Such a remote control operation is more intuitive and more easily toy video frequency remote-control object of the present invention is to disclose for summary of the inventionMethod, remote controler and remote-control toy, it can be realized " sight of operator see to where, toy just it is mobile thereunto " mesh's.Invention additionally discloses a kind of remote-control toy, remote controler and remote position controlled method that remote position controlled is carried out using light beam, remote controlsDevice with a remote control light beam, can be realized " operator by light beam irradiation where, toy just it is mobile thereunto " purpose.
Wherein with mating works such as video frequency remote-control method of the invention, visual remote control, remote position controlled method, remote position controlled devicesThat makees belongs to the prior art by remote-control toy, includes to receive circuit, decoding circuit, driving circuit and executing agency.Receive electricityRoad is used to receive the remote signal of remote controler transmitting；Decoding circuit is used to be decoded the output signal for receiving circuit, obtainsTelecommand；Driving circuit is for amplifying the output of decoding circuit；Executing agency plays for executing telecommand, drivingTool advanced, retreated, being turned left, being turned right, being stopped, the various movements such as up and down.It is distant that these belong to existing common radio frequencyThe common technology of control or infrared remote control toy.
Toy video frequency remote-control method of the invention, comprising: scene (1), by camera towards toy intake scene, warpIt crosses after signal processing for scene image signal to be output on a display screen and show；(belonging to common video technique)；⑵,On the image of display screen, setting one corresponds to the anchor window of operator's eye position；Control circuit in picture signal,Set the position data of anchor window in the picture；(anchor window, which can be, to be directly fixed on the screen of display screen；?Virtual window icons can be arranged to, and show that at this moment anchor window is relative to the absolute position of screen on the imageFixed, but the relative position of the scene image relative to mobile variation is mobile)；(3), operator is intended to according to remote control, movesDynamic camera makes the scene image for showing screen display generate movement, and wishes anchor window alignment function person on display screenToy is moved on target position；(that is where operator wishes the movement of toy next step, it just will be relative to operatorThe anchor window of sight is directed at there)；(4), control circuit identifies the identification icon of toy in scene picture signal；(such asIn fruit scene image signal, the identification icon of toy is not identified, illustrate that toy does not fall within the scene domain of present viewing fieldInterior, then control circuit issues the telecommand for allowing toy stopping to act)；(5), control circuit obtains toy identification icon in imagePosition data in signal, and be compared with the position data of anchor window, (position of anchor window on the image is fixed, position data is also setting and constant), the relative position both obtained, and it is fixed with this to show that driving toy is moved toThe telecommand of position window；Wherein in scene picture signal, when the identification icon of toy touches anchor window, (it that is to sayWhen toy identifies that icon is Chong Die with the appearance of the position data of anchor window), control circuit, which issues, makes toy stop mobile remote controlInstruction；(6), the signal of telecommand is sent after coding by transmit circuit；(7), the reception circuit of toy receivesTo after signal, telecommand is obtained by decoding, telecommand is executed by executing agency using after amplification driving；(includingIt drives toy mobile to target position or stops movement)；Above-mentioned steps circulation executes.
The anchor window recited above for corresponding to operator's eye position can be the rectangle constituted using colored linesOr the wicket of circle or other shapes；It is also possible to a colored hot spot or colored points；(actually and when window very littleA kind of special circumstances).Position of the anchor window in display image, theoretically can be set in any position, but generalPosition between being arranged in the picture is most suitable.Anchor window can be directly fixed setting (such as printing) in the physics of display screenOn screen, at this moment control circuit also needs the position data that the setting in picture signal corresponds to this anchor window；PositioningWindow is also possible to be set as virtual window icons, and shows on the image, (similar to green above camera finding screenColor focusing wicket), at this moment anchor window is fixed relative to the absolute position of screen, but the scene relative to mobile variationThe relative position of image is mobile, moreover, the position data of anchor window in the picture is fixed.
Position of the anchor window in display image be it is fixed, do not moved with the movement of camera, so, on the spotWhen scape image changes with the movement of camera, anchor window just generates relative movement in scene image.It is equivalent to behaviourThe position of the sight of author, operator can make scene image generate movement with dollying head, even if also the visual field generates shiftingIt is dynamic, and anchor window is directed at the target position that operator wishes that toy moves to reach in next step.
Identification of the control circuit to the identification icon of toy, is generally realized using identification software, this belongs to existing figureAs identification technology.It is simplest, toy can be identified as a point, to calculate the relative position of it and anchor window, and obtainedDriving toy carries out mobile instruction to anchor window out.For example, for some simple flight balls or helicopter toy, onlyDistant control function with two directions of one-dimensional risen or fallen, it is simple possible that it, which is identified as a point, works as location windowWhen mouth is above toy, the instruction that driving toy rises is issued, when anchor window is below toy, issuing makes toy declineInstruction.
But if creeped the remote control of type toy for vehicle class or other traveling classes, due to toy on the ground eachKind movement can be analyzed to advance, retreat, turns left, the action control of right-hand rotation four direction, if toy is still at this moment identified as oneA point is controlled, then operator needs the front end (such as headstock of vehicle) for anchor window being always placed on toy to guideJust there is no problem for control, and when anchor window is moved to toy rear end (tailstock), since at this moment toy is a point, it can notThe difference of front and back is distinguished, so will malfunction.
In order to overcome this disadvantage, the present invention is improved, and toy is not identified as a point by control circuit, but will be playedTool is identified as the identification icon with front and back tropism, that is to say the front-rear direction that toy is identified in picture signal, such asIdentify the headstock of vehicle and the direction of the tailstock.In this way in scene image, if anchor window is moved to toy by operatorRear end, (or left and right sides), then the software of control circuit just can recognize that anchor window be in the rear end of toy, (or left and rightSide), to issue the telecommand for making toy retreat (or left and right turn), keep toy correctly mobile to anchor window.
It is described that toy is identified as to have directive identification figure calibration method, it may is that (1), according to the figure of toy itselfThe directive identification icon of tool is identified as signal.For example it directly is identified according to the appearance images of a toy carHeadstock and the tailstock.Existing image recognition technology can be directly used in this, its advantage is that it is easy to use, without changing the original of toyThere is appearance, the disadvantage is that identification software is more complicated, it is also higher to hardware requirement although there is canned software can be used.(2), existToy is provided with the marker with direction characteristic in appearance, and identification software is identified in picture signal by the markerThe directionality of toy identifies icon.Simplest, marker can be an asymmetrical color map.Software is according to this specificMarker identifies the front-rear direction of toy, just easier.(3), luminous tube is provided on toy, by the light of luminous tubeConstitute the luminous pattern with direction characteristic, control circuit identifies that the directionality of toy is known by this luminous patternOther icon.For example the luminous pattern of directionality is constituted using three luminous tubes, or there is direction using a luminous tube cooperationThe light transmitting sheet of property shape constitutes luminous pattern.This method is since toy identification icon can issue specific light, so softPart identification is got up more easily.The disadvantage is that needing to change toy appearance and circuit.
For in image information, the calculating of the relative position of toy identification icon and anchor window is identified and is sentenced with thisThe disconnected prior art for obtaining the mobile required instruction of driving toy and video processing, is widely applied in electronic game.ThanIt such as, can be by piece image video, obtaining toy identification icon current field and the data of row, the field with anchor windowIt is compared with capable data (these data of anchor window are fixed), to identify the relative position of the two, and with thisJudgement obtains the telecommands such as driving toy mobile required advance, retrogressing, left-hand rotation, right-hand rotation, up and down.
The program of control circuit is circular flow, and in each operational process, procedure identification goes out scene image informationThe relative position of middle toy identification icon and anchor window, obtains the finger for driving toy mobile to anchor window under current stateIt enables, and by launching after coding；Toy receives the signal, obtains telecommand by decoding, after amplification driving,It is executed instruction by executing agency, driving toy is moved or turned to adjustment, to target position (namely anchor window institute in imageThe position of alignment) it is mobile.In operational process next time, program again identify that out in scene image information toy identification icon withThe relative position of anchor window obtains the driving toy new telecommand required to anchor window movement again, if thisInstruction then in order to economize on electricity, can not emit the instruction, toy is still continued to move to by instruction before as last time instruction；And if causing new telecommand to keep up with an instruction not since toy varies widely position after executing a upper instructionTogether, then new command is encoded and is emitted by control circuit, according to new telecommand after toy reception, readjusts movement sideTo continuation is more accurately mobile to target position.
When toy is moved to target position, namely the identification icon of toy is moved on anchor window in the picture, and (this canTo be the case where including or partly overlap), toy identifies the position data of icon and determines in program namely in image information, there is the situation as all or part, at this moment illustrates that toy is moved on target position, then in the position data of position windowControl circuit issues the telecommand for allowing toy to stop, and toy is made to stop movement.Program continues to run later, continues to identify toyIt identifies the variation of the relative position of icon and anchor window, namely waits the mobile variation of the next target position of operator, thenContinue to execute the identification, judgement and execution work of a new round.
Certainly during toy is mobile to target position, operator can dollying head at any time, by anchor windowOtherwise (i.e. new target position) is re-moved, at this moment program will identify icon and new anchor window according to toyRelative position issues new telecommand, and driving toy is mobile to new target position, realizes continuous remote control in real time.
To work such as the coding of telecommand, decoding, transmitting, receptions, belong to the technology of existing toy remote control.Wherein emitAnd reception, radio frequency method or infrared mode can be used, alternatively, it is shorter if it is remote control distance indoors, it can also adoptWith modes such as bluetooth, WIFI.And to the effect that command signal is encoded, first is that anti-interference ability is improved, second is that making this distantControl device can be identified and be matched with the toy of remote-control target, to realize the remote control to the toy.
According to above-mentioned video frequency remote-control method, the visual remote control disclosed by the invention for toy remote control includes hairTransmit-receive radio road, it is characterised in that: remote controler further includes having video camera (abbreviation camera), video display screen (referred to as to showScreen) and control circuit；Camera includes by the scene image of remote-control toy image for absorbing；Display screen is for showing fieldScape image；Control circuit includes video processing module, toy icon-based programming module, position signal identification by signal processing flowModule, telecommand generation module and telecommand coding module, in which: video processing module, for handling the view of cameraFrequency signal is output to display screen and is shown, and generates the anchor window of a fixed position in the picture, while obtaining positioningThe position data of window in the picture；Toy icon-based programming module, for identifying the identification of toy in scene picture signalIcon；Position signal identification module is used in scene picture signal, extracts the positional number of anchor window and toy identification iconAccording to, and the position data of the two is compared, obtain the relative position of toy identification icon and anchor window；Telecommand producesRaw module, for the relative position according to toy identification icon and anchor window in picture signal, generate driving toy it is mobile orThe telecommand of stopping；(telecommand namely the target position for driving toy to be aligned to anchor window are moved or are stoppedRemote control actions required for mobile.For example, for travel type toy, this telecommand include advance, retreat, turn left, turn right,Stop movement)；Telecommand coding module, for being encoded to telecommand；The output namely telecommand of control circuitThe output of coding module, is connected to transmit circuit.The telecommand after coding is emitted by transmit circuit.
Toy image can be identified as having directive toy identification icon by wherein toy icon-based programming module,Recognition methods is not repeated herein referring to the content of video frequency remote-control method above-mentioned.
Visual remote control of the invention can be made into independent hand-held remote controller, be held in hand by operator, camera towardsThe toy being remotely controlled, intake include in the scene image of toy and the display screen for the person that is shown in oriented manipulation, and operator is mobileRemote controler in hand changes the scene image that camera is absorbed, makes the anchor window (view relative to operator in display screenLine position) alignment function person wishes the toy target position that moves to reach in next step, control circuit will pass through procedure identification, judgementAnd it issues driving toy and carries out mobile telecommand, and emitted after coding by transmit circuit.And the object for appreciation being remotely controlledTool, receives this remote signal, is sent to decoding circuit and is decoded, obtain telecommand, after amplification, is output to executionMechanism executes corresponding movement, and driving toy is mobile to target position, realizes that operator sees to where toy is just moved to thereRemote control.
Video frequency remote-control method disclosed by the invention and visual remote control, identify toy by video image, are sentencedDisconnected and control, when to toy remote control, operator no longer needs to control each step movement of toy execution with manual operation, but willSight (the small anchor window in display screen) see where, toy just automatically moves thereunto, so remote control is extremely simple and haveInterest is particularly suitable for the small children of age and uses.This remote control method controls object for appreciation using remote control actions one by one with existing" movement remote-control " of tool movement is entirely different, can be described as being " target remote control ".
Another kind extension, remote control technology of the invention can be with the mobile phone with video camera function or other digital product knotsIt closes, i.e., toy is remotely controlled using mobile phone or other digital products, becomes a kind of method using remotely controlling toy by mobile phone.ItsMobile phone includes camera, display screen and center processing circuit；Its method characteristic includes: that (1), by completing toy of the invention is distantThe remote control special-purpose software of prosecutor method, (namely APP) are mounted in the reservoir of mobile phone, are carried out by the center processing circuit of mobile phoneOperation, realize include video processing module, toy icon-based programming module, position signal identification module, telecommand generation module,With the function of telecommand coding module；(2), will be output in the communication interface of mobile phone by the telecommand of coding；(communicationThe data-interface of mobile phone, blue tooth interface, even audio output interface can be used in interface), (3), increase an external transmitting dressIt sets, emitter includes communication interface and transmit circuit, for receiving the telecommand of mobile communication interface output, and is passed throughTransmit circuit is emitted.The functional module that the center processing circuit operation remote control software of mobile phone is realized, it is distant with above-mentioned videoThe functional module that the control circuit of control device is realized is the same.And the working principle and remote control method of remote control software are with above-mentionedVideo frequency remote-control method is the same.
The technology of above-mentioned video frequency remote-control mobile phone, with the difference of the existing prior art being remotely controlled using mobile phone to toyBe not: existing mobile phone remote technology is that operator looks at toy on one side, on one side constantly by manual operation mobile phone key, orSwinging mobile phone manually makes body-sensing sensor generate inductive signal, generates telecommand constantly to drive toy to carry out each movementMovement.Operator needs to be intended to according to remote control and toy position constantly carries out remote control operation step by step, is that " movement is distant for one kindControl ", so it is more troublesome to operate.And the present invention is that operator holds mobile phone, includes using the camera intake of mobile phoneThe scene image of toy, and will be in anchor window (sightline window for being equivalent to operator) the alignment scene image on mobile phone screenWish the target position that toy moves to reach, toy just receives Remote Control Automatic mobile to target position, and the present invention is according to operatorSight control the movement of toy, be a kind of video " target remote control ", the simpler convenience that operates and interesting.
As a kind of unique and interesting design, visual remote control of the invention can be set using the external form of Google glassMeter, and be combined with the technology of the projection-type display screen of Google glass, it is by the display screen of remote controler of the present invention using paddyThe miniature projection-type display screen of glasses being mounted on spectacle-frame is sung, other still use technology of the invention, are made into for toyThe remote control eyeglasses of remote control.It is the specific technical proposal is: a kind of toy video frequency remote-control glasses, including spectacle-frame and leg of spectacles, also wrapsCamera, display screen, control circuit and transmit circuit are included；Wherein camera and display screen are mounted on spectacle-frame, control electricityRoad is mounted on the leg of spectacles of glasses；Control circuit includes video processing module, toy icon-based programming module, toys photo contrapositionSet identification module, telecommand generation module and coding module；(working principle and the function video as the aforementioned of each module are distantControl content described in device)；The output of control circuit, is connected to transmit circuit.The process for being exported control circuit by transmit circuitThe telecommand of coding is emitted.
The working principle of video frequency remote-control glasses is with mentioned-above independent toy visual remote control, bringBenefit is: operator completely dispenses with manually when being remotely controlled operation, and need to be only intended to gently rotate head according to remote control, makes to showScene image in screen generates movement, and the mesh that will wish that toy is moved in the anchor window alignment scene image in display screenIn cursor position, just can be remotely controlled driving toy move to reach the position, veritably realize " eyes see to where, toy just movesIt is dynamic thereunto " technical effect, it is extremely convenient to use and interesting.
Invention additionally discloses it is a kind of using light beam to toy carry out the remote position controlled method of remote position controlled, remote position controlled device andRemote-control toy.Its remote position controlled device includes transmit circuit, it is characterised in that: further includes having camera, control circuit and shiningPipe；Luminous tube is irradiated on the target position on ground for emitting a branch of light beam as positioning light beam, is generated one and is determinedPosition hot spot；Camera be used for absorb include toy image scene image；Control circuit includes view by signal processing flowFrequency processing module, witness marker identification module, toy icon-based programming module, position signal identification module, telecommand generate mouldBlock and telecommand coding module；The output of control circuit, is connected to transmit circuit.
Wherein video processing module is used to handle the vision signal of camera；Witness marker identification module is used in scene figureAs identifying location spot in signal；Toy icon-based programming module is used in scene picture signal, identifies the identification of toyIcon, (identifying icon including the toy with front and back tropism)；Position signal identification module is for obtaining location spot and object for appreciationPosition data in each comfortable picture signal of tool identification icon, and be compared, show that location spot and toy identification icon existRelative position in picture signal；Telecommand generation module is used for according to location spot and toy identification icon in picture signalIn relative position, show that driving toy is mobile or stops mobile telecommand；Telecommand coding module will be for that will be remotely controlledThe signal of instruction is encoded.
It uses light beam to carry out the remote position controlled method of remote position controlled to toy, (that is to say the job step of remote position controlled deviceSuddenly), comprising: (1), remote controler issue a branch of light beam as positioning light beam, and project on the target position around toy,Form a hot spot namely location spot；(that high optically focused of existing toy laser transmitter projects can be used in light beamLight beam, alternatively, being formed using common luminous tube plus beam condensing unit；Target position that is to say that operator wishes toy in next stepThe position moved to reach)；(2), by camera towards hot spot and toy, intake includes the field scene of hot spot and toy, byVideo processing module processing is scene image signal；(angle for the light beam that camera and luminous tube issue is the same and consolidatesFixed)；(3), control circuit identifies location spot in scene picture signal；If (do not identified in scene image signalLocation spot out illustrates that remote controler does not issue light beam, and operator is not remotely controlled intention, then control circuit does not issue anyTelecommand)；(4), control circuit identifies the identification icon of toy in scene picture signal；If (scene image signalIn, it does not identify the identification icon of toy, illustrates that toy is not fallen in the scene domain of present viewing field, then control circuit is sent outSell the telecommand of toy stopping movement)；(5), control circuit obtains location spot and each comfortable image letter of toy identification iconPosition data in number, and be compared, obtain the relative position of location spot and toy identification icon in picture signal；(6), relative position of the control circuit according to location spot and toy identification icon in picture signal show that driving toy is mobileTo the telecommand of location spot；(for example, telecommand includes advance, retrogressing, left-hand rotation, right-hand rotation, up and down etc.)；WhereinIn scene picture signal, when toy identification icon touches location spot, (i.e. toy identification icon and location spot are weighedWhen folded), control circuit, which issues, makes toy stop mobile telecommand；(7), control circuit is by the signal of telecommand by compilingAfter code, sent by transmit circuit；(8) after, the reception circuit of toy receives signal, telecommand is obtained by decoding,Telecommand is executed by executing agency using after amplification driving；(including driving toy is mobile to target position or stops movingIt is dynamic)；Above-mentioned steps constantly recycle execution.
Toy image equally can be identified as having by remote position controlled method and remote position controlled device, toy icon-based programming moduleDirective toy identifies icon, and recognition methods is not repeated herein referring to the content of video frequency remote-control method above-mentioned.
Remote position controlled device and remote position controlled method, it is basic with the visual remote control and video frequency remote-control method of the foregoing descriptionPrinciple with method be it is similar, the two the difference is that: 1, video frequency remote-control generates an anchor window, simulation behaviour on a display screenAuthor is remotely controlled where the sight being intended to, and comes alignment target position, and controls toy and move to the target position, and remote position controlled bandThere is luminous tube, a branch of positioning light beam can be issued and come alignment target position, so no longer need to simulate an anchor window, (orIt is overlapping that person, which comes to an agreement a light beam with anchor window)；2, due to will form a positioning when positioning light beam is projected to target positionHot spot, location spot are visible, and no longer need to observe by display screen, omit display screen so can save, only in control circuitPicture signal is compared and treated in inside；3, correspondingly, video frequency remote-control method is by the position data of toy identification iconPosition data with anchor window carries out position comparison, and to obtain telecommand, and positioning remote control method is to scheme toy identificationMark is compared with the position data of location spot, to show that telecommand, principle are the same.
Remote position controlled method and remote position controlled device of the invention is in use, operator's hand-held remote controller, positioning light beam is thrownBe mapped to and wish on place namely target position that toy is moved to, control circuit just automatically generate telecommand and drive toy toTarget position is mobile, realize " by light beam shine where, toy just it is mobile thereunto " effect, remote control operation is extremely convenient to be hadInterest.It is compared with " technology being remotely controlled using mobile beam to electronic toy " applied before applicant, may not need byLight beam goes to capture and be irradiated to the light-sensitive element above toy, and (when toy when moving do so be also it is difficult), also withoutLight beam need to be brandished again and again to go to irradiate and drive the shift action of toy execution step by step, but need to only be projected light beams upon and operatedPerson wishes on the target position that toy reaches that toy is just mobile from the trend position, so remote control operation is more convenient.
The remote-controlled electric toy of the technological maheup of remote control method according to the present invention and remote controler, including remote controler and electronicToy, electronic toy include to receive circuit, decoding circuit, driving circuit and executing agency, it is characterised in that: remote controler and object for appreciationUsing video frequency remote-control method above-mentioned or the method for remote position controlled method or remotely controlling toy by mobile phone between tool.The remote controlerUsing present invention visual remote control above-mentioned, or using present invention video frequency remote-control glasses above-mentioned；Or before using the present inventionThe remote position controlled device stated.For example, the visual remote control that the remote controler is above-mentioned using the present invention.Then remote controler includes transmittingCircuit further includes having camera, display screen and control circuit；Camera includes by the scene of remote-control toy for absorbingImage；Display screen is for showing video image；Control circuit includes video processing module, toy icon by signal processing flowIdentification module, position signal identification module, telecommand generation module and telecommand coding module；The output of control circuitIt is connected to transmit circuit.The telecommand after coding is emitted by transmit circuit.And it is aforementioned to remote control for toysVarious improvement and optimisation technique are also adapted to the application of remote-controlled electric toy of the invention.
And electronic toy can be divided into flight type toy and traveling type toy, executing agency is also different, wherein flyingThe executing agency of type toy includes at least the lifting executing agency having for driving aircraft to go up and down, so remote controler at least canIt is risen or fallen using anchor window come remotely-piloted vehicle.And the executing agency for travelling type toy includes to play for drivingHave the traveling executing agency to move forward and backward, and the steering executing agency for driving toy to be turned left and turned right, so distantControl device can using anchor window come remote controlled travelling type toy ground carry out by advance, retrogressing, left-hand rotation, right-hand rotation, stopping moveCombine the various movements constituted.
Specific embodiment is illustrated below according to attached drawing to how to implement the present invention.
It should be noted that present invention aims at the remote control technology of open electronic toy, and it is of the invention for realizingThe relevant technologies, such as the coding and decoding to telecommand, transmitting and reception, amplification and driving and the movement of electronic toyExecution unit, advance, retrogressing, stopping, left-hand rotation, right-hand rotation including travelling type toy, the movement of the up and down of flight type toyIt executes, belongs to the common technology of existing remote-control toy.And circuit function according to the present invention, including camera and display screenWork, the processing of vision signal obtains special to the identification of special object in video signal in video signalDetermine the position data of object, and the comparison of the position data to different objects, also belongs to the existing skill of existing video technique fieldArt is widely used in video identification field and electronic game field, realizes the specific procedure of these functions, is the field skillThe function and working principle that art personnel are described according to the present invention are not required to creative just achievable work.
Fig. 1 is the circuit block diagram of visual remote control working principle of the invention.Visual remote control of the invention includesTransmit circuit, it is characterised in that: remote controler further includes having video camera (abbreviation camera), video display screen (referred to as to showScreen) and control circuit；Camera includes by the image of the scene of remote-control toy for absorbing；Display screen is for showing videoImage；Control circuit includes video processing module, toy icon-based programming module, position signal identification mould by signal processing flowBlock, telecommand generation module and telecommand coding module, in which: video processing module, for handling the video of cameraSignal is output to display screen and is shown, and generates the anchor window of a fixed position in the picture, while obtaining location windowThe position data of mouth in the picture；Toy icon-based programming module, in the vision signal of scene, identifying the identification of toyIcon；Position signal identification module extracts the position data of toy identification icon in scene picture signal, and with it is fixedThe position data of position window is compared, and obtains the relative position of toy identification icon and anchor window；Telecommand generates mouldBlock generates the movement of driving toy or stops for the relative position according to toy identification icon and anchor window in picture signalMobile telecommand；(telecommand namely the target position for driving toy to be aligned to anchor window carry out required for movementRemote control actions.For example, this telecommand includes advancing, retreating, turning left, turning right, stopping movement for travelling type toy,For flight type toy, telecommand includes at least up and down)；Telecommand coding module, for being carried out to telecommandCoding；The output of control circuit namely the output of telecommand coding module, are connected to transmit circuit.By transmit circuit to warpTelecommand after crossing coding is emitted.
Toy image can be identified as having directive toy identification icon by wherein toy icon-based programming module,Recognition methods will be described in detail in the video frequency remote-control method described later.
Fig. 2 is the circuit block diagram by remote-control toy with visual remote control auxiliary work.It include to receive circuit, decodingCircuit, driving circuit and executing agency.Receive the remote signal that circuit is used to receive remote controler transmitting；Decoding circuit is for dockingThe output signal for receiving circuit is decoded, and obtains telecommand；Driving circuit is for amplifying the output of decoding circuit；It holdsRow mechanism is for executing telecommand, and driving toy advanced, retreated, turned left, turned right, stopped, up and down etc. are various dynamicMake.These belong to existing common RF remote-controlled or infrared remote control toy the prior art.
Visual remote control of the invention can be made into independent hand-held remote controller, such as the visual remote control structural schematic diagram of Fig. 3The structural schematic diagram (front view) of (side view) and Fig. 4.The independent visual remote control includes hand handle 1 and main body 2, and hand handle 1 canIt is also mountable inside hand handle 1 to have battery in being held in the hand for operator.Control circuit, main body are installed inside the main body 2 of remote controler2 towards camera 3 is equipped with before toy, the one side (back) of oriented manipulation person is provided with display screen 4.
The work step of visual remote control namely toy video frequency remote-control method of the invention, comprising: (1), pass through cameraScene image signal, is output on display screen after signal processing and shows by the scene towards toy intake scene；Such asThe scene image 5 that the remote controller displays screen of Fig. 5 is shown, (not occurring toy in scene)；(2), on the image of display screen, ifSet the anchor window for corresponding to operator's eye position；(such as Fig. 5 determines in the scene image 5 that remote controller displays screen is shownPosition window 6)；Control circuit is in picture signal, the position data of setting anchor window in the picture；(anchor window can beDirectly it is fixed on the screen of display screen；It is also possible to be set as virtual window icons, and shows on the image, at this momentAnchor window is fixed relative to the absolute position of screen, but the relative position of the scene image relative to mobile variation is to moveDynamic)；(3), operator is intended to according to remote control, dollying head, so that the scene image for showing screen display is generated movement, and makeAnchor window alignment function person wishes that toy is moved on target position on display screen；(that is operator wishes one under toyWhere is moved further, and the anchor window relative to operator's sight is just directed at there)；(4), control circuit is believed in scene imageIn number, the identification icon of toy is identified；(such as Fig. 6, in the scene image 5 that remote controller displays screen is shown, the toy of appearance is identifiedIcon 7, and identify that icon 7 is not be overlapped with anchor window 6；If in scene image signal, not identifying the identification figure of toyMark, illustrates that toy is not fallen in the scene domain of present viewing field, then control circuit issues the remote control for allowing toy stopping to act and refers toIt enables)；(5), control circuit obtains position data of the toy identification icon in picture signal, and the position data with anchor windowIt is compared, (position of anchor window on the image be fixed, position data is also setting and constant) both obtainsRelative position, and show that driving toy is moved to the telecommand of anchor window with this；Wherein when the signal of scene image 5In, when the identification icon of toy touches anchor window, (such as Fig. 7, in the scene image 5 that remote controller displays screen is shown, toy 7The position for moving to reach anchor window 6, when that is to say that toy identification icon is Chong Die with the appearance of the position data of anchor window), controlCircuit processed, which issues, makes toy stop mobile telecommand；(6) the signal of telecommand, is passed through into transmit circuit after codingIt sends；(7) after, the reception circuit of toy receives signal, telecommand is obtained by decoding, after amplification drivingTelecommand is executed by executing agency；(including driving toy is mobile to target position or stops movement)；Above-mentioned steps circulationIt executes.
The anchor window recited above for corresponding to operator's eye position can be the rectangle constituted using colored linesOr the wicket of circle or other shapes；It is also possible to a colored hot spot or colored points；(actually and when window very littleA kind of special circumstances).Position of the anchor window in display image, theoretically can be set in any position, but generalPosition between being arranged in the picture is most suitable.Anchor window can be directly fixed setting (such as printing) in the physics of display screenOn screen, at this moment control circuit also needs the position data that the setting in picture signal corresponds to this anchor window；PositioningWindow is also possible to be set as virtual window icons, and shows on the image, (similar to green above camera finding screenColor focusing wicket), at this moment anchor window is fixed relative to the absolute position of screen, but the scene relative to mobile variationThe relative position of image is mobile, moreover, the position data of anchor window in the picture is fixed.
Position of the anchor window in display image be it is fixed, do not moved with the movement of camera, so, on the spotWhen scape image changes with the movement of camera, anchor window just generates relative movement in scene image.It is equivalent to behaviourThe position of the sight of author, operator can make scene image generate movement with dollying head, even if also the visual field generates shiftingIt is dynamic, and anchor window is directed at the target position that operator wishes that toy moves to reach in next step.
Identification of the control circuit to the identification icon of toy, is generally realized using identification software, this belongs to existing figureAs identification technology.It is simplest, toy can be identified as a point, to calculate the relative position of it and anchor window, and obtainedDriving toy carries out mobile instruction to anchor window out.For example, for some simple flight balls or helicopter toy, onlyDistant control function with two directions of one-dimensional risen or fallen, it is simple possible that it, which is identified as a point, works as location windowWhen mouth is above toy, the instruction that driving toy rises is issued, when anchor window is below toy, issuing makes toy declineInstruction.
But if creeped the remote control of type toy for vehicle class or other traveling classes, due to toy on the ground eachKind movement can be analyzed to advance, retreat, turns left, the action control of right-hand rotation four direction, if toy is still at this moment identified as oneA point is controlled, then operator needs the front end (such as headstock of vehicle) for anchor window being always placed on toy to guideJust there is no problem for control, and when anchor window is moved to toy rear end (tailstock), since at this moment toy is a point, it can notThe difference of front and back is distinguished, so will malfunction.
In order to overcome this disadvantage, keep remote control more perfect, the present invention improves, toy is not identified as a point, andIt is that toy is identified as to have directive identification icon, that is to say the front-rear direction for identifying toy in picture signal, thanSuch as identify the headstock of vehicle and the direction of the tailstock.In this way in scene image, if anchor window is moved to object for appreciation by operatorThe rear end of tool, (such as tailstock), then the software of control circuit just can recognize that anchor window be in the rear end of toy, (or otherDirection), to issue the telecommand for making toy retreat (or left and right turn), keep toy correctly mobile to anchor window.
It is described that toy is identified as to have directive identification figure calibration method, it may is that (1), according to the figure of toy itselfThe directive identification icon of tool is identified as signal.For example it directly is identified according to the appearance images of a toy carHeadstock and the tailstock.Existing image recognition technology can be directly used in this, (such as recognition of face, object identification etc.), advantageBe it is easy to use, without changing original appearance of toy, the disadvantage is that identification software is more complicated, although there is canned software that can makeWith, but it is also higher to hardware requirement.(2), the marker with direction characteristic is provided in appearance in toy, identification software is being schemedAs identifying that the directionality of toy identifies icon in signal by the marker.Simplest, it is non-right that marker can be oneThe color map of title.Software identifies the front-rear direction of toy according to this special marker, just easier.(3), in toyOn be provided with luminous tube, the luminous pattern with direction characteristic is made of the light of luminous tube.For example it is shone using threePipe constitutes the luminous pattern of directionality, or has the light transmitting sheet of directionality shape luminous to constitute using a luminous tube cooperationFigure.This method is since toy identification icon can issue specific light, so software identification is got up more easily.The disadvantage is that needingChange toy appearance and circuit.
For in image information, the calculating of the relative position of toy identification icon and anchor window is identified and is sentenced with thisThe disconnected prior art for obtaining the mobile required instruction of driving toy and video processing, is widely applied in electronic game.ThanIt such as, can be by piece image video, obtaining toy identification icon current field and the data of row, the field with anchor windowIt is compared with capable data (these data of anchor window are fixed), to identify the relative position of the two, and with thisJudgement obtains the telecommands such as driving toy mobile required advance, retrogressing, left-hand rotation, right-hand rotation, up and down.For example, in Fig. 6Scene image in, anchor window 6 toy identification icon 7 upper left side, then at this moment telecommand be advance plus turn leftTo.
Certainly, this telecommand is not fixed, in dynamic adjustment, this is because the program of control circuit isCircular flow, in each operational process, procedure identification goes out toy identification icon and anchor window in scene image informationRelative position, obtain the instruction for driving toy mobile to anchor window under current state, and by launching after coding；It playsTool receives the signal, obtains telecommand by decoding, after amplification driving, is executed instruction by executing agency, driving is playedTool is moved or is turned to adjustment, mobile to target position (namely position that anchor window is aligned in image).Next timeIn operational process, program again identifies that out the relative position of toy identification icon and anchor window in scene image information, againObtain the driving toy new telecommand required to anchor window movement, if this instruction was instructed with last time, forEconomize on electricity, can not emit the instruction, toy is still continued to move to by instruction before；And if since toy is executing upper onePosition varies widely after instruction, causes new telecommand to keep up with instruction difference, then control circuit carries out new commandCoding and transmitting readjust moving direction according to new telecommand after toy reception, continue more accurately to target positionIt is mobile.
Clearly as camera shooting, image procossing, program operation, coding and decoding, transmitting and reception and executing agency pairThe execution of instruction, requires the regular hour, so movement adjustment of the toy in moving process has the lag of certain time,This will lead to toy in, in constantly progress direction adjustment song not direct and round and smooth to the mobile approach in target positionThe traveling of complications folding.Toy as shown in Figure 9 is moved to the mobile approach 8 of target position.Its tortuous degree and above-mentioned each ringThe execution time of section is related, chooses the faster processor of operating rate, improves program operation speed, can make mobile approach moreIt is round and smooth.In addition, allow toy when executing steering order into target position moving process if be further improved, not only letterThe left-hand rotation of list is turned right, but the relative position of icon and anchor window is identified according to toy, is produced and is turned with steering angleTo instruction, drive toy more accurately mobile to target position, then moving approach also being capable of rounder and more smooth nature.
And works as toy and be moved to target position, namely the identification icon of toy is moved on anchor window in the picture, (thisCan be the case where including or partly overlapping), in program namely in image information toy identification icon position data with, there is the situation as all or part in the position data of anchor window, at this moment illustrates that toy is moved on target position,Then control circuit issues the telecommand for allowing toy to stop, and toy is made to stop movement.Program continues to run later, continues identification and playsThe variation of the relative position of tool identification icon and anchor window, namely the mobile variation of the next target position of operator is waited,It is further continued for executing the identification, judgement and execution work of a new round.
Certainly, during toy is mobile to target position, operator can dollying head at any time, by anchor windowOtherwise (i.e. new target position) is re-moved, such as Fig. 8, in the scene image 5 that remote controller displays screen is shown, positioningWindow 6 is re-moved to other place.At this moment program will identify the opposite position of icon and new anchor window according to toyIt sets, issues new telecommand, driving toy is mobile to new target position, realizes continuous remote control in real time.
To work such as the coding of telecommand, decoding, transmitting, receptions, belong to the technology of existing toy remote control.Wherein emitAnd reception, radio frequency method or infrared mode can be used, alternatively, it is shorter if it is remote control distance indoors, it can also adoptWith modes such as bluetooth, WIFI.And to the effect that command signal is encoded, first is that anti-interference ability is improved, second is that making this distantControl device can be identified and be matched with the toy of remote-control target, to realize the remote control to the toy.
Visual remote control of the invention when in use, is held in hand by operator, and camera is taken the photograph towards the toy being remotely controlledTaking includes remote controler in the display screen of the scene image of toy and the person that is shown in oriented manipulation, in the mobile hand of operator, is changedBecome the scene image that camera is absorbed, makes anchor window (eye position relative to operator) alignment function in display screenPerson wishes the target position that toy moves to reach in next step, and control circuit will pass through procedure identification, judgement and issue driving toyMobile telecommand is carried out, and is emitted after coding by transmit circuit.And the toy being remotely controlled, it is distant to receive thisSignal is controlled, decoding circuit is sent to and is decoded, obtain telecommand, after amplification, executing agency is output to and executes accordinglyMovement, driving toy is mobile to target position, realizes that operator sees to where toy just moves remote control to there.
Video frequency remote-control method disclosed by the invention and visual remote control, identify toy by video image, are sentencedDisconnected and control, when to toy remote control, operator no longer needs to control each step movement of toy execution with manual operation, but willSight (the small anchor window in display screen) see where, toy just automatically moves thereunto, so remote control is extremely simple and haveInterest is particularly suitable for the small children of age and uses.This remote control method controls object for appreciation using remote control actions one by one with existing" movement remote-control " of tool movement is entirely different, can be described as being " target remote control ".
It is used as a kind of extension, remote control technology of the invention can be produced with the mobile phone with video camera function or other numbersProduct combine, i.e., are remotely controlled using mobile phone or other digital products to toy, become video frequency remote-control mobile phone.Required changeAre as follows: 1, the software of remote control method of the invention will be completed, it is mounted in mobile phone and is run, it is original hard using software and mobile phonePart and software resource refer to realize including video processing module, toy icon-based programming module, position signal identification module, remote controlThe function of generation module and telecommand coding module is enabled, and the communication for being output to mobile phone by the telecommand of coding is connectOn mouth；(data-interface of mobile phone, blue tooth interface, even audio output interface can be used in communication interface), 2, increase by one it is externalEmitter, emitter includes transmit circuit, for receiving the telecommand of mobile communication interface output, and passes through hairTransmit-receive radio road is emitted.And its working principle with remote control method is with video frequency remote-control method above-mentioned.Certainly, of the inventionThe effect of mobile phone remote limited by mobile video function, current mobile video is mostly functional fortunately, mostly alsoWith zoom function, requirement of the invention can satisfy.
The technology of above-mentioned video frequency remote-control mobile phone, with the difference of the existing prior art being remotely controlled using mobile phone to toyBe not: existing mobile phone remote technology is that operator looks at toy on one side, on one side constantly by manual operation mobile phone key, orSwinging mobile phone manually makes body-sensing sensor generate inductive signal, generates telecommand constantly to drive toy to carry out each movementMovement.Operator needs to be intended to according to remote control and toy position constantly carries out remote control operation step by step, is that " movement is distant for one kindControl ", so it is more troublesome to operate.And the present invention is that operator holds mobile phone, includes using the camera intake of mobile phoneThe scene image of toy, and will be in anchor window (sightline window for being equivalent to operator) the alignment scene image on mobile phone screenWish the target position that toy moves to reach, toy just receives Remote Control Automatic mobile to target position, and the present invention is according to operatorSight control the movement of toy, be a kind of video " target remote control ", the simpler convenience that operates and interesting.
As a kind of unique and interesting design, visual remote control of the invention can be set using the external form of Google glassMeter, and be combined with the technology of the projection-type display screen of Google glass, it is by the display screen of remote controler of the present invention using paddyThe miniature projection-type display screen of glasses being mounted on spectacle-frame is sung, other still use technology of the invention, are made into for toyThe remote control eyeglasses of remote control.Structural schematic diagram such as Figure 10 of video frequency remote-control glasses of the invention, including spectacle-frame 11 and leg of spectacles 13,Eyeglass 12 is generally fitted on spectacle-frame 11.It further include having camera, display screen, control circuit and transmit circuit；Wherein imageFirst 14 and display screen 15 be mounted on spectacle-frame 11, control circuit is mounted on the leg of spectacles 13 of glasses；Control circuit includesVideo processing module, toy icon-based programming module, toy relative position identification module, telecommand generation module and coding mouldBlock；(content described in working principle and the function remote control for toys as the aforementioned of each module)；The output of control circuit, is connected toTransmit circuit.Emitted by the telecommand by coding that transmit circuit exports control circuit.
Wherein display screen 15 uses the miniature display screen of projection-type used by Google glass, small in size, mountable in eyeBefore mirror, image is projected to the image for making eyes see amplification to eyes, for details, reference can be made to the relevant technologies of Google glass.Miniature pinhole cameras can be used in camera 14, and (the modular camera head as used by mobile phone) is mounted on two spectacle-framesOn intermediate position.The power supply of toy remote control glasses, can be used the rechargeable battery of small size high-energy, and be mounted on leg of spectaclesOn.Due to the capacity limit by battery when in this way, it is suitable for the remote control operation shorter away from discrete time, if necessaryThe remote control for a long time with long range is carried out, external connection battery can also be used and power supply line is connected on the circuit of glasses, alternatively, adoptingWith an external independent remote signal relay, the weaker remote signal of toy remote control glasses transmitting is received, is passed throughMore powerful remote signal is launched outward after amplification, again to realize that farther toy of adjusting the distance is remotely controlled for a long time.
The working principle of video frequency remote-control glasses is with mentioned-above independent visual remote control, moreover, bringingBenefit be: operator completely dispenses with manually when being remotely controlled operation, and only need to according to remote control be intended to gently rotate head, make to showScene image in display screen generates movement, and will wish what toy was moved in the anchor window alignment scene image in display screenOn target position, just can be remotely controlled driving toy move to reach the position, veritably realize " eyes see to where, toy is justIt is mobile thereunto " technical effect, it is extremely convenient to use and interesting.
Invention additionally discloses it is a kind of using light beam to toy carry out the remote position controlled method of remote position controlled, remote position controlled device andRemote-control toy.It belongs to the prior art with the electronic toy of remote position controlled device auxiliary work, referring to fig. 2 and is previously with regard to Fig. 2'sThe explanation of toy block diagram, is not repeated herein.Figure 11 is the structural schematic diagram (side view) of its remote position controlled device.Remote position controlledDevice includes hand handle 16 and main body 17；Battery can be installed inside hand handle 16, control circuit, main body 17 are installed inside main body 17The front end of toy is provided with luminous tube 18 and camera 19；Luminous tube 18 is for issuing a branch of light beam 20 as positioningLight beam, and positioning light beam is projected on the target position around toy, form a hot spot namely location spot.Optically focused lightThat high light beam of existing toy laser transmitter projects can be used in beam, alternatively, adding optically focused using common luminous tubeDevice is formed；Target position that is to say the position that operator wishes that toy moves to reach in next step.
Figure 11 is the circuit block diagram of light beam remote position controlled device working principle.Remote position controlled device includes camera, control electricityRoad and transmit circuit further include a luminous tube；Luminous tube is irradiated to object for appreciation for emitting a branch of light beam as positioning light beamOn target position around having, location spot is formed；Camera is for absorbing scene image；Control circuit presses signal processing flowInclude video processing module, location spot identification module, toy icon-based programming module, position signal identification module, remote control refer toEnable generation module and telecommand coding module；The output of control circuit, is connected to transmit circuit；It will be controlled by transmit circuitThe remote signal of circuit output is emitted.
Its video processing module is used to handle the vision signal of camera；Witness marker identification module is used in scene imageIn signal, location spot is identified；Toy icon-based programming module is used in scene picture signal, identifies toy identification figureMark, (the identification icon including having front and back tropism)；Position signal identification module is for obtaining location spot and toy identificationPosition data in each comfortable picture signal of icon, and be compared, show that location spot and toy identification icon are believed in imageRelative position in number；Telecommand generation module is used for the phase according to location spot and toy identification icon in picture signalTo position, show that driving toy is mobile or stops mobile telecommand；Telecommand coding module is used for telecommandSignal is encoded.
Its remote position controlled method, that is to say the work step of remote position controlled device, comprising: (1), by operator use remote controlerA branch of light beam is issued as positioning light beam, and is projected on the target position around toy, a hot spot, Ye Jiding are formedPosition hot spot；(2), by camera towards location spot and toy, intake includes the field scene of location spot and toy, byVideo processing module processing is scene image signal；(angle for the positioning light beam that camera and luminous tube issue is consistent and solidFixed, so the camera angle of camera is always followed by the projecting direction of positioning light beam)；(3), control circuit is in scene imageIn signal, location spot is identified；(hot spot of the specific color of such a high brightness is identified in the picture, is to be easier's.If not identifying location spot in scene image signal, illustrate that remote controler does not issue positioning light beam, operator does not haveRemote control is intended to, then control circuit does not issue any telecommand)；(4), control circuit identifies toy in scene picture signalIdentification icon；(recognition methods is as mentioned-above video frequency remote-control method.If do not identified in scene image signalThe identification icon of toy out, illustrates that toy is not fallen in the scene domain of present viewing field, then control circuit sending allows toy to stopThe telecommand that stop is made)；(5), control circuit obtains the position in location spot and each comfortable picture signal of toy identification iconData, and be compared, obtain the relative position of location spot and toy identification icon in picture signal；(6), control circuitAccording to the relative position of location spot and toy identification icon in picture signal, show that driving toy is moved to location spotTelecommand；(such as: the instruction such as advance, retrogressing, left-hand rotation, right-hand rotation, up and down)；Wherein in scene picture signal, toyWhen identification icon touches location spot, (when i.e. toy identification icon is Chong Die with location spot appearance), control circuit sending makesToy stops mobile telecommand；(7), control circuit is sent by the signal of telecommand after coding by transmit circuitIt goes out；(8) after, the reception circuit of toy receives signal, telecommand is obtained by decoding, is passed through after being driven using amplificationExecuting agency executes telecommand；For example driving toy is mobile to target position or stops movement；Above-mentioned steps circulation executes.
Remote position controlled device and remote position controlled method, it is basic with the visual remote control and video frequency remote-control method of the foregoing descriptionWorking principle with method be it is similar, narration is not repeated herein.The two the difference is that: 1, video frequency remote-control is on a display screenAn anchor window is generated, alignment target position is come, and control toy to the mesh in the sight place that simulated operator remote control is intended toCursor position is mobile, and remote position controlled has luminous tube, and can issue a branch of positioning light beam comes alignment target position, and in target positionIt sets and generates a location spot to substitute anchor window, so no longer needing to simulate an anchor window, (position light beam in other wordsIt is overlapping with anchor window)；2, due to will form a location spot, location spot when positioning light beam is projected to target positionIt is visible, no longer needs to observe by display screen, omit display screen so can save, only to picture signal inside control circuitIt is compared and treated；3, correspondingly, video frequency remote-control method is the position by the position data of toy identification icon with anchor windowIt sets data and carries out position comparison, to obtain telecommand, and positioning remote control method is that toy is identified icon and location spotPosition data is compared, to obtain telecommand, (its certain principle is the same).
Remote position controlled method and remote position controlled device of the invention is in use, operator's hand-held remote controller, positioning light beam is thrownIt is mapped to and wishes to form a small light spot, control circuit just automatically generates remote control on position namely target position that toy is moved toInstruct and drive toy mobile to target position, realize " by light beam shine where, toy just it is mobile thereunto " effect, remote controlIt operates extremely convenient interesting.It is compared with " technology being remotely controlled using mobile beam to electronic toy " applied before applicantCompared with, may not need and remove light beam to capture and be irradiated to the light-sensitive element above toy, (when toy when moving do so be also haveDifficulty), light beam, which is brandished, without each removes the shift action of irradiation and the execution of driving toy step by step, but only need to be by lightBeam is incident upon on the target position that operator wishes that toy reaches, and toy is just mobile from the trend position, so remote control operation is moreAdd conveniently.
The remote-controlled electric toy of the technological maheup of remote control method according to the present invention and remote controler, including remote controler and electronicToy, electronic toy include to receive circuit, decoding circuit, driving circuit and executing agency, it is characterised in that: the remote controlDevice is using present invention visual remote control above-mentioned, or uses present invention video frequency remote-control glasses above-mentioned；Or using the present inventionRemote position controlled device above-mentioned.For example, the visual remote control that the remote controler is above-mentioned using the present invention.Then remote controler includes hairTransmit-receive radio road further includes having camera, display screen and control circuit；Camera includes by the scene of remote-control toy for absorbingImage；Display screen is for showing video image；Control circuit includes video processing module, toy figure by signal processing flowMark identification module, position signal identification module, telecommand generation module and telecommand coding module；Control circuit it is defeatedIt is connected to transmit circuit out.The telecommand after coding is emitted by transmit circuit.And it is aforementioned to remote control for toysVarious improvement and optimisation technique, be also adapted to the application of remote-controlled electric toy of the invention.
And electronic toy can be divided into flight type toy and traveling type toy, executing agency is also different, wherein travellingThe executing agency of type toy includes the traveling executing agency for driving toy to move forward and backward, and for driving toy to carry outThe steering executing agency of left and right turn；And the executing agency of flight type toy include at least have for drive aircraft rise or underThe lifting executing agency of drop.So as a kind of concrete application of the invention, a kind of remote-controlled electric toy travelling class, includingRemote controler and electronic toy；Electronic toy includes to receive circuit, decoding circuit and amplifying circuit, further includes having to play for drivingHas the traveling executing agency to move forward and backward, and for driving toy to carry out the steering executing agency of left and right turn；Its feature existsIn: using the side of video frequency remote-control method above-mentioned or remote position controlled method or remotely controlling toy by mobile phone between remote controler and toyMethod.And the various remote controlers that remote controler is above-mentioned using the present invention, including visual remote control, video frequency remote-control mobile phone, video frequency remote-control eyeOne of mirror, light beam remote position controlled device.
As another concrete application of the invention, a kind of remote control toy aircraft, including remote controler and toy aircraft,Toy aircraft includes to receive circuit, decoding circuit and amplifying circuit, further includes having for driving aircraft to rise or fallLifting executing agency, and remote controler is using the above-mentioned various remote controlers of the present invention, including visual remote control, video frequency remote-control handOne of machine, video frequency remote-control glasses.And remote control of the remote controler to toy aircraft, according to the present invention disclosed remote control methodIt works.According to technology disclosed in this invention, remote control method of the invention and remote controler are suitable for remote control toy aircraftThe remote control for carrying out raising and lowering movement, is readily applicable to the remote control moved left and right, and due to can not be in depth angleIt is positioned, so the remote control that can not be moved forward and backward, be suitable only for flight ball and simply go straight up to class aircraft etc.Remote control, this is limitation of the invention.Moreover, light beam remote position controlled device therein and method to be formed due to that can not project in the skyLocation spot, so can not also be suitble to the remote control to aircraft.