Abstract:
A universal chassis which may be assembled with modular componentry allowing for a play pattern with the user in which modification of the overall construction of the vehicle is encouraged. The modularity is purposely built in to allow users to modify their Battlebot chassis. In operating the configured vehicle, two motors, i.e., left and right, are provided with pulsed controlled operation to facilitate two-speed performance. The ability to transmit/receive IR signals modulated on one or more of multiple carriers facilitates the play pattern with simultaneous operation of multiple vehicles. An impact sensor or the like provides for detecting impacts, and processor control may be used for counting impacts in order to modify the functionality accorded to the user with the universal chassis. The mechanical subassemblies (such as weaponry providing a play pattern as between remote control vehicles operable simultaneously such that overall functionality) may be removed or limited based on collisions or damages taken on by the vehicles.

Description:
CROSS-REFERENCE TO RELATED APPLICATION  
       [0001]    This application claims benefit of U.S. Provisional Application No. 60/266,958, filed Feb. 6, 2001. 
     
    
     
       BACKGROUND OF THE INVENTION  
         [0002]    The present invention relates to infrared (IR) remote control vehicles having multiple body styles operable with a universal chassis with attachable dynamic assemblies, and more particularly to robotic vehicles that can accept one or more different weapon assemblies operable from the drive motors of the universal chassis.  
           [0003]    It would be desirable to provide a modular chassis system for children facilitating the customization or modification of overall vehicle designs and allowing for the configuration of robotic vehicles which may include mechanical subassemblies such as weaponry providing a play pattern as between remote control vehicles operable simultaneously such that overall functionality may be removed or limited based on collisions or damages taken on by the vehicles.  
         SUMMARY OF THE INVENTION  
         [0004]    Briefly summarized, the present invention provides a universal chassis which may be assembled with modular componentry allowing for a play pattern with the user in which modification of the overall construction of the vehicle is encouraged. There is a desire therefore to provide for the ability to accept a variety of snap-on components. In operating the configured vehicle, two motors, i.e., left and right, are provided with pulsed controlled operation to facilitate two-speed performance. The ability to transmit/receive IR signals modulated on one or more of multiple carriers facilitates the play pattern with simultaneous operation of multiple vehicles. An impact sensor or the like provides for detecting impacts, and processor control may be used for counting impacts in order to modify the functionality accorded to the user with the universal chassis.  
           [0005]    Advantageously, snap-on mechanical subassemblies may be powered from either of the two motors of the universal chassis such that operation of either motor may operate the snap-on mechanical subassembly which may be provided as a weapon or the like as use by the robotic vehicle. The controller onboard the chassis controls all functionality of the chassis and may also provide for the detection of the presence or absence of any mechanical subassemblies. Additionally, interlocks or clutch mechanisms may be provided with the mechanical subassemblies for safety and reliability of the configured vehicles. 
       
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS  
       [0006]    A better understanding of the present invention is obtained when considered in connection with the following description, drawings and software Appendix (A-1 through A-8), in conjunction with the following figures, in which:  
         [0007]    [0007]FIG. 1 illustrates an exploded view of a basic universal chassis in accordance with the present invention;  
         [0008]    FIGS.  2 A- 2 J, FIGS.  3 A- 3 J, FIGS.  4 A- 4 J, and FIGS.  5 A- 5 J respectively illustrate four (4) robotic vehicle embodiments illustrating various subassemblies corresponding to associated assemblies as between the embodiments of the FIGS.  2 - 5 , with a total assembly illustrated as (A) and subassemblies (B)-(J);  
         [0009]    [0009]FIG. 6 is a schematic diagram of the transmitter electronics provided in a hand-held controller; and  
         [0010]    FIGS.  7 A- 7 C are schematic diagrams of the electronic circuitry in the universal chassis in which  
         [0011]    [0011]FIG. 7A shows the IR receiver circuitry and  
         [0012]    [0012]FIGS. 7B and 7C shows the H bridge motor control circuitry for the chassis motors in which FIG. 7B controls the left-hand motor and FIG. 7C controls the right-hand motor. 
     
    
     DESCRIPTION OF THE PREFERRED EMBODIMENTS  
       [0013]    With reference to FIG. 1, the universal chassis for the preferred embodiments is provided as an IR controlled vehicle chassis which facilitates multiple functionality including the provision of a dual motor, dual speed, remote control vehicles that accommodate multiple modular wheel, weapon and body assemblies which may be received on the universal chassis of FIG. 1. As described, the chassis is further equipped with on-board electronics for receiving encoded IR signals for controlling the speed of the left-hand and right-hand motors respectively, and microprocessor control is provided for counting the number of physical impacts as identified with an impact switch or tilt sensor.  
         [0014]    IR Battlebots are described as a variety of dual motor, dual speed, remote controlled vehicles having a universal chassis with the means for accepting modular wheel, weapon and body assemblies and where the chassis is also equipped with the on board electronics for receiving an IR signal, for controlling the speed of the motors, and for counting the number of physical impacts received. The controller has the means of transmitting via IR any one of 17 codes required for the operation of the vehicles. These functions are forward and reverse for both motors and “turbo” forward and reverse for both motors. There is also a code for when the vehicle is idle. The IR itself is broadcast at one specific carrier frequency.  
         [0015]    Both the chassis and the controller may be outfitted with a switch for changing the specific IR carrier broadcast frequency. The number possible switch positions is determined by the number of Battlebots (chassis) required to battle simultaneously.  
         [0016]    Alternatively, each Battlebot (chassis) may be tuned to a single specific IR carrier frequency. In this event, two of the same style Battlebots (chassis) will not be able to operate simultaneously.  
         [0017]    To clarify further, any chassis may become any Battlebot because of the modular nature of its construction. The modularity is purposely built in to allow users to modify their Battlebot chassis.  
         [0018]    A hand-held controller (not shown) is facilitated with the ability to transmit via IR signals nine codes which facilitate 17 operations of the motor as illustrated Appendix A-1 through A-8. The decoding of the 17 encoded operations for the motor drive combinations of the vehicles facilitates the functions of forward, reverse, and turbo drive commands for either or both motors including turbo forward and reverse for both motors. A code is also provided for indicating when the vehicle is in an idle state when the user has not manipulated the controls of the hand-held controller such that the vehicle motor may be provided in an OFF state. Additionally, the IR carrier frequency is broadcast by individual controllers at separate carrier frequencies allowing for the control and operation of multiple vehicles simultaneously by different users.  
         [0019]    To this end, the controller and the chassis may be outfitted with a switch, e.g., rotatable, momentary or dip switches, for changing the specific IR broadcast frequencies. The number of possible switch positions or frequency configurations may be determined by the number of vehicles required to battle or otherwise operate simultaneously. Alternatively, each chassis may be tuned to a single specific IR carrier frequency, in which two of the same style chassis may not be able to operate simultaneously.  
         [0020]    The configured vehicles are intended for operation at relatively close range with directional infrared IR controllers such that multiple players may engage in a battle or collision activity between multiple vehicles. The operation may be provided either on a tabletop or on a flat floor surface for providing a platform for engaging the play pattern as between the players and their controlled vehicles. It is likely that the players will be operating the vehicles within close range, e.g., 3 to 10 feet, preferably at a range of about six feet. As shown in FIG. 1, the universal chassis includes electronic circuitry on a circuit board including an IR receiver, impact switch, an LED indicator and reset button operable with batteries housed within the chassis. Each of two motors (left and right) have a combination gear which operates the driver train and weapon subassemblies. As discussed, the assemblies of FIGS. 2A, 3A,  4 A, and  5 A facilitate operation from either of the two motors that will activate the weapon subassemblies such that slider gears in FIGS. 2J, 3J,  4 J, and  5 J may individually operate the mechanical subassemblies attached to the universal chassis.  
         [0021]    As discussed, the universal chassis accepts modular components and includes four bosses to accept any of the four bodies, or body styles of FIGS. 2G, 3G,  4 G, and  5 G, identified by name by Minion, Blendo, Killerhurtz, and Vlad, body styles, respectively. The reversible motors are provided with two speeds either for pulsed operation from the information processor facilitated with a microprocessor or microcontroller, which controls the speed by providing a pulsed or alternatively a full power (“turbo”) operation. In addition to providing for slower pulsed operation, the pulsed operation of the motor also serves to extend the battery life of the vehicle, and the slow pulsed operation is also a provided mode of operation for steering or otherwise maneuvering the vehicles.  
         [0022]    The IR controller is operated on one of multiple carrier frequencies, at least three and preferably four to eight frequencies for allowing simultaneous operation, e.g., eight vehicles over eight carrier frequencies, which are controlled with a frequency configuration switch or input provided by the user. The infrared (IR) transmission link is somewhat directional with the remote hand-held controllers providing an angle of illumination of about 40 degrees allowing for multiple players in indoor closer range operation. The transmit and receive circuitries are described further below in connection with FIGS. 6 and 7A and  7 B which are provided with a conventional Winbond W583 encoding circuit which transmits signals over a carrier frequency generated with a 555 timer.  
         [0023]    The mechanical subassemblies are illustrated in exploded views for each of the four embodiments, as shown in FIGS. 2J, 3J,  4 J, and  5 J, respectively, providing a saw operation, a rotary dome with serrated teeth, a hatchet, and forklift type assemblies, however, various other active assemblies may be operable from the universal chassis.  
         [0024]    Turning now to FIG. 6, the Winbond W583 encoder circuit which is used both in the transmitter circuit of FIG. 6 and receiver circuit of FIG. 7A, provides for modulation as indicated in the hardware IR of Appendix A-1, which is facilitated with the software control IR transmitter program of Appendix A-2 through A-5 and the IR receiver program of A-6 through A-8. As shown in FIG. 6, the IR output of the W583 integrated circuit is coupled via a transmitter to the 555 timer, which outputs a modulated carrier frequency from a IR LED under the control of a switching transistor. Codes indicated in accordance with Appendix A-1 are thus transmitted from the transmitter circuitry of FIG. 6. The typical operation for the 555 timer provides a carrier output of approximately 38 kilohertz which may be varied for operation on multiple different carriers.  
         [0025]    With reference to FIG. 7A, the IR receiver includes a photo diode with a tuner adjustment stage (optional) followed by a two-stage operational amplifier for amplifying the detected IR signal which is presented to a phase-lock loop (PLL) tone decoder herein LM567 decoder which generates an output to the Winbond W583 integrated circuit for controlling the OR GATE operation of the H bridge motor circuitry of FIGS. 7B and 7C, which are provided as conventional motor drive circuits. It will be appreciated that the 555 timer of the FIG. 7A receiver provides gated operation such that the turbo decode output resets the 555 timer so as to provide full power operation to the motors via the control circuitry of FIGS. 7B and 7C.  
         [0026]    While the invention has been described in conjunction with specific embodiments thereof, it is evident that many alternatives, modifications, and variations will be apparent to those skilled in the art in light of the foregoing description. Accordingly, it is intended to embrace all such alternatives, modifications, and variations as fall within the spirit and broad scope of the appended claims.  
         [0027]    VI.12.1 H/W IR Protocol  
         [0028]    The output protocol of hardware defined IR begins with a Start bit followed by 9 Data bits(1 data byte, MSB first, and 1 parity bit), and Stop bit. The Start bit is typically composed of 1 mS High(TH) and 6.5 mS Low(TL). Data bit ‘1’ is composed of 1 mS High and 4 mS Low. Data bit ‘0’ and Stop bit are composed of 1 mS High and 2 mS Low. It&#39;s called pulse position modulation. The IROUT pin will keep high in TH duration and output 38 KHz carrier with 75% duty cycle in TL duration. Receiver module will recover the original waveform by filtering the 38 KHz carrier out.  
                                                                                                                                          Parameter   Description   Min.   Typ.   Max.   Unit                    TD0   Data “0” period       3000       μS       THD0   Data “0” high time   800   1000   1200   μS       TLD0   Data “0” low time   1600   2000   2400   μS       TD1   Data “1” period       5000       μS       THD1   Data “1” high time   800   1000   1200   μS       TLD1   Data “1” low time   3200   4000   4800   μS       TSTR   Start bit period       7500       μS       THSTR   Start bit high time   800   1000   1200   μS       TLSTR   Start bit low time   5200   6500       μS                  
 
         [0029]    VI.13 CPU INTERFACE  
         [0030]    The W583xxx can communicate with an external microprocessor through a simple serial CPU interface. This  
                                                                                                                                                                                                   ;   Battle Bots       ;       ;   BBot_T2  IR transmitter program       ;       ;       ;       ;           W583S40             DEFPAGE 1           NORMAL             OSC_3MHZ             VOUT_DAC             LED0             FREQ2       32:             LD EN0,10111011b           LD EN1,00110011b             LD R0,0                LD MODE0,10111111B   ;STP C control IR           LD MODE1,0FEH   ;IR carrier disabled           END               0:   ;TG1 is low           ;ignore TG2           [10]           JP 40@TG6_LOW           JP 41@TG4_LOW           JP 42@TG5_LOW       ;   LD STOP,11111011b       ;   [500]       ;   LD STOP,11111111b       ;   [500]       ;   LD STOP,11111011b       ;   [500]       ;   LD STOP,11111111b       ;   [500]       ;   LD STOP,11111011b       ;   [500]       ;   LD STOP,11111111b       ;   [500]       ;   LD STOP,11111011b       ;   [500]       ;   LD STOP,11111111b       ;   [500]           LD R0,33   ;left turn           JP 110       1:   ;ignore TG1           ;TG2 is low           [10]           JP 45       9:   ;TG6 is low           ;ignore TG4           [10]           JP 40@TG1_LOW           JP 49@TG2_LOW       3:   ;ignore TG6           TG4 is low           [10]           JP 41@TG1_LOW           JP 50@TG2_LOW           JP 47       4:   ;TG1 returns high           [10]           JP 45@TG2_LOW           JP 46@TG6_LOW           JP 47@TG4_LOW           LD R0,49   ;stop           JP 110       5:   ;TG2 returns high           [10]           JP 0@TG1_LOW           JP 46@TG6_LOW           JP 47@TG4_LOW           LD R0,49   ;stop           JP 110       13:   ;TG6 returns high           [10]           JP 0@TG1_LOW           JP 45@TG2_LOW           JP 47@TG4_LOW           LD R0,49   ;stop           JP 110       7:   ;TG4 returns high           [10]           JP 0@TG1_LOW           JP 45@TG2_LOW           JP 46@TG6_LOW           LD R0,49   ;stop           JP 110       8:   ;TG5 is low           [10]           JP 0@TG1_LOW           JP 45@TG2_LOW           JP 46@TGG_LOW           JP 47@TG4_LOW           LD R0,49   ;stop           JP 110       12:   ;TG5 returns high           [10]           JP 0@TG1_LOW           JP 1@TG2_LOW           JP 9@TG6_LOW           JP 3@TG4_LOW           LD R0,49   ;stop           JP 110       40:   ;TG1 is low           ;TG6 is low           JP 43@TG5_LOW           LD R0,40   ;forward           JP 110       41:   ;TG1 is low           ;TG4 is low           JP 44@TG5_LOW           LD R0,37   ;ccw spin           JP 110       42:   ;TG1 is low           ;TG5 is low           LD RO,41   ;turbo left turn           JP 110       43:   ;TG1 is low           ;TG6 is low           ;TG5 is low           LD R0,48   ;turbo forward           JP 110       44:           LD R0,45   ;turbo ccw spin           JP 110       45:   ;TG2 is low           JP 49@TG6_LOW           JP 50@TG4_LOW           JP 51@TG5_LOW           LD R0,34   ;reverse left turn           JP 110       46:   ;TG1 is high           ;TG2 is high           ;TG6 is low           JP 54@TG5_LOW           LD R0,35   ;right turn           JP 110       47:   ;TG1 is high           ;TG2 is high           ;TG6 is high           ;TG4 is low           JP 55@TG5_LOW           LD R0,36   ;reverse right turn           JP 110       48:   ;TG1 is high           ;TG2 is high           ;TG6 is high           ;TG4 is high           ;TG5 is low           LD R0,49   ;stop           JP 110       49:   ;TG2 is low           ;TG6 is low           JP 52@TG5_LOW           LD R0,38   ;cw spin           JP 110       50:   ;TG2 is low           ;TG4 is low           JP 53@TG5_LOW           LD R0,39   ;reverse           JP 110       51:   ;TG2 is low           LD R0,42   ;turbo reverse left turn           JP 110       52:   ;TG2 is low           ;TG6 is low           ;TG5 is low           LD R0,46   ;turbo cw spin           JP 110       53:   ;TG2 is low           ;TG4 is low           ;TG5 is low           LD R0,47   ;turbo reverse           JP 110       54:   ;TG1 is high           ;TG2 is high           ;TG6 is low           ;TGS is low           LD R0,43   ;turbo right turn           JP 110       55:   ;TG1 is high           ;TG2 is high           ;TG6 is high           ;TG4 is low           ;TG5 is low           LD R0,44   ;turbo reverse right turn           JP 110       110:           [300]           TX R0           [100]           TX R0             ;[1000]           [400]           JP 110                       2:       60:       100:       10:       11:       6:       14:       15:       ...               255:           jp 32       ;   Battle Bots       ;            ;   BBOT_R2  IR receiver program       ;       ;       ;       ;            W583S40       DEFPAGE 1       NORMAL       OSC_3MHZ       VOUT_DAC       LED0       FREQ2  ;8KHZ       POI:                  LD EN0,0             LD EN1,0       ;     LD MODE0,0bFH            ;   LD MODE0,00111111b   ;led1 DC,stpc output           LD MODE0,00101111b   ;led1 DC,stpc output,short debounce       ;     LD MODE1,0FFH           LD MODE1, 11111111b       ;     LD STOP,0FFH             LD STOP,07FH           LED1  ;;led1 on             [400]       ;     LD EN0,00H           LD EN1,00001000b   ;TG8 negative edge triggered for               jiggle switch       ;   LD EN1,00000000b   ;TG8 negative edge triggered for               jiggle switch            DISABLED                LD R0,50             JP 100               11:           JP R0               100:             [880]           LD STOP,011111111b           JP 101           END       101:             [880]           LD STOP,01111111b           JP 102           END       102:             [880]           LD STOP,01111111b           JP 103           END       103:             [880]           LD STOP,01111111b           JP 104           END       104:             [880]           LD STOP,01111111b           JP 105           END       105:             [880]           LD STOP,01111111b           JP 106           END       106:             [880]           LD STOP,01111111b           JP 107           END       107:             [880]           LD STOP,01111111b           JP 108           END       108:             [880]           LD STOP,01111111b           JP 109           END       109:             [880]           LD STOP,01111111b             JP 100           END       33:           LD STOP,01111110b           JP 100       34:           LD STOP,01111101b           JP 100       35:           LD STOP,01011111b           JP 100       36:           LD STOP,01110111b           JP 100       37:           LD STOP,01110110b           JP 100       38:           LD STOP,01011101b           JP 100       39:           LD STOP,01110101b           JP 100       40:           LD STOP,01011110b           JP 100       41:           LD STOP,01101110b           JP 100       42:           LD STOP,01101101b           JP 100       43:           LD STOP,01001111b           JP 100       44:           LD STOP,01100111b           JP 100       45:           LD STOP,01100110b           JP 100       46:           LD STOP,01100101b           JP 100       47:           LD STOP,01100101b           JP 100       48:           LD STOP,01001110b           JP 100       49:           LD STOP,01111111b           JP 100       50:                LD EN1,00000000b   ;disable all triggers                LD STOP,11111111b ;disable IR input - npn base hi...npn on!           LD R0,51           LED1           [1000]           LD STOP,01111111b                LD EN1,00001000b   ;TG8 negative edge triggered               for jiggle switch           JP 100       51:           LD EN1,00000000b   ;disable all triggers                LD STOP,11111111b ;disable IR input - npn base hi...npn on!           LD R0,52                LD MODE0,10111111b   ;led1 flash           LED1           [1000]           LD STOP,01111111b           LD EN1,00001000b   ;TG8 negative edge triggered for               jiggle switch           JP 100       52:           LD EN1,00000000b   ;disable all triggers                LD STOP,11111111b ;disable IR input - npn base hi...npn on!                LED0   ;led1 off       53:               JP 53