Toy vehicle with rotating speed sensor

Abstract

The invention relates to a toy vehicle (1) with wheels (2, 3) and with a steering unit and to a toy vehicle system comprising such a toy vehicle (1). The steering unit comprises a steering drive (4) acting on at least one of the wheels (2) and a control unit (5) acting on the steering drive (4). At least one wheel (2) under the action of a steering drive (4) is mounted on the chassis of the toy vehicle (1) in a steerable manner at a variable steering angle (alpha). The steering unit comprises a rotational speed sensor (6) for determining a rotational speed ([omega] z) of the toy vehicle (1) about its vertical axis (z) and there is no sensor for determining a steering angle ([alpha]). The steering drive (4), the control unit (5) and the rotational speed sensor (6) together form a regulating circuit for regulating the rotational speed ([omega] z) to a predetermined setpoint value. The toy vehicle system further comprises a driving lane (12) for the toy vehicle (1), wherein the control unit (5) comprises at least one sensor (9) for detecting a predetermined driving lane (12).

Description

Technical Field

[0001] The invention relates to a toy vehicle according to the preamble of claim 1 and to a toy vehicle system having such a toy vehicle. Background Art

[0002] In toy vehicles, in particular in remote-controlled model vehicles, the technical task is to convert a steering signal into a steering movement of a steerable wheel responsible for steering the vehicle. Proportional steering is achieved by a steering unit of a toy vehicle of a conventional structure in that a steering drive acts on the steerable wheel via a suitable mechanism, and the steering angle achieved is determined and fed back by position measurement. So-called servo mechanisms are widely used here, which act on the steering mechanism via a servo arm driven in a swingable manner and a connecting rod connected to the servo arm. For the mentioned position measurement, a potentiometer is present in the servo mechanism, via which the angular position of the servo arm and thus indirectly the steering position of the wheel are determined and fed back. This makes it possible to achieve a deflection of the servo arm proportional to the control signal and a functionally related steering movement of the wheel.

[0003] Furthermore, it is known to connect a so-called gyro or "gyrocompass" in addition to a servo system with a steering drive and position measurement. This name, which is based on the history of mechanical gyroscopes, nowadays usually refers to an electronic rotational speed sensor, with which changes in direction relative to a reference direction can be detected. Such a rotational speed sensor is connected between a receiving unit that outputs a control signal and the servo mechanism in order to thereby achieve directional stabilization or even maintain a predetermined driving direction in conjunction with a suitable control loop.

[0004] It has been shown that as such toy vehicles become smaller, their control becomes increasingly stressful, with mechanical defects such as steering play playing a stronger role. As the vehicle becomes smaller, it becomes more difficult to produce manageable controllability. In particular, the direct or indirect determination of the steering angle, for example via the mentioned servomechanism potentiometer, requires a construction space that is almost non-existent in the case of small toy vehicles. In addition, part of the power of the steering drive must be applied to overcome the mechanical friction of the steering angle determination, which results in a correspondingly powerful dimensioning of the steering drive. This results in a very significant susceptibility to faults and corresponding costs. The mentioned problem is further aggravated when a rotation speed sensor is also to be used. Summary of the invention

[0005] The invention is based on the object of simplifying a toy vehicle of this type in such a way that an uncomplicated, controllable steering is possible, in particular with a small overall size.

[0006] This object is achieved by a toy vehicle having the features of claim 1 .

[0007] The invention is further based on the object of specifying a toy vehicle system in which the above-mentioned toy vehicle can be moved along a predefined driving lane.

[0008] This object is achieved by a toy vehicle system having the features of claim 11 .

[0009] The present invention is based on the idea of ​​completely abandoning the direct or indirect determination of the steering angle and implementing the steering via a control loop using a speed sensor instead of the steering angle determination instead of the steering angle determination. Here, the speed sensor, the steering drive and the control unit for determining the speed of the toy vehicle around its vertical axis form a control loop for adjusting the speed of the toy vehicle to a preset theoretical value. The size of the steering angle and its determination are completely unimportant in this efficient control loop. On the contrary, the control process carried out in the control unit only has to act on the steering drive in such a way that the desired or preset speed of the vehicle occurs. The current speed is determined via the speed sensor. The control loop acts on the steering in such a way that the vehicle speed actually determined is consistent with the theoretical value or at least sufficiently close to the theoretical value.

[0010] The process of starting is mentioned here by way of example. The toy vehicle stops on its road, wherein the current steering angle is irrelevant. The current steering angle can initially have any value and, depending on the randomly existing steering angle position, lead to a more or less pronounced turn when starting out. The rotational speed of the toy vehicle about its vertical axis accompanying the turn occurs immediately after the start and can also be detected directly by the rotational speed sensor. The control loop mentioned above now acts on the steering with a high control speed in such a way that after a very short control time, the target value of the vehicle rotational speed (=0 when driving straight out, ≠0 when driving around a bend) is reached.

[0011] Due to the abandonment of the steering position determination, the expenditure, structural space and especially mechanical resistance of the potentiometer and its operating mechanism are eliminated. Accordingly, a small and only low-speed steering drive can be sufficient. In particular, due to the aspect of the low reduction ratio mentioned last, a very fast-reacting control loop can be realized, as it is necessary for the regulation of small, fast-reacting systems. The regulation deviation (Regelabweichung) can be reduced to an uncheckable range. Steering play or other defects can be adjusted without problems, so that a simple and cost-effective mechanical structure is sufficient. Overall, there is only a small structural space requirement, thereby meeting other prerequisites for realizing a small toy vehicle. The low reduction ratio of the steering operation also has the advantage of mechanical insensitivity. Despite the small and exquisite structural type, the risk of damage to the steering transmission mechanism is small.

[0012] Various options are conceivable for generating the rotational speed target value. In a preferred embodiment of the invention, the control unit of the toy vehicle comprises a receiver for the control signal of the remote control, wherein the control unit is designed to derive the target value for the rotational speed of the vehicle from the control signal received in the receiver. Thus, when the receiver receives a control signal from the remote control for driving straight ahead or driving around a corner, the control unit converts this control signal into a corresponding target value for the rotational speed. The control loop described above now adjusts the actual rotational speed of the toy vehicle to the mentioned target value, so that the toy vehicle follows the control signal of the remote control.

[0013] Alternatively or in combination therewith, the control unit can include at least one sensor for detecting a preset driving lane, wherein the control unit is then designed to derive a theoretical value for the rotational speed from a sensor signal determined by the sensor. Advantageously, the control unit is designed to derive a theoretical value for the rotational speed from the sensor signal determined by the sensor in such a way that the toy vehicle follows the driving lane. This makes it possible, for example, to implement a training run in which the vehicle first automatically follows a preset driving lane. This then makes it possible to modulate additional control signals of the remote control. This allows the user to change the driving path, find an ideal route or otherwise become familiar with the handling without the vehicle being subject to the risk of frequently getting stuck on the road.

[0014] In addition or in addition, it may be expedient if the control unit is designed to derive certain driving events, in particular braking, acceleration, and / or speed intervention, from the sensor signals determined by the sensors. In a simple form, this can appear, for example, to mean that the detection of certain positions on the driving lane leads to certain control events. Reaching the edge of the driving lane can, for example, lead to braking, simulated evasive maneuvers (Ausweichbewegung, sometimes called sudden changes of direction) or swerving maneuvers (Schleuderbewegungen, sometimes called sideways movements).

[0015] For the technical realization of the detection of the preset driving lane, an IR (infrared) sensor with an IR transmitter and with an IR receiver has proven to be suitable. In the corresponding toy vehicle system, the driving lane is provided with an IR-sensitive directional pattern. Since the infrared detection occurs outside the spectrum that is perceptible to the human eye, the technical function of the driving lane detection can be decoupled and separated from the visual impression (Erscheinungsbild, sometimes called appearance) of the driving lane. Therefore, it is particularly feasible to provide a driving lane with the impression of a street or a racetrack, in which the IR-sensitive directional pattern is visually inconspicuously covered. In an advantageous variant, the IR-sensitive directional pattern is covered by an IR-permeable and visually opaque covering layer. The latter provides all design freedom for the visual impression, which is completely decoupled from the lane detection. For the lane detection, the covering layer is transmitted in the IR range in a way that is not perceptible to the eye. This enables the scanning of the directional pattern located below it without hindering the impression perceived by the eye.

[0016] In an advantageous embodiment, the IR-sensitive directional pattern comprises a pattern of alternating light and dark triangular segments extending transversely to the roadway. When driving over such triangular segments, the sensor detects a sequence of light and dark areas, wherein this relative relationship of light and dark provides information in a simple manner about where exactly the vehicle is located in the lateral direction on the roadway. Furthermore, the direction of movement relative to the longitudinal direction of the roadway can be inferred from the change in the relative relationship.

[0017] In another advantageous embodiment, the IR-sensitive directional pattern comprises a pattern of alternating light and dark lines extending transversely on the driving lane. Such a pattern can be placed, for example, at the end of a driving lane section. The vehicle's sensor then recognizes, for example, the type of driving lane section currently being followed, i.e., whether it is a straight road, a curved section, etc., according to a certain line pattern. Alternatively or in addition, such a line pattern can also mark certain locations, which are associated with events. It can therefore be a start / finish line, etc., which is recognized by the sensor in the manner described above, and whose passing under certain circumstances triggers a preset event, such as time measurement, triggering a race interruption after reaching a certain number of laps, etc.

[0018] In a preferred embodiment, the toy vehicle is a replica of a car with at least two steerable wheels and at least two non-steerable wheels. The vehicle stands or moves in a self-stabilizing manner on its wheels and can be regulated with little technical effort in terms of its movement in such a way that a realistic driving experience is produced.

[0019] In an advantageous variant, the toy vehicle is a replica of a motorcycle with one steerable wheel and one non-steerable wheel. This brings with it additional technical challenges regarding the assumption of a certain tilted position during cornering, but also opens up additional possibilities when designing the driving operation.

[0020] In principle, it is conceivable that in such a motorcycle replica, the tilt position to be assumed during operation is also adjusted with the aid of suitable sensor means. However, this presupposes that the tilt position is adapted to the centrifugal forces present when driving around corners. However, this is the case, that is, the replica of the motorcycle and the road section to be traveled on a reduced scale in combination with a suitable turning speed leads to an unrealistic tilt position, which impedes the visual impression during operation. Therefore, preferably, the toy vehicle embodied as a replica of a motorcycle has a controlled support device for presetting the tilt angle of the vertical axis relative to the surface normal of the driving lane to be traveled. The support device can be visually well concealed so that it is hardly noticeable by the observer. The support device allows the vehicle tilt position to be adjusted in order to simulate a scaled-down driving operation with a realistic overall appearance, although the centrifugal forces that actually act require different, usually smaller, tilt positions.

[0021] The swivel angle of such a support device can be adjusted, for example, via a servo mechanism with a potentiometer in a known construction. However, in a preferred improvement, the control of the support device is carried out according to the same principle as in the case of the steering drive described at the beginning: the support device under the action of the swivel drive is supported on the chassis of the toy vehicle in a swivel manner with a variable swivel angle. The steering unit includes a rotation speed sensor for determining the rotation speed of the toy vehicle about its longitudinal axis and does not have a sensor for determining the swivel angle. The swivel drive, the control unit and the rotation speed sensor together form a control loop for adjusting the rotation speed to a preset target value. The same advantages as described above with respect to the control of the steering are obtained.

[0022] It should be explicitly pointed out here that within the scope of the invention, the speed control described here can be applied either individually to the steering (speed control of the toy vehicle about its vertical axis), to the vehicle tilt angle (speed control of the toy vehicle about its longitudinal axis), or also to a combination thereof. This includes the option that the steering control according to the invention can be combined with a servo-driven tilt position setting, or that the servo-driven steering can be combined with the tilt position control according to the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Embodiments of the present invention are described in more detail below with reference to the accompanying drawings.

[0024] FIG. 1 shows a toy vehicle according to the prior art in a perspective schematic diagram, with a steering drive, a control unit and a potentiometer for indirectly detecting the steering angle,

[0025] Figure 2 A first variant according to the invention of a toy vehicle as a replica of a car is shown in a perspective schematic diagram, with a rotational speed sensor instead of a potentiometer.

[0026] Figure 3 Shown according to Figure 2 A variant of a toy vehicle with segment steering instead of rack steering,

[0027] Figure 4 A schematic diagram shows a toy vehicle system according to the present invention, which has a Figure 2 or 3, a toy vehicle with an IR-sensitive driving track and a smartphone as a remote controller,

[0028] Figure 5 An alternative design of a toy vehicle as a replica of a motorcycle is shown in a schematic side view with a support device for adjusting the inclination angle of the vertical axis of the vehicle, and

[0029] Figure 6The front view shows the situation when driving in a bend and the tilt angle adjusted by means of the support device according to Figure 5 toy vehicles. DETAILED DESCRIPTION

[0030] FIG. 1 shows a toy vehicle 1 ′ according to the prior art in a schematic perspective view, wherein the toy vehicle 1 ′ is a replica of a car. The body, the drive, the rear wheel suspension, etc. are not shown here for a better overview. The toy vehicle 1 ′ has a longitudinal axis x fixed to the vehicle and a vertical axis z fixed to the vehicle. In normal driving operation, the toy vehicle 1 ′ moves in the direction of its longitudinal axis x and here also performs a rotational movement with a rotation speed ω around the vertical axis z due to the steering movement. z rotational movement.

[0031] The toy vehicle 1' has two steerable front wheels 2 and two driven non-steerable rear wheels 3 located on a rigid axle (sometimes called integral axle). The front wheels 2 are steerably supported on the chassis 16 of the toy vehicle 1' using axle heads (sometimes called steering knuckles) so that they can be adjusted to a desired steering angle α about a steering axis 27 extending in the vertical direction. When the toy vehicle 1 is traveling in the direction of its longitudinal axis x, the selection of the steering angle α results in a corresponding rotation speed ω about the vertical axis z depending on the current speed. z , where the speed ω z It is equal to zero in the case of straight driving out and is not equal to zero when driving in a curve. The toy vehicle 1' comprises a steering drive 4 acting on the steered wheel 2, and a control unit 5 acting on the steering drive itself. The control unit 5 comprises a receiver 7 for control signals of a transmitter not presented, which is only schematically indicated. The control signal is converted in the control unit 5 for controlled operation of the steering drive 4. The steering drive 4 comprises an electric steering motor 20, which adjusts the steering angle α of the front wheel 2 via a steering transmission 17. For this purpose, the steering transmission 17 comprises a pinion 18, which engages in a rack 19 connected to the axle head of the front wheel 2. The lateral displacement movement of the rack 19 caused by this orients the front wheel 2 at the desired steering angle α.

[0032] In order to feedback the above-mentioned steering movement, the steering unit shown here according to the prior art is equipped with a sensor for determining the steering angle α. According to the principle of servo drive, the mentioned sensor is integrated into the steering gear 17 and in its structural form shown here as a potentiometer 15 is coupled to the steering movement of the wheel 2 via a dedicated gear set. In the sense of indirect steering angle detection, the steering angle α reached can be inferred from the initial value of the potentiometer 15, from the known reduction ratio of the steering gear 17 and from the steering kinematics known in general. The steering angle α reached is fed back to the control unit 5 in the form of the initial value of the potentiometer 15, thereby forming a proportional control.

[0033] Figure 2 A toy vehicle 1 according to the invention is shown in a perspective view as a variant of the toy vehicle 1 ′ according to FIG1 . Unless otherwise explicitly stated, the same features, properties and effects exist, with the same reference symbols being used for the same features.

[0034] The effect of the steering motor 20 on the adjustment of the steering angle α of the front wheels 2 by means of the steering gear 17 is as described above. However, there is no potentiometer 15 (FIG. 1) or another sensor for determining the steering angle α and its feedback to the control unit 5. The steering angle α actually present or set during operation is not known in the control unit 5 and is not required according to the invention.

[0035] In contrast, the steering unit of the toy vehicle 1 according to the invention comprises, instead of the mentioned steering angle sensor, a rotational speed sensor 6 for determining the currently existing rotational speed ω of the toy vehicle 1 about its vertical axis z. z The rotation speed sensor 6 is interconnected with the steering drive 4 and the control unit 5 to form a control loop, by means of which the rotation speed ω of the toy vehicle 1 is z To this end, the actual speed ω determined by the speed sensor 6 is determined in the control unit 5. z The control deviation determined by this comparison is converted in the control unit 5 into a corresponding control of the steering drive 4, which leads to a reduction or elimination of the control deviation mentioned by readjusting the steering angle α of the steerable wheels 2. In the present case, a P controller (proportional controller) is used for this purpose, which allows a certain and practically tolerable control deviation. However, for higher control requirements, other controllers can also be selected, such as a PID controller (proportional-integral-derivative controller) or even more complex control systems.

[0036] In accordance with Figure 2In the embodiment of FIG. 1 , a straight-out situation is shown, wherein the associated operating method according to the invention is described below. The steerable wheels 2 have a steering angle α of 0°, so that the wheels are oriented substantially parallel to the longitudinal axis x. The associated rotational speed ω z is equal to 0. If the receiver 7 is Figure 4 The remote controller 8 shown in FIG. 8 receives a control signal for driving straight out, for the speed ω z The theoretical value of is set to 0, which corresponds to the desired straight-ahead driving. If the toy vehicle is actually driving straight, there is no control deviation and the control loop mentioned above does not intervene. However, if the vehicle deviates from the basic driving direction with its longitudinal axis x due to, for example, uneven road conditions or other arbitrary disturbance variables, this is accompanied by a speed ω z ≠0, which is detected by the speed sensor 6 and represents a control deviation. According to the control deviation, the control loop follows the steering direction (change in the unknown steering angle α) until the associated actual speed ω is reached again with the setpoint value. z = 0. In the case of pure P control, deviations of the orientation of the longitudinal axis x from the previous orientation can occur, but this is sufficient in most cases for the vehicle to remain calm. In the case of higher control requirements, in which, for example, it is important to return to the original orientation of the longitudinal axis x (course keeping), it is appropriate to use PID control. In the same way, it is also possible to realize a speed ω with a setpoint value z ≠0 for controlled turning.

[0037] In any case, the potentiometer 15 (FIG. 1) together with the associated drive or other sensors for determining the steering angle α is completely abandoned. The actual size of the current steering angle α is meaningless for the functioning of the control loop according to the invention. In addition, the speed sensor 6 is an electronic component and does not have mechanical moving parts in the case of the overall minimum structural space. For good recognizability, it is schematically presented outside the control unit 5. However, in practice it is integrated into the control unit 5 without requiring additional structural space. The arrangement according to the invention shown is overall small, mechanically insensitive, cost-effective and simple, and is therefore suitable for operation, for example, in the living room or on the desktop, especially for toy vehicles in miniature format.

[0038] Figure 3 Shown according to Figure 2 A variant of the toy vehicle 1 with a slightly modified steering runner 17. The axle head of the steerable front wheel 2 is not connected to the rack 19 ( Figure 2) are connected to each of the circular segment-shaped tooth segments (Zhansegment, sometimes also called fan-shaped gears) 22, and the common, centrally located pinion 21 with a vertical rotation axis engages in its toothing. Figure 3 Embodiments and basis Figure 2 The embodiment is consistent with that of .

[0039] exist Figure 3 , the steering deflection of the front wheels 2 at the start with a steering angle α≠0 is shown by way of example, wherein the operating method according to the invention is described below. Once the vehicle is set in motion, the steering deflection leads to a turning movement of the toy vehicle 1, which in turn results in a corresponding rotational speed ω about the vertical axis z depending on the current speed. z In the case of a start from rest the initial steering angle α is not important. The toy vehicle 1 can be driven, for example, according to Figure 3 Stop at any steering angle α on its driving path. As long as it is not moving, the actual speed ω z = 0. However, as soon as the vehicle is set in motion by its existing, though not present, drive, the deflected wheel 2 leads to a rotational speed ω with a corresponding deviation from zero. z At the beginning of the turn, the speed is immediately detected by the speed sensor 6 and compared with a preset theoretical value in the control unit 5. If the theoretical value is equal to 0 (expected straight-out), the control loop according to the invention tracks the turn to such an extent that the actual speed is ω. z =0 is detected by the speed sensor 6 and fed into the control unit 5. Only a minimal path is required for this. The process of adjusting from the starting position of the tilted wheel 2 to the straight-out is so fast that it is virtually unnoticeable to the user. The same applies to the adjustment to the intended bend, in which the speed ω z The theoretical value deviates from 0.

[0040] Figure 4 A toy vehicle system according to the invention is shown in a perspective overview, comprising a Figure 2 or 3, a toy vehicle 1, a driving track with a driving lane 12, and a remote controller 8. Figure 2 and 3 In addition to the equipment presented in the figure, the toy vehicle 1 is also provided with at least one sensor 9 for detecting a predetermined driving lane 12. The sensor is an IR sensor with an IR transmitter 10 and with an IR receiver 11.

[0041] Here, a straight driving lane section is shown as an example from the driving lane 12. However, it can also be a curved section, a maintenance station channel section, etc., wherein any driving lane can be combined from these sections. However, it is also possible to provide an integrated driving lane 12 that is formed into a complete road. The driving lane 12 is provided with an IR-sensitive directional pattern 13 corresponding to the IR sensor. In order to design the directional pattern 13, different forms are considered. In the preferred embodiment shown, it includes a pattern formed by alternately bright and dark triangles (in the IR range) extending transversely on the driving lane 12. A triangular section extends from the triangle on the driving lane 12, and the top of the triangle that is meaningless for directional purposes is omitted for simplification purposes. Therefore, in a more precise definition, it is a pattern formed by alternately bright and dark triangular sections 23 or trapezoids extending transversely on the driving lane 12. In addition, the IR-sensitive directional pattern 13 includes a pattern formed by alternately bright and dark lines 24 extending transversely on the driving lane 12 (in the IR range). In the present case, such a pattern of light and dark lines 24 is present at each end of a roadway segment. It may also be expedient to provide a pattern of light and dark lines in other arrangements.

[0042] When the toy vehicle 1 is traveling on the driving lane 12, the IR beam emitted by the IR transmitter 10 according to the invention and in accordance with the operating method according to the invention strikes the directional pattern 13, is reflected there and is finally received by the IR receiver 11. The intensity of the received IR beam depends on whether the emitted IR beam strikes a bright section or a dark section of the IR-sensitive directional pattern 13. When the toy vehicle 1 is traveling along the driving lane 12, the IR receiver 11 alternately receives weak and strong reflected signals. When detecting the pattern formed by the triangular segments 23, the signal sequence of the weak and strong signals changes as the lateral positioning of the toy vehicle 1 relative to the driving lane 12 changes. By means of a suitable evaluation algorithm, it is possible to determine how far the toy vehicle 1 is located on the left or right side of the driving lane 12. In addition, the longitudinal axis x( Figure 2 , 3 ) relative to the longitudinal direction of the driving lane 12.

[0043] In addition, certain information can be encoded in the pattern formed by the light and dark lines 24, which is detected by means of an IR sensor when driving past and then decoded, for example, in the control unit 5. For example, it can be encoded in the pattern formed by the light and dark lines 24 which type of road section it is (straight line, narrow curve (enge Kurve, sometimes called small radius of curvature curve or sharp turn), wide curve (weite Kurve, sometimes called large radius of curvature curve or gentle turn) etc.). When entering such a road section, the system detects the type of road section that is now following by means of the IR sensor, so that, for example, the further operation process can be prepared by speed matching. Of course, other information can also be encoded in the pattern formed by the light and dark lines 24, such as, for example, the presence of a starting line and an end line. The information is detected and decoded in the same way, so that corresponding results (time measurement, lap counting, etc.) can be triggered.

[0044] In particular, in the context of the toy vehicle system shown, the sensor 9 mentioned is a control unit 5 ( Figure 2 , 3 ), wherein the control unit 5 is designed to derive a value for the rotational speed ω from the control signal determined by the sensor 9 z On the one hand, it is possible to derive and determine the theoretical value for the speed ω z The theoretical value of , that is, so that the toy vehicle 1 automatically follows the driving lane 12. Alternatively or additionally, the control unit 5 can be designed to derive certain driving events, in particular braking, acceleration and / or intervention speed ω, from the sensor signal determined by the sensor 9. z For example, the vehicle can brake when it reaches the edge of the lane and accelerate when it reaches the center of the lane. z Capable of simulating evasive or flinging motions.

[0045] In particular, a derivation of the speed ω is performed in the control unit not only as a function of the sensor signal of the determined sensor 9 but also as a function of the control signal generated by the remote control 8 and received by the receiver 7. zTheoretical value. This enables, for example, a driving simulation in which the user can freely control the toy vehicle 1 along the driving lane 12 if certain conditions are observed. However, if the user steers the toy vehicle 1 too close to the edge or into a specially marked area, this is detected by the sensor 9. Subsequently, a predetermined driving event, which has already been mentioned above, can be triggered, which intervenes in the user's control signal. This intervention can be a superposition (changed steering or braking effect). It is also conceivable that the control signal generated by the user is completely overregulated (übersteuert) in order to, for example, force the toy vehicle to stop or drive to the edge of the driving lane. Of course, a multi-player mode with or without corresponding driving events coordinated therewith is also possible.

[0046] Overall, a realistic-looking, small-scale driving operation along a predetermined driving lane 12 with a realistic impression is thus possible. The driving behavior of the toy vehicle 1 can be adjusted almost arbitrarily in terms of its difficulty and adapted to the abilities of the user. In this case, all hybrid forms can be adjusted with different weightings between a completely autonomous operation (in which the toy vehicle 1 automatically follows the driving lane 12) and a freely controlled, electronically uninfluenced driving operation.

[0047] Since the essential characteristic of the driving lane 12 is its directional pattern 13, it can be manufactured cost-effectively from simple materials such as cardboard or the like. From its standardized sections, almost any road can be formed and closed into a loop. Optionally, the IR-sensitive directional pattern 13 is covered by an IR-permeable, but visually opaque covering layer 14, thereby being able to produce a visual impression of an asphalt road, a gravel road or any other simulated driving lane with a roadside dividing strip (Seitenstreifen, sometimes called road shoulder) and a center dividing strip (Mittelstreifen, sometimes called a dividing strip). The directional pattern 13 located thereunder is thus covered and remains invisible to the human eye, but continues to be accessible to the IR sensor 9.

[0048] Conventional remote controls known from vehicle model manufacturing can be used as remote control 8. Figure 4As depicted in , the remote controller 8 is a smart phone with an App installed thereon, which generates control signals for the toy vehicle 1. The wireless connection between the remote controller 8 and the toy vehicle 1 is preferably carried out via Bluetooth. However, a Wi-Fi connection or another form of wireless connection can also be suitable. The App installed on the smart phone can be simply designed as a pure control App or complexly designed as a driving simulation with high consumption. In particular, the feasibility of a multi-player mode is obtained via a network connection. In this case, multiple players who are still separated from each other in space can construct the same road from the driving lane section and drive on the road simultaneously and against each other in a competition mode without having to physically meet. Collisions, overtaking maneuvers, etc. can be simulated here using the means described above.

[0049] Another aspect is that the toy vehicle 1 can be driven once through the complete roadway automatically or under user control and the complete roadway is detected by means of the IR sensor 9. In this way, the course of the designed driving lane 12 can be identified and fed into the simulation before the actual training or competition driving begins.

[0050] The invention has been described above using an example in which the toy vehicle 1 is a replica of a car with at least two, here exactly two, steerable wheels 2 and at least two, here exactly two, non-steerable wheels 3. For the sake of simplicity, the rotational speed sensor 6 is only presented here as a single-axis rotational speed sensor for detecting the rotational speed ω about the vertical axis z. z .

[0051] In an alternative design of the present invention, the toy vehicle 1 is configured according to Figure 5 , 6 The illustration is a replica of a motorcycle with only one steerable wheel 2 and with only one non-steerable wheel 3. The wheel 2, which is mounted on the chassis of the toy vehicle 1 so as to be steerable about a steering axis 27 at a variable steering angle α, is under the action of a steering drive 4 in the same manner as in the exemplary embodiment according to FIGS. 1 to 4, which includes the above-described detailed control of the rotational speed ω about the vertical axis z by means of the steering drive 4, the control unit 5 and the rotational speed sensor 6. z Adjustments made.

[0052] The rotational speed sensor 6 is designed in the same way as the control unit 5 and can detect the rotational speed ω about the vertical axis z. z The rotational speed ω about the longitudinal axis x is also detected x ( Figure 6 ) and the rotational speed ω around the horizontal axis y yThis is a currently standardized design of rotational speed sensor 6 available on the market, which is preferably used here not only in replicas of motorcycles, but also in replicas of motor vehicles according to FIGS. 1 to 4 .

[0053] In accordance with Figure 5 As can be seen from the front view, when the toy vehicle 1, which is a replica of a motorcycle, turns, its vertical axis z is tilted at an inclination angle γ relative to the surface normal z' of the road 12 to be traveled. Together with the toy vehicle 1, its rotation speed sensor 6 is also tilted at this inclination angle γ. Turning on the road 12 causes the toy vehicle to rotate about the surface normal z' (i.e., about an axis perpendicular to the surface of the road 12) at a rotation speed ω z' The rotation speed sensor tilted at the tilt angle γ detects the rotation speed ω around the vertical axis z caused by this. z and the resulting rotational speed ω about the transverse axis y y , from which the rotational speed ω about the surface normal z' can be easily derived z' , so that controlled turns and straight-outs are possible and can be carried out during operation, as in the exemplary embodiment according to Figures 1 to 4. In the case of straight-outs, the inclination angle γ is equal to zero, so that the vertical axis z is upright and parallel to the surface normal z'.

[0054] from Figure 5 , 6 It is also found in the overview that the toy vehicle 1, which is implemented as a replica of a motorcycle, has a controlled support device 25 for presetting the tilt angle γ described above. In the illustrated embodiment, the support device is a pair of arms that are placed on the lower side of the toy vehicle 1 and extend laterally. At least one of the arms, both arms in this case, stands upright on the driving track 12 with its end region during operation. For this purpose, small support rollers are fixed at their ends, which roll on the driving track 12. Instead of support rollers, skids or the like can also be suitable. The arm of the support device 25 is supported on the chassis of the toy vehicle 1 in a swingable manner at a variable swing angle δ, wherein the associated swing axis extends parallel to the longitudinal axis x of the toy vehicle 1. A swing drive 26 acts on the arm of the support device 25 in order to adjust the swing angle δ. It can also be suitable that each arm has a dedicated swing drive 26. The swing angle δ adjusted respectively presets the tilt angle γ of the vertical axis z of the toy vehicle 1 relative to the surface normal z'.

[0055] The swivel drive 26 can be a servomechanism with a potentiometer in a conventional design. In the preferred embodiment shown, the swivel drive 26 is a component of the steering unit already described above, wherein the steering unit does not have a sensor for determining the swivel angle δ. Therefore, in terms of the adjustment of the tilt angle γ, the steering unit is also sufficient without a potentiometer or the like of a servomechanism. On the contrary, similar to the steering of the wheel 2 about its steering axis 27, the swivel drive 26, the control unit 5 and the speed sensor 6 also form a control loop for adjusting the speed ω x Adjustment to a preset target value: Thus, when the toy vehicle, for example, switches from a straight run to a curve, it must be brought from a vertical position to an inclined position with an inclination angle γ≠0 for a realistic impression. For this purpose, in the method according to the invention, a speed ω is generated in the control unit. x The corresponding theoretical value of , thus enabling a changed swivel angle δ of the supporting device 25. Then the inclination angle γ changes with the rotation speed ω x changes until the inclination angle γ has reached its desired value. Once this has occurred, the speed ω x The setpoint value of is correspondingly withdrawn and the desired tilt angle γ achieved is maintained. The adaptation of different tilt angles γ works in the same way, which also applies to the uprighting of the toy vehicle after the cornering operation is completed.

Claims

1. A toy vehicle (1) with wheels (2, 3) and with a steering unit, wherein the steering unit comprises a steering drive (4) acting on at least one of the wheels (2) and a control unit (5) acting on the steering drive (4), and wherein at least one wheel (2) under the action of the steering drive (4) is supported on the chassis of the toy vehicle (1) in a steerable manner at a variable steering angle (α), It is characterized in that The steering unit comprises a device for determining the rotation speed (ω) of the toy vehicle (1) about its vertical axis (z) z ) and does not have a sensor for determining the steering angle (α), and the steering drive (4), the control unit (5) and the rotational speed sensor (6) together form a rotational speed (ω) z ) is a control loop that adjusts the control loop to a preset setpoint value.

2. The toy vehicle (1) according to claim 1, characterized in that The control unit (5) comprises a receiver (7) for control signals of a remote controller (8), and the control unit (5) is designed to derive a value for the rotation speed (ω) from the control signal received in the receiver (6). z )’s theoretical value.

3. The toy vehicle (1) according to claim 1 or 2, characterized in that: The control unit (5) comprises at least one sensor (9) for detecting a predetermined driving lane (12), and the control unit (5) is designed to derive a value for the rotational speed (ω) from a sensor signal determined by the sensor (9). z )’s theoretical value.

4. The toy vehicle (1) according to claim 3, characterized in that The control unit (5) is designed to derive a value for the rotational speed (ω) from the sensor signal determined by the sensor (9) in such a way that z ) so that the toy vehicle (1) follows the driving lane (12).

5. A toy vehicle (1) according to claim 3 or 4, characterized in that The control unit (5) is designed to deduce certain driving events, in particular braking, acceleration, and / or intervention in the rotational speed (ω) from the sensor signal determined by the sensor (9). z ).

6. A toy vehicle (1) according to any one of claims 3 to 5, characterised in that The sensor (9) for detecting the predetermined driving lane (12) is an IR sensor with an IR transmitter (10) and with an IR receiver (11).

7. A toy vehicle (1) according to any one of claims 1 to 6, characterised in that The toy vehicle (1) is a replica of a car with at least two steerable wheels (2) and with at least two non-steerable wheels (3).

8. A toy vehicle (1) according to any one of claims 1 to 6, characterised in that The toy vehicle (1) is a replica of a motorcycle with a steerable wheel (2) and a non-steerable wheel (3).

9. The toy vehicle (1) according to claim 8, characterized in that The toy vehicle (1) embodied as a replica of a motorcycle has a controlled support device (25) for presetting the inclination angle (γ) of the vertical axis (z) relative to the surface normal (z') of the roadway (12) to be traveled.

10. The toy vehicle (1) according to claim 9, characterized in that The steering unit comprises a pivot drive (26) acting on the support device (25), wherein the support device (25) under the action of the pivot drive (26) is pivotally supported on the chassis of the toy vehicle (1) at a variable pivot angle (δ), wherein the steering unit comprises a rotational speed (ω) of the toy vehicle (1) about its longitudinal axis (x) x ) and does not have a sensor for determining the pivot angle (δ), and the pivot drive (26), the control unit (5) and the pivot sensor (6) together form a control loop for determining the pivot angle (ω) x ) is adjusted to the preset theoretical value.

11. A toy vehicle system, comprising a toy vehicle (1) according to any one of claims 1 to 10, and further comprising a driving lane (12) for the toy vehicle (1), wherein the control unit (5) comprises at least one sensor (9) for detecting a preset driving lane (12).

12. The toy vehicle system according to claim 11, characterized in that: The sensor (9) for detecting the predetermined driving lane (12) is an IR sensor, and the driving lane (12) is provided with an IR-sensitive directional pattern (13).

13. The toy vehicle system of claim 12, wherein: The IR-sensitive directional pattern (13) comprises a pattern of alternating light and dark triangular segments (23) extending transversely across the roadway (12).

14. The toy vehicle system of claim 12, wherein: The IR-sensitive directional pattern (13) comprises a pattern of alternating light and dark lines (24) extending transversely across the roadway (12).

15. The toy vehicle system according to any one of claims 12 to 14, characterized in that The IR-sensitive directional pattern (13) is covered by an IR-transmissive and visually opaque cover layer (14).

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