Title of Invention	METHOD AND SYSTEM FOR PILOTING MOBILE OBJECTS DRIVEN BY ACTUATORS, PARTICULARLY MINIATURE CARS ON A CONTINUOUS TRACK
Abstract	This invention relates to a method and a system for piloting mobile (V1, V2, V3) driven by actuators coupled to an electric power source (T1). The mobile objects are guided by manipulators through a guide circuit. The guide circuit is common to the various mobile objects moving on the same maneuvering circuit. The system comprises: parametering means (CONTROL) for parametering the mobile object based on the selected mobility strategy, and /or transmission means (CONTROL, DATA) for transmitting to said mobile object control instructions concerning the selected mobility strategy, in particular control instructions concerning speed and the guide path used. The mobile object comprises selecting means (A1) for selecting the guide path used based on the mobility strategy. The selection means (A1) are implemented by the mobile objects.

Title of Invention

METHOD AND SYSTEM FOR PILOTING MOBILE OBJECTS DRIVEN BY ACTUATORS, PARTICULARLY MINIATURE CARS ON A CONTINUOUS TRACK

Abstract

This invention relates to a method and a system for piloting mobile (V1, V2, V3) driven by actuators coupled to an electric power source (T1). The mobile objects are guided by manipulators through a guide circuit. The guide circuit is common to the various mobile objects moving on the same maneuvering circuit. The system comprises: parametering means (CONTROL) for parametering the mobile object based on the selected mobility strategy, and /or transmission means (CONTROL, DATA) for transmitting to said mobile object control instructions concerning the selected mobility strategy, in particular control instructions concerning speed and the guide path used. The mobile object comprises selecting means (A1) for selecting the guide path used based on the mobility strategy. The selection means (A1) are implemented by the mobile objects.

Full Text	Technical field, problem posed The invention concerns a system for controlling mobile objects in a guide circuit. It is particularly applicable, for example, to toy car systems guided on a track. Games consisting of automobile circuits in which the cars are guided, for example, by guide lanes, are known in the art. However, these systems generally provide several circuits, each of which guides a car. Each car is guided by commands given to the circuit. If there are several cars on the same circuit, they will be guided in the same way, based on the orders given to the circuit. For the operator, this creates a certain monotony in the use of the system, and in the long run, a certain tedium that can result in a loss of interest in this type of game. The subject of the invention is a system that makes it possible to solve this problem. It concerns a system that makes it possible to introduce surprise and spontaneity into the control of a vehicle circuit such as a guided automobile circuit. The invention also has the advantage of making it possible to control several vehicles independently on the same circuit. The invention concerns a method for piloting mobile objects driven by actuators, particularly miniature cars, on a continuous track. The mobile objects are guided by operators via a guide circuit comprising several lanes. The guide circuit is common to the various mobile objects moving around the same track. The method comprises the following steps: - the step, for the operator, of choosing, ahead of time or in real time, a mobility strategy for the mobile object, - the step, for the operator, of parameterizing the mobile object based on the mobility strategy chosen, and/or - the step, for the operator, of transmitting to the mobile object control instructions in accordance with the mobility strategy chosen, including control instructions related to its speed and to the guide lane used, - the step, for the mobile object, of selecting the guide lane used based on the mobility strategy, as it moves around the track. Preferably, according to the invention, the method is such that the mobility strategy is characterized by at least one of the initialization parameters specifying: - the type of mobile object, - the type of driving, - the types and/or quantities of resources available, for example, in the case of miniature cars, the nature of the tires, the initial gasoline allocation, etc. The mobility strategy is also characterized by at least one of the following parameters specifying the driving: - a speed parameter, - a lane change parameter. Preferably, according to the invention, the method is such that, in order to parameterize the mobile object based on the mobility strategy chosen, the method also comprises the step, for the operator, of entering data and/or macro commands into a memory area located in the mobile object. The memory area is associated with a microcontroller that controls the actuators. Preferably, according to a variant of embodiment of the invention, the method is such that, in order to transmit to the mobile object control instructions in accordance with the mobility strategy chosen, the method comprises the step of initializing each of the mobile objects by assigning them an identifier, particularly an alphanumeric identifier. This identifier can also be characterized by a specific communication channel. In the case of this variant of embodiment, the method also comprises the following steps: - the step of formatting the control instructions in the form of digital data by associating them with the identifier of the mobile object in question, - the step of multiplexing in the guide circuit the control instructions specific to each of the mobile objects and the electric power supply required to operate the mobile object, - the step, for each microcontroller of each mobile object, of extracting from the multiplexed control instructions those that are associated with the identifier that has been assigned to the mobile object in question. The method also comprises the step, for the microcontroller, of controlling the actuators based on the extracted control instructions. Preferably, according to the invention, the method is such that the multiplexing is a time multiplexing. Preferably, according to the invention, the time multiplexing is such that each phase for transmitting the control instructions associated with a given mobile object is followed by a phase for supplying electric power. Preferably, according to the invention, the method also comprises the step of supplying power to the actuators of the mobile object through an electrical circuit associated with the guide circuit and/or through a battery and/or through a rechargeable battery in the mobile object. The method is such that, in order to transmit to the mobile object control instructions in accordance with the mobility strategy chosen, the method also comprises the following steps: - the step of initializing each of the mobile objects by assigning each of them an identifier, particularly an alphanumeric identifier, - the step of formatting the control instructions in the form of digital data by associating them with the identifier of the mobile object in question, - the step of transmitting to the mobile objects a signal, particularly an optical - for example infrared - signal and/or a sound signal and/or an electromagnetic signal, - the step, for each microcontroller of each mobile object, of extracting from the signal the control instructions associated with the identifier assigned to the mobile object in question. The method also comprises the step, for the microcontroller, of controlling the actuators based on the control instructions extracted from the signal. Preferably, according to the invention, in order to select the guide lane used based on the mobility strategy, while the mobile object is moving around the track, the method also comprises the following steps: - the step, for a given mobile object, of transmitting a guide signal, particularly an optical - for example infrared - signal, to a receiver disposed on the guide circuit and/or on the track; - the step, for the receiver, of decoding the guide signal to produce a signal for controlling the state of a switch associated with said receiver and disposed on the guide circuit, - the step, for the switch, of changing states as a function of the control signal. The result of the combination of the technical features according to the invention is that as the mobile object moves around the track, the mobile object actuates the switch that allows it to change lanes. Another result of the combination of the technical features according to the invention is that the operator transmitting control instructions to the mobile object can see that the lateral movements of the mobile object on the track are practically identical to those that would be observed by an observer actuating a steering wheel for changing the direction of said mobile object, whose point of view would be associated with said mobile object. Another result of the combination of the technical features according to the invention is that a mobile object moving around the track can pass another one located in front of it, by swerving laterally. Preferably, according to the invention, the receiver is disposed on the guide circuit and/or on the track ahead of the switch and at a distance from the latter such that a change in the state of the switch cannot produce a change in the movement of any mobile object other than the one that first actuated the switch. Preferably, according to the invention, the method is such that it also comprises the step of automatically switching the switch to a predetermined state after the passage of a mobile object that has actuated it. Preferably, according to the invention, the predetermined state is the initial state. Preferably, according to the invention, the method also comprises the step of determining the number of laps around the track performed by each mobile object by detecting a label associated with a given mobile object by means of a reader, particularly an optical or electromagnetic reader, integral with the track. Preferably, according to the invention, the method also comprises the step of timing the time taken by a given mobile object to perform a given number of laps around the track. The timing is performed by detecting the passage of a label associated with the mobile object read by means of a reader, particularly an optical and/or electromagnetic reader, integral with the track. System The invention also concerns a system for piloting mobile objects driven by actuators, particularly miniature cars, on a continuous track. The mobile objects are guided by operators via a guide circuit comprising several lanes. The guide circuit is common to the various mobile objects moving around the same track. The operator chooses, ahead of time or in real time, a mobility strategy for the mobile object. The system comprises: - parameterizing means for parameterizing the mobile object based on the mobility strategy chosen, and/or - transmission means for transmitting to the mobile object control instructions in accordance with the mobility strategy chosen, particularly control instructions related to its speed and to the guide lane used. Thus, in the example in question, the mobile object can be a robot moving autonomously around the track without the intervention of the operator. It can also be programmed to interpret control instructions from the operator so as to generate movements that correspond to the operator's expectations. The mobile object includes selection means for selecting the guide lane used based on the mobility strategy. The selection means are implemented by the mobile object as it moves around the track. Preferably, according to the invention, the system is such that the mobility strategy is characterized by one of the following initialization parameters specifying: - the type of mobile object, - the type of driving, - the types and/or quantities of resources available, for example in the case of miniature cars, the nature of the tires, the initial gasoline allocation, etc. The mobility strategy is also characterized by at least one of the following parameters specifying the driving: - a speed parameter, - a lane change parameter. Preferably, according to the invention, the system is such that the parameterization means include a control element for entering data and/or macro commands into a memory area located in the mobile object. The memory area is associated with a microcontroller that controls the actuators. Preferably, according to the invention, each mobile object is identified by an identifier, particularly an alphanumeric identifier. The system also includes a base comprising: -joysticks actuated by the operator in order to acquire control instructions, - data processing means for formatting the control instructions in the form of digital data by associating them with the identifier of the mobile object in question, - multiplexing means for multiplexing, in the guide circuit, the control instructions specific to each of the mobile objects and the electric power supply required to operate the mobile object. Each microcontroller of each mobile object makes it possible to extract from the multiplexed control instructions those that are associated with the identifier that has been assigned to the mobile object in question. The microcontroller controls the actuators based on the extracted control instructions. Preferably, according to the invention, the system is such that the multiplexing means perform a time multiplexing of the control instructions with the power supply. Preferably, according to the invention, the time multiplexing is such that each phase for transmitting the control instructions associated with a given mobile object is followed by a phase for supplying electric power. Preferably, according to another variant of embodiment of the invention, the system also comprises an electric power supply for the actuators, constituted by an electrical circuit associated with the guide circuit and/or by a battery and/or by a rechargeable battery in the mobile object. Each mobile object is identified by an identifier, particularly an alphanumeric identifier. In the case of this variant of embodiment, the system also includes a base comprising: - joysticks actuated by the operator in order to acquire control instructions, - data processing means for formatting the control instructions in the form of digital data by associating them with the identifier of the mobile object in question, - transmission means for transmitting to the mobile objects a signal, particularly an optical - for example infrared - signal and/or a sound signal and/or an electromagnetic signal. Each microcontroller of each mobile object makes it possible to extract from the signal the control instructions associated with the identifier assigned to the mobile object in question. The microcontroller controls the actuators based on the extracted control instructions. Preferably, according to the invention, the guide circuit is in the form of several guide lanes. Each mobile object includes a guide element that cooperates with the guide lanes. The guide lanes are interconnected by switches. The mobile object includes transmission means for transmitting a guide signal, particularly an optical - for example infrared - signal, to a switch receiver. The switch receiver, associated with a given switch, is disposed on the guide circuit and/or on the track The switch receiver includes decoding means for decoding the guide signal and producing a control signal for the switch. The switch includes a moving element that is actuated by the switch control signal. This moving element is capable of assuming at least two positions. The result of this combination of technical features is that the mobile object can thus select the appropriate guide lane, based on the mobility strategy, as it moves around the track. Preferably, according to the invention, the switch receiver is disposed on the guide circuit and/or on the track ahead of the switch and at a distance from the latter such that a change in the position of the moving element of the switch cannot produce a change in the movement of any mobile object other than the one that first actuated the switch. Preferably, according to the invention, the system is such that it also comprises return means for automatically switching the switch to a predetermined state after the passage of a mobile object that has actuated it. Preferably according to the invention, the predetermined state is the initial state. Preferably, according to the invention, the system also comprises a label reader, particularly an optical and/or electromagnetic reader, integral with the track, for detecting a label associated with a given mobile object, particularly an optical and/or electromagnetic reader. The label reader is integral with the track. The system also comprises computing means, associated with the label reader, for determining the number of laps around the track performed by each mobile object. Preferably, according to the invention, the system also comprises a label reader, particularly an optical and/or electromagnetic reader, integral with the track, for detecting a label associated with a given mobile object. The system also comprises timing means, associated with the label reader, for timing the time taken by a given mobile object to perform a given number around laps around the track. Detailed description Other characteristics and advantages of the invention will emerge through the reading of the description of variants of embodiment of the invention given as illustrative and nonlimiting examples, and of: - Fig. 1, which schematically represents the system according to the invention, - Figs. 2a and 2b, which represent an exemplary switch according to the invention, - Figs. 3a and 3b, which represent an application of the invention to a system wherein the electric power supply for the vehicles that allows them to move and the speed and guidance information flow through the same circuit, for example the guide circuit for the vehicles, - Fig. 4, which represents the control circuits of the system according to the invention, - Fig. 5, which represents the circuits provided in each vehicle, - Figs. 6a and 6b, which represent a variant of a switch to which the invention can be applied, - Figs. 7a and 7b, which represent a variant of a switch that automatically returns to the neutral position. Fig. 1 schematically represents the system according to the invention. The system includes a circuit Cl, C2, C3 on which mobile objects such as one or more vehicles VI, V2, V3 must run. The circuit Cl, C2, C3 is supplied with electric power in an intrinsically known way. For example, in Fig. 1, the power required to move the vehicles VI, V2, V3 is supplied via a transformer Tl and the guide circuit Cl, C2, C3. According to the invention, the vehicles VI, V2, V3 also receive speed and trajectory commands through the guide circuit. A circuit interposed between the transformer and the guide circuit is provided, making it possible to transmit, through the guide circuit, speed and guidance information for the vehicles VI, V2, V3. Each vehicle VI, V2, V3 can receive a piece of information, or a packet of information containing a piece of speed information and a piece of guidance control information. The control of each vehicle V2, V2, V2 is therefore independent of the control of the other vehicles VI, V2, V3 running on the circuit. As shown in Figs. 2a and 2b, each vehicle VI, V2, V3 has an information transmitter El. In addition, the guide circuit Cl has an information receiver Dl associated with each switch Al, A2, A3 and ahead of each switch in the vehicles' direction of travel. When a vehicle receives a guidance command, it has this information transmitted to its transmitter El. When the transmitter El of the vehicle comes near the receiver Dl, the latter receives this information, decodes it, and triggers the operation of the switch Al. Thus, in Fig. 2b, the receiver Dl has controlled the switching of the switch Al so that the vehicle is directed to the lane C3 of the circuit. According to a simplified variant of embodiment of the invention, all of the switches on the circuit such as Al have a neutral position such that after the switching of the switch and after the passage of the vehicle, the switch returns to a neutral position. Under these conditions, the system can be designed so that the normal movement of the vehicle is such that it runs through the circuit with the switches in the neutral position. As long as it does not receive a guidance command, the vehicle's transmitter does not transmit any information, and the detectors such as Dl remain inactive. When the operator wants to make the vehicle turn, for example to the right in Fig. 2a, he sends a direction change command, the transmitter El transmits a control signal, the detector Dl detects it and triggers the operation (the switching) of the switch Al, which moves to the position represented in Fig. 2b and automatically returns to the position of Fig. 2a after the vehicle passes. Under these conditions, according to this variant of embodiment, the receiver has no decoding function. Relative position of the transmitters and receivers The transmitters such as El can be placed underneath the vehicles. In this case, the receivers such as D1 are placed on the circuit in the lane in which the vehicles are running, for example, between the wheel paths. The transmitters such as El can also be placed on a lateral wall or on the front of the vehicle and oriented toward the edge of the track. The receivers will then be placed on the edge of the track at a height such that they sit on the axis of maximum transmission of the transmission lobe of the vehicles' transmitters. In any case, the transmitters El will preferably be placed in the front part of the vehicle so as to trigger the switch as soon as possible when the vehicle approaches the switch. Relative position of the receivers and the switches The receivers such as Dl are located along the lane at a distance from the switches Al such that a vehicle, when it is at the maximum speed allowed by the system., is diverted by the switch Al that follows the detector Dl right after having been detected by this detector. In this general description of the invention, the transmission of the information transmitted from an operator's station to a vehicle can take place through the guide circuits of the vehicle via radio frequency, ultrasound or optical transmission. Generally, it is also possible to arrange for the power supply of the vehicle that allows it to move to be provided in the vehicle itself, by means of an electric battery. Referring to Fig. 3, we will now describe the application of the invention to a system wherein the electric power supply of the vehicles that allows them to move, and the speed and guidance information, are carried by the same circuit, for example the guide circuit for the vehicles. Fig. 3a represents a control diagram for the power supply and the transmission of information wherein the electric power supply of the vehicles is periodically cut off for brief periods, during which the centralized control system transmits guidance and speed information to the vehicles. In Fig. 3a, there are assumed to be three vehicles. During a first electric power supply cutoff, information is transmitted to the vehicle VI (data VI). During a second electric power supply cutoff, information is transmitted to the vehicle V2 (data V2). During a third electric power supply cutoff, information is transmitted to the vehicle V3 (data V3). Then, the cycle begins again. For example, a time ts for the transmission of data to a vehicle (data VI or example) can be approximately 5 ms. A time t for the supply of electric power can be approximately 20 ms. A practical example allowing for 8 vehicles would lead to a cycle time T of 200 ms. Fig. 3b represents a variant wherein the data VI, V2, V3 of a cycle are sent together during the same cutoff of the electric power supply to the vehicles. Fig. 3c represents a variant of embodiment wherein the speed and guidance information are superposed on the power supply current. Fig. 4 represents an exemplary embodiment of a control station which supplies the electric power to the guide circuit and from which the vehicles are controlled. The guide circuit in this case includes electrically conductive elements. This control station includes a transformer TR which is generally supplied with alternating current by the mains supply and which provides a low-voltage power supply. A processing unit UT1 includes a circuit Wl for transmitting speed information and a circuit for transmitting guidance information. These circuits are controlled by joysticks Jl, J2, J3 of a known type. The joystick Jl makes it possible to control the vehicle VI, the joystick J2 makes it possible to control the vehicle V2, and the joystick J3 makes it possible to control the vehicle V3. A central control unit UC1 makes it possible to periodically and alternately connect the circuit Cl to the transformer TR and to the processing unit UT1. In addition, the processing unit UT1 controls the successive transmission of the speed and guidance information transmitted from the joysticks Jl, J2, J3. It adds to each of these pieces of information an identity (IDENT) that represents the joystick and consequently the vehicle controlled. The successive transmissions take place in accordance with a process of a type similar to the one in Figs. 3a through 3c. Fig. 5 represents a vehicle VI. The unit ALIM of the vehicle is connected by an electrical connection device, for example brushes, to the guide circuit. The unit ALIM is therefore supplied with power during the periods when the transformer TR is connected to the guide circuit Cl, and it supplies the electric power to the motor M and to all the electronic circuits of the vehicle. A processing unit UT2 is also electrically connected to the guide circuit Cl by the brushes. Thus, it receives the speed and guidance information sent by each joystick, along with an identity associated with this information. The processing unit of the vehicle VI recognizes the identity related to the joystick Jl and hence to itself and retrieves the information associated with this identity. The processing unit UT2 processes this information based on the characteristics assigned to this vehicle (for example, parameters such as the driving type, the vehicle type, the speed, the nature of the tires, the gasoline allocation, etc.) and then transmits the processed speed and guidance information. A control unit UC2 provides: - a piece of guidance information to a transmission circuit G for activating the transmission by the transmitter El of a piece of guidance information - a piece of speed information to a transmission circuit W2 for controlling the speed of the motor M. On the guide circuit end, a receiver Dl is located along the circuit. When the receiver Dl receives a piece of guidance information as a vehicle passes, it switches the position of the switch Al, particularly by means of an electromagnet. In a simplified version, each switch has only two positions as in Fig. 2a. In this case, the guidance information is just a simple piece of switching information, which is all the receiver Dl needs to detect in order to trigger the switching of Al. In a more elaborate version, a switch can have more than two positions and can switch a lane Cl to more than two possible other lanes. For example, Figs. 6a and 6b show that a lane Cl can be connected to a selected lane C2, C3 or C4. In this case, the guidance information transmitted by the transmitter El contains a direction indication and must be interpreted by the receiver Dl. In this case, the transmitter El includes several light sources such as diodes. A combination of lit diodes makes it possible to represent a control instruction. Thus, two diodes make it possible to control a four-way switch, and three diodes make it possible to control an eight-way switch. Then, based on the guidance information received, the control unit UC2 will then actuate the lighting of selected diodes that correspond to this information. Each receiver such as Dl will have as many detecting diodes as each vehicle has emitting diodes. Based on the diodes that have detected a signal, the receiver Dl will control the position of the switch. It should be noted that the transmitters on the vehicles must be positioned based on the position of the detectors, and vice versa, so that as the vehicle passes, the various diodes of El pass in front of the diodes in the same row of Dl. In the above system, it is presumed that in the absence of a detection of a guidance information signal, the switch is not activated, and it remains in the neutral position like the one in Fig. 2a. Figs. 7a and 7b represent a device that makes it possible to have the switch return to the neutral position after a vehicle passes. In Fig. 7a, the switch Al is in the neutral position, and it connects the lane segment Cl to the lane segment C2. Switching the switch Al has the effect of connecting the lane segment Cl to the lane segment C2. The point of the switch Al has a portion Bl that curves toward the inside of the lane segment C3. When the vehicle that triggered this switching passes over the switch, it pushes on the portion B1 and forces the switch to return to its neutral position. It should be noted that depending on the type of switch, the switching of the switch can be done by means of a keel Q located underneath the vehicle and extending downward into the support plate containing the guide system. In this case the part Bl does not interfere with the passage of the vehicle's wheels. Preferably, it is arranged for the keel to be located underneath the vehicle at the front of the vehicle in order to trigger the return of the switch to the neutral position immediately after it passes. Moreover, each vehicle has, underneath the vehicle, an identification label L. This label is optically, electrically, or electromagnetically readable by a sensor CL located along the guide circuit. This sensor is linked to the processing unit UT1, which can thus calculate the various performances reached by the vehicle, such as speed, distance traveled, etc. In the above description, we chose to describe an application of the invention to a system of cars guided by an operator but it would also be applicable to a system comprising preprogrammed robot cars. WE CLAIM 1. Method for piloting mobile objects (VI, V3) driven by actuators (M), particularly miniature cars, on a continuous track, said mobile objects guided by operators via guide circuit comprising several lanes (C1-C4) and at least one switch (Al) permitting a mobile object (V1-V3) to change lanes, said guide circuit being common to the various mobile objects moving around the continuous track, said method comprising the steps of: - for said operator, selecting a mobility strategy for said mobile object ahead of time or in real time, - for said operator, parameterizing said mobile object based on the selected mobility strategy, and/or. - for said operator, transmitting to said mobile object control instructions (Data, data ViO in accordance with the selected mobility strategy, particularly control instructions relating to said mobile object's sped and guide lane to be used; and - for said mobile object, transmitting a signal permitting to select the guide lane used based on said mobility strategy, as said mobile object moves around the continuous track; - actuating said switch (Al) based on the reception of the transmitted by said mobile object. 2. Method as claimed in claim 1, wherein the mobility strategy is characterized by at least one of the following parameters: (a) initialization parameters specifying : - the type of mobile object, - the type of driving, - the type and/or quantities of resources available, for example, in the case of miniature cars, the nature of the tries, the initial gasoline allocation, (b) parameters specifying the driving: - a speed parameter; - a lane change parameter. 3. Method as claimed in any of claims 1 and 2, wherein said step of parameterizing said mobile object based on the mobility strategy selected, comprising the step, for the operator, of entering data and/or macro commands into a memory area located in the mobile object, said memory area being associated with a microcontroller (UT2, W2) that controls said actuators. 4. Method as claimed in any of claims 1 to 3, wherein said step of transmitting said mobile object instructions in accordance with the mobility strategy selected, comprises following steps: - initializing each of said mobile objects by assigning them an identifier (IDENT), particularly an alphanumeric identifier; - formatting said control instructions in the form of digital data by associating them identifier of the relevant mobile object; - multiplexing in said guide circuit said control instructions specific to each of said mobile objects and the electric power supply (Tl, Wl) required to operate said mobile object; - extracting from the multiplexed control instructions for each microcontroller of each mobile object, those data that are associated with the identifier that has been assigned to said relevant mobile object; and - controlling by said microcontroller, the actuators based on the extracted control instructions. 5. Method as claimed in claim 4, wherein the multiplexing is a multiplexing. 6. Method as claimed in claim 5, wherein said time multiplexing being such that after each phase (data Vi) for transmitting the control instructions associated with a given mobile object, there is a phase (POWER) for supplying electric power. 7. Method as claimed in any of claims 1 to 3, wherein the step of supplying (SUPPLY) power to said actuators of said mobile object through an electrical circuit associated with the guide circuit and/or through a battery and/or through a rechargeable battery in said mobile object, and wherein said step of transmitting control instruction to said mobile object, additionally comprises the steps of: - initializing each of said mobile objects by assigning each of them an identifier, particularly an alphanumeric identifier; - formatting said control instructions in the form of digital data by associating them with said identifier of the relevant mobile object; - transmitting to said mobile objects a signal, particularly an optical for example, infrared-signal and/or a sound signal and/or an electromagnetic signal; - extracting for each microcontroller of each mobile object from said signal the control instructions associated with the identifier assigned to said relevant mobile object; and - controlling by said microcontroller said actuators based on the control instructions extracted from said signal. 8. Method as claimed in any of claims 1 to 7, wherein said step of selecting the guide lane used based on said mobility strategy, while said mobile object is moving around the track, additionally comprises the steps of: - transmitting (G, El) by a given mobile object a guide signal, particularly an optical for example, infrared-signal, to a receiver (Dl) disposed on the guide circuit and/or on the track; - decoding said guide signal by said receiver to produce a signal for controlling the state of a switch (Al, Bl) associated with said receiver and disposed on the guide circuit, - changing states as a function of said control signal via said switches, so that as the mobile object moves around the track, said mobile actuates said switch that allows it to change lanes, so that the operator transmitting control instructions to the mobile object can see that the lateral movements of the mobile object on the track are practically identical to those that would be on served by an observer actuating a steering wheel for changing the direction of said mobile object whose point of view would be associated with said mobile object, so that a mobile object moving around said track can pass another one located in front of it by swerving laterally. 9. Method as claimed in claim 8, wherein said receiver being disposed on the guide circuit and/or on the track ahead of said switch and at a distance from the latter such that a change in the state of said switch cannot produce a change in the movement of any mobile object other than the one that first actuated said switch. 10. Method as claimed in any of claims 8 and 9, additionally comprising the step of automatically switching (bl) said switch to a predetermined state after the passage of the mobile object that has actuated it. 11. Method as claimed in claim 10, wherein said predetermined state being the initial state. 12. Method as claimed in claims 1 to 11, additionally the step of determined the number of laps around the track performed by each mobile object by detecting a label (L) associated with a given mobile object by means of a reader (CL), particular an optical or electromagnetic reader, integral with the track. 13. Method as claimed in any of claims 1 to 12, additionally comprising the step of timing the time taken by a given mobile object to perform a given number of laps around said track, said timing being performed by detecting the passage of a label associated with the mobile object read by means of a reader, particularly an optical and/or electromagnetic reader integral with the track. 14. Method as claimed in any of claims 1 to 13, wherein the signal transmitted by said mobile object is an optical signal. 15. Method as claimed in any of claims 1 to 14, wherein the signal transmitted by said mobile object is an optical signal. 16. Method as claimed in any of claims 1 to 15, wherein the mobile object transmits the signal in proximity to the switch. 17. System for piloting mobile objects (VI, V2, V3) driven by actuators (M), particularly miniature cars, on a continuous track, said mobile objects being guided operators via a guide circuit comprising several lanes (Cl- C4) and at least one switch (Al) permitting for a mobile object (V1-V3) to change lanes, said guide circuit being common to the various mobile objects moving around the same track, said operator having selected, ahead of time or in real time, a mobility strategy for said mobile object, said system comprising: - parameterizing means (UT1, UT2) for parameterrizing said mobile object based on the mobility strategy selected, and/or - transmission means (UC1, Wl, UT1, Cl, C2, C3. C4, UT4) for transmitting to said mobile object control instructions in accordance with the mobility strategy selected,particularly control instructions relating to said mobile object's speed and guide lane to be used, said mobile object having selection means (El, G, UC2, UT2) for selecting the guide lane used based on said mobility strategy, said selection means being implemented by said mobile object as it moves around the track and comprising means (El) for transmitting a signal, said guide circuit and/or track comprising means for sending said signal transmitted by said mobile object and to actuate said switch (Al) based on the reception of said signal. 18. System as claimed in claim 17, wherein the mobility strategy comprises following parameters: (a) initialization parameters specifying: - the type of mobile object, - the type of driving, - the type and/or quantities of resources available, for example in the case of miniature cars, the nature of the tires, the initial gasoline allocation, (b) parameters specifying the driving: - a speed parameter, - a lane change parameter. 19. System as claimed in any of claims 17 and 18, wherein said parameterization means comprises a control element for entering data and/or macro commands into a memory area located in the mobile object, said memory area being associated with a microcontroller (UT2) that controls said actuators. 20. System as claimed in any of claims 17 and 19, wherein when each mobile object being identifier (IDENT), particularly an alphanumeric identifier, said system additionally comprising a base having; - joysticks (J1, J2, J3) actuated by the operator in order to acquire control instructions (DATA Vi), - data processing means (UT1, Wl) for formatting said control instructions in the form of digital data by associating them with said identifier of the relevant mobile object, - multiplexing means (UC1) for multiplexing, in said guide circuit, said control instructions specific to each of said mobile objects and the electric power supply (TR, Tl) required to operate said mobile object, each microcontroler of each mobile objects it possible to extract from the multiplexed control instructions those data that re associated with the identifier that has been assigned to said relevant mobile object, said microcontroller controlling said actuators based on the extracted control instructions. 21. System as claimed in claim 20, wherein the multiplexing means perform a time multiplexing of said control instructions with the power supply. 22. System as claimed in claim 21, wherein said time multiplexing being such that after each phase for transmitting the control instructions (DATA Vi) associated with a given mobile object, there is a phase (POWER) for supplying electric power. 23. System as claimed in any of claims 17 to 19, wherein when the actuators comprising an electric power supply (ALIM), constituted by an electrical circuit associated with the guide circuit and/or by a battery and/or by a rechargeable battery in said mobile object, said mobile object being identified by an identifier, particularly an alphanumeric identifier, said system additionally comprising a base having: - joysticks (J1, J2, J3) actuated by the operator in order to acquire control instructions, - data processing means (UT1, Wl) for formatting said control instructions in the form of digital data by associating them with said identifier of the relevant mobile object, - transmission means for transmitting to said mobile objects a signal, particularly an optical for example, an infrared-signal and/or a sound and/or an electromagnetic signal, each microcontroller of each mobile object making it possible to extract from said signal the control instructions associated with the identifier assigned to said relevant mobile object, said microcontroller controlling said actuators based on the extracted instructions. 24. System as claimed in any of claims 17 to 23, wherein when said guide circuit is in the form of several guide lanes, each mobile object having a guide element that cooperates with said guide lanes, said guide lanes being interconnected by switches (Al, Bl), said mobile object having transmission means (El) for transmitting a guide signal, particularly an optical for example infrared-signal to a switch receiver (Dl) associated with a given switch, disposed on the guide circuit and/or on the track, said switch receiver having decoding means for decoding said guide signal in order to produce a control signal for the switch, said switch having a moving element (Bl) that is actuated by said control signal for the switch, which is capable of assuming at least two positions, so that said mobile object can thus select as it moves the track the guide lane used, based on the mobility strategy. 25. System as claimed in claim 24, wherein said switch receiver being disposed on the guide circuit and/or on the track ahead of said switch and at a distance from the latter such that a change in the position of the moving element of said switch produce a change in the movement of any mobile object rather than the one first actuated said switch. 26. System as claimed in any of claims 24 and 25, additionally return means (Q) for automatically switching said switch to a predetermined state after the passage of a mobile object that has actuated it. 27. System as claimed in claim 26, wherein said predetermined state being the initial state. 28. System as claimed in any of claims 17 to 27, additionally comprising : - a label reader (CL), particularly an optical and/or electromagnetic reader, integral with the track, for detecting a label (L) associated with a given mobile object, particularly an optical and/or electromagnetic reader, integral with the track, and - computing means associated with said label reader, for determining the number of laps around the track performed by each mobile object. 29.System as claimed in claim 20, comprising: - timing means associated with said label reader, for timing the time taken by a given mobile object to perform a given number around laps around said track. 30. System as claimed in any of claims 17 to 29, wherein the transmission means (El) transmit an optical signal. 31.System as claimed in any of claim 17 to 30, wherein the transmission means (El) transmits a coded signal. 32. System as claimed in any of claims 17 to 31, wherein the transmission means (El) transmits a signal in proximity to the switch. This invention relates to a method and a system for piloting mobile (V1, V2, V3) driven by actuators coupled to an electric power source (T1). The mobile objects are guided by manipulators through a guide circuit. The guide circuit is common to the various mobile objects moving on the same maneuvering circuit. The system comprises: parametering means (CONTROL) for parametering the mobile object based on the selected mobility strategy, and /or transmission means (CONTROL, DATA) for transmitting to said mobile object control instructions concerning the selected mobility strategy, in particular control instructions concerning speed and the guide path used. The mobile object comprises selecting means (A1) for selecting the guide path used based on the mobility strategy. The selection means (A1) are implemented by the mobile objects.

Full Text

Technical field, problem posed
The invention concerns a system for controlling mobile objects in a guide circuit. It is
particularly applicable, for example, to toy car systems guided on a track.
Games consisting of automobile circuits in which the cars are guided, for example, by
guide lanes, are known in the art. However, these systems generally provide several circuits,
each of which guides a car. Each car is guided by commands given to the circuit. If there are
several cars on the same circuit, they will be guided in the same way, based on the orders
given to the circuit. For the operator, this creates a certain monotony in the use of the system,
and in the long run, a certain tedium that can result in a loss of interest in this type of game.
The subject of the invention is a system that makes it possible to solve this problem.
It concerns a system that makes it possible to introduce surprise and spontaneity into the
control of a vehicle circuit such as a guided automobile circuit. The invention also has the
advantage of making it possible to control several vehicles independently on the same circuit.
The invention concerns a method for piloting mobile objects driven by actuators,
particularly miniature cars, on a continuous track. The mobile objects are guided by operators
via a guide circuit comprising several lanes. The guide circuit is common to the various
mobile objects moving around the same track. The method comprises the following steps:
- the step, for the operator, of choosing, ahead of time or in real time, a mobility
strategy for the mobile object,
- the step, for the operator, of parameterizing the mobile object based on the mobility
strategy chosen, and/or
- the step, for the operator, of transmitting to the mobile object control instructions in
accordance with the mobility strategy chosen, including control instructions related to its
speed and to the guide lane used,
- the step, for the mobile object, of selecting the guide lane used based on the mobility
strategy, as it moves around the track.
Preferably, according to the invention, the method is such that the mobility strategy is
characterized by at least one of the initialization parameters specifying:
- the type of mobile object,
- the type of driving,
- the types and/or quantities of resources available, for example, in the case of
miniature cars, the nature of the tires, the initial gasoline allocation, etc.
The mobility strategy is also characterized by at least one of the following parameters
specifying the driving:
- a speed parameter,
- a lane change parameter.
Preferably, according to the invention, the method is such that, in order to
parameterize the mobile object based on the mobility strategy chosen, the method also
comprises the step, for the operator, of entering data and/or macro commands into a memory
area located in the mobile object. The memory area is associated with a microcontroller that
controls the actuators.
Preferably, according to a variant of embodiment of the invention, the method is such
that, in order to transmit to the mobile object control instructions in accordance with the
mobility strategy chosen, the method comprises the step of initializing each of the mobile
objects by assigning them an identifier, particularly an alphanumeric identifier. This
identifier can also be characterized by a specific communication channel. In the case of this
variant of embodiment, the method also comprises the following steps:
- the step of formatting the control instructions in the form of digital data by
associating them with the identifier of the mobile object in question,
- the step of multiplexing in the guide circuit the control instructions specific to each
of the mobile objects and the electric power supply required to operate the mobile object,
- the step, for each microcontroller of each mobile object, of extracting from the
multiplexed control instructions those that are associated with the identifier that has been
assigned to the mobile object in question.
The method also comprises the step, for the microcontroller, of controlling the
actuators based on the extracted control instructions.
Preferably, according to the invention, the method is such that the multiplexing is a
time multiplexing.
Preferably, according to the invention, the time multiplexing is such that each phase
for transmitting the control instructions associated with a given mobile object is followed by
a phase for supplying electric power.
Preferably, according to the invention, the method also comprises the step of
supplying power to the actuators of the mobile object through an electrical circuit associated
with the guide circuit and/or through a battery and/or through a rechargeable battery in the
mobile object. The method is such that, in order to transmit to the mobile object control
instructions in accordance with the mobility strategy chosen, the method also comprises the
following steps:
- the step of initializing each of the mobile objects by assigning each of them an
identifier, particularly an alphanumeric identifier,
- the step of formatting the control instructions in the form of digital data by
associating them with the identifier of the mobile object in question,
- the step of transmitting to the mobile objects a signal, particularly an optical - for
example infrared - signal and/or a sound signal and/or an electromagnetic signal,
- the step, for each microcontroller of each mobile object, of extracting from the
signal the control instructions associated with the identifier assigned to the mobile object in
question.
The method also comprises the step, for the microcontroller, of controlling the
actuators based on the control instructions extracted from the signal.
Preferably, according to the invention, in order to select the guide lane used based on
the mobility strategy, while the mobile object is moving around the track, the method also
comprises the following steps:
- the step, for a given mobile object, of transmitting a guide signal, particularly an
optical - for example infrared - signal, to a receiver disposed on the guide circuit and/or on
the track;
- the step, for the receiver, of decoding the guide signal to produce a signal for
controlling the state of a switch associated with said receiver and disposed on the guide
circuit,
- the step, for the switch, of changing states as a function of the control signal.
The result of the combination of the technical features according to the invention is
that as the mobile object moves around the track, the mobile object actuates the switch that
allows it to change lanes.
Another result of the combination of the technical features according to the invention
is that the operator transmitting control instructions to the mobile object can see that the
lateral movements of the mobile object on the track are practically identical to those that
would be observed by an observer actuating a steering wheel for changing the direction of
said mobile object, whose point of view would be associated with said mobile object.
Another result of the combination of the technical features according to the invention
is that a mobile object moving around the track can pass another one located in front of it, by
swerving laterally.
Preferably, according to the invention, the receiver is disposed on the guide circuit
and/or on the track ahead of the switch and at a distance from the latter such that a change in
the state of the switch cannot produce a change in the movement of any mobile object other
than the one that first actuated the switch.
Preferably, according to the invention, the method is such that it also comprises the
step of automatically switching the switch to a predetermined state after the passage of a
mobile object that has actuated it.
Preferably, according to the invention, the predetermined state is the initial state.
Preferably, according to the invention, the method also comprises the step of
determining the number of laps around the track performed by each mobile object by
detecting a label associated with a given mobile object by means of a reader, particularly an
optical or electromagnetic reader, integral with the track.
Preferably, according to the invention, the method also comprises the step of timing
the time taken by a given mobile object to perform a given number of laps around the track.
The timing is performed by detecting the passage of a label associated with the mobile object
read by means of a reader, particularly an optical and/or electromagnetic reader, integral with
the track.
System
The invention also concerns a system for piloting mobile objects driven by actuators,
particularly miniature cars, on a continuous track. The mobile objects are guided by operators
via a guide circuit comprising several lanes. The guide circuit is common to the various
mobile objects moving around the same track. The operator chooses, ahead of time or in real
time, a mobility strategy for the mobile object. The system comprises:
- parameterizing means for parameterizing the mobile object based on the mobility
strategy chosen, and/or
- transmission means for transmitting to the mobile object control instructions in
accordance with the mobility strategy chosen, particularly control instructions related to its
speed and to the guide lane used.
Thus, in the example in question, the mobile object can be a robot moving
autonomously around the track without the intervention of the operator. It can also be
programmed to interpret control instructions from the operator so as to generate movements
that correspond to the operator's expectations.
The mobile object includes selection means for selecting the guide lane used based on
the mobility strategy. The selection means are implemented by the mobile object as it moves
around the track.
Preferably, according to the invention, the system is such that the mobility strategy is
characterized by one of the following initialization parameters specifying:
- the type of mobile object,
- the type of driving,
- the types and/or quantities of resources available, for example in the case of
miniature cars, the nature of the tires, the initial gasoline allocation, etc.
The mobility strategy is also characterized by at least one of the following parameters
specifying the driving:
- a speed parameter,
- a lane change parameter.
Preferably, according to the invention, the system is such that the parameterization
means include a control element for entering data and/or macro commands into a memory
area located in the mobile object. The memory area is associated with a microcontroller that
controls the actuators.
Preferably, according to the invention, each mobile object is identified by an
identifier, particularly an alphanumeric identifier. The system also includes a base
comprising:
-joysticks actuated by the operator in order to acquire control instructions,
- data processing means for formatting the control instructions in the form of digital
data by associating them with the identifier of the mobile object in question,
- multiplexing means for multiplexing, in the guide circuit, the control instructions
specific to each of the mobile objects and the electric power supply required to operate the
mobile object.
Each microcontroller of each mobile object makes it possible to extract from the
multiplexed control instructions those that are associated with the identifier that has been
assigned to the mobile object in question. The microcontroller controls the actuators based on
the extracted control instructions.
Preferably, according to the invention, the system is such that the multiplexing means
perform a time multiplexing of the control instructions with the power supply.
Preferably, according to the invention, the time multiplexing is such that each phase
for transmitting the control instructions associated with a given mobile object is followed by
a phase for supplying electric power.
Preferably, according to another variant of embodiment of the invention, the system
also comprises an electric power supply for the actuators, constituted by an electrical circuit
associated with the guide circuit and/or by a battery and/or by a rechargeable battery in the
mobile object. Each mobile object is identified by an identifier, particularly an alphanumeric
identifier. In the case of this variant of embodiment, the system also includes a base
comprising:
- joysticks actuated by the operator in order to acquire control instructions,
- data processing means for formatting the control instructions in the form of digital
data by associating them with the identifier of the mobile object in question,
- transmission means for transmitting to the mobile objects a signal, particularly an
optical - for example infrared - signal and/or a sound signal and/or an electromagnetic
signal.
Each microcontroller of each mobile object makes it possible to extract from the
signal the control instructions associated with the identifier assigned to the mobile object in
question. The microcontroller controls the actuators based on the extracted control
instructions.
Preferably, according to the invention, the guide circuit is in the form of several guide
lanes. Each mobile object includes a guide element that cooperates with the guide lanes. The
guide lanes are interconnected by switches. The mobile object includes transmission means
for transmitting a guide signal, particularly an optical - for example infrared - signal, to a
switch receiver. The switch receiver, associated with a given switch, is disposed on the guide
circuit and/or on the track The switch receiver includes decoding means for decoding the
guide signal and producing a control signal for the switch. The switch includes a moving
element that is actuated by the switch control signal. This moving element is capable of
assuming at least two positions.
The result of this combination of technical features is that the mobile object can thus
select the appropriate guide lane, based on the mobility strategy, as it moves around the track.
Preferably, according to the invention, the switch receiver is disposed on the guide
circuit and/or on the track ahead of the switch and at a distance from the latter such that a
change in the position of the moving element of the switch cannot produce a change in the
movement of any mobile object other than the one that first actuated the switch.
Preferably, according to the invention, the system is such that it also comprises return
means for automatically switching the switch to a predetermined state after the passage of a
mobile object that has actuated it.
Preferably according to the invention, the predetermined state is the initial state.
Preferably, according to the invention, the system also comprises a label reader,
particularly an optical and/or electromagnetic reader, integral with the track, for detecting a
label associated with a given mobile object, particularly an optical and/or electromagnetic
reader. The label reader is integral with the track. The system also comprises computing
means, associated with the label reader, for determining the number of laps around the track
performed by each mobile object.
Preferably, according to the invention, the system also comprises a label reader,
particularly an optical and/or electromagnetic reader, integral with the track, for detecting a
label associated with a given mobile object. The system also comprises timing means,
associated with the label reader, for timing the time taken by a given mobile object to
perform a given number around laps around the track.
Detailed description
Other characteristics and advantages of the invention will emerge through the reading
of the description of variants of embodiment of the invention given as illustrative and
nonlimiting examples, and of:
- Fig. 1, which schematically represents the system according to the invention,
- Figs. 2a and 2b, which represent an exemplary switch according to the invention,
- Figs. 3a and 3b, which represent an application of the invention to a system wherein
the electric power supply for the vehicles that allows them to move and the speed and
guidance information flow through the same circuit, for example the guide circuit for the
vehicles,
- Fig. 4, which represents the control circuits of the system according to the invention,
- Fig. 5, which represents the circuits provided in each vehicle,
- Figs. 6a and 6b, which represent a variant of a switch to which the invention can be
applied,
- Figs. 7a and 7b, which represent a variant of a switch that automatically returns to
the neutral position.
Fig. 1 schematically represents the system according to the invention. The system
includes a circuit Cl, C2, C3 on which mobile objects such as one or more vehicles VI, V2,
V3 must run. The circuit Cl, C2, C3 is supplied with electric power in an intrinsically known
way. For example, in Fig. 1, the power required to move the vehicles VI, V2, V3 is supplied
via a transformer Tl and the guide circuit Cl, C2, C3. According to the invention, the
vehicles VI, V2, V3 also receive speed and trajectory commands through the guide circuit. A
circuit interposed between the transformer and the guide circuit is provided, making it
possible to transmit, through the guide circuit, speed and guidance information for the
vehicles VI, V2, V3. Each vehicle VI, V2, V3 can receive a piece of information, or a
packet of information containing a piece of speed information and a piece of guidance
control information. The control of each vehicle V2, V2, V2 is therefore independent of the
control of the other vehicles VI, V2, V3 running on the circuit.
As shown in Figs. 2a and 2b, each vehicle VI, V2, V3 has an information transmitter
El. In addition, the guide circuit Cl has an information receiver Dl associated with each
switch Al, A2, A3 and ahead of each switch in the vehicles' direction of travel. When a
vehicle receives a guidance command, it has this information transmitted to its transmitter
El. When the transmitter El of the vehicle comes near the receiver Dl, the latter receives
this information, decodes it, and triggers the operation of the switch Al. Thus, in Fig. 2b, the
receiver Dl has controlled the switching of the switch Al so that the vehicle is directed to the
lane C3 of the circuit.
According to a simplified variant of embodiment of the invention, all of the switches
on the circuit such as Al have a neutral position such that after the switching of the switch
and after the passage of the vehicle, the switch returns to a neutral position. Under these
conditions, the system can be designed so that the normal movement of the vehicle is such
that it runs through the circuit with the switches in the neutral position. As long as it does not
receive a guidance command, the vehicle's transmitter does not transmit any information, and
the detectors such as Dl remain inactive. When the operator wants to make the vehicle turn,
for example to the right in Fig. 2a, he sends a direction change command, the transmitter El
transmits a control signal, the detector Dl detects it and triggers the operation (the switching)
of the switch Al, which moves to the position represented in Fig. 2b and automatically
returns to the position of Fig. 2a after the vehicle passes.
Under these conditions, according to this variant of embodiment, the receiver has no
decoding function.
Relative position of the transmitters and receivers
The transmitters such as El can be placed underneath the vehicles. In this case, the
receivers such as D1 are placed on the circuit in the lane in which the vehicles are running,
for example, between the wheel paths.
The transmitters such as El can also be placed on a lateral wall or on the front of the
vehicle and oriented toward the edge of the track. The receivers will then be placed on the
edge of the track at a height such that they sit on the axis of maximum transmission of the
transmission lobe of the vehicles' transmitters.
In any case, the transmitters El will preferably be placed in the front part of the
vehicle so as to trigger the switch as soon as possible when the vehicle approaches the
switch.
Relative position of the receivers and the switches
The receivers such as Dl are located along the lane at a distance from the switches
Al such that a vehicle, when it is at the maximum speed allowed by the system., is diverted
by the switch Al that follows the detector Dl right after having been detected by this
detector.
In this general description of the invention, the transmission of the information
transmitted from an operator's station to a vehicle can take place through the guide circuits of
the vehicle via radio frequency, ultrasound or optical transmission.
Generally, it is also possible to arrange for the power supply of the vehicle that allows
it to move to be provided in the vehicle itself, by means of an electric battery.
Referring to Fig. 3, we will now describe the application of the invention to a system
wherein the electric power supply of the vehicles that allows them to move, and the speed
and guidance information, are carried by the same circuit, for example the guide circuit for
the vehicles.
Fig. 3a represents a control diagram for the power supply and the transmission of
information wherein the electric power supply of the vehicles is periodically cut off for brief
periods, during which the centralized control system transmits guidance and speed
information to the vehicles. In Fig. 3a, there are assumed to be three vehicles. During a first
electric power supply cutoff, information is transmitted to the vehicle VI (data VI). During a
second electric power supply cutoff, information is transmitted to the vehicle V2 (data V2).
During a third electric power supply cutoff, information is transmitted to the vehicle V3 (data
V3). Then, the cycle begins again. For example, a time ts for the transmission of data to a
vehicle (data VI or example) can be approximately 5 ms. A time t for the supply of electric
power can be approximately 20 ms. A practical example allowing for 8 vehicles would lead
to a cycle time T of 200 ms.
Fig. 3b represents a variant wherein the data VI, V2, V3 of a cycle are sent together
during the same cutoff of the electric power supply to the vehicles.
Fig. 3c represents a variant of embodiment wherein the speed and guidance
information are superposed on the power supply current.
Fig. 4 represents an exemplary embodiment of a control station which supplies the
electric power to the guide circuit and from which the vehicles are controlled. The guide
circuit in this case includes electrically conductive elements.
This control station includes a transformer TR which is generally supplied with
alternating current by the mains supply and which provides a low-voltage power supply.
A processing unit UT1 includes a circuit Wl for transmitting speed information and a
circuit for transmitting guidance information. These circuits are controlled by joysticks Jl,
J2, J3 of a known type. The joystick Jl makes it possible to control the vehicle VI, the
joystick J2 makes it possible to control the vehicle V2, and the joystick J3 makes it possible
to control the vehicle V3. A central control unit UC1 makes it possible to periodically and
alternately connect the circuit Cl to the transformer TR and to the processing unit UT1. In
addition, the processing unit UT1 controls the successive transmission of the speed and
guidance information transmitted from the joysticks Jl, J2, J3. It adds to each of these pieces
of information an identity (IDENT) that represents the joystick and consequently the vehicle
controlled. The successive transmissions take place in accordance with a process of a type
similar to the one in Figs. 3a through 3c.
Fig. 5 represents a vehicle VI. The unit ALIM of the vehicle is connected by an
electrical connection device, for example brushes, to the guide circuit. The unit ALIM is
therefore supplied with power during the periods when the transformer TR is connected to
the guide circuit Cl, and it supplies the electric power to the motor M and to all the
electronic circuits of the vehicle.
A processing unit UT2 is also electrically connected to the guide circuit Cl by the
brushes. Thus, it receives the speed and guidance information sent by each joystick, along
with an identity associated with this information. The processing unit of the vehicle VI
recognizes the identity related to the joystick Jl and hence to itself and retrieves the
information associated with this identity.
The processing unit UT2 processes this information based on the characteristics
assigned to this vehicle (for example, parameters such as the driving type, the vehicle type,
the speed, the nature of the tires, the gasoline allocation, etc.) and then transmits the
processed speed and guidance information. A control unit UC2 provides:
- a piece of guidance information to a transmission circuit G for activating the
transmission by the transmitter El of a piece of guidance information
- a piece of speed information to a transmission circuit W2 for controlling the speed
of the motor M.
On the guide circuit end, a receiver Dl is located along the circuit. When the receiver
Dl receives a piece of guidance information as a vehicle passes, it switches the position of
the switch Al, particularly by means of an electromagnet.
In a simplified version, each switch has only two positions as in Fig. 2a. In this case,
the guidance information is just a simple piece of switching information, which is all the
receiver Dl needs to detect in order to trigger the switching of Al.
In a more elaborate version, a switch can have more than two positions and can
switch a lane Cl to more than two possible other lanes.
For example, Figs. 6a and 6b show that a lane Cl can be connected to a selected lane
C2, C3 or C4. In this case, the guidance information transmitted by the transmitter El
contains a direction indication and must be interpreted by the receiver Dl.
In this case, the transmitter El includes several light sources such as diodes. A
combination of lit diodes makes it possible to represent a control instruction. Thus, two
diodes make it possible to control a four-way switch, and three diodes make it possible to
control an eight-way switch. Then, based on the guidance information received, the control
unit UC2 will then actuate the lighting of selected diodes that correspond to this information.
Each receiver such as Dl will have as many detecting diodes as each vehicle has
emitting diodes. Based on the diodes that have detected a signal, the receiver Dl will control
the position of the switch.
It should be noted that the transmitters on the vehicles must be positioned based on
the position of the detectors, and vice versa, so that as the vehicle passes, the various diodes
of El pass in front of the diodes in the same row of Dl.
In the above system, it is presumed that in the absence of a detection of a guidance
information signal, the switch is not activated, and it remains in the neutral position like the
one in Fig. 2a.
Figs. 7a and 7b represent a device that makes it possible to have the switch return to
the neutral position after a vehicle passes.
In Fig. 7a, the switch Al is in the neutral position, and it connects the lane segment
Cl to the lane segment C2.
Switching the switch Al has the effect of connecting the lane segment Cl to the lane
segment C2. The point of the switch Al has a portion Bl that curves toward the inside of the
lane segment C3.
When the vehicle that triggered this switching passes over the switch, it pushes on the
portion B1 and forces the switch to return to its neutral position.
It should be noted that depending on the type of switch, the switching of the switch
can be done by means of a keel Q located underneath the vehicle and extending downward
into the support plate containing the guide system. In this case the part Bl does not interfere
with the passage of the vehicle's wheels.
Preferably, it is arranged for the keel to be located underneath the vehicle at the front
of the vehicle in order to trigger the return of the switch to the neutral position immediately
after it passes.
Moreover, each vehicle has, underneath the vehicle, an identification label L. This
label is optically, electrically, or electromagnetically readable by a sensor CL located along
the guide circuit. This sensor is linked to the processing unit UT1, which can thus calculate
the various performances reached by the vehicle, such as speed, distance traveled, etc.
In the above description, we chose to describe an application of the invention to a
system of cars guided by an operator but it would also be applicable to a system comprising
preprogrammed robot cars.
WE CLAIM
1. Method for piloting mobile objects (VI, V3) driven by actuators (M),
particularly miniature cars, on a continuous track, said mobile objects
guided by operators via guide circuit comprising several lanes (C1-C4) and
at least one switch (Al) permitting a mobile object (V1-V3) to change
lanes, said guide circuit being common to the various mobile objects
moving around the continuous track, said method comprising the steps of:
- for said operator, selecting a mobility strategy for said mobile
object ahead of time or in real time,
- for said operator, parameterizing said mobile object based on the
selected mobility strategy, and/or.
- for said operator, transmitting to said mobile object control
instructions (Data, data ViO in accordance with the selected
mobility strategy, particularly control instructions relating to said
mobile object's sped and guide lane to be used; and
- for said mobile object, transmitting a signal permitting to select the
guide lane used based on said mobility strategy, as said mobile
object moves around the continuous track;
- actuating said switch (Al) based on the reception of the
transmitted by said mobile object.
2. Method as claimed in claim 1, wherein the mobility strategy is
characterized by at least one of the following parameters:
(a) initialization parameters specifying :
- the type of mobile object,
- the type of driving,
- the type and/or quantities of resources available, for example, in
the case of miniature cars, the nature of the tries, the initial
gasoline allocation,
(b) parameters specifying the driving:
- a speed parameter;
- a lane change parameter.
3. Method as claimed in any of claims 1 and 2, wherein said step of
parameterizing said mobile object based on the mobility strategy selected,
comprising the step, for the operator, of entering data and/or macro
commands into a memory area located in the mobile object, said memory
area being associated with a microcontroller (UT2, W2) that controls said
actuators.
4. Method as claimed in any of claims 1 to 3, wherein said step of
transmitting said mobile object instructions in accordance with the
mobility strategy selected, comprises following steps:
- initializing each of said mobile objects by assigning them an
identifier (IDENT), particularly an alphanumeric identifier;
- formatting said control instructions in the form of digital data by
associating them identifier of the relevant mobile object;
- multiplexing in said guide circuit said control instructions specific to
each of said mobile objects and the electric power supply (Tl, Wl)
required to operate said mobile object;
- extracting from the multiplexed control instructions for each
microcontroller of each mobile object, those data that are
associated with the identifier that has been assigned to said
relevant mobile object; and
- controlling by said microcontroller, the actuators based on the
extracted control instructions.
5. Method as claimed in claim 4, wherein the multiplexing is a multiplexing.
6. Method as claimed in claim 5, wherein said time multiplexing being such
that after each phase (data Vi) for transmitting the control instructions
associated with a given mobile object, there is a phase (POWER) for
supplying electric power.
7. Method as claimed in any of claims 1 to 3, wherein the step of supplying
(SUPPLY) power to said actuators of said mobile object through an
electrical circuit associated with the guide circuit and/or through a battery
and/or through a rechargeable battery in said mobile object, and wherein
said step of transmitting control instruction to said mobile object,
additionally comprises the steps of:
- initializing each of said mobile objects by assigning each of them an
identifier, particularly an alphanumeric identifier;
- formatting said control instructions in the form of digital data by
associating them with said identifier of the relevant mobile object;
- transmitting to said mobile objects a signal, particularly an optical
for example, infrared-signal and/or a sound signal and/or an
electromagnetic signal;
- extracting for each microcontroller of each mobile object from said
signal the control instructions associated with the identifier
assigned to said relevant mobile object; and
- controlling by said microcontroller said actuators based on the
control instructions extracted from said signal.
8. Method as claimed in any of claims 1 to 7, wherein said step of selecting
the guide lane used based on said mobility strategy, while said mobile
object is moving around the track, additionally comprises the steps of:
- transmitting (G, El) by a given mobile object a guide signal,
particularly an optical for example, infrared-signal, to a receiver
(Dl) disposed on the guide circuit and/or on the track;
- decoding said guide signal by said receiver to produce a signal for
controlling the state of a switch (Al, Bl) associated with said
receiver and disposed on the guide circuit,
- changing states as a function of said control signal via said
switches, so that as the mobile object moves around the track, said
mobile actuates said switch that allows it to change lanes,
so that the operator transmitting control instructions to the mobile
object can see that the lateral movements of the mobile object on
the track are practically identical to those that would be on served
by an observer actuating a steering wheel for changing the
direction of said mobile object whose point of view would be
associated with said mobile object,
so that a mobile object moving around said track can pass another
one located in front of it by swerving laterally.
9. Method as claimed in claim 8, wherein said receiver being disposed on the
guide circuit and/or on the track ahead of said switch and at a distance
from the latter such that a change in the state of said switch cannot
produce a change in the movement of any mobile object other than the
one that first actuated said switch.
10. Method as claimed in any of claims 8 and 9, additionally comprising the
step of automatically switching (bl) said switch to a predetermined state
after the passage of the mobile object that has actuated it.
11. Method as claimed in claim 10, wherein said predetermined state being
the initial state.
12. Method as claimed in claims 1 to 11, additionally the step of determined
the number of laps around the track performed by each mobile object by
detecting a label (L) associated with a given mobile object by means of a
reader (CL), particular an optical or electromagnetic reader, integral with
the track.
13. Method as claimed in any of claims 1 to 12, additionally comprising the
step of timing the time taken by a given mobile object to perform a given
number of laps around said track, said timing being performed by
detecting the passage of a label associated with the mobile object read by
means of a reader, particularly an optical and/or electromagnetic reader
integral with the track.
14. Method as claimed in any of claims 1 to 13, wherein the signal transmitted
by said mobile object is an optical signal.
15. Method as claimed in any of claims 1 to 14, wherein the signal transmitted
by said mobile object is an optical signal.
16. Method as claimed in any of claims 1 to 15, wherein the mobile object
transmits the signal in proximity to the switch.
17. System for piloting mobile objects (VI, V2, V3) driven by actuators (M),
particularly miniature cars, on a continuous track, said mobile objects
being guided operators via a guide circuit comprising several lanes (Cl-
C4) and at least one switch (Al) permitting for a mobile object (V1-V3) to
change lanes, said guide circuit being common to the various mobile
objects moving around the same track, said operator having selected,
ahead of time or in real time, a mobility strategy for said mobile object,
said system comprising:
- parameterizing means (UT1, UT2) for parameterrizing said mobile
object based on the mobility strategy selected, and/or
- transmission means (UC1, Wl, UT1, Cl, C2, C3. C4, UT4) for
transmitting to said mobile object control instructions in accordance
with the mobility strategy selected,particularly control instructions
relating to said mobile object's speed and guide lane to be used,
said mobile object having selection means (El, G, UC2, UT2) for
selecting the guide lane used based on said mobility strategy, said
selection means being implemented by said mobile object as it
moves around the track and comprising means (El) for
transmitting a signal,
said guide circuit and/or track comprising means for sending said
signal transmitted by said mobile object and to actuate said switch
(Al) based on the reception of said signal.
18. System as claimed in claim 17, wherein the mobility strategy comprises
following parameters:
(a) initialization parameters specifying:
- the type of mobile object,
- the type of driving,
- the type and/or quantities of resources available, for example in
the case of miniature cars, the nature of the tires, the initial
gasoline allocation,
(b) parameters specifying the driving:
- a speed parameter,
- a lane change parameter.
19. System as claimed in any of claims 17 and 18, wherein said
parameterization means comprises a control element for entering data
and/or macro commands into a memory area located in the mobile object,
said memory area being associated with a microcontroller (UT2) that
controls said actuators.
20. System as claimed in any of claims 17 and 19, wherein when each mobile
object being identifier (IDENT), particularly an alphanumeric identifier,
said system additionally comprising a base having;
- joysticks (J1, J2, J3) actuated by the operator in order to acquire
control instructions (DATA Vi),
- data processing means (UT1, Wl) for formatting said control
instructions in the form of digital data by associating them with said
identifier of the relevant mobile object,
- multiplexing means (UC1) for multiplexing, in said guide circuit,
said control instructions specific to each of said mobile objects and
the electric power supply (TR, Tl) required to operate said mobile
object,
each microcontroler of each mobile objects it possible to extract
from the multiplexed control instructions those data that re
associated with the identifier that has been assigned to said
relevant mobile object,
said microcontroller controlling said actuators based on the
extracted control instructions.
21. System as claimed in claim 20, wherein the multiplexing means perform a
time multiplexing of said control instructions with the power supply.
22. System as claimed in claim 21, wherein said time multiplexing being such
that after each phase for transmitting the control instructions (DATA Vi)
associated with a given mobile object, there is a phase (POWER) for
supplying electric power.
23. System as claimed in any of claims 17 to 19, wherein when the actuators
comprising an electric power supply (ALIM), constituted by an electrical
circuit associated with the guide circuit and/or by a battery and/or by a
rechargeable battery in said mobile object, said mobile object being
identified by an identifier, particularly an alphanumeric identifier,
said system additionally comprising a base having:
- joysticks (J1, J2, J3) actuated by the operator in order to acquire
control instructions,
- data processing means (UT1, Wl) for formatting said control
instructions in the form of digital data by associating them with said
identifier of the relevant mobile object,
- transmission means for transmitting to said mobile objects a signal,
particularly an optical for example, an infrared-signal and/or a
sound and/or an electromagnetic signal,
each microcontroller of each mobile object making it possible to
extract from said signal the control instructions associated with the
identifier assigned to said relevant mobile object, said microcontroller
controlling said actuators based on the extracted instructions.
24. System as claimed in any of claims 17 to 23, wherein when said guide
circuit is in the form of several guide lanes, each mobile object having a
guide element that cooperates with said guide lanes, said guide lanes
being interconnected by switches (Al, Bl), said mobile object having
transmission means (El) for transmitting a guide signal, particularly an
optical for example infrared-signal to a switch receiver (Dl) associated
with a given switch, disposed on the guide circuit and/or on the track, said
switch receiver having decoding means for decoding said guide signal in
order to produce a control signal for the switch, said switch having a
moving element (Bl) that is actuated by said control signal for the switch,
which is capable of assuming at least two positions,
so that said mobile object can thus select as it moves the track the guide
lane used, based on the mobility strategy.
25. System as claimed in claim 24, wherein said switch receiver being
disposed on the guide circuit and/or on the track ahead of said switch and
at a distance from the latter such that a change in the position of the
moving element of said switch produce a change in the movement of any
mobile object rather than the one first actuated said switch.
26. System as claimed in any of claims 24 and 25, additionally return means
(Q) for automatically switching said switch to a predetermined state after
the passage of a mobile object that has actuated it.
27. System as claimed in claim 26, wherein said predetermined state being
the initial state.
28. System as claimed in any of claims 17 to 27, additionally comprising :
- a label reader (CL), particularly an optical and/or electromagnetic
reader, integral with the track, for detecting a label (L) associated
with a given mobile object, particularly an optical and/or
electromagnetic reader, integral with the track, and
- computing means associated with said label reader, for determining
the number of laps around the track performed by each mobile
object.
29.System as claimed in claim 20, comprising:
- timing means associated with said label reader, for timing the time
taken by a given mobile object to perform a given number around
laps around said track.
30. System as claimed in any of claims 17 to 29, wherein the transmission
means (El) transmit an optical signal.
31.System as claimed in any of claim 17 to 30, wherein the transmission
means (El) transmits a coded signal.
32. System as claimed in any of claims 17 to 31, wherein the transmission
means (El) transmits a signal in proximity to the switch.
This invention relates to a method and a system for piloting mobile (V1, V2, V3)
driven by actuators coupled to an electric power source (T1). The mobile objects
are guided by manipulators through a guide circuit. The guide circuit is common
to the various mobile objects moving on the same maneuvering circuit. The
system comprises: parametering means (CONTROL) for parametering the mobile
object based on the selected mobility strategy, and /or transmission means
(CONTROL, DATA) for transmitting to said mobile object control instructions
concerning the selected mobility strategy, in particular control instructions
concerning speed and the guide path used. The mobile object comprises
selecting means (A1) for selecting the guide path used based on the mobility
strategy. The selection means (A1) are implemented by the mobile objects.

Documents:

1388-kolnp-2005-granted-abstract.pdf

1388-kolnp-2005-granted-claims.pdf

1388-kolnp-2005-granted-correspondence.pdf

1388-kolnp-2005-granted-description (complete).pdf

1388-kolnp-2005-granted-drawings.pdf

1388-kolnp-2005-granted-examination report.pdf

1388-kolnp-2005-granted-form 1.pdf

1388-kolnp-2005-granted-form 13.pdf

1388-kolnp-2005-granted-form 18.pdf

1388-kolnp-2005-granted-form 2.pdf

1388-kolnp-2005-granted-form 26.pdf

1388-kolnp-2005-granted-form 3.pdf

1388-kolnp-2005-granted-form 5.pdf

1388-kolnp-2005-granted-letter patent.pdf

1388-kolnp-2005-granted-reply to examination report.pdf

1388-kolnp-2005-granted-specification.pdf

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Patent Number

222876

Indian Patent Application Number

1388/KOLNP/2005

PG Journal Number

35/2008

Publication Date

29-Aug-2008

Grant Date

27-Aug-2008

Date of Filing

18-Jul-2005

Name of Patentee

WANY S.A.

Applicant Address

AVENUE DE L'EUROPE F-34940 MONTPELLIER CEDEX 09

Inventors:

#	Inventor's Name	Inventor's Address
1	TREMEL, LAURENT	2 IMPASS DES AMANTS, F-34170 CASTELNAU LE LEZ
2	BINI, RAPHAEL	50, RUE SUZANNE VALADON, F-34000 MONTPELLIER

PCT International Classification Number

A63H 18/16

PCT International Application Number

PCT/FR2003/050184

PCT International Filing date

2003-12-17

PCT Conventions:

#	PCT Application Number	Date of Convention	Priority Country
1	02 16095	2002-12-18	France