WO2021035399A1

WO2021035399A1 - Toy car

Info

Publication number: WO2021035399A1
Application number: PCT/CN2019/102280
Authority: WO
Inventors: 尤中乾
Original assignee: 尤中乾
Priority date: 2019-08-23
Filing date: 2019-08-23
Publication date: 2021-03-04
Also published as: CN111670066A

Abstract

Disclosed is a toy car (100), comprising a laser emitter (10), a camera (20) and a processor (30), wherein the laser emitter (10) is arranged inside the toy car (100), and is used for emitting a laser ray in a traveling direction of the toy car (100); the camera (20) is arranged on the toy car (100), and is used for acquiring a video image in the traveling direction of the toy car (100); and the processor (30) is electrically connected to the camera (20), and the processor (30) calculates, according to the position of the laser ray in the video image, whether there is an obstacle in the traveling direction of the toy car (100). The toy car (100) can actively identify an obstacle in the traveling direction according to an intermittent shape formed by the laser ray on objects at different distances and in combination with relative positions of the laser emitter (10) and the camera (20), thereby increasing the intelligence degree of the toy car (100).

Description

toy car

Technical field

The application relates to the field of toys, and in particular to a toy vehicle capable of automatically detecting obstacles.

Background technique

The toy car is a popular toy product. With the continuous development of artificial intelligence technology, the functions and performance of toy cars have been greatly improved, and its interest has been further strengthened. However, current toy car products do not yet have the ability to actively identify obstacles, and basically can only drive in a straight line, or realize obstacle avoidance actions through the player's remote control. Many toy cars are also designed with anti-collision beams to prevent toy cars running at high speed from being damaged after collision with obstacles.

Summary of the invention

This application proposes a toy car capable of automatically detecting obstacles, which specifically includes the following technical solutions:

A toy car including:

A laser transmitter, which is arranged inside the toy car, and is used to emit a laser line toward the traveling direction of the toy car;

A camera, arranged on the toy car, for acquiring a video image in the traveling direction of the toy car and the position of the laser line in the video image;

A processor is electrically connected to the camera, and the processor calculates whether there is an obstacle in the traveling direction of the toy car according to the position of the laser line on the video image.

Wherein, the laser line emitted by the laser transmitter is a horizontal laser line.

Wherein, the laser transmitter includes a laser source and an optical mirror, and the laser source is used to emit laser light of a spot beam to the optical mirror, and the laser light of the spot beam is refracted by the optical mirror to form a laser line.

Wherein, the laser source includes a laser diode and a lens, and the lens is used to converge the laser light emitted by the laser diode into the laser light of the spot beam.

Wherein, the processor is electrically connected to the laser transmitter, and the processor is used to control the light-emitting sequence and duration of the laser transmitter, so that the video image obtained by the camera includes the laser line Ranging images and environmental images that do not contain the laser line.

Wherein, the laser transmitter includes a first laser transmitter and a second laser transmitter, the first laser transmitter emits a horizontal first laser line toward the traveling direction of the toy car, and the second laser transmitter A horizontal second laser line is emitted toward the traveling direction of the toy vehicle, and the first laser line and the second laser line have different heights in the vertical direction.

Wherein, the processor is electrically connected to the first laser transmitter and the second laser transmitter, and the processor is used to control the operation of the first laser transmitter and the second laser transmitter Sequentially to emit the first laser line and the second laser line respectively according to a predetermined timing and duration.

Wherein, the laser transmitter is rotatably arranged inside the toy car, the laser transmitter has at least a first stop position and a second stop position relative to the toy car, and the laser transmitter is located in the first stop position respectively. A stop position and the second stop position emit laser lines toward the traveling direction of the toy vehicle.

Wherein, the laser transmitter and the camera are arranged on the toy vehicle at intervals in a vertical direction, and the camera is located above the laser transmitter.

Wherein, the camera is rotatably arranged on the toy car, the camera has at least a first camera position and a second camera position relative to the toy car, and the camera is at least in all positions acquired by the first camera position. The video image contains the laser line.

Wherein, the toy car further includes a steering gear, and the processor is also connected to the steering gear. When there is an obstacle in the traveling direction of the toy car, the processor is used to control the toy through the steering gear. The car turns to avoid the obstacle.

Wherein, the toy car further includes a driver, and the processor is also connected to the driver. When there is an obstacle in the traveling direction of the toy car, the driver drives the toy car under the control of the processor. Run at different rates.

When the toy vehicle of the present application emits a laser line toward its traveling direction through the laser transmitter, and obtains a video image in its traveling direction through the camera, so that the laser line is projected on an obstacle in the traveling direction of the toy vehicle, Can be captured by the video image. Further, by calculating by the processor according to the position of the laser line on the video image, the actual distance of the obstacle in the traveling direction of the toy vehicle can be obtained. Therefore, the toy car of the present application has the ability to actively detect and recognize whether there are obstacles on the traveling route, and accordingly make the action of avoiding obstacles according to the actual distance between the toy car and the obstacle, and enhance the toy car’s performance. Intelligent and interesting.

Description of the drawings

In order to describe the technical solutions of the embodiments of the present application more clearly, the following will briefly introduce the drawings that need to be used in the description of the embodiments of the present application.

Figure 1 is a schematic structural diagram of a toy vehicle provided in an embodiment of the present application;

Figure 2 is a schematic diagram of a toy vehicle ranging work in an embodiment of the present application;

Fig. 3 is a schematic diagram of a video image obtained by a toy car in an embodiment of the present application;

Fig. 4 is a partial schematic diagram of a laser transmitter in an embodiment of the present application;

Fig. 5 is a schematic structural diagram of a toy vehicle provided in another embodiment of the present application;

Fig. 6 is a partial schematic diagram of a toy vehicle in another embodiment of the present application.

detailed description

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

Please refer to the toy vehicle 100 of the present application shown in FIG. 1, which includes a laser transmitter 10, a camera 20 and a processor 30. Both the laser transmitter 10 and the camera 20 are connected to the body of the toy car 100 and are arranged in corresponding positions on the body. Generally, the laser transmitter 10 and the camera 20 are both arranged inside the body of the toy car 100, which can protect the laser transmitter 10 and the camera 20 to reduce the influence and interference of external dust, water vapor and other impurities. At the same time, for functional needs, the laser transmitter 10 and the camera 20 are both located at the front of the toy car 100. It is understandable that although the laser transmitter 10 and the camera 20 are located inside the car body of the toy car 100, in order to achieve the emission of laser lines and To shoot video images, both of them need to partially expose the body of the toy car 100 or communicate with the outside world. The laser transmitter 10 can emit a linear laser for emitting a laser line toward the traveling direction of the toy vehicle 100. The camera 20 and the laser transmitter 10 are spaced apart, and the camera 20 is used to obtain a video image in the traveling direction of the toy vehicle 100.

Please refer to FIG. 2 together. After the installation angles of the laser transmitter 10 and the camera 20 are set in coordination, it can be ensured that the laser line emitted by the laser transmitter 10 is captured in the video image obtained by the camera 20. Since the laser line travels in a straight line from the toy car 100 toward its traveling direction, when there is an obstacle in the traveling direction of the toy car 100, based on the shape of the obstacle in front of the toy car 100 and the distance between the toy car 100 and the obstacle in front ( For ease of description, hereinafter referred to as "actual spacing") is different, the imaging position of the laser line projected on different obstacles, there will be a difference in height H in the video image (as shown in FIG. 3). In the video image shown in FIG. 3, it can be expressed that the object A is closer to the toy car 100 relative to the object B, that is, the actual distance between the object A and the toy car 100 is smaller than the actual distance between the object B and the toy car 100, then the object A is The position of the projected laser line will be lower than the laser line projected on the object B.

The processor 30 is disposed inside the toy vehicle 100, and the processor 30 is electrically connected to the camera 20, and the video image obtained by the camera 20 is transmitted to the processor 30. After receiving the video image, the processor 30 can calculate the actual distance between the obstacle and the toy car 100 by searching for the laser line in the video image, and according to the height of the laser line in the video image. Therefore, the toy vehicle 100 of the present application also has the function of automatically detecting the obstacle in front and sensing the actual distance of the obstacle. Through subsequent programming control, feedback actions such as turning, deceleration, or obstacle alarm can be applied to the toy car, which enhances the fun and interaction of the toy car 100, and at the same time enhances the intelligent ability of the toy car 100.

What needs to be pointed out is that theoretically, the laser line can be emitted at any angle, and obstacles in the traveling direction of the toy car 100 can be detected. As the laser line at any angle diverges, the laser line at its deflection angle can also continuously detect obstacles on the plane. That is, when the laser line is projected in the vertical direction, the laser line can detect all obstacles in the vertical direction directly in front of the toy vehicle 100. Of course, the toy car 100 is usually carried out on a plane or a gently sloped inclined surface, etc., and its movement can be regarded as a plane movement, and if the obstacle in the vertical direction exceeds the height of the toy car 100, that is, if it is in a vertical direction. The distance between the obstacle in the vertical direction and the moving surface of the toy vehicle 100 exceeds the height of the toy vehicle 100 itself, even if this type of obstacle is detected, the movement of the toy vehicle 100 will not be hindered. The laser line is used as a divergent straight line. If a more comprehensive obstacle detection is to be performed on the moving surface of the toy car 100, the laser transmitter 10 should emit a horizontal laser line. At this time, the toy car 100 can not only detect obstacles in the direction of travel, but also detect obstacles on both sides of the direction of travel, so as to make response actions such as avoiding steering in advance, and use laser lines more efficiently.

In an embodiment, the laser transmitter 10 and the camera 20 are arranged on the toy vehicle 100 at intervals along the vertical direction, and the camera 20 is located above the laser transmitter 10. As mentioned in the foregoing, because the toy car 100 is mostly in a plane motion state, the laser line emitted by the laser transmitter 10 is emitted in the horizontal direction, which can increase the utilization rate of the laser line. For the camera 20, according to the principle of triangulation ranging, the greater the distance between the camera 20 and the laser transmitter 10, the greater the difference in the height of the laser line caused by the distance between the obstacles in the acquired video image. . Therefore, the way in which the camera 20 and the laser transmitter 10 are arranged at intervals can improve the ranging accuracy of the toy vehicle 100 of the present application. And because the laser line is emitted in the horizontal direction, the separation distance between the camera 20 and the laser transmitter 10 should be set in the vertical direction.

On the other hand, for the toy vehicle 100, its height is usually low, and obstacles that hinder the travel of the toy vehicle 100 are mostly ground objects such as bricks and steps. The laser transmitter 10 is arranged below the vertical direction of the camera 20, which can detect obstacles with a lower relative height in real time, making the obstacle detection function of the toy car 100 more targeted, and ensuring the orderly movement of the toy car 100 .

In one embodiment, the toy vehicle 100 further includes a steering gear 40. The steering gear 40 is used to control the steering action of the toy car 100. The processor 30 is connected to the steering gear 40. When the processor 30 detects obstacles in the traveling direction of the toy car 100 through video images, the processor 30 controls the toy car 100 through the steering gear 40. The toy vehicle 100 turns to avoid obstacles, so that the toy vehicle 100 has the function of automatically turning and avoiding obstacles.

In one embodiment, the toy vehicle 100 further includes a driver 50. The driver 50 is used to drive the toy vehicle 100 to move at different speeds, such as decelerating, accelerating, or braking lights. The processor 30 is connected to the driver 50. For example, when the processor 30 detects an obstacle in the traveling direction of the toy car 100 through the video image, the processor 30 controls the toy car 100 to decelerate or park through the driver 50 to avoid hitting the obstacle. Things. Of course, in some embodiments where the toy vehicle 100 includes a brake device, the processor may also be electrically connected to the brake device, and the toy vehicle 100 can be controlled to decelerate through the brake device.

It is understandable that the toy car 100 may be provided with a steering gear 40 and a driver 50 at the same time, or it may also include a brake device. The processor 30 controls the steering separately according to the current speed of the toy car 100, the actual distance of the obstacle, and the size of the obstacle. The driver 40 and the driver 50 work together to make the toy car 100 turn during the deceleration process, thereby avoiding direct impact with obstacles. The above embodiments all belong to the functions that can be achieved by the toy car 100 of the present application. Because the laser transmitter 10, the camera 20 and the processor 30 are equipped, the toy car 100 of the present application has the function of actively detecting obstacles, and therefore has more functions. Rich active control feedback enhances the intelligence and interest of the toy car 100.

It should be pointed out that in the embodiment of FIG. 1, for ease of description, the processor 30, the diverter 40, and the driver 50 are all represented in a simplified schematic manner. In actual products, the shape, size, and relative positions of the processor 30, the diverter 40, and the driver 50 will be adjusted accordingly. The drawings in this application only show that the components are arranged in the toy vehicle 100 and are electrically connected to each other.

In an embodiment, the processor 30 is electrically connected to the laser transmitter 10, and the processor 30 is also used to control the light-emitting sequence and duration of the laser transmitter 10. Because the camera 20 is arranged at the front position of the toy vehicle 100, the camera 20 can also be used to collect video images in the traveling direction of the toy vehicle 100. Further, the processor 30 may also transmit the video images collected by the camera 20 to terminals such as mobile phones and remote control devices connected in communication, and display the video images of the toy car 100 to the user in real time. However, if the laser line emitted by the laser transmitter 10 is included in the video image, it may cause a certain obstacle to the user's information reception. Moreover, the detection of obstacles does not necessarily need to be performed in real time. Therefore, the processor 30 can control the light-emitting timing and duration of the laser transmitter 10 to make the laser transmitter 10 emit light periodically. At this time, the continuous video images collected by the camera 20 include ranging images that contain laser lines and environmental images that do not contain laser lines. The processor 30 screens the video images according to the time sequence or whether the laser line is detected. The ranging image including the laser line can be processed for distance measurement, and the environmental image without the laser line can be transmitted to the terminal, so that the camera 20 can collect The video image can have both the functions of ranging and reflecting the current environment of the toy car 100.

Please refer to FIG. 4 for an embodiment. The laser transmitter 10 includes a laser source 11 and an optical mirror 12. The laser source 11 is used to emit the laser light of the spot beam to the optical mirror 12, and then the laser light of the spot beam is refracted by the optical mirror 12 to form a linear laser line. The existing laser source 11 is mostly a point-emitting light source, and the laser usually propagates forward in the form of a point beam. It is costly to produce a light source that directly emits a linear laser. Therefore, the laser transmitter 10 of the present application uses an optical mirror 12 to refract the spot beam. Generally, the optical mirror 12 can be a flat-shaped mirror. When the single-shaped mirror refracts the spot beam, it scatters the spot beam into an arc-shaped laser surface and emits it outward. The arc-shaped laser surface is projected on the obstacle in front to form a laser line, which is captured by the camera 20 .

In an embodiment, the laser source 11 further includes a laser diode 111 and a lens 112. The laser diode 111 is used to emit laser light, and the lens 112 condenses the laser light emitted by the laser diode 111 into a laser beam similar to a spot beam, and then emits it to the optical mirror 12 to form a more concentrated laser line with a narrower line width. It is understandable that the narrower the line width of the laser line on the obstacle, the more accurately the position of the laser line can be located, and the distance to the obstacle can be determined accordingly.

For an embodiment, please refer to FIG. 5, the laser transmitter 10 includes a first laser transmitter 101 and a second laser transmitter 102. The first laser transmitter 101 emits a horizontal first laser line toward the traveling direction of the toy car 100, the second laser transmitter 102 emits a horizontal second laser line toward the traveling direction of the toy car 100, and the first laser line and the second laser line The height of the laser line along the vertical direction is different. The first laser emitter 101 and the second laser emitter 102 may be arranged separately, or may abut each other and be arranged at a certain angle. It is understandable that the first laser transmitter 101 and the second laser transmitter 102 only need to be able to emit two laser lines with different heights toward the traveling direction of the toy vehicle 100, and the specific arrangement of the two laser lines is not specifically limited herein. In the embodiment of FIG. 5, the first laser line is located below the second laser line. As mentioned in the foregoing, the obstacles that hinder the travel of the toy vehicle 100 in the direction of travel of the toy vehicle 100 are usually low in height, so the first laser line located in the lower part can usually detect most of the obstacles that hinder the travel of the toy vehicle 100. obstacle. However, for overhead obstacles such as sofas and bed legs, the height of the first laser line may not be detected, and because the toy car 100 has a certain height, there is a hidden danger of collision with similar overhead obstacles. In the embodiment of FIG. 5, the second laser emitter 102 can be arranged at a position close to the top of the toy vehicle 100, and emit a second laser line with a certain height toward the traveling direction of the toy vehicle 100, thereby detecting an overhead with a certain height Obstacles (height greater than or equal to the height of the toy car 100) can form a more comprehensive detection of obstacles in the traveling direction of the toy car 100, avoiding the defect that the overhead obstacle cannot be detected by the first laser line.

In an embodiment, the processor 30 is also electrically connected to the first laser transmitter 101 and the second laser transmitter 102 respectively. The processor 30 is used to control the working sequence of the first laser emitter 101 and the second laser emitter 102 to respectively emit the first laser line and the second laser line according to a predetermined time sequence and duration; for example, alternately emit the first laser line at predetermined time intervals A laser line and a second laser line, and the first laser line and the second laser line respectively last for a predetermined period of time. For the camera 20, when there are two laser lines in the acquired video image, the first laser line and the second laser line can be automatically distinguished by the relative height of the two laser lines. When only one of the first laser line and the second laser line can be reflected by the obstacle, there is only one laser line in the video image acquired by the camera 20. At this time, the processor 30 may not be able to distinguish whether the laser line is the first laser line or the second laser line. If the processor 30 judges the laser line incorrectly, it will cause errors in the position detection of the obstacle by the toy vehicle 100 of the present application. The processor 30 controls the first laser line and the second laser line to appear alternately based on a predetermined time sequence. That is, the processor 30 controls the first laser emitter 101 and the second laser emitter 102 to alternately emit laser lines. To accurately define the laser line in the video image as the first laser line or the second laser line.

For another embodiment, please refer to FIG. 6, the laser transmitter 10 is rotatably arranged inside the toy car 100, and the laser transmitter 10 has at least a first stop position 01 and a second stop position 02 relative to the toy car 100. The laser transmitter 10 emits laser rays toward the traveling direction of the toy vehicle 100 at the first stop position 01 and the second stop position 02 respectively. In the embodiment of FIG. 6, only one laser transmitter 10 is provided, and the laser transmitter 10 is connected in a rotating manner to realize the embodiment in which the toy vehicle 100 emits laser lines of different heights. Similar to the embodiment shown in FIG. 5, the processor 30 can control the rotation of the laser transmitter 10 so that the laser transmitter 10 emits a laser line with the same or similar height as the first laser line at the first stop position 01. To detect relatively low obstacles in the traveling direction of the toy car 100; the processor 30 also controls the rotation of the laser transmitter 10 so that the laser transmitter 10 emits at the second stop position 02 at the same height as the second laser line. A similar laser line is used to detect possible overhead obstacles in the traveling direction of the toy car 100. The processor 30 combines the timing of the laser transmitter 10 at the first stop position 01 and the second stop position 02, and can also use video images to detect obstacles in the traveling direction of the toy vehicle 100 more comprehensively.

The camera 20 can operate independently as an obstacle detection for the toy car 100, and can also be used as a front camera of the toy car 100 at the same time to achieve more functional expansion by acquiring video images of the traveling direction of the toy car 100. For example, functions such as searching for interactive targets and photographing detection are realized. The laser line emitted by the laser transmitter 10 is usually located at a relatively low position, and when the viewing angle of the camera 20 is narrow, it needs to be tilted downward to a certain angle to ensure that the laser line can be obtained in the video image. At this time, it is difficult for the camera 20 to simultaneously take into account obstacle detection and video acquisition functions from other angles. Please continue to refer to FIG. 6 for an embodiment. The camera 20 is also rotatably arranged on the toy car 100. The camera 20 has at least a first camera position 021 and a second camera position 022 relative to the toy car 100, and the camera 20 is at least in the first camera position. The video image acquired at position 021 contains laser lines. That is, the first camera position 021 may be set at a lower position relative to the second camera position 022. The camera 20 at the first camera position 021 can ensure that the video image stably captures the laser line, thereby completing the function of obstacle detection. The camera 20 at the second camera position 022 can obtain a relatively horizontal or elevated camera posture, and then use the video image collection of the traveling direction of the toy vehicle 100 to achieve other richer functions.

It can be understood that the switching of the camera 20 between the first camera position 021 and the second camera position 022 can also be controlled by the processor 30. Further, the processor 30 can also synchronously control the laser transmitter 10 to emit the laser for detecting obstacles only when the camera 20 is in the first camera position 021, so as to extend the service life of the laser transmitter 10.

On the other hand, in order to enable the camera 20 to take into account the functions of capturing the laser line and the video image in its traveling direction, a wide-angle camera, a fish-eye camera, etc. with a larger viewing angle can also be used as the camera 20 of the toy car 100. The camera 20 with a larger viewing angle can simultaneously take into account the functions of capturing the laser line and acquiring the video surface of the moving picture. However, the camera 20 with a larger viewing angle has the defect that the edge of the video image is more severely distorted. At this time, the processor 30 is processing the video image. At this time, it is also necessary to perform distortion correction on the video image first to improve the accuracy of the toy car 100's detection of obstacles.

The above-mentioned embodiments do not constitute a limitation on the protection scope of the technical solution. Any modification, equivalent replacement and improvement made within the spirit and principle of the above-mentioned embodiments shall be included in the protection scope of the technical solution.

Claims

A toy car is characterized in that it comprises:

A laser transmitter, which is arranged inside the toy car, and is used to emit a laser line toward the traveling direction of the toy car;

A camera, arranged on the toy car, for acquiring a video image in the traveling direction of the toy car and the position of the laser line in the video image;

A processor is electrically connected to the camera, and the processor calculates whether there is an obstacle in the traveling direction of the toy car according to the position of the laser line on the video image.
The toy vehicle according to claim 1, wherein the laser line emitted by the laser transmitter is a horizontal laser line.
The toy vehicle according to claim 1, wherein the laser transmitter comprises a laser source and an optical mirror, and the laser source is used to emit laser light of a spot beam to the optical mirror, and the laser light of the spot beam passes through The refraction of the optical mirror forms a laser line.
The toy vehicle according to claim 3, wherein the laser source comprises a laser diode and a lens, and the lens is used to converge the laser light emitted by the laser diode into the laser light of the spot beam.
The toy vehicle according to claim 1, wherein the processor is electrically connected to the laser transmitter, and the processor is used to control the light-emitting sequence and duration of the laser transmitter, so that the camera The obtained video image includes a distance measurement image containing the laser line and an environmental image that does not contain the laser line.
The toy car according to claim 1, wherein the laser transmitter comprises a first laser transmitter and a second laser transmitter, and the first laser transmitter emits a horizontal plane toward the traveling direction of the toy car. The first laser line, the second laser transmitter emits a horizontal second laser line toward the traveling direction of the toy vehicle, and the first laser line and the second laser line have different heights in the vertical direction.
The toy vehicle according to claim 6, wherein the processor is electrically connected to the first laser transmitter and the second laser transmitter, and the processor is used to control the first laser The working sequence of the transmitter and the second laser transmitter is to respectively emit the first laser line and the second laser line according to a predetermined time sequence and duration.
The toy car according to claim 1, wherein the laser transmitter is rotatably arranged inside the toy car, and the laser transmitter has at least a first stop position and a second stop relative to the toy car. The laser transmitter emits laser lines toward the traveling direction of the toy vehicle at the first stop position and the second stop position, respectively.
The toy vehicle according to any one of claims 1 to 8, wherein the laser transmitter and the camera are arranged on the toy vehicle at intervals along a vertical direction, and the camera is located on the laser transmitter. Above the device.
The toy car according to any one of claims 1 to 8, wherein the camera is rotatably arranged on the toy car, and the camera has at least a first camera position and a second camera relative to the toy car. And the camera includes the laser line at least in the video image acquired by the first camera position.
The toy vehicle according to any one of claims 1 to 8, wherein the toy vehicle further comprises a steering gear, and the processor is also connected to the steering gear, when there is an obstacle in the traveling direction of the toy vehicle When there is an object, the processor is used to control the steering of the toy car through the steering device to avoid the obstacle.
The toy vehicle according to any one of claims 1 to 8, wherein the toy vehicle further comprises a driver, the processor is also connected to the driver, and the driver is driven under the control of the processor The toy vehicles run at different speeds.