JP2001327766A - Intelligent toys - Google Patents

Abstract

(57) [Problem] To provide an intelligent toy capable of simulating a running manner suitable for each toy, that is, a cow suitable for a toy having a cow shape. A main body having a predetermined shape, detection means provided in the main body and detecting the presence of a predetermined color, an omnidirectional vehicle provided at a bottom of the main body, and a detection means Control means for controlling the moving direction of the omnidirectional vehicle in a direction in which a predetermined color exists according to the detection result, and driving means for driving the omnidirectional vehicle in the moving direction controlled by the control means.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to an intelligent toy,
More specifically, the present invention relates to an intelligent toy that performs an extremely interesting operation.

[0002]

BACKGROUND OF THE INVENTION Hitherto, toys having various animal shapes such as cows, horses, and monkeys have been widely known.

A toy having such an animal shape is a so-called "stuffed toy" which does not operate by itself, or has a motor or the like inside and can run in a predetermined direction by itself. There is something like that.

By the way, in a toy capable of self-running in a predetermined direction, the running direction is only a predetermined fixed direction, and if the toy has a cow shape, it is a cow. Do a unique way of running, a horse-specific toy with a horse-shaped toy, or a monkey-specific run with a monkey-shaped toy. Is not something that can be
It was not very interesting.

[0005] For this reason, there has been a strong demand for a proposal of a toy capable of simulating a running manner suitable for each toy, that is, a cow suitable for a toy having a cow shape.

[0006]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned demands, and a purpose thereof is to match a shape of each toy, that is, a toy having a cow shape. In this case, the aim is to provide an intelligent toy that can simulate the way of running appropriate for a cow.

[0007]

According to a first aspect of the present invention, there is provided an intelligent toy according to the present invention, comprising: a main body having a predetermined shape; Detecting means for detecting the presence of a predetermined color; an omnidirectional vehicle disposed at the bottom of the main body; and a moving direction of the omnidirectional vehicle according to the detection result by the detecting means. And a driving unit for driving the omnidirectional vehicle in the moving direction controlled by the control unit.

Therefore, according to the intelligent toy according to the first aspect of the present invention, when the detection means detects the presence of a predetermined color, the control means moves in all directions according to the detection result by the detection means. The moving direction of the vehicle is controlled in the direction in which the predetermined color exists, and the driving means drives the omnidirectional vehicle in the moving direction controlled by the control means.

Therefore, for example, when the body is shaped like a cow and the predetermined color detected by the detecting means is red, the omnidirectional movement provided at the bottom of the body is controlled. The moving direction of the vehicle is directed by the control means to the presence of red, and the omnidirectional vehicle is driven in the red direction by the driving means. Therefore, when a player of an intelligent toy has a red cloth or the like, the intelligent toy having a cow-shaped main body moves in the direction of the red cloth, and the The cow can react to the red cloth and rush toward the red cloth to simulate the way of driving appropriate for a cow, and the player can enjoy the fun of a bullfight. What you can get.

Here, the detecting means may be, for example, an intelligent toy according to the second aspect of the present invention.
It can be an infrared sensor.

The main body may be provided with an outer shape of an animal, for example, like the intelligent toy according to the third aspect of the present invention.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of an intelligent toy according to the present invention will be described below in detail with reference to the accompanying drawings.

FIG. 1 is a conceptual configuration explanatory view showing an example of an embodiment of an intelligent toy according to the present invention.

That is, the intellectual toy A includes a main body B whose outer shape is formed like a cow, and the omnidirectional moving vehicle C is located at a position corresponding to the lower end of the front limb of the cow in the main body B. Are arranged.

An infrared sensor D is disposed at a position corresponding to the eye of the head of the cow in the main body B, as detecting means for detecting red.

Further, a control unit E for controlling the overall operation and a motor F for driving the omnidirectional vehicle C are provided inside the main body B.

The symbol G is a red cloth, and the symbol H is a universal caster.

FIG. 2 is a block diagram of a control system for controlling the operation of the intelligent toy A. The intelligent toy A will be described with reference to FIG. 2 together with FIG.

That is, the result of detection by the infrared sensor D provided in the main body B is input to the control unit E.

Here, the control unit E includes a central processing unit (CPU) Ea for controlling the overall operation of the intelligent toy A;
A read only memory (ROM) Eb for storing a program executed by the central processing unit Ea and data necessary for processing the program, and a random access memory (RA) as a working area of the central processing unit Ea.
M) Ec and the like.

Then, the control unit E determines the direction in which red exists from the detection result of the infrared sensor D,
The motor F is controlled according to the discrimination result, and the direction of movement of the omnidirectional vehicle C is set as the direction in which the red color exists.

Incidentally, the omnidirectional vehicle C has a wheel mechanism configured to be movable in all directions on a plane. As such an omnidirectional vehicle C, for example, an omnidirectional vehicle having a configuration including a “drive transmitting mechanism for an omnidirectional vehicle” proposed by the present applicant in Japanese Patent Application Laid-Open No. 8-67268 can be used.

FIG. 3 shows that the applicant of the present invention discloses Japanese Patent Application Laid-Open No. 8-672.
No. 68 discloses an omnidirectional vehicle having a configuration provided with a “drive transmitting mechanism for an omnidirectional vehicle”. The omnidirectional vehicle 1 includes wheels 2 so that straight running stability can be obtained. 3, 4, 5 are arranged in four directions, respectively.
The wheels 2, 3, 4, 5 are required to have a mechanism for transmitting a driving force in the direction of rotation of the wheels and reducing friction in a direction perpendicular to the plane of rotation. ,
Nos. 4 and 5 have a configuration in which four barrel-shaped (spindle-shaped) free rollers 6 are mounted on the outer periphery and are arranged in multiple rows with a phase shift of 45 degrees. The rollers 6 are arranged such that their ground contact points are equal to the curvature of the wheels, allowing continuous contact between the wheels 2, 3, 4, 5 and the floor.

Here, the coordinates of the omnidirectional vehicle 1 are set as shown in FIG. 3, and the coordinate axes are called X, Y and Z. Therefore, when the omnidirectional vehicle 1 translates in the X direction, the wheels 3 and 5 transmit the driving force to the floor, and the wheels 2 and 4 are free in the X direction by the free rollers 6. Similarly, when the omnidirectional vehicle 1 translates in the Y direction, the wheels 2 and 4 transmit a driving force to the floor, and the wheels 3 and 5 are free in the Y direction by the free rollers 6.

Each wheel 2, 3, 4,
The axle 5 has differential gears 7, 8,
Bevel gears 11a, 12a, 13a, 14a connected to drive shafts 11, 12, 13, 14 via 9, 10 and fixed to the ends of the drive shafts 11, 12, 13, 14, respectively.
Are engaged with the bevel gear 15a of the actuator 15 that rotates the omnidirectional vehicle 1 around the coordinate axis Z.

On the other hand, the drive transmission mechanism of the omnidirectional vehicle 1
An actuator 16 that translates the wheel 3 and the wheel 5 in the coordinate axis X direction, and an actuator 17 that translates the wheel 2 and the wheel 4 in the coordinate axis Y direction are provided. The driving force is transmitted from the worm gears 16a, 17a to the spur gears 20, 21, 22, and 23 fixed to both ends of the rotation transmission shafts 18, 19 via the rotation transmission shafts 18, 19, respectively. .

The spur gears 20 and 21 fixed to both ends of the rotation transmission shaft 18 mesh with the differential gears 8 and 10 of the wheels 3 and 5 and are fixed to both ends of the rotation transmission shaft 19. Spur gears 22, 23
Are engaged with the differential gears 7 and 9 of the wheels 2 and 4.

The actuators 16, 17
Contributes to the two degrees of freedom of translation of the omnidirectional vehicle 1 (movement in the X-axis direction, movement in the Y-axis direction), and the actuator 15 rotates the omnidirectional vehicle 1 (rotation about the Z-axis).
Each actuator 15, 1
6 and 17 independently contribute to the three degrees of freedom, so that the mobile vehicle can be arbitrarily moved in all directions.

The drive transmission mechanism of the omnidirectional vehicle 1 is provided with differential gears 7, 8, 9, and 10 on the wheels 2, 3, 4, and 5, respectively, and the differential gear is a spur gear. inside the Z _b, and it is capable of generating rotational difference between the side shaft spur gear Z _b by combining bevel gears. For this,
Relationship of the differential gear rotation, the omega _a is the rotational speed of the left axis, and a rotational speed of the right axis omega _b, when the rotational speed of the omega _c spur gear _{Z b, 2ω c = ω a} + ω b It is represented by

[0030] Thus, the sum of the rotational speeds of the left and right of the axis of the spur gear Z _b, since given by the rotational speed of the spur gears Z _a, so that it can absorb the difference in rotational speeds of the left and right of the axis I have.

Further, the omnidirectional vehicle 1 is provided with a parallel link mechanism 24 so that the four wheels 2, 3, 4, 5 are always in contact with the floor surface following the unevenness of the moving plane. A suspension 25 capable of moving up and down while keeping the axle horizontal is incorporated.

Further, the drive transmission mechanism of the omnidirectional vehicle 1 can be developed not only into the omnidirectional vehicle but also into a general mechanism that drives independently on a two-dimensional plane in each direction of freedom.

In the above configuration, when playing with the intelligent toy A, the omnidirectional vehicle C is arranged so as to be in contact with the surface of the floor or road.

Then, the motor F is driven by the control of the control unit E, and the omnidirectional vehicle C is driven in the direction in which the red cloth G exists.

That is, the infrared sensor D detects the red color of the red cloth G, and the control unit E controls the motor F according to the detection result.
Omnidirectional vehicle C so as to move toward red cloth G
Is moved in a predetermined direction.

Therefore, according to the intelligent toy A, when the player holds the red cloth G and moves, the intelligent toy A also moves in accordance with the movement of the player. That is, according to the intellectual toy A, it is possible to simulate a running manner suitable for a cow, in which a cow reacts to a red cloth in a bullfight and rushes toward the red cloth. Can gain the interest of a bullfight.

In the above-described embodiment, it is simulated that the cow rushes toward the red cloth. However, the outer shape of the main body B is changed to a horse, and the red cloth G is replaced with a ginseng. Instead of red, the horse may simulate a running manner suitable for a horse, in which the horse reacts to the carrot and runs toward the carrot. Furthermore, instead of replacing the outer shape of the main body B with a monkey, and replacing the red cloth G with an apple (the color of the apple is red), the monkey reacts to the apple and runs toward the apple to rush toward the apple. You may make it simulate the appropriate driving method.

In the above-described embodiment, an infrared sensor is used as a detecting means for detecting the presence of a predetermined color. However, the present invention is not limited to this.
An image processing unit such as D may be used as a detection unit that detects the presence of a predetermined color.

When a sensor other than the infrared sensor is used, an arbitrary color other than red is detected by the sensor, and the omnidirectional vehicle C moves toward the detected color. The motor F may be controlled by the control unit E.

In the above description, an example was described in which the outer shape of the main body portion B was an animal, but it is a matter of course that the shape is not limited to this and may be any shape.

[0041]

Since the present invention is configured as described above, it is suitable for the shape of each toy, that is,
If it is a toy in the shape of a cow, an excellent effect of being able to provide an intelligent toy that can simulate a running manner suitable for a cow can be provided.

[Brief description of the drawings]

FIG. 1 is a conceptual configuration explanatory diagram showing an example of an embodiment of an intelligent toy according to the present invention.

FIG. 2 is a block diagram illustrating a control system that controls the operation of the intelligent toy shown in FIG. 1;

FIG. 3 is a schematic configuration perspective view of an omnidirectional vehicle provided with an “omnidirectional vehicle drive transmission mechanism” disclosed in Japanese Patent Application Laid-Open No. 8-67268.

[Explanation of symbols]

 A Intelligent toy B Main body C Omnidirectional vehicle D Infrared sensor E Control unit F Motor G Red cloth H Swivel caster

 ──────────────────────────────────────────────────続 き Continuation of front page (72) Inventor Hayato Kaetsu 2-1 Hirosawa, Wako-shi, Saitama F-term in RIKEN (Reference) 2C150 CA02 CA25 DA06 DA25 EB01 EC03 EC04 EC07 ED02 ED08 EF16 EF21 EF34 FA01

Claims (3)

[Claims] A main body having a predetermined shape; a detecting means provided on the main body, for detecting the presence of a predetermined color; and an omnidirectional vehicle provided at a bottom of the main body. Control means for controlling the moving direction of the omnidirectional vehicle in a direction in which the predetermined color exists, according to the detection result by the detecting means; and moving the omnidirectional vehicle in the moving direction controlled by the control means. An intelligent toy having driving means for driving. 2. The intelligent toy according to claim 1, wherein said detecting means is an infrared sensor. 3. The intelligent toy according to claim 1, wherein the main body has an outer shape of an animal.