Toy vehicular electromagnetic guidance apparatus

Information

  • Patent Grant
  • 6322415
  • Patent Number
    6,322,415
  • Date Filed
    Thursday, March 16, 2000
    24 years ago
  • Date Issued
    Tuesday, November 27, 2001
    23 years ago
Abstract
The present invention is a guidance apparatus for movable toy vehicles that includes a track, or roadway, on which the toy vehicles move. The truck has an intersection. The intersection has a magnetic guidance mechanism for steering the toy vehicles in alternate directions through the intersection. An intersection magnetic sensing mechanism, i.e., electromagnets at the intersection and magnets in the vehicles, stops the vehicles prior to entering the intersection. Additionally, the vehicles stopped at the intersection can be actuated by a timing mechanism after passage of a predetermined time period. Furthermore, the vehicles stopped at the intersection can be actuated only after a mechanism for sensing vehicle presence in the intersection senses no vehicles in the intersection.
Description




FIELD OF THE INVENTION




The invention relates to the guidance of toy vehicles and, more particularly, electromagnetic guidance thereof on a predefined track.




BACKGROUND OF THE INVENTION




U.S. Pat. No. 1,084,370 discloses an educational apparatus having a transparent sheet of glass laid over a map or other illustration sheet that is employed as a surface on which small moveable figures are guided by the movement of a magnet situated below the illustration sheet. Each figure, with its appropriate index word, figure or image is intended to arrive at an appropriate destination on the top of the sheet and to be left there temporarily.




U.S. Pat. No. 2,036,076 discloses a toy or game in which a miniature setting includes inanimate objects placeable in a multitude of orientations on a game board and also includes animate objects having magnets on their bottom portions. A magnet under the game board is employed to invisibly cause the movement of any of the selected animate objects relative to inanimate objects.




U.S. Pat. No. 2,637,140 teaches a toy vehicular system in which magnetic vehicles travel over a toy landscape as they follow the movement of ferromagnetic pellets through an endless nonmagnetic tube containing a viscous liquid such as carbon tetrachloride. The magnetic attraction between the vehicles and ferromagnetic pellets carried by the circulating liquid is sufficient to pull the vehicles along the path defined by the tube or channel beneath the playing surface.




U.S. Pat. No. 3,045,393 teaches a device with magnetically moved pieces. Game pieces are magnetically moved on a board by reciprocation under the board of a control slide carrying magnetic areas or elements longitudinally spaced apart in the general direction of the motion path. The surface pieces advance step-by-step in one direction as a result of the back and forth reciprocation of the underlying control slide.




U.S. Pat. No. 4,990,117 discloses a magnetic force-guided traveling toy wherein a toy vehicles travels on the surface of a board, following a path of magnetically attracted material. The toy vehicles has single drive wheel located centrally on the bottom of the vehicle's body. The center of the gravity of the vehicle resides substantially over the single drive wheel so that the vehicles is balanced. A magnet located on the front of the vehicles is attracted to the magnetic path on the travel board. The magnetic attraction directly steers the vehicle around the central drive wheel along the path.




SUMMARY OF THE INVENTION




The present invention is a guidance apparatus for moveable toy vehicles that includes a track, or roadway, on which the toy vehicles move. The track has one, and preferably more than one, intersection. The intersection has a magnetic guidance mechanism for steering the toy vehicles in alternate directions through the intersection. An intersection magnetic sensing mechanism, electromagnets at the intersection and magnets in the vehicles, stops the vehicles prior to entering the intersection. Additionally, the vehicles stopped at the intersection can be actuated by a timing mechanism after passage of a predetermined time period. Furthermore, the vehicles stopped at the intersection can be actuated only after a mechanism for sensing vehicle presence in the intersection senses no vehicles in the intersection. Preferably, the guidance mechanism for steering toy vehicles through an intersection includes an electromagnet under each roadway of the intersection. Each electromagnet has a pair of poles that straddle the path of the toy vehicle. The toy vehicle has a magnet on its undersurface. Each of the electromagnets under the roadways is actuatable for current to flow in each of two directions through the electromagnet for each of the two poles of the electromagnet to be either a positive or a negative pole. The two poles of each electromagnet can thus either attract or repel the pole of the magnet on the underside of the vehicle, depending on the direction of current flow through the electromagnet. Since the two poles of the electromagnet straddle the path of the toy vehicle, when energized, one pole will attract and the other pole will repel the vehicle magnet to guide the vehicle in a first direction (i.e., right). Reversing the current through the electromagnet reverses the polarity of the two poles, thus guiding the vehicle in the opposite direction. No current flow through the electromagnet results in no magnetic interaction with the vehicle, and the vehicle proceeds straight.




Preferably, a surface roadway is located over the track or roadway described above. Additionally, a surface toy vehicle is movable on the surface roadway in reaction to movement under this surface toy vehicle of the toy vehicle (i.e., powered subsurface vehicle) on the track or roadway under the surface roadway. Each powered subsurface vehicle has a motor therein and a collision avoidance mechanism. The collision avoidance mechanism includes a magnet on the rear of each of the subsurface vehicles and a magnetic field sensor on the front of each of the subsurface vehicles. The magnetic field sensor is adapted to de-energize the power source of the associated subsurface vehicle when the magnetic field sensor senses the magnetic field of the magnet of another subsurface vehicle located ahead of the subsurface vehicle. In this manner, following subsurface vehicles stop prior to impact with leading subsurface vehicles. A similar type of Hall effect system, with a magnet on the vehicles and a sensor adjacent the intersection can determine when a vehicle is approaching the intersection. A vehicle approaching an intersection can be stopped by one of the electromagnets adjacent each roadway that function to electromagnetically block intersection access on command.




Preferably, guidance of the toy vehicles through the intersection can be accomplished with a remote control that provides vehicle guidance instructions to the electromagnetic guidance mechanism of the intersection. Alternatively, the electromagnetic guidance mechanism of the intersection can be preprogrammed to guide the toy vehicles through the intersection on, for example, a random basis.











BRIEF DESCRIPTION OF THE DRAWINGS




The foregoing aspects and many of the attendant advantages of this invention will become better understood by reference to the following detailed description, when taken in conjunction with the accompanying drawings, wherein:





FIG. 1

is an isometric view of a toy building set including the upper roadway and lower roadway of the present invention;





FIG. 2

is a diagrammatic section view of the upper roadway, lower roadway, surface vehicle and powered subsurface vehicle of the present invention;





FIG. 3

is a partially exposed isometric view of the powered subsurface vehicle of the present invention;





FIG. 4

is a diagrammatic section view of attractive forces between two magnets showing no offset;





FIG. 5

is a diagrammatic section view of attractive forces between two magnets showing horizontal offset.





FIG. 6

is a diagrammatic plan view of the magnetic interaction between the surfaces vehicle and the subsurface vehicle of the present invention during straight movement.





FIG. 7

is a diagrammatic plan view of the magnetic interaction between the surface vehicle and the subsurface vehicle of the present invention during a turn;





FIG. 8

is an electrical schematic of the control circuit of the subsurface vehicle of the present invention;





FIG. 9

is a plan view of a leading subsurface vehicle and a following subsurface vehicle showing collision avoidance thereof;





FIG. 10

is a transverse section view of the upper roadway, lower roadway, two surface vehicles and two powered subsurface vehicles of the present invention;





FIG. 11

is a diagrammatic side section view of the upper roadway, lower roadway, surface vehicle and powered subsurface vehicle of the present invention;





FIG. 12

is a plan view of the lower roadway of the present invention with electromagnetic direction controllers;





FIG. 13A

is a detail view of the electromagnetic direction controllers of

FIG. 12

;





FIG. 13B

is a partially exposed isometric view of the electromagnetic direction controllers of

FIG. 12

;





FIG. 14

is a detail plan view of

FIG. 12

showing the electromagnetic direction controllers of the present invention;





FIG. 15

is a diagrammatic section view of the interaction between the guidance control elements located adjacent an intersection and on the subsurface vehicle of the present invention; and





FIG. 16

is an electrical schematic of the guidance control electronics of the intersection of

FIG. 12

of the present invention.











DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT




The present invention is a toy vehicular electromagnetic guidance apparatus as shown and described in

FIGS. 1-16

. As best shown in

FIG. 1

, the toy vehicular guidance apparatus of the present invention can be used in a toy building set


2


having a lattice


4


and modular bases


6


. More specifically, lattice


4


provides the substructure of toy building set


2


and supports modular bases


6


which are spaced above lattice


4


by a predetermined distance. Lower roadway


8


is also supported by lattice


4


, but on a lower portion of lattice


4


at a predetermined distance below modular bases


6


. Upper roadway


10


is comprised of some of modular bases


6


that have been specialized in design to provide a smooth traffic bearing surface for movement of surface vehicles


12


thereon. Most preferably, the road pattern of upper roadway


10


and lower roadway


8


are identical so that subsurface vehicles


14


, as shown in

FIGS. 2 and 3

, can travel on lower roadway


8


to guide surface vehicles


12


on upper roadway


10


in a manner further described below. Preferably, the distance between lower roadway


8


secured to lattice


4


and upper roadway


10


, also secured to lattice


4


, is large enough to allow ingress and travel of subsurface vehicle


14


between lower roadway


8


and upper roadway


10


.




Next referring to

FIG. 2

, the magnetic interconnection between surface vehicle


12


and subsurface vehicle


14


is shown whereby subsurface vehicle


14


travels between lower roadway


8


and upper roadway


10


such that surface vehicle


12


can be transported on upper roadway


10


by subsurface vehicle


14


. As shown in

FIG. 2

, power supply


16


interconnects a lower conductive layer


18


and upper conductive layer


20


. Lower conductive layer


18


is located on the upper side of lower roadway


8


. Upper conductive layer


20


is located on the under side of upper roadway


10


. Power supply


16


thus energizes lower conductive layer


18


and upper conductive layer


20


. Subsurface vehicle


14


accesses the electrical power in lower conductive layer


18


and upper conductive layer


20


in a manner described below to travel on lower roadway


8


. Power supply


16


can be either direct current or alternating current, of preferably a shock safe voltage level, for example, about 12 volts. Lower conductive layer


18


and upper conductive layer


20


consist of thin metal sheets, foil layers or a conductive coating that may be, for example, polymeric. The conductive sheet, coating, or composite most preferably includes copper as the conductive metal.




Still referring to

FIG. 2

, subsurface vehicle


14


has a chassis


21


with an upper brush


22


located on the top of chassis


21


adjacent the under side of upper roadway


10


on which upper conductive layer


20


is located. Chassis


21


also has a lower brush


24


located on the under side thereof adjacent the upper surface of lower roadway


8


on which lower conductive layer


18


is located. Upper brush


22


and lower brush


24


, which can be metal, graphite or conductive plastic, provide electrical interconnection between chassis


21


of subsurface vehicle


14


and upper conductive layer


20


and lower conductive layer


18


, respectively for transfer of electrical power from power supply


16


to subsurface vehicle


14


. Upper brush


22


and lower brush


24


are preferably elastic or spring loaded in order to accommodate changes in the distance between upper conductive layer


20


and lower conductive layer


18


to ensure a reliable electrical connection to subsurface vehicle


14


. Upper brush


22


and lower brush


24


each have a head


25


that is contoured, or in another way shaped, for low friction sliding along upper conductive layer


20


and lower conductive layer


18


respectively, when subsurface vehicle


14


is in motion. Lower conductive layer


18


and upper conductive layer


20


can be located on substantially the entire upper surface of lower roadway


8


and under side of upper roadway


10


, respectively, in order to ensure electrical interconnection of subsurface vehicle


14


to power supply


16


despite lateral movement across lower conductive layer


18


and upper conductive layer


20


by subsurface vehicle


14


due to, for example, turning of subsurface vehicle


14


or uncontrolled lateral movement thereof. Alternatively, lower conductive layer


18


and upper conductive layer


20


can be located in troughs or grooves in the upper surface of lower roadway


8


and the under side of upper roadway


10


, respectively, into which head


25


of lower brush


24


and head


25


of upper brush


22


, respectively, can reside in order to control the tracking of subsurface vehicle


14


in an electrically conductive environment by minimizing lateral movement of subsurface vehicle


14


relative to lower roadway


8


and upper roadway


10


. Upper brush


22


and lower brush


24


are both electrically connected to control circuit


26


that is located on the front of chassis


21


of subsurface vehicle


14


. Generally, control circuit


26


controls the electrical functioning of subsurface vehicle


14


, and more specifically controls, and is electrically interconnected with, electromotor


28


. Control circuit


26


thus controls the direction of movement, acceleration, deceleration, stopping, and turning of subsurface vehicle


14


based on external control signals, or control signals generated by subsurface vehicle


14


itself. Control circuit


26


is described in further detail below in conjunction with FIG.


8


. Electromotor


28


, electrically interconnected with control circuit


26


, can be a direct current motor with brushes, a direct current brushless motor, or a stepper motor. Electromotor


28


is mechanically interconnected with transmission


30


that transfers rotation of electromotor


28


to drive wheel


32


employing the desired reduction ratio. More than one electromotor


28


can be employed for independent drive of a plurality of drive wheels


32


. Additionally, transmission


30


can be a differential transmission to drive two or more drive wheels


32


at different speeds. In this manner, more sophisticated control of the acceleration, deceleration, and turning, for example, of subsurface vehicle


14


can be employed. Chassis support


34


is located on the under side of chassis


21


of subsurface vehicle


14


. Chassis support


34


is spaced from drive wheel


32


, also located on the under side of subsurface vehicle


14


, and can be, for example, rollers or low friction drag plates that are preferably flexible to allow compensation for distance variation between lower roadway


8


and upper roadway


10


. Magnets


36


are preferably disposed on the top of subsurface vehicle


14


adjacent the under side of upper roadway


10


. Magnets


36


are preferably permanent magnets, but can also be electromagnets supplied with power from power supply


16


via control circuit


26


.




Still referring to

FIG. 2

, surface vehicle


12


, while preferably being a car, truck, or other vehicle, can be any type of device for which mobility is desired in the environment of a toy building set. Surface vehicle


12


includes wheels


38


which are rotatable to allow movement of surface vehicle


12


on upper roadway


10


. Instead of wheels


38


, a low friction drag plate can be employed. Magnets


40


are located on the under side of vehicle


12


adjacent upper roadway


10


. Magnets


40


are sized and spaced on vehicle


12


to be aligned with magnets


36


on the top of chassis


21


of subsurface vehicle


14


for magnetic interconnection of surface vehicle


12


and subsurface vehicle


14


. Magnets


36


are 0.1×0.125 inch round permanent rare earth magnets with residual flux around 9,000 Gauss. Preferably, the same type of magnets are employed for magnets


40


of surface vehicle


12


. Reliable magnetic coupling has been observed at a distance of up to 0.2 inches between magnets


40


of surface vehicle


12


and magnets


36


of subsurface vehicle


14


.




Next referring to

FIG. 3

, a preferred embodiment of subsurface vehicle


14


is shown. Subsurface vehicle


14


of

FIG. 3

is designed to move between an ABS lower roadway


8


and with a lower conductive layer


18


and an ABS upper roadway


10


with an upper conductive layer


20


. Subsurface vehicle


14


of

FIG. 3

has one drive wheel


32


and two chassis supports


34


having low friction pads


35


. Two upper brushes


22


and two lower brushes


24


are preferably present and are made from copper. Upper brushes


22


and lower brushes


24


are loaded by torsion springs. The above configuration assures a substantially uniform force on drive wheel


32


regardless of the clearance between lower roadway


8


and upper roadway


10


, and also facilitates passage of subsurface vehicle


14


along inclines or declines of lower roadway


8


and upper roadway


10


. Two rear magnets


62


are located on chassis


21


for collision avoidance with another subsurface vehicle


14


as described further below. Electromotor


28


is preferably a direct current brush motor, for example, Namiki model No. 10CL-1202, rated for 0.22 W maximum output at approximately 17,000 RPM at 4.5 volts of direct current power supply. Transmission


30


consists of a Namiki 100A gear train blocked with motor


28


along with a crown gear and associated pinions. The total reduction ratio of transmission


30


is 1:40, and the efficiency is about 25 percent. Subsurface vehicle


14


operates at speeds of up to 9 inches per second at an incline of up to 15°. Lower magnet


64


, on the underside of chassis


21


, guides subsurface vehicle


14


, and associated surface vehicle


12


, on lower roadway


8


, and causes subsurface vehicle


14


, and associated vehicle


12


, to turn based on magnetic interaction with electromagnetic direction controllers adjacent lower roadway


8


described in further detail below. Lower magnet


64


is preferably conic shaped with a protruding tip and is most preferably a 0.5×0.2 inch permanent rare earth magnet with a residual flux of about 9,000 Gauss. The protruding tip


65


of lower magnet


64


is preferably steel for more precise guidance on lower roadway


8


. A pair of Hall effect sensors


67


straddle control circuit


26


on the front of chassis


21


for control of surface vehicle


14


in a manner further described below.




Next referring to

FIGS. 4-7

, the principles of the magnetic forces interconnecting surface vehicle


12


and subsurface vehicle


14


by magnets


36


and magnets


40


are described. As shown in

FIG. 4

, when two magnets are placed one above the other, with opposite poles toward each other, a magnetic force F


z


between them exhibits based on the following equation:







F
z



6








M
1

·

M
2



r
4













where r is the distance between parallel planes in which magnets are situated and




M


1


, M


2


are magnetic moments of both magnets. For permanent magnets, M is proportional to the volume of magnetic substance cross its residual flux density. For electromagnets, M is proportional to the number of turns cross the current.




As shown in

FIG. 5

, when two magnets, one above the other, are shifted slightly to be horizontally offset by a distance b, the horizontal force F


x


occurs:







F
x



6

b








M
1

·

M
2



r
5













Next referring to

FIGS. 6 and 7

, the principles described above and shown in

FIGS. 4 and 5

are discussed in relation to movement of nonpowered surface vehicle


12


by powered subsurface vehicle


14


due to the magnetic interconnection between magnets


40


of surface vehicle


12


and magnets


36


of subsurface vehicle


14


. First referring to

FIG. 6

, during straight line movement, the horizontal offset between surface vehicle


12


and subsurface vehicle


14


increases as subsurface vehicle


14


moves until forces F


1


and F


2


become large enough to overcome friction, inertia and, possibly, gravitational incline. At this point, surface vehicle


12


moves to follow subsurface vehicle


14


. During a turn, as shown in

FIG. 7

, forces F


1


and F


2


have different directional vectors. Thus, forces F


1


and F


2


not only create thrust, but torque as well, that causes surface vehicle


12


to follow subsurface vehicle


14


.




Now referring to

FIG. 8

, control circuit


26


is described in further detail. Control circuit


26


is electrically connected to both upper brushes


22


and lower brushes


24


. Control circuit includes an FET


40


(for example, model No. ZVN4206A manufactured by Zetex) that is normally open because of 10 k Ohm pull-up resistor


42


. However, FET


40


deactivates electromotor


28


if a magnetic control or collision signal is detected by a Hall effect sensor


46


(element


67


of

FIG. 3

) as further described below. Zener diode


48


(for example, model no. 1N5242 manufactured by Liteon Power Semiconductor) prevents overvoltage of the gate of FET


40


. Diode


50


(for example, model no. 1N4448 manufactured by National Semiconductor), as well as an RC-chain consisting of 100 Ohm resistor


52


and 0.1 mcF capacitor


54


, protect control circuit


26


from inductive spikes from electromotor


28


. Diode


56


(for example, model no. 1N4004 manufactured by Motorola) protects control circuit


26


from reverse polarity of power supply


16


. As shown in

FIG. 9

, Hall effect sensor


46


(element


67


of

FIG. 9

) of control circuit


26


is employed to prevent a rear end collision between a leading and a following subsurface vehicle


14


. Control circuit


26


is preferably located on the front of following subsurface vehicle


14


so that Hall effect sensor


67


will be in close proximity to the magnetic field of rear magnet


62


of leading subsurface vehicle


14


. When the following subsurface vehicle


14


closes to a predetermined distance, the magnetic field of rear magnet


62


of leading subsurface vehicle


14


is sensed by Hall effect sensor


67


. Hall effect sensor


67


causes FET


40


to deactivate electromotor


28


, thus stopping the following subsurface vehicle


14


. When the leading subsurface vehicle


14


moves away from the following subsurface vehicle


14


, the increased distance therebetween removes the magnetic field of rear magnet


62


of leading subsurface vehicle


14


from proximity to Hall effect sensor


67


of following subsurface vehicle


14


. FET


40


thus activates electromotor


28


for movement of following subsurface vehicle


14


.




Next referring to

FIGS. 10 and 11

, further structural detail of one embodiment of lower roadway


8


and upper roadway


10


, between which subsurface vehicle


14


travels, is shown. Lower vertical supports


66


are aligned in two spaced apart sets to support horizontal plate


68


, which is preferably comprised of aluminum or other metal alloy. Horizontal plate


68


is the foundation for lower roadway


8


, which is preferably comprised of ABS. As stated above, lower conductive layer


18


, comprised of nickel or other conductive material, is located on lower roadway


8


. Lower brushes


24


are in electrical communication with lower conductive layer


18


. Thus, longitudinal steel strip


69


passes through horizontal plate


68


and is nested in lower roadway


8


at a sufficient depth such that lower magnet


64


, and specifically steel tip


65


thereof, is attracted to steel strip


69


for guidance of subsurface vehicle


14


. Upper vertical supports


74


are preferably spaced apart in two sets. On the upper ends of upper vertical supports


74


is upper roadway


10


, having upper conductive layer


20


, preferably made of nickel or other conductive alloy, on its underside. Bolts


76


are employed to removably secure upper roadway


10


and upper conductive layer


20


to upper vertical supports


74


. Upper vertical supports


74


preferably have a height precisely defined to allow electrical communication between lower brushes


24


of subsurface vehicle


14


and lower conductive layer


18


, as well as between upper brushes


22


of subsurface vehicle


14


and upper conductive layer


20


.




Referring to

FIGS. 12

,


13


A,


13


B and


14


, intersection


82


and the electromagnetic direction control components thereof are shown in detail. As best shown in

FIGS. 13A and 13B

, an electromagnet


150


is located under each lower roadway


8


where the lower roadway


8


joins with intersection


82


. Each electromagnet


150


is comprised of a U-shaped core


152


with a two section coil


154


thereon. U-shaped core


152


is preferably comprised of low carbon steel and coil


154


is preferably comprised of about 4,000 turns of #40 copper wire. Each electromagnet


150


is connected to an electric power source known in the art such that current in two alternating directions can selectively be passed through coil


154


. In this manner, poles


156


and


158


of U-shaped core


152


, which straddle steel strip


69


, can be configured with either pole


156


being positive and pole


158


being negative, or pole


156


being negative and pole


158


being positive. Poles


156


and


158


can thus either attract or repel the pole of lower magnet


64


of subsurface vehicle


14


adjacent steel strip


69


, depending upon the direction of current flow through electromagnet


150


that has been selected. With current flowing through electromagnet


150


in a first direction, pole


156


will thus attract lower magnet


64


of subsurface vehicle


14


and pole


158


will repel lower magnet


64


to guide subsurface vehicle


14


in a first direction, i.e., right. Reversing the direction of the current through electromagnet


150


will cause pole


156


to repel lower magnet


64


and pole


158


to attract lower magnet


64


to guide subsurface vehicle


14


in a second direction, i.e., left. No current flow through electromagnet


150


results in no magnetic interaction of poles


156


and


158


with lower magnet


64


, and subsurface vehicle


14


proceeds straight.




As shown in

FIG. 14

, in addition to electromagnet


150


and associated poles


156


and


158


, each intersection


82


includes a laser detector


160


that is actuatable by a remote control unit. When actuated, laser detector


160


causes infrared sensor


162


(shown in

FIG. 12

) of this specific intersection


82


to receive infrared control commands from a remote control unit to selectively control the electromagnets


150


as well as stop coils


164


of the specific intersection


82


. Stop coils


164


are electromagnets located on each lower roadway


8


adjacent intersection


82


that, when energized, actuate Hall effect sensors


67


to deactivate motor


28


of subsurface vehicle


14


, thus stopping subsurface vehicle


14


prior to entering intersection


82


in order to control multiple vehicle traffic. Hall effect sensors


166


, located on each lower roadway


8


adjacent intersection


82


, detect when a subsurface vehicle


14


is approaching intersection


82


. Hall effect sensors


168


also located on each lower roadway


8


adjacent intersection


82


, detect when a subsurface vehicle


14


has left intersection


82


. The data from laser detector


160


, infrared sensor


162


, Hall effect sensors


166


and Hall effect sensors


168


are fed to microprocessor U


1


of

FIG. 16

to control intersection traffic, as described below.




Referring to

FIG. 15

, the orientation of stop coil


164


, Hall effect sensor


166


and Hall effect sensor


168


proximate to Hall effect sensor


167


and lower magnet


64


of subsurface vehicle


14


is shown. Hall effect sensor


166


adjacent intersection


82


senses lower magnet


64


of approaching subsurface vehicle


14


. This data is processed by microprocessor U


1


of

FIG. 16

, below, to activate stop coil


164


. Stop coil


164


triggers Hall effect sensor


67


of subsurface vehicle


14


to deactivate motor


28


, thus stopping subsurface vehicle before it enters intersection


82


. Hall effect sensor


168


detects lower magnet


64


of a subsurface vehicle


14


as it leaves intersection


82


and relays this data to microprocessor U


1


. The above interaction between stop coils


164


, Hall effect sensor


166


, Hall effect sensor


67


, lower magnet


64


and microprocessor U


1


ensures that after one subsurface vehicle


14


has entered intersection


82


, all other subsurface vehicles


14


are detained until that subsurface vehicle


14


has left intersection


82


.




The above electromagnetic direction controllers of the present invention can be employed in a random mode whereby a Hall effect sensor


166


of a lower roadway


8


senses the approach of a subsurface vehicle


14


, as described above. Microprocessor U


1


then activates electromagnet


150


of the appropriate lower roadway


8


and randomly selects the current direction (or no current) so the subsurface vehicle


14


will randomly turn left, right or proceed straight through the intersection


82


. When microprocessor first activates electromagnet


150


, all stop coils


164


leading to intersection


82


are energized to block all traffic. After about 100 mseconds, the stop coil


164


of the lower roadway


8


on which the subsurface vehicle


14


to be controlled is located is deactivated by microprocessor U


1


so that the subsurface vehicle


14


can enter intersection


82


to be guided by electromagnet


150


. If more than one subsurface vehicle


14


is present at the intersection, microprocessor U


1


commands them based on their order of arrival at intersection


82


.




The above electromagnetic direction controllers of the present invention can be employed in a user control mode employing laser detector


160


and infrared sensor


162


of intersection


82


, described above, to provide specific user command to allow a particular subsurface vehicle


14


to be guided in a specific direction through intersection


82


. This user controlled mode operates substantially the same as the above random mode except that microprocessor U


1


of

FIG. 16

does not randomly energize electromagnet


150


of the subject lower roadway


8


. Instead, microprocessor U


1


follows the infrared command signals it has received from infrared sensor


162


to energize electromagnet


150


in the manner directed by the user to accomplish the desired direction of movement of subsurface vehicle


14


. As in the above random mode, all stop coils


164


are first energized, with on subsequently opened. Also, commands are followed by microprocessor U


1


in the order received.




Next referring to

FIG. 16

, the electrical circuitry of the electromagnetic guidance control of intersection


82


is described. All logic functions are performed by an eight-bit microcontroller U


1


(for example, model No. PIC16C65, manufactured by Microchip). Microcontroller U


1


is clocked by a 10 MH quartz crystal X1, for example, model No. A143E manufactured by International Quartz Devices. Voltage monitor U


7


, for example, model No. 1381S manufactured by Panasonic, is responsible for the power-up reset and power supply fault protection. When the logic supply voltage (plus 5 V) drops below 4.2 V, the voltage detector drive LOW the MCLR pin of microcontroller U


1


, thus shutting it down to prevent it from operation at reduced power supply voltage. When the logic supply voltage (plus 5 V) is above 4.2 V, the voltage detector drive HIGH the MCLR pin of microprocessor U


1


, thus resetting it and reinitializing the system. Two full bridge drivers U


5


, for example, model No. UDN2903, manufactured by Allegro, drive electromagnets L


5


, L


6


, L


7


and L


8


(element


150


of

FIGS. 13A and 13B

) of intersection


82


. When pin ENA of driver U


5


is HIGH, the state of pin PHA determines the direction of the current through the selected electromagnet L


5


-L


8


, and thus the turn direction of a subsurface vehicle


14


. When pin ENA of the full bridge driver U


5


is LOW, no current flows through the selected electromagnet L


5


-L


8


and the substrate vehicle


14


proceeds straight regardless of the state of pin PHA. Stop coils L


1


-L


4


(element


164


of

FIGS. 13A and 13B

) are driven through Darlington array U


4


, for example, model No. ULN2003, manufactured by Motorola. Another channel of Darlington array U


4


drives a buzzer or other sound device HN


1


, for example, model No. P9948 manufactured by Panasonic that provides user feedback for the hand-held remote control device. Hall effect sensors


166


, described above, are designated H


1


-H


4


and are, for example, model No. HAL506 manufactured by ITT Semiconductors. Hall effect sensors


166


sense when a subsurface vehicle enters intersection


82


. Hall effect sensors


168


are designated H


5


-H


8


in

FIG. 16

, sense when a subsurface vehicle leaves intersection


82


, and are preferably the same model as Hall effect sensors H


1


-H


4


. When activated by side magnet


64


of a subsurface vehicle


14


, Hall effects sensors H


1


-H


8


drive LOW inputs RB


4


-RB


8


of microcontroller U


1


, then denoting that a subsurface vehicle


14


has entered or left intersection


81


. Since Hall effect sensors H


1


-H


8


are open collector outputs, pull-up resistors R


24


-R


27


are necessary to drive inputs of microprocessor U


1


HIGH when no subsurface vehicle


14


is detected. Laser detector


160


, described above, is denoted as LD


1


and is connected directly to inputs of microprocessor U


1


to provide input as to the desired electromagnetic configuration of intersection


82


. The active level of laser detector LD


1


is HIGH. Infrared sensor


162


, denoted U


6


in

FIG. 16

, for example, model No. TFM5300 manufactured by Temic, selects the route of subsurface vehicle


14


via the interface of the remote control. The information pertaining to the desired direction of subsurface vehicle


14


from the remote control interface is transmitted serially microprocessor U


1


and is then decoded. The above circuit requires three power supply voltages: +5 V, +15 V, and the voltage of the subsurface vehicle


14


that is adjustable between +3 V and +6 V.




While the preferred embodiment of the invention has been illustrated and described, it will be appreciated that various changes can be made therein without departing from the spirit and scope of the invention.



Claims
  • 1. A combination guidance apparatus and movable toy vehicles comprising:(a) a track having a first intersection; (b) a first subsurface vehicle adapted to selectively traverse the track; (c) a control unit; (d) first and second magnetic means for guiding subsurface vehicles in alternate directions through intersections, the first magnetic means being responsive to the control unit and disposed within the first intersection and the second magnetic means being disposed with the first subsurface vehicle; (e) magnetic means for stopping subsurface vehicles prior to entering the first intersection wherein said means for stopping is responsive to the control unit; (f) means for actuating subsurface vehicles stopped at the first intersection after the first and second magnetic means for guiding subsurface vehicles has been actuated; (g) a surface roadway located over the track; and (h) a first surface toy vehicle movable on the surface roadway in reaction to movement of the first subsurface vehicle.
  • 2. The combination guidance apparatus and movable toy vehicles of claim 1, further comprising:(a) a plurality of subsurface vehicles adapted to selectively traverse the track; (b) a plurality of surface toy vehicles, wherein one of the plurality of surface toy vehicles being located above one of the plurality of subsurface vehicles and movable on the surface roadway in reaction to movement under the surface roadway of the respective one of the plurality of subsurface vehicles.
  • 3. The combination guidance apparatus and movable toy vehicles of claim 2, further comprising:(a) a motor in each subsurface vehicle; and (b) means for collision avoidance on each subsurface vehicle, the means for collision avoidance, comprising: (i) a magnet on each subsurface vehicle; and (ii) a magnetic field sensor on each subsurface vehicle, the magnetic field sensor adapted to de-energize the motor of the associated subsurface vehicle when the magnetic field sensor senses a magnetic field of the magnet of another subsurface vehicle.
  • 4. The combination guidance apparatus and movable toy vehicles of claim 2, further comprising means for remotely controlling the first magnetic means for guiding subsurface vehicles in alternate directions through intersections.
  • 5. The combination guidance apparatus and movable toy vehicles of claim 2, wherein the control unit is preprogrammed to guide the subsurface vehicles based on predetermined variables.
  • 6. The combination guidance apparatus and movable toy vehicles of claim 2, further comprising means for sensing one of the plurality of subsurface vehicles approaching or leaving the first intersection wherein said means for sensing is in communication with the control unit.
  • 7. The combination guidance apparatus and movable toy vehicles of claim 6, wherein the means for sensing comprises a magnet on each of the subsurface vehicles and a magnetic field sensor adjacent the first intersection.
  • 8. The combination guidance apparatus and movable toy vehicles of claim 2, wherein the first intersection having at least one magnet, the one magnet having reversible poles straddling a vehicle path.
  • 9. The combination guidance apparatus and movable toy vehicles of claim 8, wherein each subsurface vehicle having a magnet.
  • 10. The combination guidance apparatus and movable toy vehicles of claim 9, further comprising means for reversing current through the reversible poles to guide the subsurface vehicles by magnetic interaction with the magnets of the subsurface vehicles and wherein said means for reversing current is responsive to the control unit.
  • 11. The combination guidance apparatus and movable toy vehicles of claim 10, further comprising means for remotely controlling the means for reversing current.
  • 12. The combination guidance apparatus and movable toy vehicles of claim 11, wherein the control unit is preprogrammed based on predetermined variables.
  • 13. A combination guidance apparatus and movable toy vehicles comprising:(a) a track having a plurality of intersections; (b) a first subsurface vehicle adapted to selectively traverse the track; (c) a control unit; (d) first and second magnetic means for guiding subsurface vehicles in alternate directions through intersections, the first magnetic means being responsive to the control unit and disposed within each of the plurality intersections and the second magnetic means being disposed with the first subsurface vehicle; (e) magnetic means for stopping subsurface vehicles prior to entering any one of the plurality of intersections wherein said means for stopping is responsive to the control unit; (f) means for actuating subsurface vehicles stopped at any one of the plurality of intersections after a predetermined time; (g) a surface roadway located over the track; and (h) a first surface toy vehicle movable on the surface roadway in reaction to movement under the surface roadway of the first subsurface vehicle.
  • 14. The combination guidance apparatus and movable toy vehicles of claim 13, further comprising:(a) a plurality of subsurface vehicles adapted to selectively traverse the track; (b) a plurality of surface toy vehicles, wherein one of the plurality of surface toy vehicles being located above one of the plurality of subsurface vehicles and movable on the surface roadway in reaction to movement under the surface roadway of the respective one of the plurality of subsurface vehicles.
  • 15. The combination guidance apparatus and movable toy vehicles of claim 14, further comprising:(a) a motor in each subsurface vehicle; and (b) means for collision avoidance on each subsurface vehicle, the means for collision avoidance, comprising: (i) a magnet on each subsurface vehicle; and (ii) a magnetic field sensor on each subsurface vehicle, the magnetic field sensor adapted to de-energize the motor of the associated subsurface vehicle when the magnetic field sensor senses a magnetic field of the magnet of another subsurface vehicle.
  • 16. The combination guidance apparatus and movable toy vehicles of claim 14, further comprising means for remotely controlling the first magnetic means for guiding subsurface vehicles in alternate directions through intersections.
  • 17. The combination guidance apparatus and movable toy vehicles of claim 14, wherein the control unit is preprogrammed to guide the subsurface vehicles based on predetermined variables.
  • 18. The combination guidance apparatus and movable toy vehicles of claim 14, further comprising means for sensing one of the plurality of subsurface vehicles approaching or leaving any one of the plurality of intersections wherein said means for sensing is in communication with the control unit.
  • 19. The combination guidance apparatus and movable toy vehicles of claim 18, wherein the means for sensing comprises a magnet on each one of the plurality of subsurface vehicles and a magnetic field sensor adjacent each one of the plurality of intersections.
  • 20. A combination guidance apparatus and movable toy vehicles comprising:(a) a track having a plurality of intersections; (b) a first subsurface vehicle adapted to selectively traverse the track and selectively stop at any one of the plurality of intersections; (c) a control unit; (d) first and second magnetic means for guiding subsurface vehicles in alternate directions through intersections, the first magnetic means being responsive to the control unit and disposed within each of the plurality intersections and the second magnetic means being disposed with the first subsurface vehicle; (e) means for sensing subsurface vehicle presence in any one of the plurality of intersections wherein said means for sensing is in communication with the control unit; (f) means for actuating subsurface vehicles stopped at any one of the plurality of intersections after the means for sensing subsurface vehicle presence in any one of the plurality of intersection senses no subsurface vehicles in the intersection; (g) a surface roadway located over the track; and (h) a first surface toy vehicle movable on the surface roadway in reaction to movement under the surface roadway of the first subsurface vehicle.
  • 21. The combination guidance apparatus and movable toy vehicles of claim 20, further comprising:(a) a plurality of subsurface vehicles adapted to selectively traverse the track; (b) a plurality of surface toy vehicles, wherein one of the plurality of surface toy vehicles being located above one of the plurality of subsurface vehicles and movable on the surface roadway in reaction to movement under the surface roadway of the respective one of the plurality of subsurface vehicles.
  • 22. The combination guidance apparatus and movable toy vehicles of claim 21, further comprising:(a) a motor in each substrate vehicle; and (b) means for collision avoidance on each subsurface vehicle, the means for collision avoidance, comprising: (i) a magnet on each subsurface vehicle; and (ii) a magnetic field sensor on each subsurface vehicle, the magnetic field sensor adapted to de-energize the motor of the associated toy vehicle when the magnetic field sensors senses a magnetic field of the magnet of another subsurface vehicle.
  • 23. The combination guidance apparatus and movable toy vehicles of claim 21, further comprising means for remotely controlling the first magnetic means for guiding subsurface vehicles in alternate directions through intersections.
  • 24. The combination guidance apparatus and movable toy vehicles of claim 21, wherein the control unit is preprogrammed to guide the subsurface vehicles based on predetermined variables.
  • 25. The combination guidance apparatus and movable toy vehicles of claim 21, wherein the means for sensing comprises a magnet on each one of the plurality of subsurface vehicles and a magnetic field sensor adjacent each one of the plurality of intersections.
RELATED APPLICATION(S) INFORMATION

This is a continuation of U.S. application Ser. No. 08/943,545, filed Oct. 3, 1997 now abandoned, the disclosure of which is hereby expressly incorporated by reference.

US Referenced Citations (17)
Number Name Date Kind
2106424 Einfalt Jan 1938
2637140 Hoff May 1953
2690626 Gay et al. Oct 1954
2903821 Favre Sep 1959
2920420 Kolodziejski Jan 1960
3121971 Nyc Feb 1964
3403470 Werner Oct 1968
3453970 Hansen Jul 1969
3584410 Lalonde Jun 1971
3596401 Camire Aug 1971
3734433 Metzner May 1973
5087001 Bolli et al. Feb 1992
5601490 Nakagawa et al. Feb 1997
5865661 Cyrus et al. Feb 1999
6007401 Cyrus et al. Dec 1999
6012957 Cyrus et al. Jan 2000
6102770 Cyrus et al. Aug 2000
Foreign Referenced Citations (2)
Number Date Country
2674141 Sep 1992 FR
673321 Jun 1952 GB
Continuations (1)
Number Date Country
Parent 08/943545 Oct 1997 US
Child 09/526950 US