CN100446830C - Method for guiding moving body using multi-path guidance program and system using the same - Google Patents

Abstract

The invention concerns a method and a system for piloting mobile objects (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.

Description

Method for guiding moving body using multi-path guidance program and system using the same

technical field

The invention relates to a system for controlling a moving body in a guiding circuit. In particular, it is particularly suitable for toy vehicle systems guided eg on rails.

Background technique

Gaming systems are known in the art that include a vehicle circuit in which the vehicle is guided through a guide lane. However, these systems typically provide multiple loops, where each loop directs a vehicle. Each vehicle is guided by providing commands to the loop. If there are several vehicles on the same circuit, these vehicles will be directed in the same way based on the commands provided to the circuit. For the operator, this can lead to a somewhat monotonous use of the system, which in the long run can lead to fatigue and loss of interest in gaming the system.

Contents of the invention

The object of the present invention is a system that can solve this problem. The invention relates to a system which can introduce surprise and spontaneity in the control of a vehicle circuit, for example a steering vehicle circuit. Another advantage of the present invention is that it can independently control different vehicles on the same loop.

The invention relates to a method for guiding a moving body driven by an actuator, in particular a micro-vehicle, on a continuous track. The moving body is guided by an operator through a guiding circuit comprising a plurality of lanes and at least one diverter allowing the moving body to change lanes, said guiding circuit being common to various moving bodies moving along a continuous track, said method Include the following steps:

The operator selects a movement strategy for the moving body in advance or in real time;

The operator determines parameters of the moving body according to the selected movement strategy, and/or;

the operator transmits to the moving body control commands corresponding to the selected movement strategy, in particular control commands related to the speed of the moving body and the guiding lane to be used; and

When the mobile body moves along the continuous track, it sends a signal allowing selection of the guiding lane used according to the movement strategy;

The switch is actuated according to the received signal sent by the moving body.

Preferably, according to the invention, the movement strategy in the method is characterized by at least one of the following initialization parameters:

type of moving body;

the way of driving;

The type and/or amount of resources available, such as in the case of miniature vehicles, this includes the nature of the tires and initial gasoline configuration, etc.

The simultaneous motion strategy is characterized by at least one of the following specific driving parameters:

a speed parameter;

A lane change parameter.

Preferably, according to the invention, in order to determine the parameters of the moving body according to the selected moving strategy, the method further includes the operator setting data and/or macro-command input into a storage area in the moving body. The memory area is associated with a microcontroller that controls the actuator.

Preferably, according to an embodiment variant of the invention, in order to transmit to the moving body control instructions corresponding to the selected movement strategy, the method comprises identifying the moving body by assigning to the moving body an identifier, in particular an alphanumeric identifier Initialize each of the kinematic bodies. Also this identifier is characteristic of a particular communication channel. In an embodiment variant of the present invention, the method also includes the following steps:

formatting the control instructions into digital data form by associating the control instructions with identifiers of moving bodies;

Multiplexing the control commands specific to each moving body and the power required to drive the moving body on the steering loop;

The microcontroller of each moving body extracts the control commands associated with the identifier assigned to the moving body from the multiplexed control commands.

The method also includes the step of the microcontroller controlling the actuator according to the extracted control instructions.

Preferably, according to the invention, the multiplexing of the method is time division multiplexing.

Preferably, according to the invention, the time division multiplexing is carried out in such a way that after each phase for transmitting control commands related to a given moving body, there is a power supply phase.

Preferably, according to the invention, the method further comprises the step of: supplying power to the actuators of the moving body via the electric circuit and/or battery and/or rechargeable battery in the moving body associated with said guiding circuit. In order to transmit the control commands corresponding to the selected mobility strategy, the following steps are also included:

initializing each moving body by assigning to it an identifier, in particular an alphanumeric identifier;

formatting the control instructions into digital data form by associating the control instructions with identifiers of moving bodies;

sending a signal, in particular an optical signal, such as an infrared light signal and/or an acoustic signal and/or an electromagnetic signal, to a moving body;

The microcontroller of each moving body extracts the control commands associated with the identifier assigned to the moving body from the multiplexed control commands.

The method also includes the step of the microcontroller controlling the actuator according to the extracted control instructions.

Preferably, according to the invention, when the moving body moves around the track, in order to select the guiding lane according to the movement strategy, the method includes the following steps:

A given moving body transmits a guidance signal, especially an optical signal, such as an infrared signal, to a receiver arranged on the guidance loop and/or on the track;

a receiver decoding the steering signal to generate a signal for controlling the state of a diverter associated with said receiver;

The track switch switches states according to the control signal.

The result of combining the technical features according to the invention is that, when the mobile body moves along said track, the mobile body actuates a switch that allows it to change course.

Another result of combining the technical features according to the invention is that the operator transmitting the control commands to the moving body can see that the lateral movement of the moving body on the track is practically equivalent to changing the movement of the moving body by actuating a steering wheel. The direction of lateral movement observed by the observer, the observer's viewing angle associated with the moving body.

A further result of combining the technical features according to the invention is that a moving body moving around said track can overtake another moving body ahead of it by turning sideways.

Preferably, according to the invention, the receiver is arranged on a guide circuit and/or track, and is located in front of and at a distance from the diverter, so that, apart from the first moving body that actuates said diverter, the diverter A change of state does not change the motion of any moving body.

Preferably, according to the present invention, the method further includes automatically switching the diverter to a predetermined state after the moving body actuating the diverter passes by.

Preferably, according to the present invention, said predetermined state is an initial state.

Preferably, according to the invention, the method further comprises determining the tag associated with a given moving body by means of a reader integrated into said track, in particular an optical reader or an electromagnetic reader. The number of revolutions each moving body completes around the orbit.

Preferably, according to the invention, the method further comprises determining the time it takes for a given moving body to complete a given number of revolutions around said track. Timing is achieved by detecting the passage of a tag associated with said moving body by means of a reader integrated into said track, in particular an optical or electromagnetic reader.

system

The invention also relates to a system for guiding a moving body driven by an actuator, in particular a microvehicle, on a continuous track. The moving body is guided by the operator through a guiding circuit including a plurality of lanes and at least one diverter that allows the moving body to change lanes. The guiding circuit is common to various moving bodies moving around the same track. The operation or select a motion strategy for the moving body in advance or in real time, the system includes:

parameter determining means for determining parameters of the moving body according to the selected moving strategy;

transmitting said control commands related to the selected movement strategy, in particular related to the speed of said moving body and the guiding lane to be used, to the transmission means of said moving body;

The moving body includes a selection device for selecting a guiding lane to be used according to a movement strategy, and the selection device executes when the moving body moves around the track, and the moving body includes a transmission device for transmitting signals;

The guide loop and/or track comprise means for sensing the signal sent by the moving body and actuating the track changer upon receipt of said signal.

Thus, in the described embodiment, the moving body may be an automatic device that moves around the track automatically without the intervention of the operator, and the moving body may also be programmed to interpret control commands issued by the operator in order to A movement corresponding to the operator's desire is generated.

The moving body includes selection means for selecting the guiding lane to be used according to the moving strategy. The selection means is executed when the moving body moves around said orbit.

Preferably, according to the invention, the motion strategy of the system is characterized by at least one of the following specific initialization parameters:

type of moving body;

the way of driving;

The type and/or amount of resources available, such as in the case of miniature vehicles, this includes the nature of the tires and initial gasoline configuration, etc.

The movement strategy is also characterized by at least one of the following specific driving parameters:

a speed parameter;

A lane change parameter.

Preferably, according to the present invention, the parameter determination device of the system further includes a control unit for inputting data and/or macro commands into a storage area in the moving body. The memory area is associated with the microcontroller that controls the actuator.

Preferably, according to the invention, each moving body is identified by an identifier, in particular an alphanumeric identifier. The system also has a base that includes:

Joysticks actuated by the operator to obtain control commands;

data processing means for formatting control instructions into digital data by associating them with identifiers of moving bodies;

Multiplexing means for multiplexing control commands specific to each moving body and the power required to drive the moving body over the steering loop.

The microcontroller of each moving body can extract the control instructions related to the identifier assigned to the moving body from the multiple control instructions. The microcontroller controls the actuator according to the extracted control instructions.

Preferably, according to the invention, the multiplexing means of the system time division multiplex the electrical energy and the control commands.

Preferably, according to the invention, the time division multiplexing is carried out in such a way that each phase for transmitting control commands relating to a given moving body is followed by a power supply phase.

Preferably, according to an embodiment variant of the invention, said system also comprises: a power supply for the actuator, which is provided by the circuit associated with said guiding circuit in the mobile body and/or the battery and/or Rechargeable battery constitutes. Each moving body is identified by an identifier, in particular an alphanumeric identifier. In the case of this embodiment variant, the system also comprises a base comprising:

Joysticks actuated by the operator to obtain control commands;

data processing means for formatting the control commands into digital data form by associating the control commands with an identifier of the moving body;

transmission means for transmitting signals, in particular optical signals, such as infrared and/or an acoustic signal and/or an electromagnetic signal, to moving bodies;

Each microcontroller of each moving body can extract from the signal the control instructions associated with the identifier assigned to the moving body. The microcontroller controls the actuators according to the extracted control commands.

Preferably, according to the invention, said guidance circuit is in the form of a plurality of guidance lanes. Each moving body includes a guide element cooperating with the guide track. The guide lanes are connected to each other by a switch. The moving body includes transmission means for transmitting signals, in particular optical signals, such as infrared and/or an acoustic signal and/or an electromagnetic signal, to a transrail receiver. A diversion receiver associated with a given diverter is provided on the guide loop and/or track. The diverter receiver includes decoding means for decoding the guidance signal and generating a control signal for the diverter. The diverter includes a moving member actuated by the diverter control signal. The moving member may have at least two positions.

The result of combining the technical features of the present invention is that when the moving body moves around the track, the moving body can select an appropriate guiding lane according to the movement strategy.

Preferably, according to the invention, the diverter receiver is arranged on a guide circuit and/or track, and is located in front of the diverter at a distance from it, so that, except for the first moving body that actuates said diverter, the diverter The change of the state of the device will not change the motion of any moving body.

Preferably, according to the present invention, the system further includes a return device for automatically switching the diverter to a predetermined state after the moving body actuating the diverter passes by.

Preferably, according to the present invention, said predetermined state is an initial state.

Preferably, according to the invention, the system also includes a tag reader integral with said track, in particular an optical reader and/or an electromagnetic reader, for detecting tags associated with predetermined moving bodies. A tag reader is integral with the track. The system also includes computing means associated with the tag reader for determining the number of turns made by each moving body around the track.

Preferably, according to the invention, the system also includes a tag reader integral with said track, in particular an optical reader and/or electromagnetic reader for detecting tags associated with predetermined moving bodies. The system also includes timing means associated with the tag reader for measuring the time it takes for a given moving body to complete a given number of laps around the track.

Description of drawings

Other features and advantages of the invention will become clearer by reading the description of an exemplary and non-limiting preferred embodiment and the accompanying drawings, in which:

Fig. 1 is a schematic diagram of the system of the present invention;

Figures 2a and 2b are examples of exemplary diverters of the present invention;

Figures 3a and 3b show an embodiment of the invention applied to a system in which the electrical energy and speed signals and guidance signals that make the vehicle moveable flow through the same circuit, eg a vehicle guidance circuit.

Fig. 4 is the control circuit of the system of the present invention;

Fig. 5 is a circuit arranged in a vehicle;

Figures 6a and 6b show a variant of a diverter that can be used with the present invention;

Figures 7a and 7b show a variant of the diverter that returns automatically to the neutral position.

Detailed ways

Fig. 1 is a schematic diagram of the system of the present invention. The system comprises a circuit on which a moving body such as one or more vehicles V1, V2, V3 runs. The loop is powered in a known manner. For example, in FIG. 1, the electric energy required for the movement of the vehicles V1, V2, V3 is provided via a transformer T1 and a guiding circuit. According to the invention, the vehicles V1, V2, V3 simultaneously receive speed commands and track commands via the steering loop. A circuit is provided between the transformer and the guiding loop, and the speed signals and guiding signals of the vehicles V1, V2, V3 can be transmitted through the guiding loop. Each vehicle V1, V2, V3 can receive a signal or a signal packet containing speed and guidance control signals. The control of each vehicle V1 , V2 , V3 is thus independent of the control of the other vehicles V1 , V2 , V3 traveling on the circuit.

As shown in Figures 2a and 2b, each vehicle V1, V2, V3 has a signal transmitter E1. In addition, the guiding circuit C1 has a signal receiver D1 associated with each diverter A1, A2, A3 and located in front of each diverter in the direction of travel of the vehicle. When the vehicle receives a guidance command, it has this command transmitted to the transmitter E1. When the transmitter E1 of the vehicle approaches the receiver D1, the receiver D1 receives the signal, decodes the signal, and triggers the operation of the diverter A1. Thus, in Figure 2b, receiver D1 controls the switching of diverter A1 so that the vehicle is directed onto lane C3 of the loop.

According to a simplified variant of the embodiment of the invention, all diverters on the circuit, such as A1, have an intermediate position, so that after the diverters have switched and the vehicle has passed, the diverters return to the intermediate position. In this case, the system can be designed such that the general movement of the vehicle is such that the vehicle travels through the circuit when the diverter is in the neutral position. As long as it has not received a guidance command, the vehicle's transmitter does not send any signal and a detector such as D1 remains inactive. When the operator wants to make the vehicle turn, for example turn right as shown in Figure 2a, it sends a command to change direction, the transmitter E1 sends a control signal, the detector D1 detects it and triggers the operation of the diverter A1 ( Transition): It moves to the position shown in Figure 2b and automatically returns to the position in Figure 2a after the vehicle passes.

In these cases, according to this variant of embodiment, the receiver has no decoding functionality. Relative position of transmitter and receiver

Transmitters such as the E1 can be placed under the vehicle. In this case, receivers such as D1 would be placed on loops in the vehicle's driving lane, such as between driving tracks.

Emitters such as E1 can also be placed on the side walls or front of the vehicle and oriented towards the edge of the track. The receiver is then placed at a height on the side of the track so that it is on the axis of the largest beam emitted by the vehicle's transmitter.

Regardless, the transmitter E1 is preferably placed at the front of the vehicle in order to trigger the diverter as soon as the vehicle reaches said diverter.

Relative position of receiver and diverter

A receiver such as D1 is placed along the lane at a distance from diverter A1 so that a vehicle at the maximum speed allowed by the system can pass the diverter immediately after detector D1 detects a turn signal A1 steers the vehicle.

In this general description of the invention, the signal transmission from an operating station to the vehicle can be carried out by means of radio frequency, ultrasonic or optical transmission via the vehicle's guidance circuit.

Typically, the vehicle power source that allows the vehicle to move may also be located within the vehicle itself, such as a battery.

Referring to Figure 3, we will describe the use of the present invention in a system where the vehicle power and speed and guidance information to allow the vehicle to move are all transmitted over the same loop, such as the vehicle's guidance loop.

Figure 3a shows a control diagram for power and signal transmission, where the power supply to the vehicle is interrupted periodically for short periods during the transmission of guidance and speed signals to the vehicle by the central control system. In Figure 3a, it is assumed that there are 3 vehicles. During the first power interruption, a signal is transmitted to the vehicle V1 (data V1). During the second power interruption, a signal is transmitted to the vehicle V2 (data V2). During the third power interruption, a signal is sent to the vehicle V3 (data V3). Then start the cycle again. For example, the time ts for transmitting data to a vehicle (such as data V1) may be approximately 5 milliseconds. The power supply time may be about 20 milliseconds. For a practical example of 8 cars, the loop period would be 200ms.

Figure 3b shows an embodiment variant in which the data V1, V2, V3 in one cycle are transmitted together during the same vehicle power interruption.

FIG. 3 c shows an embodiment variant in which the speed signal and the guidance signal are superimposed on the supply current.

Figure 4 shows an embodiment of a control station that provides power to the steering loop and from which the vehicle can be controlled. In this case the guide loop comprises an electrical conductor.

This control station includes a transformer TR, which is normally supplied with alternating current from the mains and provides a low voltage power supply.

The processing unit UT1 comprises a circuit W1 for transmitting speed signals and a circuit for transmitting guidance signals. These circuits are controlled by joysticks J1, J2, J3 of a known type. Joystick J1 can control vehicle V1, joystick J2 can control vehicle V2, and joystick J3 can control vehicle V3. A central control unit UC1 can periodically and alternately connect the circuit C1 to the transformer TR and the processing unit UT1. Furthermore, the processing unit UT1 controls the sequential transmission of the speed and guidance signals sent by the joysticks J1, J2, J3. Said processing unit UT1 also adds to each of these signals an identifier IDENT representing the joystick and subsequently the control of the vehicle. Continuous transmission of signals follows a procedure similar to that in Figs. 3a to 3c.

Figure 5 shows a vehicle V1. The unit ALIM of the vehicle is connected to the pilot circuit by means of an electrical connection, such as a brush. During the connection of the transformer TR to the pilot circuit C1 , the unit ALIM is thus powered, as well as the engine M and other circuits of the vehicle.

The processing unit UT2 is also connected to the guide circuit C1 via said brushes. Thus, the processing unit UT2 receives together the speed signal and the guidance signal sent by each joystick together with an identifier associated with this signal. The vehicle processing unit V1 recognizes an identifier corresponding to the joystick J1 and itself, and acquires a signal related to this identifier.

The processing unit UT2 processes the signal according to the characteristics assigned to the vehicle (such as drive type, vehicle type, speed, tire properties, gasoline configuration, etc. parameters), and then sends the processed speed signal and guidance signal. The control unit UC2 provides the following signals:

The guidance signal sent to the transmission circuit G is used to start the transmitter E1 to send the guidance signal;

The speed signal sent to the transmission circuit W2 is used to control the speed of the engine M.

A receiver D1 is arranged along said guiding loop at one end of the guiding loop. When a vehicle passes by and the receiver D1 receives a guidance signal, it switches the position of the diverter A1, in particular using an electromagnet.

In a simplified scheme, each diverter has only two positions, as shown in Figure 2a. In this case, the guidance signal is simply a switching signal, and all receivers D1 need to detect this signal to trigger switching of the diverter A1.

In a more complex scheme, a diverter may have more than two positions, and the diverter may switch lane C1 to more than two other lanes.

For example, Figures 6a and 6b show that one lane C1 can be connected to selected lanes C2, C3 and C4. In this case, the guidance signal sent by the transmitter E1 contains a direction identifier and must be interpreted by the receiver D1.

In this case, the emitter E1 comprises a plurality of light sources such as diodes. Combinations of LEDs can represent control commands. In this way, two diodes can control a four-way switcher, and three diodes can control an eight-way switcher. Then the control unit UC2 actuates and lights up the diode corresponding to this signal according to the received guiding signal.

Each receiver such as D1 has as many detection diodes as each vehicle has transmit diodes. The receiver D1 controls the position of the diverter based on the diode detecting the signal.

It should be noted that the emitters on the vehicle must be positioned according to the position of the detectors, and vice versa, so that when a vehicle passes by, different diodes of the emitter E1 pass in front of the same row of diodes of the receiver D1.

In the above system, it is assumed that the guide signal is not detected, the diverter is not activated, and remains in the neutral position, as shown for example in Fig. 2a.

Figures 7a and 7b show a device for returning the diverter to an intermediate position after a vehicle has passed by.

In FIG. 7a, the diverter A1 is in an intermediate position and connects the lane section C1 with the lane section C2.

The switching of the switch A1 has the effect of connecting the lane segment C1 and the lane segment C2. The tip of the diverter A1 has a portion B1 bent towards the inside of the lane section C3.

When the vehicle that activates the diverter passes said diverter, the vehicle pushes said portion B1 and forces the diverter back to the neutral position.

It should be noted that, depending on the type of diverter, switching of the diverter can be accomplished by means of a protrusion (keel) Q located under the vehicle and extending down into the support plate containing the guide system. In this case, part B1 does not obstruct the passage of vehicle wheels.

Preferably, the bushing is positioned at the front under the vehicle so that the switch can be triggered back to the neutral position as soon as the vehicle passes by.

In addition, each vehicle has an identification label L under it. This tag can be readable optically, electrically or electromagnetically by sensors CL arranged along said guiding loop. This sensor is connected to the processing unit UT1, so that the processing unit UT1 can calculate various performances achieved by the vehicle, such as speed, mileage, etc.

In the above description, we have described the application of the present invention as an operator-directed vehicle system. However, the invention is also applicable to systems including preprogrammed autonomous vehicles.

Claims (47)

1. one kind is used for the movable body (V1 to being driven by actuator (M) on continuous track, V2, V3) method that leads, described movable body includes the pilot circuit in a plurality of tracks (C1 to C4) by the operator by one and the points (A1) at least one permission movable body (V1 to V3) change track leads, described pilot circuit is public for the various movable bodies along orbital motion continuously, said method comprising the steps of:

Described operator is that described movable body is selected a motion strategy in advance or in real time;

Described operator determines the parameter of described movable body according to selected motion strategy, and/or;

Described operator will be sent to movable body with the tactful control instruction corresponding of selected motion, particularly relevant with guiding track to be used with the speed of described movable body control instruction; And

Described movable body sends the signal that allows to select employed guiding track according to described motion strategy along described continuous orbital motion the time;

Activate described points (A1) according to the signal that sends by described movable body that receives.

2. the method for claim 1, the motion strategy in this method is characterised in that at least one in the following parameter:

Specific initiation parameter:

The type of movable body;

The mode of travelling;

The type of available resources and/or quantity, under the situation of lilliput car, this comprises the character of tire and initial gasoline configuration,

The specific parameter of travelling:

One speed parameter;

One route change parameter.

3. as one of them described methods of claim 1 and 2, in order to determine the parameter of vehicle according to selected motion strategy, this method comprises that also the operator is arranged at data and/or macros input the step of the memory block in the movable body, (UT2 W2) is correlated with the microcontroller of controlling this actuator in the memory block.

4. the method for claim 1, in order to be sent to described movable body with the tactful control instruction corresponding of selected motion, described method is further comprising the steps of:

By distribute each in the described movable body of identifier initialization for movable body;

By control instruction is associated with the identifier of described movable body, described control instruction is formatted as digital data form;

To and drive the required electric power of this movable body specific to the control instruction of each described movable body and on described pilot circuit, carry out multiplexing;

Each microcontroller of each movable body extracts the control instruction relevant with the identifier of distributing to described movable body from multiplex control instruction;

Described method also comprises the step of described microcontroller according to the control instruction control actuator that is extracted.

5. method as claimed in claim 4, described identifier are the identifiers of alpha-numerical establishment.

6. method as claimed in claim 4, the described multiple transmission method in this method are the time-division multiplex transmission.

7. method as claimed in claim 6 has a power supply stage after each is used to transmit stage of the control instruction relevant with given movable body.

8. the method for claim 1, described method also comprises the step of the described actuator of described movable body being powered by the circuit relevant with described pilot circuit that is arranged in described movable body and/or battery and/or rechargeable battery, in order to transmit to described movable body and the corresponding control command of selected motion strategy, described method is further comprising the steps of:

By distribute each in the described movable body of identifier initialization for each movable body;

By the identifier of described control instruction and described movable body is got in touch, described control instruction is formatted as digital data form;

Send a signal for described movable body;

The microcontroller of each movable body extracts the control instruction relevant with the identifier of distributing to described movable body from described signal,

Described method comprises that also described microcontroller controls the step of described actuator according to the control instruction that extracts from described signal.

9. method as claimed in claim 8, described identifier are the identifiers of an alpha-numerical establishment.

10. method as claimed in claim 8, described signal are optical signal and/or a voice signal and/or an electromagnetic signal.

11. method as claimed in claim 8, described signal is an infrared signal.

1 2. as each described method in the claim 1,2 and 4 to 11, when described movable body during along described orbital motion, in order to select the track of leading according to described motion strategy, said method comprising the steps of:

One given movable body transmits a targeting signal that (G E1) gives the receiver (D1) be arranged on pilot circuit and/or the track;

Described receiver is decoded to described targeting signal, is used to control relevant with described receiver and is arranged on points (A1, the signal of state B1) on the described pilot circuit to produce one;

Described points is according to described control signal switching state;

Thereby during along described orbital motion, described movable body activates and allows it to change the points in track at movable body;

Thereby the movable body along described orbital motion can be turned by side direction and be surpassed another movable body in its front.

13. method as claimed in claim 12, described signal are optical signals.

14. method as claimed in claim 12, described signal is an infrared signal.

15. method as claimed in claim 12, described receiver is arranged on this pilot circuit and/or this track, and be positioned at the points front and certain distance is arranged with it, activate the movable body of described points like this except first, the change of points state can not make the motion of any movable body change.

16. method as claimed in claim 12, described method also are included in after the movable body that has activated described points crosses, described points automatically switches to a predetermined state.

17. method as claimed in claim 16, described predetermined state is an original state.

18. as each described method in the claim 1,2 and 4 to 11 and 13 to 17, described method also comprises by by means of detecting the label (L) relevant with given movable body with the optical reader or the electromagnetic reader (CL) of described track one, thereby determines the number of turns that each movable body turns over around described track.

19. as each described method in the claim 1,2 and 4 to 11 and 13 to 17, described method comprises that also measuring a given movable body finishes the time that spends to fixing turn around described track, described timing by by means of with the optical reader of described track one or electromagnetic reader detect the label relevant with described movable body pass through realize.

20. as each described method in the claim 1,2 and 4 to 11 and 13 to 17, wherein the signal that is sent by described movable body is an optical signal.

21. as each described method in the claim 1,2 and 4 to 11 and 13 to 17, wherein the signal that is sent by described movable body is encoded.

22., send signal when wherein said movable body approaches points as each described method in the claim 1,2 and 4 to 11 and 13 to 17.

23. one is used for the movable body (V1 to being driven by actuator (M) on continuous track, V2, V3) system that leads, described movable body allows movable body (V1 to V3) to change the points (A1) in track by the operator through a pilot circuit that includes a plurality of tracks (C1 to C4) and at least one and leads, described pilot circuit is public for various movable bodies around same orbital motion, described operator selects a motion strategy for movable body in advance or in real time, and described system comprises:

Be used for according to selected motion strategy determine the parameter of described movable body parameter determine device (UT1, UT2);

Will with the described control command of selected motion policy-related (noun), particularly with the speed of described movable body and the relevant control instruction in guiding track to be used, be sent to described movable body transmitting device (UC1, W1, UT1, C1, C2, C3, C4, UT2);

Described movable body comprises selecting arrangement (E1, G, the UC2 according to the employed guiding of motion policy selection track, UT2), when described movable body during around described orbital motion, described selecting arrangement is carried out, and described movable body comprises the transmitting device (E1) that is used to transmit signal

Described pilot circuit and/or track comprise and are used to respond to by the signal of described movable body transmission and according to receiving the device that described signal activates described rail replacer (A1).

24. system as claimed in claim 23, the motion strategy of described system is characterised in that one of following parameter:

Specific initial parameter:

The type of movable body;

The mode of travelling;

The type of available resources and/or quantity, under the situation of lilliput car, this comprises the character of tire and initial gasoline configuration;

The specific parameter of travelling:

One speed parameter;

One track change parameter.

25. as claim 23 or 24 described systems, the parameter of described system determines that device comprises that also one is arranged at the control module of the memory block in the movable body with the input of data and/or macros, and described memory block is relevant with the microcontroller (UT2) of controlling actuator.

26. from 23 described systems, each movable body is identified by an identifier as claim,

Described system also comprises a pedestal, and it comprises:

By the operator activate with the control stick that obtains control instruction (J1, J2, J3);

(UT1 W1), is used for by control instruction being associated with the identifier of movable body and control instruction being formatted as digital data form data processing equipment;

Multiplex machine (UC1), be used for described specific to described each movable body control instruction and drive the required power supply of described movable body (TR, T1) multiplexing on described pilot circuit;

Each microcontroller of each movable body can extract the control instruction relevant with the identifier of distributing to movable body from the multichannel control instruction,

Described microcontroller is controlled actuator according to the control command that is extracted.

27. system as claimed in claim 26, described identifier is the identifier of an alpha-numerical establishment.

28. system as claimed in claim 26, described multiplex machine is carried out time-division multiplexing to described control instruction and electric energy.

29. system as claimed in claim 28, described time-division multiplex transmission is meant that after each stage of transmitting the control instruction relevant with given movable body a power supply stage is arranged.

30. as claim from 23 described systems, described system also comprises: a power supply (ALIM) that is used for actuator, it is made up of circuit relevant with described pilot circuit in movable body and/or battery and/or rechargeable battery, each movable body is identified out by an identifier

Described system also comprises a pedestal, and it comprises:

By the operator activate with the control stick that obtains control instruction (J1, J2, J3);

(UT1 W1), is used for by control instruction being associated with the identifier of movable body and control instruction being formatted as digital data form data processing equipment;

Transmitting device is used for sending signal to movable body;

Each microcontroller of each movable body can extract the control instruction that is associated with the identifier of distributing to movable body from described signal, microcontroller is controlled actuator according to the control command that is extracted.

31. system as claimed in claim 30, described identifier is the identifier of an alpha-numerical establishment.

32. system as claimed in claim 30, described signal is optical signal and/or a voice signal and/or an electromagnetic signal.

33. system as claimed in claim 30, described signal is an infrared signal.

34. as claim 23, each described system in 24 and 26 to 33, described pilot circuit is the form in a plurality of guiding track, each movable body includes a director element that cooperates with described guiding track, described guiding track is by points (A1, B1) be connected to each other, described movable body comprises transmitting device (E1), this transmitting device is used for a targeting signal, optical signal particularly, send a transition receiver (D1) relevant to such as infrared signal with given points, this given transition receiver is arranged on described pilot circuit and/or the track, described transition receiver comprises and is used for targeting signal is decoded and produced a decoding device that is used for the points control signal, described points comprises a mobile member (B1) that is activated by the described control signal that is used for points, this mobile member has two positions at least

Thereby during around described orbital motion, described movable body can be selected suitable guiding track according to the motion strategy at movable body.

35. system as claimed in claim 34, described transition receiver is arranged on a pilot circuit and/or the track, and be positioned at the points front and certain distance is arranged with it, except first activated the movable body of described points, the locational change of the mobile member of described points can not make the motion of any movable body change like this.

36. as each the described system in the claim 34, described system also comprises a return mechanism (Q), is used for automatically described points being automatically switched to a predetermined state after the movable body that activates described points crosses.

37. system as claimed in claim 36, described predetermined state is an original state.

38. as claim each described system from 23,24 and 26 to 33, described system also comprises:

A label optical reader and/or an electromagnetic reader (CL) that becomes one with described orbit-shaped, it is used to detect the label (L) relevant with given movable body;

With the calculation element that described label reader is associated, it is used for the number of turns that definite each movable body is finished around described track.

39. as each described system in the claim 23,24 and 26 to 33, described system also comprises:

A label optical reader and/or an electromagnetic reader (CL) that becomes one with described orbit-shaped, it is used to detect the label (L) relevant with given movable body;

With the time set that described label reader is associated, it is used to measure a given movable body and finishes the time that spends to fixing turn around described track.

40. as each described system in the claim 23,24 and 26 to 33, wherein said transmitting device (E1) transmits optical signal.

41. as each described system in the claim 23,24 and 26 to 33, wherein said transmitting device (E1) transmits encoded signals.

42. as each described system in the claim 23,24 and 26 to 33, wherein said transmitting device (E1) transmits signal when approaching converter.

43. a vehicle that is used for as claim 23,24 and 26 to 33 each described systems comprises:

The director element that cooperates with the guiding track;

Propulsion plant (M) is used for described vehicle is advanced around continuous track;

Parameter is determined device (UT2), be used for receiving send by processing unit (UT1) with motion policy-related (noun) control instruction;

Selecting arrangement comprises the transmitting device (E1) that is used for to being arranged on points receiver (D1) the transmission signal on described pilot circuit and/or the track;

Control device (UC2) is used for according to determine described selecting arrangement of motion policy control and the described propulsion plant (M) that device (UT2) receives from described parameter;

Supply unit is used for determining device (UT2) and described control device (UC2) supplying energy to described propulsion plant (M), described parameter at least.

44. vehicle as claimed in claim 43, wherein said parameter determine that device comprises a control module with data and/or macros input storage.

45. as claim 43 or 44 described vehicles, wherein said supply unit comprises:

Battery in described movable body and/or rechargeable battery; And/or

Arrangements of electric connection towards described pilot circuit and/or track.

46. as claim 43 or 44 described vehicles, wherein said transmitting device (E1) transmits optical signal.

47. vehicle as claimed in claim 46, wherein signal is encoded.

48. as each described vehicle in the claim 43 to 47, also comprise by with label reader (CL) optical readable and/or the readable label (L) of electromagnetism of pilot circuit and/or track one.

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