CN109663368B - Intelligent toy following method and toy robot applying same - Google Patents
Intelligent toy following method and toy robot applying same Download PDFInfo
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- CN109663368B CN109663368B CN201910010541.5A CN201910010541A CN109663368B CN 109663368 B CN109663368 B CN 109663368B CN 201910010541 A CN201910010541 A CN 201910010541A CN 109663368 B CN109663368 B CN 109663368B
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H11/00—Self-movable toy figures
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H13/00—Toy figures with self-moving parts, with or without movement of the toy as a whole
- A63H13/02—Toy figures with self-moving parts, with or without movement of the toy as a whole imitating natural actions, e.g. catching a mouse by a cat, the kicking of an animal
- A63H13/04—Mechanical figures imitating the movement of players or workers
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H11/00—Self-movable toy figures
- A63H11/10—Figure toys with single- or multiple-axle undercarriages, by which the figures perform a realistic running motion when the toy is moving over the floor
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H29/00—Drive mechanisms for toys in general
- A63H29/22—Electric drives
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H30/00—Remote-control arrangements specially adapted for toys, e.g. for toy vehicles
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H30/00—Remote-control arrangements specially adapted for toys, e.g. for toy vehicles
- A63H30/02—Electrical arrangements
- A63H30/04—Electrical arrangements using wireless transmission
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/20—Control system inputs
- G05D1/24—Arrangements for determining position or orientation
- G05D1/242—Means based on the reflection of waves generated by the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/60—Intended control result
- G05D1/69—Coordinated control of the position or course of two or more vehicles
- G05D1/695—Coordinated control of the position or course of two or more vehicles for maintaining a fixed relative position of the vehicles, e.g. for convoy travelling or formation flight
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/60—Intended control result
- G05D1/69—Coordinated control of the position or course of two or more vehicles
- G05D1/698—Control allocation
- G05D1/6985—Control allocation using a lead vehicle, e.g. primary-secondary arrangements
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H2200/00—Computerized interactive toys, e.g. dolls
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H3/00—Dolls
- A63H3/006—Dolls provided with electrical lighting
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H3/00—Dolls
- A63H3/28—Arrangements of sound-producing means in dolls; Means in dolls for producing sounds
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2105/00—Specific applications of the controlled vehicles
- G05D2105/30—Specific applications of the controlled vehicles for social or care-giving applications
- G05D2105/32—Specific applications of the controlled vehicles for social or care-giving applications for amusement, e.g. toys
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2109/00—Types of controlled vehicles
- G05D2109/10—Land vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
- G05D2111/10—Optical signals
- G05D2111/14—Non-visible signals, e.g. IR or UV signals
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- Computer Networks & Wireless Communication (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Toys (AREA)
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Abstract
本发明公开了一种智能玩具随从的方法，包含以下步骤：1）身份配置：S1：发出搜寻信号搜寻领袖机械人；S2：当没有接收到回应信号时，该玩具机械人身份即为领袖机械人；S3：领袖机械人向其他玩具机械人发出配置其身份的信号；S4：进入游戏模式；2）游戏模式：S5：玩具机械人YX向玩具机械人YX+1传递跟随信号，玩具机械人YX+1接收并识别跟随信号，并根据接收到的跟随信号进行跟随移动；S6：所有玩具机械人形成了一队玩具机械人跟随移动。该方法中存在一个领袖机械人，其余的玩具机械人能自动依次跟随领袖机械人移动，使得多个玩具机械人能够形成依次跟随的队列，提高玩具的趣味性和可玩性。本发明还公开了一种应用所���智能玩具随从方法的玩具机械人。
The invention discloses a smart toy follower method, which includes the following steps: 1) Identity configuration: S1: Send a search signal to search for a leader robot; S2: When no response signal is received, the identity of the toy robot is that of the leader robot. People; S3: The leader robot sends a signal to configure its identity to other toy robots; S4 : Enters the game mode; 2) Game mode: S5: Toy robot Y Robot Y There is a leader robot in this method, and the other toy robots can automatically follow the leader robot in sequence, so that multiple toy robots can form a queue that follows in sequence, improving the fun and playability of the toy. The invention also discloses a toy robot applying the smart toy follower method.
Description
Technical Field
The invention belongs to the field of intelligent toys for children, and particularly relates to a follow-up method for an intelligent toy and a toy robot applying the method.
Background
With the development of the age, the combination of IT technology and traditional toys has led to the birth of intelligent toys. The current common definition for intelligent toys is toys that enable some simple interaction with a person. The intelligent toy has integrated some products of different trades such as traditional toy, chip, digital technique together, and the playing method is interesting than traditional playing, and various, often needs the player to move the brain, selects different operations or reply, and the toy has different response or actions, increases a lot of interests, gets children's favor, and some intelligent toy design benefit can also reach the effect of teaching in the amusement.
One of the interaction modes in the intelligent toy is following movement. At present, most intelligent toys with following functions on the market are required to be equipped with specific signal sources, the signal sources transmit instructions to the intelligent toys through transmitting signals, the intelligent toys process the signals and react after receiving the instruction signals, and the positions of the signal sources are determined according to the directions of the received signals so as to move towards the directions of the signal sources, so that the following functions are realized.
The signal source is usually a transmitter, so that a user needs to carry the signal source with him or her and continuously move the signal source to keep the intelligent toy moving along, and once the user stops, the intelligent toy stops after approaching the signal source; when the signal source is a remote controller, a user needs to have a certain intelligence level to operate the remote controller, so that the remote controller is inconvenient for a young child to play.
In addition, the existing following functions are generally divided into two modes that a single intelligent toy moves along with a signal source alone or a plurality of intelligent toys move together along with the signal source. However, the two following modes are single and have insufficient interestingness, and the following movement of the intelligent toys cannot be realized.
Disclosure of Invention
The first object of the invention is to provide a method for intelligent toy follow-up, in which a leader robot exists, and the rest toy robots can automatically and sequentially follow the leader robot, so that a plurality of toy robots can form a sequentially following array, and the interestingness and playability of the toy are improved.
It is another object of the present invention to provide a toy robot applying the method.
The first object of the invention is achieved by the following technical scheme:
a method for intelligent toy follow-up, comprising the steps of:
1) Identity configuration:
s1: opening any toy robot Y X Sending out a search signal to search the collar-sleeve robot;
s2: when no response signal is received, the existence of the leader robot is indicated, the toy robot Y X Is configured as Y X ＝Y 0 The identity is the collar-sleeve robot;
s3: when the collar and sleeve robot Y 0 Receiving other toy robots Y X To the toy robot Y during the search signal of (a) X Transmitting a signal with the identity of the signal being a natural number x, and transmitting the signal according to the time of transmitting the search signalThe identity of other toy robots is a random robot, and the identity serial number is Y X ＝Y 1 ,orY 2 ,orY 3 ,orY 4 ,orY 5 ……；
S4: when x reaches the preset maximum value x max And/or when the player actively controls the leader robot to enter the game mode, the identity configuration program is terminated, the leader robot gives a game instruction to the follower robots, and all toy robots enter the game mode;
2) Game mode:
s5: toy robot Y after entering game mode X Toy robot Y through signal transmitting device on self X+1 Transmitting following signal, toy robot Y X+1 Receiving and identifying slave toy robot Y by signal receiving device on self body X The sent following signal and follows and moves according to the received following signal;
s6: after all toy robots entering into the game mode are completed S5, a team of toy robots are formed to move along until a player actively gives a stop instruction to the leader robot, and the leader robot Y 0 To all other toy robots Y X And sending out a stopping instruction to stop all toy robots from moving, and ending the game mode.
In the invention, if a remote controller is used to send instructions to the leader robot, the signal transmission mode adopted by the remote controller can be one of infrared rays, radio frequency, bluetooth or wireless communication, and when the radio frequency is adopted for communication, the recommended frequency is 27MHz, 40MHz, 49MHz or 2.4GHz. The toy robots transmit signals through infrared rays. In the course of game mode, all the following robots can not individually receive the stop instruction sent by player, only pass through the leader robot Y 0 When a command to stop is given to the follower robot, the follower robot Y X The game mode can be ended after receiving the stop instruction and stopping the movement.
The toy robot of the present invention is not limited to humanoid or anthropomorphic toy robots, but may be any other toy body of any other object, such as various toy bodies of animal figures, toy bodies of various types of vehicle figures, toy bodies of imagined creature figures, or toy bodies made of any object figures, etc.
Each toy robot Y described in the invention X The hardware configuration of the robot is identical, and in the identity configuration process, only the first opened toy robot becomes the leader robot, and the rest toy robots become the follow robots. The toy robot that is subsequently turned on will send out a search signal and when the leader robot recognizes the search signal sent by the other toy robots, will send out a signal to the toy robot to assign an identity. The identity of the collar-sleeve robot is Y X ＝Y 0 The collar-sleeve robot is the following other toy robot Y X Sequentially distributing identities Y according to the sequence of signals received by the mobile station X ＝Y 1 ,Y 2 ,Y 3 ,Y 4 ,Y 5 … … until x reaches a preset maximum value x max Or after receiving the instruction for entering the game mode, the identity configuration program is terminated.
In the game mode, the toy robot can move and travel in sequence in a long snake queue according to the identity serial number allocated to the toy robot. This mode of sequential travel is identity Y 0 The collar and sleeve robot of (a) advances the collar head, identity Y 1 The following robot of (a) follows the collar-sleeve robot to travel, identity Y 2 Follow-up robot follow-up identity Y 1 Is followed by robot, identity Y 3 Follow-up robot follow-up identity Y 2 And so on, the following robot in front of the identity number becomes the leading robot of the following robot in back of the identity number.
The invention can also be improved as follows:
preferably, a signal receiving device may be disposed on each of the left and right sides of the front of the toy robot, so that in S5 of the present invention, different reactions may be made according to different positions or distances between the accompanying robot and the leading robot, so as to increase interestingness and playability:
toy robot Y X Toy robot Y through signal transmitting device X+1 Transmitting following signal, toy robot Y X+1 The slave robot Y is received and recognized by the signal receiving devices on the left and right sides X The sent following signal moves or rotates according to the received following signal condition and then moves;
toy robot Y X+1 When the following signal intensity received by the signal receiving devices at the left side and the right side is the same, the toy robot Y X+1 Moving forward and automatically adjusting the forward moving speed according to the received following signal intensity; toy robot Y X+1 When the following signal intensity received by the signal receiving devices at the left side and the right side is different, the toy robot Y X+1 Deflection is carried out to one side receiving stronger signals until the signal intensity received by the signal receiving devices at the two sides is the same, and then the signal receiving devices move forwards.
In order to enlarge the signal emitting area, the invention can adopt a mode of arranging a signal emitting device on each of the left side and the right side of the back of the toy robot, or can adopt a mode of arranging a signal emitting device in the middle of the back of the toy robot and arranging a concave lens to increase the angle of signal emission.
In the game mode, the invention toy robot Y X The specific case that the signal intensities received at the left and right sides can be identified is as follows:
(1) Toy robot Y X-1 Is positioned at toy robot Y X When the toy robot Y is right ahead X The received signal strength on the left and right sides should be the same, in which case the toy robot Y X Advancing to the right front;
(2) Toy robot Y X-1 Is positioned at toy robot Y X Other than the position right in front of the toy robot Y X The received signal strength of the left and right sides are different, in which case the toy robot Y X Will rotate in situ to the side of the received signal until it isThe received signals at both sides have the same intensity, namely, the signals reach the toy robot Y X-1 Is positioned on toy robot Y X Directly ahead of (a), such as: toy robot Y X-1 Is positioned on toy robot Y X Toy robot Y in the left front of (a) X The signal received by the left signal receiver is stronger than that received by the right signal receiver, and the toy robot Y X Rotating leftwards; conversely, when toy robot Y X-1 Is positioned on toy robot Y X Toy robot Y in the right front of (a) X The signal received by the right signal receiver is stronger than that of the left signal receiver, and the toy robot Y X Rotating to the right;
likewise, the present invention is directed to toy robot Y in play mode X The intensity of the received signal is received by toy robot Y X Toy robot Y X-1 The distance between the two influences:
toy robot Y X And robot Y X-1 When the distance between them is short, for example, 10cm, the toy robot Y X Received robot Y X-1 The strength of the sent signal is stronger; conversely, when toy robot Y X And robot Y X-1 With a longer distance, e.g. 100cm, toy robot Y X Received robot Y X-1 The strength of the emitted signal is relatively weak. Based on this principle, toy robot Y X Toy robot Y can be judged by identifying the strength of the received signal X-1 The distance between the two is controlled to control the forward running speed of the toy robot Y X Toy robot Y X-1 Maintaining a relatively fixed distance therebetween.
As another improvement of the present invention, an obstacle detecting device may be provided on the toy robot, so that the function of detecting an obstacle may be added to the game mode S5 of the present invention, specifically:
after entering the game mode, toy robot Y X Periodically sending out an obstacle detection signal by the obstacle detection device, wherein the detection signal occurs when the obstacle is encounteredReflecting to form a reflected signal, when the toy robot Y X When the signal receiving devices on the left side and the right side receive the reflected signals, the toy robot Y X Deflecting in the direction of the weaker side of the received reflected signal and then advancing to avoid the obstacle for advancing; when the signal receiving devices on the left side and the right side both receive the reflected signals, the toy robot Y X The movement/deflection is stopped until no reflected signal is received.
The principle of detecting the obstacle is similar to that of identifying the surrounding environment by utilizing ultrasonic waves by bat: toy robot Y X When the emitted obstacle detection signal encounters an obstacle, the detection signal is reflected, so that the obstacle detection signal is reflected by the toy robot Y X Captured by the signal receiving apparatus of (a). If the obstacle is positioned in the toy robot Y X The left front part of the toy robot Y is reflected by the detection signal X Is received by the left signal receiving device, and toy robot Y X Deflecting rightward and then advancing so as to avoid the obstacle; on the contrary, when the obstacle appears in the right front, the reflected signal is received by the right signal receiving device, and the toy robot Y X Steering to the left to avoid the obstacle; if the obstacle is positioned in the toy robot Y X The signal receiving devices at both sides receive the reflected signals, and the toy robot Y receives the reflected signals X The movement or deflection needs to be stopped until no reflected signal is received. In this way, the toy robot Y can be made X Under the condition of no control of an external controller (such as a remote controller), the toy can freely walk while avoiding obstacles automatically, and the playability of the toy is improved.
In the process of identity configuration, the invention can transmit the searching signal through one of the signal transmitting devices on the left side and the right side and also can transmit the searching signal through the obstacle detecting device.
The invention can realize the toy robot Y in the game mode by the following technical measures X Robot Y for toy X+1 Transmitting a follow signal to avoid toy robot Y in play mode X The mutual interference problem occurs between the receiving and transmitting signals:
in the game mode, all toy robots Y are set X The following signals are sent out periodically, the toy robots have different signal time sequences according to different identity serial numbers in the same period, and all the toy robots send out signals in sequence according to the signal time sequences in the same period, namely the toy robot Y X Only send out signals in the time period corresponding to the signal time sequence, and correspondingly, the toy robot Y X+1 Only toy robot Y will be identified X The signals sent out in the time corresponding to the signal time sequence react, and the toy robot Y moves forward or rotates and then moves forward, and in other time of the same period X Will not emit signals, corresponding toy robot Y X+1 Does not do signal recognition either, toy robot Y X+1 Maintaining execution of the existing reactions until the toy robot Y is received in the corresponding timing of the next cycle X The new signal is sent out until the new signal is reacted, and the cycle is performed so that all toy robots Y X A unidirectional signaling pattern is formed between two pairs throughout the game pattern.
The principle of transmitting signals between the two toy robots is explained as follows:
each toy robot Y X According to the identity number Y X Different signal time sequences are provided in the same period, so that only one toy robot Y is provided in a certain time period in the same period X Send out signals, and only toy robot Y X+1 The signals in the time period are received and identified, so that the signals are sent and received separately in the same time sequence, and all toy robots Y X The unidirectional signal conduction mode is formed between every two of the two, and mutual interference in the process of transmitting a plurality of signals is avoided. In the one-by-one conduction mode, since the longer the time of one cycle is set, the toy robot Y is caused X The slower the reaction time of (a), in other words, when the time period for which a single toy robot transmits/receives a signal is set too long, all toy robots complete the signal transmission/reception onceThe signal period is too long, which leads to serious delay in information transmission, so that the toy robot Y X The following reaction speed of the signals is slow, so that the period and time of the time sequence signals are required to be set within a reasonable range, and the time sequence period of the signals is set to be 100-150 ms as the preferred embodiment of the invention, and the single toy robot Y X The time of (2) is 14-20 ms.
The same mode of the following signal is emitted by the toy robot Y X Periodically sending out obstacle detection signals through the obstacle detection device, wherein the detection signals are reflected when encountering an object to form reflected signals, and when the toy robot Y X When the signal receiving device on one side of the left and right receives the reflected signal, the toy robot Y X And steering to the direction of the side receiving the reflected signal to travel to the direction of the object.
In order to better realize unidirectional transmission of signals and reduce interference of other signals, the toy robot Y X The transmitted signal consists of digital information and analog information, wherein the digital signal comprises a head code, a toy robot identity number, sound bits and a cyclic redundancy code, and the analog signal comprises an intensity level.
All toy robots Y of the invention that can be in play mode X In the moving process, the obstacle detection function is started. For the following robot Y X+1 In other words, it receives toy robot Y at the same time during movement X The following signal and the reflected signal of the obstacle detection signal emitted by the following robot Y are used for avoiding mutual interference of instructions X+1 The identification is performed according to the following logic relationship:
robot Y X+1 Simultaneously receiving toy robot Y X Following robot Y when following signal is emitted and reflected signal of obstacle is emitted X+1 Priority identification toy robot Y X The sent following signals react until the next signal period is repeated for the logic relation identification;
second following robot Y X+1 Toy robot Y for receiving X When the intensity of the emitted signal is obviously weaker than that of the reflected signal of the obstacle, the following robot Y X+1 The obstacle-reflected signal is first identified and reacted until the next signal cycle is repeated for the logical relationship identification.
The same mode of the following signal is emitted by the toy robot Y X The obstacle signal emitted by the obstacle detecting device is also periodic, and the manner in which the plurality of toy robots periodically emit the detection signal is also the same as the manner in which the toy robots periodically emit the following signal.
The embodiment of the obstacle detection signal recommended by the invention can be that the obstacle detection signal sent by the obstacle detection device simultaneously comprises signals with different strong, medium and weak tertiary intensities: the signal can be attenuated due to the longer transmission distance, and the strong signal can still maintain strong signal strength after being transmitted for a longer distance, and the signal attenuation and even disappearance can be caused by long-distance transmission for the weak signal. Based on the above principle, the signal receiving device can determine the distance between the obstacle and itself according to the received reflected signal which is the weakest level of the obstacle detection signal: when the distance between the obstacles is far, only the reflected signals of the obstacle detection signals of the strong level can be received by the signal receiving device, because the obstacle detection signals of the weak level and the medium level disappear in the long-distance transmission process and cannot be received by the signal receiving device; when the signal receiving device can also receive the reflected signal of the obstacle detection signal from the weak level, the distance between the obstacle and the signal receiving device is very close; when the signal receiving device can receive the reflected signals of the intermediate and strong obstacle detection signals, it is indicated that the obstacle is moderately far from itself.
As another following mode of the invention, the situation that the toy robot avoids the detected obstacle is just opposite to that of the toy robot, so that the toy robot Y X Move towards the detected obstacle:
toy robot Y X After identifying the obstacle, reflecting the signal towards the receivingTo the direction of the reflected signal, thereby realizing the toy robot Y X Following the movement of the identified obstacle. Toy robot Y X When detecting the reflected signals reflected by a plurality of obstacles, the toy robot Y X Preferentially identifying the weakest level of reflected signals, i.e. toy robot Y X Move toward the nearest obstacle.
The second object of the invention is achieved by the following technical scheme:
the toy robot applying the intelligent toy follow-up method comprises a toy robot body, a power supply, a control mechanism, a driving mechanism, a transmission mechanism and a running mechanism capable of freely steering and moving, wherein the power supply, the control mechanism and the driving mechanism are positioned on the body, and the running mechanism is positioned at the bottom of the body and is connected with the driving mechanism through the transmission mechanism, and the toy robot further comprises:
The signal transmitting device is positioned at the rear of the body and is used for transmitting a search signal or a following signal;
the signal receiving device is used for receiving signals sent by the signal transmitting device and/or the obstacle detecting device of other toy robots, and the signal receiving device and/or the obstacle detecting device are positioned in front of the body;
the control mechanism is positioned on the body and comprises a switch key, a circuit board and an intelligent chip, and is used for identifying, processing and controlling signals sent/received by the signal transmitting device and the signal receiving device and controlling the running mechanism to execute instructions.
Preferably, the number of the signal receiving devices is an even number of two or more, the signal receiving devices are located at two sides of the front face of the body, and the number of the two sides is the same. By means of this arrangement, the identity is realized as Y X+1 The identification identity of the toy robot is Y X A specific orientation of the toy robot.
As a preferred embodiment of the present invention, the signal emitting devices are located at two sides of the back of the body, and the number of the two sides is the same; the signal emitting device may also be disposed in the middle of the rear surface of the body and provided with a concave lens to increase the angle of emitting the signal.
As an improvement of the invention, the toy robot further comprises an obstacle detection device positioned right in front of the body and used for transmitting detection signals of obstacles.
As an embodiment of the present invention, it is recommended that:
the driving device is a motor;
the power supply is a battery, and the battery can be a dry battery or a storage battery;
the transmission mechanism is a gear transmission so as to better control the travelling speed of the toy robot;
the travelling mechanism comprises a driving wheel connected with the transmission mechanism and a driven wheel without power;
the signal transmitting device and the obstacle detecting device adopt infrared light emitting diodes, and in this case, the toy robots conduct signal transmission through infrared signals;
the toy robot can be further provided with a remote controller so as to send starting, stopping and direction control instructions to the toy robot, and the signals are one of infrared rays, radio frequency, bluetooth or wireless communication.
The toy robot can also comprise a loudspeaker for playing music or sound effect and the like, so that the interestingness of the toy is improved.
Compared with the prior art, the invention has the following beneficial effects:
1. According to the invention, the toy robots are divided into the leader robots and the follower robots with the identity serial numbers in an identity configuration mode, all the follower robots sequentially follow the leader robots or the leading robots with the previous identity serial numbers to travel, the traveling mode of the toy robots following one by one is effectively realized on the premise of controlling reasonable cost, and the interestingness and the playability are improved;
2. according to the invention, through the signal receiving devices arranged at the left side and the right side of the toy robot body, the toy robot can make different reactions according to different positions or distances between the follow-up robot and the leading robot so as to increase interestingness and playability;
3. the invention can also enlarge the signal transmitting area by arranging the signal transmitting devices on the left side and the right side of the toy robot body or arranging the signal transmitting device and the concave lens in the middle of the back of the toy robot body, so that the toy robot can receive related signals in a larger range, and the reliability of the following function of the toy robot is improved;
4. in the game mode, a player can control the movement of the leader robot through the remote controller, and the leader robot can also avoid/move towards the obstacle by searching a travel route through the obstacle detection device arranged on the leader robot, so that the game method is changeable and the playability is high;
5. According to the invention, by distributing the signal time sequence to each toy robot, only one toy robot transmits signals in the same time period, and only one toy robot receives and recognizes the unidirectional signal one-by-one conduction mode of the signals sent by the previous toy robot, so that the problem of mutual interference among a plurality of signals of a plurality of toy robots can be effectively solved at lower cost.
Drawings
The invention is further illustrated by the following figures.
Fig. 1 is a schematic perspective view of a toy robot according to embodiment 1.
Fig. 2a is a front view of the toy robot of example 1.
Fig. 2b is a cross-sectional view of the A-A plane of fig. 2 a.
Fig. 3 is a rear view of the toy robot of example 1.
Fig. 4 is a side view of the toy robot of example 1.
Fig. 5 is an exploded view of the toy robot of example 1.
FIG. 6 is a schematic diagram of the identity formulation process of example 2.
Fig. 7 is a schematic diagram of a signal transmission coverage area of embodiment 2.
Fig. 8 is a schematic diagram of a signal transmission coverage area in embodiment 3.
Fig. 9 example 2 toy robot signal timing diagram.
Fig. 10 is a diagram showing the composition of the digital signal in embodiment 2.
Reference numerals: 1-a body; 2-switching keys; 3-cell; 4-motor; 5-a circuit board; a 6-gear transmission; 71-a driving wheel; 72-driven wheel; 8-light emitting diodes; 91-left signal receiving means; 92-right signal receiving means; 101-a left signal transmitting device; 102-right signal transmitting means; 103-an intermediate signal transmitting device; 11-obstacle detection means; 12-speaker.
Detailed Description
The present invention will be further described with reference to the following specific embodiments.
Example 1
As shown in fig. 1 to 5, the intelligent toy robot includes a body 1, a switch button 2, a battery 3, a motor 4, a gear transmission 6, a driving wheel 71 and a driven wheel 72, wherein the battery 3 is used as a power source to provide energy sources for the toy robot, the switch button 2, a circuit board 5 and an intelligent chip (not shown in the figure) are positioned in the body 1 to form a control mechanism, the motor 4 provides power for the toy robot, the gear transmission 6 is used as a transmission mechanism to transmit kinetic energy of the motor 4 to the driving wheel 71 and control the moving speed of the toy robot, and the driving wheel 71 and the driven wheel 72 realize the moving and steering of the toy robot.
The toy robot is also provided with a left signal receiving device 91 positioned on the left side of the front of the body 1, a right signal receiving device 92 positioned on the right side of the front of the body 1, a left signal transmitting device 101 positioned on the left side of the back of the body 1, a right signal transmitting device 102 positioned on the right side of the back of the body 1 and a light emitting diode 8 serving as a power indicator lamp.
The left signal receiving device 91 and the right signal receiving device 92 are infrared receivers, the left signal transmitting device 101 and the right signal transmitting device 102 are infrared light emitting diodes and are connected with the circuit board 5, the toy robot transmits information to the latter toy robot through infrared signals sent by the left signal transmitting device 101 and the right signal transmitting device 102, and the latter toy robot receives signals through the left signal receiving device 91 and the right signal receiving device 92 and recognizes through a control mechanism and controls the steering and the advancing of the toy robot.
The obstacle detecting device 11 located in the middle of the front of the toy robot is used for sending out a signal to detect an obstacle in front, and when the sent signal meets the obstacle and the formed reflected signal is detected by the left signal receiving device 91 or the right signal receiving device 92, the toy robot avoids/moves towards the obstacle.
Example 2
The toy robot is equipped with a remote control that transmits instructions to the toy robot via bluetooth, including start/stop, and control of movement direction.
1) As shown in fig. 6, the specific procedure of identity configuration is:
s1: opening any toy robot Y X A left signal transmitting device 101 transmits a signal to search the collar and sleeve robots;
s2: when no response signal is received, the existence of the leader robot is indicated, the toy robot Y X Is configured as Y X ＝Y 0 The identity is the collar-sleeve robot;
s3: when the collar and sleeve robot receives other toy robots Y X To the toy robot Y during the search signal of (a) X Transmitting signals for configuring the identity of the toy robot as a natural number x, and sequentially configuring the identities of other toy robots as Y according to the time sequence of transmitting the search signals X ＝Y 1 ,orY 2 ,orY 3 ,orY 4 ,orY 5 ……；
S4: when x reaches a preset maximum value 6 or the leader robot is actively controlled to enter a game mode through keys on a remote controller or the leader robot, the identity configuration program is terminated, the leader robot gives instructions to other toy robots, and all the toy robots enter the game mode;
2) The specific program of the game mode is as follows:
s5: toy robot Y after entering game mode X Through the left signal transmitting device 101 and the right signal transmitting device 102 on the two sides of the back of the toy robot Y X+1 The following signals are transmitted, as shown in fig. 7, the shaded portions are coverage areas of signals transmitted by the left signal transmitting device 101 and the right signal transmitting device 102, the angle covered by each signal transmitting device is 110 degrees, the total angle covered by the left signal transmitting device 101 and the right signal transmitting device 102 after being overlapped is 220 degrees, and the toy robot Y X+1 The slave toy robot Y is received and recognized by the left signal receiving device 91 and the right signal receiving device 92 on both sides of the front face of the slave toy robot Y X And the following signal is sent out, and the following movement is carried out according to the received following signal:
toy robot Y X+1 When the following signal intensity received by the left signal receiving device 91 and the right signal receiving device 92 is the same, the toy robot Y X+1 Moving forward and automatically adjusting the forward moving speed according to the received following signal intensity; toy robot Y X+1 When the following signal intensities received by the left signal receiving device 91 and the right signal receiving device 92 are different, the toy robot Y X+1 Deflection to the side receiving the stronger signal until the signal strength received by the left signal receiving device 91 and the right signal receiving device 92 is the same, and then forward movement;
Toy robot Y X The obstacle detection device 11 passing through the front middle part thereof periodically emits an obstacle detection signal and deflects/moves according to the condition that the signal receiving device receives the reflected signal to avoid the obstacle traveling:
toy robot Y X When the left signal receiving device 91 and the right signal receiving device 92 receive the reflected signals, the toy robot Y X Deflecting in the direction of the weaker side of the received reflected signal and then advancing to avoid the obstacle for advancing; toy robot Y when reflected signals received by both left signal receiving device 91 and right signal receiving device 92 X The movement/deflection is stopped until no reflected signal is received.
S6: after all toy robots entering into the game mode finish S5A team of toy robots move along until the player actively sends a stop instruction to the leader robot, and the leader robot Y 0 To all other toy robots Y X And sending out a stopping instruction to stop all toy robots from moving, and ending the game mode.
During the play mode, each toy robot Y X According to different identity serial numbers, different signal time sequences are provided in a period, the time sequence period of the signals is 120ms, and a single toy robot Y X Is 16ms, each toy robot Y X The signal timing diagram of (a) is shown in fig. 9. Toy robot Y X Only for toy robot Y in corresponding time X+1 Send out signals and toy robot Y X+1 Only toy robot Y will be identified X Signals within corresponding time and react to make all toy robots Y X A unidirectional signaling pattern is formed between two pairs throughout the game pattern.
By robot Y 4 For example, the toy robot Y X Robot Y for toy X+1 The transmitted digital signals are shown in fig. 10, and it can be seen that the transmitted digital signals include a head code, a toy robot identity, sound bits, and cyclic redundancy code, and the analog signals include intensity levels and detection obstacle signals. Through the digital signal, unidirectional conduction of the signal is better realized, and interference of other signals is reduced.
Example 3
The toy robot is equipped with a remote control that transmits instructions to the toy robot via radio frequency, including start/stop, and control of movement direction.
1) The specific procedure of identity configuration is as follows:
s1: opening any toy robot Y X The obstacle detection device 11 sends out a signal to search the collar and sleeve robots;
S2: when no response signal is received, the existence of the leader robot is indicated, the toy robot Y X Is configured as Y X ＝Y 0 Identity (i.e.)Is a collar-sleeve robot;
s3: when the collar and sleeve robot receives other toy robots Y X To the toy robot Y during the search signal of (a) X Transmitting signals for configuring the identity of the toy robot as a natural number x, and sequentially configuring the identities of other toy robots as Y according to the time sequence of transmitting the search signals X ＝Y 1 ,orY 2 ,orY 3 ,orY 4 ,orY 5 ……；
S4: when x reaches a preset maximum value 10 or the leader robot is actively controlled to enter a game mode through keys on a remote controller or the leader robot, the identity configuration program is terminated, the leader robot gives instructions to other toy robots, and all the toy robots enter the game mode;
2) The specific program of the game mode is as follows:
s5: toy robot Y after entering game mode X Through the middle signal transmitting device 103 on the back of the toy robot Y X+1 The following signal is transmitted and provided with a concave lens (not shown in the figure) to increase the coverage angle of the transmitted signal, as shown in fig. 8, the original coverage angle of the transmitted signal of the intermediate signal transmitting device 103 is 110 DEG, and the coverage angle of the transmitted signal becomes larger than 110 DEG after the concave lens is provided, so that the toy robot Y X+1 The slave toy robot Y is received and recognized by the left signal receiving device 91 and the right signal receiving device 92 on both sides of the front face of the slave toy robot Y X And the following signal is sent out, and the following movement is carried out according to the received following signal:
toy robot Y X+1 When the following signal intensity received by the left signal receiving device 91 and the right signal receiving device 92 is the same, the toy robot Y X+1 Moving forward and automatically adjusting the forward moving speed according to the received following signal intensity; toy robot Y X+1 When the following signal intensities received by the left signal receiving device 91 and the right signal receiving device 92 are different, the toy robot Y X+1 Deflection to the side receiving the stronger signal until the signal strength received by the left signal receiving device 91 and the right signal receiving device 92 is the same, and then forward movement;
toy robot Y X The obstacle detecting device 11 through its own front middle part periodically sends out obstacle detecting signals, which contain strong, medium and weak three-stage signals at the same time, and deflects/moves according to the direction of the reflected signal received by the signal receiving device and the strength of the received reflected signal to move toward the object closest to itself is detected:
Toy robot Y X When detecting the reflected signals reflected by a plurality of obstacles, the toy robot Y X Preferentially identifying the weakest level of reflected signals so that toy robot Y X Moving toward the nearest obstacle; toy robot Y X When the left signal receiving device 91 and the right signal receiving device 92 receive the reflected signals, the toy robot Y X Deflecting and then advancing in a direction of a stronger side of the reflected signal received from the obstacle detection signal of the same level to advance toward the obstacle; toy robot Y when reflected signals received by both left signal receiving device 91 and right signal receiving device 92 X Moving forward;
s6: after all toy robots entering into the game mode are completed S5, a team of toy robots are formed to move along until a player actively gives a stop instruction to the leader robot, and the leader robot Y 0 To all other toy robots Y X And sending out a stopping instruction to stop all toy robots from moving, and ending the game mode.
In the game mode, the player can extend the palm to the leader robot Y 0 In front of that, all toy robots Y are guided by moving the palm X Is provided).
Example 4
1) The specific procedure of identity configuration is as follows:
s1: opening any toy robot Y X Sending a signal to search the collar-sleeve robot;
s2: when no response signal is received, the robot indicating that the leader robot is not present, the gameRobot Y X Is configured as Y X ＝Y 0 The identity is the collar-sleeve robot;
s3: when the collar and sleeve robot receives other toy robots Y X To the toy robot Y during the search signal of (a) X Transmitting signals for configuring the identity of the toy robot as a natural number x, and sequentially configuring the identities of other toy robots as Y according to the time sequence of transmitting the search signals X ＝Y 1 ,orY 2 ,orY 3 ,orY 4 ,orY 5 ……；
S4: when x reaches a preset maximum value 10 or the leader robot is actively controlled to enter a game mode through keys on a remote controller or the leader robot, the identity configuration program is terminated, the leader robot gives instructions to other toy robots, and all the toy robots enter the game mode;
2) The specific program of the game mode is as follows:
s5: toy robot Y after entering game mode X Toy robot Y through signal transmitting device on self X+1 Transmitting following signal, toy robot Y X+1 Receiving and identifying slave toy robot Y by signal receiving device on self body X And the following signal is sent out, and the following movement is carried out according to the received following signal:
toy robot Y X+1 When the following signal intensity received by the left signal receiving device 91 and the right signal receiving device 92 is the same, the toy robot Y X+1 Moving forward and automatically adjusting the forward moving speed according to the received following signal intensity; toy robot Y X+1 When the following signal intensities received by the left signal receiving device 91 and the right signal receiving device 92 are different, the toy robot Y X+1 Deflection to the side receiving the stronger signal until the signal strength received by the left signal receiving device 91 and the right signal receiving device 92 is the same, and then forward movement;
s6: after all toy robots entering into the game mode are completed S5, a team of toy robots are formed to move along until players actively send out stop fingers to the leader robotsAfter the leading, the collar and sleeve robot Y 0 To all other toy robots Y X And sending out a stopping instruction to stop all toy robots from moving, and ending the game mode.
It should be noted that the above-mentioned embodiments are merely for further explanation of the present invention and are not intended to limit the present invention, and any modifications or variations within the meaning and scope of the technical solutions of the present invention, which are considered to be included in the scope of the present invention by those skilled in the art.
Claims (16)
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| CN201910010541.5A CN109663368B (en) | 2019-01-03 | 2019-01-03 | Intelligent toy following method and toy robot applying same |
| US16/584,279 US11524248B2 (en) | 2019-01-03 | 2019-09-26 | Following robot |
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| CN109663368A (en) | 2019-04-23 |
| US11524248B2 (en) | 2022-12-13 |
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