acceleration measured by the three-axis accelerometer 111, the angular velocity measured by the three-axis gyroscope 112, and the amount measured by the three-axis magnetometer 113. The direction of the measured magnetic field.

The first wireless module 12 is configured to receive a wireless message S1 and generate a first communication message A2 according to the wireless message S1. The first wireless module 12 is disposed on the left side of the first power supply module 15 along the left and right direction D2.

The first computing module 13 is electrically connected to the first inertial measurement module 11 and the first wireless module 12 for operation. The first operation module 13 receives the first posture data A1 and the first communication message A2 and calculates a first from the first posture data. Gesture message. The first computing module 13 operates and generates a driving message A3 according to at least one of the first gesture message and the first communication message A2. The driving message A3 is used to drive the driving module 14 to perform an action corresponding to the first communication message A2 while maintaining the balance of the body unit 1. The first computing module 13 is disposed above the first power supply module 15 along the vertical direction D1 and adjacent to the rear side of the first inertial measurement module 11 along the front and rear direction D3.

The driving module 14 is electrically connected to the first computing module 13 and controlled by the first computing module 13 . The drive module 14 receives the drive message A3 and performs a corresponding action. The driving module 14 is disposed below the first power supply module 15 along the vertical direction D1. The drive module 14 has two motors 141 arranged in the left-right direction D2, two casters 142 driven by the motors 141, and two encoders 143 electrically connected to the motors 141, respectively. The motors 141 each have a drive shaft 144 that is rotatable about its own axis. The casters 142 are secured to the drive shafts 144, respectively. The encoders 143 generate respective rotation parameters based on the amounts of rotation of the drive shafts 144, respectively. The first computing module 13 controls the motors 141 by the driving message A3 and adjusts the amount of rotation of the driving shafts 144.

The first power supply module 15 is electrically connected to the first inertia measurement module 11 , the first wireless module 12 , the first computing module 13 , and the driving module 14 for storing and supplying electrical energy.

The blocks 16 are connected between the first inertial measurement module 11 , the first wireless module 12 , the first computing module 13 , the driving module 14 , and the first power supply module 15 . The first building block 16 , the first inertial measurement module 11 , the first wireless module 12 , the first computing module 13 , the driving module 14 and the first power supply module 15 are provided with at least the installation. One of the studs 17 or the mounting holes 18, the building blocks 16, the first inertial measurement module 11, the first wireless module 12, the first computing module 13, the driving module The positioning between the two adjacent first power supply modules 15 and the mounting holes 18 can be assembled with the mounting holes 18.

It should be noted that the various components of the body unit 1 can be freely assembled according to requirements. The relative positions between the components after assembly in the first embodiment are only by way of example and are not limited thereto. Moreover, the first embodiment produces an easy assembly effect by the building blocks 16, the mounting studs 17, and the mounting holes 18. For ordinary users, children or the elderly who do not have the expertise, they can find fun through the assembly process.

Referring to Figures 3 and 4, the control unit 2 is adapted to control the body unit 1. The control unit 2 includes an annular portion 21 adapted to be worn on the limbs of the human body, and a sensing portion 22 coupled to the annular portion 21. The sensing portion 22 has a second inertia measurement module 221, a second wireless module 222, a second computing module 223, and a second power supply module 224.

The second inertia measurement module 221 is configured to detect a posture and generate a second posture data B1. The second inertial measurement module 221 has a three-axis accelerometer 225 for measuring acceleration, a three-axis gyroscope 226 for measuring angular velocity, and a three-axis magnetometer 227 for measuring the direction of the magnetic field. . It should be noted that the content of the second attitude data B1 covers the acceleration measured by the three-axis accelerometer 225, the angular velocity measured by the three-axis gyroscope 226, and the amount measured by the three-axis magnetometer 227. The direction of the measured magnetic field.

The second computing module 223 is electrically connected to the second inertia measurement module 221 and the second wireless module 222 for calculation. The second computing module 223 receives the second posture data B1 and solves a second posture information. The second computing module calculates and generates a second communication message B2 according to the second posture information and sends the second communication message B2 to the second wireless module 222.

The second wireless module 222 generates the wireless message S1 according to the second communication message B2 and transmits the wireless message S1 to the first wireless module 12.

The second power supply module 224 is electrically connected to the second inertia measurement module 221, the second wireless module 222, and the second computing module 223 for storing and supplying electrical energy.

The portion for maintaining the balance of the body unit 1 means that the body unit 1 of the first embodiment does not fall due to unstable center of gravity, and can stand stably on a plane or a plane through the foot wheels 142. motion. The first computing module 13 drives the driving module 14 to maintain the balance of the body unit 1 by the driving message A3. The law is a common technical means known to ordinary people in the relevant field, rather than the focus of the case, so it will not be described.

In addition, the technology for transmitting the wireless message S1 between the first wireless module 12 and the second wireless module 222 may be achieved by radio transmission, Bluetooth transmission, infrared transmission, or the like. This is for illustrative purposes only and not for the focus of this case, and is not limited to this.

In addition, the first power supply module 15 and the second power supply module 224 may be modules for applying components such as a lithium battery, a nickel cadmium battery, a lead storage battery, a fuel battery, or a solar panel. For example, it is not limited to this.

It should be noted that the three-axis magnetometer 113 of the first inertial measurement unit 11 and the three-axis magnetometer 227 of the second inertial measurement unit 221 are not essential elements of the present invention, but the first embodiment may By measuring the direction of the magnetic field and effectively correcting the orientation, the effect of improving the control accuracy is produced.

Referring to FIG. 5 and FIG. 6, when the user plays the first embodiment, the body unit 1 is placed on the ground, and the control unit 2 is worn on the right hand. The annular portion of the control unit 2 surrounds a central axis R through which the user's hand passes in the direction of the central axis R.

When the user's arm drives the control unit 2 to swing downward, it represents that the forward command M1 is issued. The wireless unit S1 sent by the body unit 1 according to the sensing portion 22 The operation is performed such that the casters 142 cooperate with each other to drive the body unit 1 to make a forward motion C1.

When the user's arm drives the control unit 2 to swing upward, it represents the release back command M2. The body unit 1 operates according to the wireless message S1 sent by the sensing portion 22, and causes the foot wheels 142 to cooperate with each other to drive the body unit 1 to perform the backward action C2.

When the user turns the wrist so that the control unit 2 rotates counterclockwise about the central axis R, it represents the left turn command M3. The body unit 1 operates according to the wireless message S1 sent by the sensing portion 22, and causes the foot wheels 142 to cooperate with each other to drive the body unit 1 to make a left-turning motion C3.

When the user turns the wrist so that the control unit 2 makes a clockwise rotation about the central axis R, it represents the right turn command M4. The body unit 1 operates according to the wireless message S1 sent by the sensing portion 22, and causes the foot wheels 142 to cooperate with each other to drive the body unit 1 to make a right-turning action C4.

It is worth noting that the judgment of swinging upward, downward swinging, counterclockwise rotation and clockwise rotation is based on the viewing angle of the user.

In the aforementioned example of playing the first embodiment, the control unit 2 is worn on the right hand, but may be worn on the left hand only by way of example. In the process of playing, it can be entertained through manipulation, and at the same time, it can increase the amount of activity of the user's limbs and promote the health of the user.

Referring to FIG. 7 and FIG. 8, a second embodiment of the controllable balance toy of the present invention is similar to the first embodiment, except that the number of control units 2 is two and each generates a respective wireless message S1. . The first wireless module 12 of the body unit 1 receives the wireless messages S1 and generates a first communication message A2 according to the wireless messages S1.

When the user plays the second embodiment, the body unit 1 is placed on the ground, one control unit 2 is worn on the right hand, and the other control unit 2 is worn on the left foot.

When the user's foot drives the corresponding control unit 2 to swing forward, it represents that the forward command M1 is issued. The body unit 1 operates according to the wireless message S1 sent by the sensing portions 22, and causes the foot wheels 142 to cooperate with each other to drive the body unit 1 to make a forward motion C1.

When the user's foot drives the corresponding control unit 2 to swing backward, it represents the release back command M2. The body unit 1 operates according to the wireless message S1 sent by the sensing portions 22, and causes the foot wheels 142 to cooperate with each other to drive the body unit 1 to perform the backward action C2.

When the user turns the wrist so that the corresponding control unit 2 rotates counterclockwise about the central axis R, it represents the left turn command M3. The body unit 1 operates according to the wireless message S1 sent by the sensing portions 22, and causes the foot wheels 142 to cooperate with each other to drive the body unit 1 to make a left-turning motion C3.

When the user turns the wrist so that the corresponding control unit 3 rotates clockwise about the central axis R, it represents the right turn command M4. The body unit 1 operates according to the wireless message S1 sent by the sensing portions 22, and causes the foot wheels 142 to cooperate with each other to drive the body unit 1 to make a right-turning action C4.

It is worth noting that the judgment of swinging upward, downward swinging, counterclockwise rotation and clockwise rotation is based on the viewing angle of the user.

In the foregoing example of playing the second embodiment, one of the control units 2 is worn on the right hand and the other control unit 2 is worn on the left foot, but by way of example only, not limited thereto. In this way, the second embodiment can also achieve the same effect as the first embodiment. And because the control unit 2 is operated by using two different parts at the same time, the difficulty of playing can be improved.

Referring to FIG. 9 and FIG. 10, a third embodiment of the controllable balance toy of the present invention is similar to the first embodiment, and the difference is that the number of control units 2 is three and respectively generate respective wireless messages S1. . The first wireless module 12 of the body unit 1 receives the wireless messages S1 and generates a first communication message A2 according to the wireless messages S1.

When the user plays the third embodiment, the body unit 1 is placed on the ground, wherein the two control units 2 are respectively worn on the right hand and the left hand, and the remaining one control unit 2 is worn on the left foot. The surrounding portions 21 of the control unit 2 worn on the right and left hands can respectively define respective center points G that surround them. The center points G are connected and define one The first straight line segment L1. The first straight line segment L1 has a straight center point O at the center.

When the user's foot drives the corresponding control unit 2 to swing forward, it represents that the forward command M1 is issued. The body unit 1 operates according to the wireless message S1 sent by the sensing portions 22, and causes the foot wheels 142 to cooperate with each other to drive the body unit 1 to make a forward motion C1.

When the user's foot drives the corresponding control unit 2 to swing backward, it represents the release back command M2. The body unit 1 operates according to the wireless message S1 sent by the sensing portions 22, and causes the foot wheels 142 to cooperate with each other to drive the body unit 1 to perform the backward action C2.

When the user opens his hands and drives the corresponding control unit 2 to move, the first straight line segment L1 swings around the straight center point O.

When the first straight line segment L1 swings counterclockwise, it represents the left turn command M3. The body unit 1 operates according to the wireless message S1 sent by the sensing portions 22, and causes the foot wheels 142 to cooperate with each other to drive the body unit 1 to make a left-turning motion C3.

When the first straight line segment L1 is swung clockwise, it represents the right turn command M4. The body unit 1 operates according to the wireless message S1 sent by the sensing portions 22, and causes the foot wheels 142 to cooperate with each other to drive the body unit 1 to make a right-turning action C4.

It is worth noting that the judgment of swinging upward, swinging downward, counterclockwise swinging and clockwise swinging is based on the viewing angle of the user.

In the foregoing example of playing the third embodiment, the two control units 2 are respectively worn on the right hand and the left hand, and the remaining one control unit 2 is worn on the left foot, but by way of example only, not limited thereto. As a result, the third embodiment can also achieve the same effect as the first embodiment. And because the control unit 2 is operated by using three different parts at the same time, the difficulty of playing can be improved.

In summary, the controllable balance toy of the present invention allows the body unit 1 to maintain its balance without being dumped by the first inertial measurement module 11, and enables the user to stabilize the center of gravity of the body unit 1. Control is performed in the state. By the fact that the at least one control unit 2 is worn on the limbs, it is entertaining while being manipulated, and the amount of movement of the user's limbs is increased to promote the health of the user. Therefore, the object of the present invention can be achieved.

However, the above is only the embodiment of the present invention, and the scope of the invention is not limited thereto, and all the equivalent equivalent changes and modifications according to the scope of the patent application and the patent specification of the present invention are still The scope of the invention is covered.

Claims (9)

A controllable balance toy comprising: a body unit, comprising: a first inertial measurement module for detecting a posture and generating a first attitude data; and a receiving unit for receiving at least one wireless message according to the at least one wireless a first wireless module that generates a first communication message, a first computing module electrically connected to the first inertial measurement module and the first wireless module, and is electrically connected to the first a driving module controlled by the first computing module, a first power supply module for supplying electric energy, a plurality of building blocks, a plurality of mounting bosses, and a plurality of mounting holes for fitting the mounting posts The first computing module receives the first gesture data and the first communication message and decomposes a first gesture message from the first gesture data, and the first operation module is configured according to the first gesture information and the first At least one of the communication messages is operated to generate a driving message for driving the driving module to perform an action corresponding to the first communication message while maintaining the balance of the body unit, the driving module Receiving the driving message and performing the corresponding action, the first power supply module is electrically connected to the first inertial measurement module, the first wireless module, the first computing module and the driving module, and the building blocks The first inertia measurement module, the first wireless module, the first computing module, the driving module, and the first power supply module are provided with at least the mounting posts or the mounting holes therein. In one case, between the building blocks, the first inertial measurement module, the first wireless module, the first computing module, the driving module, and the adjacent one of the first power supply modules Positioning can be achieved by assembling the mounting posts and the mounting holes to each other; and At least one control unit is adapted to control the body unit, the at least one control unit includes an annular portion adapted to be worn on the limbs of the human body, and a sensing portion coupled to the annular portion, the sensing portion having a function a second inertial measurement module for detecting a posture and generating a second attitude data, a second wireless module for transmitting the at least one wireless message, and an electrical connection to the second inertial measurement module a second computing module for computing the second wireless module, and a second power supply module for supplying electrical energy, the second computing module receiving the second posture data and decomposing a second posture message, The second computing module calculates and generates a second communication message according to the second posture information, and sends the second communication message to the second wireless module, where the second wireless module generates the at least one second communication message according to the second communication message. The second power supply module is electrically connected to the second inertial measurement module, the second wireless module, and the second computing module. The controllable balance toy according to claim 1, wherein a vertical direction, a left-right direction perpendicular to the up-and-down direction, and a front-back direction perpendicular to the up-and-down direction and the left-right direction are defined, and the driving of the body unit is The first wireless module is disposed on one side of the first power supply module along the left and right direction, and the first computing module is along the vertical direction. The first inertial measurement module is disposed above the first power supply module along the up and down direction and adjacent to the first computing module along the front and rear direction, and is disposed above the first power supply module. The building block is connected between the first inertial measurement module, the first wireless module, the first computing module, the driving module and the first power supply module. The controllable balance toy according to claim 2, wherein the driving module has two motors arranged in the left and right direction, two full wheels respectively driven by the motors, and two electrically connected to the motors respectively. An encoder, each of which has a drive shaft rotatable about its own axis, the foot wheels being respectively fixed to the drive shafts, the encoders respectively generating respective rotation parameters according to the rotation amounts of the drive shafts, The first computing module controls the motors by the driving message and adjusts the amount of rotation of the driving shafts. The controllable balance toy of claim 1, wherein the first inertial measurement module has a three-axis accelerometer for measuring acceleration, and a three-axis gyroscope for measuring angular velocity. The controllable balance toy of claim 4, wherein the first inertial measurement module further has a three-axis magnetometer for measuring the direction of the magnetic field. The controllable balance toy of claim 1, wherein the second inertial measurement module has a three-axis accelerometer for measuring acceleration and a three-axis gyroscope for measuring angular velocity. The controllable balance toy of claim 6, wherein the second inertial measurement module further has a three-axis magnetometer for measuring the direction of the magnetic field. The controllable balance toy according to claim 3, wherein the annular portion of the at least one control unit surrounds a central axis, and the body unit according to the sense when the at least one control unit rotates clockwise around the central axis Detecting a wireless message operation sent by the part, and causing the foot wheels to cooperate with each other to drive the body unit to make a right turn motion. When the at least one control unit rotates counterclockwise about the central axis, the body unit according to the sensing Partially sent The line message operates and causes the foot wheels to cooperate with each other to drive the body unit to make a left turn. The controllable balance toy according to claim 3, comprising two control units, and the surrounding portions of the two control units respectively define respective center points that are connected, and the center points are connected and define a first straight line segment, The first straight line segment has a linear center point at the center. When the control unit moves, the first straight line segment swings around the center point of the straight line. When the first straight line segment swings clockwise, the body unit according to the sensing Part of the transmitted wireless message operation, and causing the foot wheels to cooperate with each other to drive the body unit to make a right turn motion. When the first straight line segment swings counterclockwise, the body unit operates according to the wireless message sent by the sensing portion. And causing the casters to cooperate with each other to drive the body unit to make a left turn.