JP3286665B2 - Control method of robot play apparatus and robot play apparatus - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and apparatus for playing a robot. More particularly, the present invention relates to a robot game method and a game device that compete for superiority or inferiority based on a result of repeating an operation of giving a desired amount of exercise to a target object by a robot.

[0002]

2. Description of the Related Art Conventionally, as a competitive robot playing apparatus in which robots play against each other, for example, a robot in which robots directly fight each other, such as sumo wrestling, or a specific light beam is applied to a target of a partner robot. Some players compete for superiority, and others compete for superiority by allowing a player to operate a robot to pass an object such as a ball to an opponent's goal.

[0003] In the above-mentioned conventional fighting robot game machines, those in which the robots directly fight each other have a problem that the robot is easily damaged and the maintenance of the machine is not easy. On the other hand, those competing for superiority by irradiating the target of the other robot with a specific light beam have a problem in that they lack the power of appearance and are thus less entertaining.

Further, a player who competes for superiority by operating a robot and passing an object such as a ball to an opponent's goal by operating a robot is determined by the player's own motor skills such as reflexes and intuition. Therefore, there is a problem that the original entertainment obtained by playing with the robot cannot be sufficiently brought out.

[0005]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems in the prior art, and is a method of playing a robot which can sufficiently bring out the original recreational performance obtained by playing with a robot. And an amusement device.

[0006]

Means for Solving the Problems] robot game instrumentation of the present invention
The method of controlling the position is a method of controlling a robotic game device of a battle type by automatic control , in which a robot having an air nozzle is arranged to face each other, wherein the air nozzle has an air ejection port.
Multiple types with different diameters and shapes are prepared in advance and selected
It is possible to adjust the air injection pressure from the air nozzle
Is possible to detect the movement of the deployed objects between the two robots move the air nozzle in response to the detected movement, the distance between the air nozzle tip is selected with the object
When a distance reaches a distance set in advance by an algorithm, air is ejected from the air nozzle toward the object by the adjusted pressure to give a desired momentum to the object. In this case, a chevron-shaped play board may be provided between the robots arranged opposite to each other, and the object may be moved on the play board. The target object may be floated by ejecting the air.

[0007]

In the method for controlling a robot game machine according to the present invention, a predetermined number of algorithms for moving the air nozzle are prepared in advance, and the player can select from the predetermined number of algorithms before starting the game. The air nozzle may be moved automatically according to the particular algorithm selected.

[0009]

On the other hand, the first embodiment of the robot game device of the present invention
Embodiment is a competitive robot game device comprising a by opposed robot having air nozzles, said Eanozu
There are several types of air outlets with different diameters and shapes in advance.
It is possible to select and prepare the air from the air nozzle.
(A) The injection pressure is adjustable , and comprises detection means for detecting the movement of an object placed between the two robots , and moves the air nozzle according to the movement of the object detected by the detection means, Object and selected air nozzle
The distance to the tip is a distance set in advance by an algorithm
To the pressure that has been adjusted the air Ru and vegetables from the air nozzle to
Ri is ejected toward the same object, characterized by comprising been to provide the desired momentum to the object. Also,
A second embodiment of the robot game device according to the present invention includes an air nozzle.
Battle type robot with robots facing each other
An amusement device, wherein the robot is operable by a player.
The air nozzle has a diameter and a shape of an air ejection port.
Different types are prepared in advance and selectable,
The air injection pressure from the air nozzle is adjustable,
The air nozzle can be jetted by the player.
To detect the movement of an object placed between both robots
Detecting means, and the player is detected by the detecting means.
The air nozzle is moved according to the movement of the object
And adjusted the air from the selected air nozzle.
Injected toward the same object by pressure,
To give a desired momentum to the object.
Features. In that case, a chevron-shaped play board may be provided between the robots arranged opposite to each other to move the object on the play board. The target object may be floated by ejecting air at a predetermined pressure from the hole.

[0011]

In a second embodiment of the robot game device of the present invention, the operation of the player may be performed by remote control via communication.

Further, in the robot game device of the present invention, a predetermined number of algorithms for moving the air nozzle are prepared in advance, and a specific algorithm selected by the player from the predetermined number of algorithms before the game is started is provided. The air nozzle may be moved automatically.

[0014] Further, a first embodiment of the robot play apparatus of the present invention .
In the second and third embodiments , the player may be allowed to create an algorithm for giving a desired momentum to the object by the air nozzle. In this case, the algorithm created by the player himself may be supplied to the robot via communication.

[0015]

[0016]

Since the present invention is configured as described above, it is possible to cause the robot to battle without any adverse effect such as damaging the robot. The robot can also practice with the robot, such as tennis.

[0017]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described based on embodiments with reference to the attached drawings, but the present invention is not limited to only such embodiments.

Embodiment 1 FIG. 1 shows a schematic configuration of a battle type robot game system including a robot game apparatus according to Embodiment 1 of the present invention. This system A has a game table 1 and a game table 1 interposed therebetween. First and second robots R1 and R2 placed on the left and right, and first and second robots R1 and R2
And second control systems C1 and C2. The robots R1 and R2 compete with each other by autopiloting or by hitting the object T such as a ping-pong ball on the play table 1 by human operation.

Here, since the robots R1 and R2 have the same configuration and the control systems C1 and C2 also have the same configuration, the robots R1 and R2 will be described below.
Is referred to as a robot R, and each of the control systems C1 and C2 is referred to as a control system C, which will be described in detail with reference to FIG.

As shown in FIG. 2, the game board 1 has a game board 13 in which two slopes 11 and 12 are connected to each other in a chevron, so that the object T does not fall on both sides of the game board 13. Are provided with frames 14 and 15. In addition, the game board 13
A plurality of obstacles 16 are provided on the upper side, so that the moving path of the target T changes randomly.

The robot R includes first to third rotating mechanisms 2
1, 22, 23 and first to third turning mechanisms 24, 25, 2
The arm 20 has a six-axis configuration composed of an armature 6 and an air nozzle 27 as an end effector that gives a desired momentum to the object T at an end of the arm 20.

A plurality of types of air nozzles 27 having different diameters and shapes of air outlets are prepared in advance, and each player selects an air nozzle according to the situation such as the arrangement of the obstacle 16 on the play board 13 or the like. In addition, the air ejection pressure and the ejection shape can be adjusted.

The control system C includes a controller 31 for controlling the robot R, an operating device 32 for the player to directly control the operation of the robot R, and an imaging unit 33 for photographing the object T.
An image processing device 34 that processes image information captured by the imaging unit 33, and a robot operation selection device 35 that selects an algorithm for operating the robot R according to the image information processed by the image processing device 34. I have. The operation device 32 and the robot operation selection device 35 are connected to the controller 31 via a switch SW.
The switch SW is used to switch whether the player directly operates the robot R by the operation device 32 or indirectly operates the robot R by an algorithm selected by the robot operation selection device 35.

The operating device 32 is specifically an input device for inputting operation information, such as a so-called game pad or joystick, which is set so that a human can instruct the operation of the robot in a sensory and appropriate manner. By this setting, for example, the operation of each robot R, R is limited so that a collision between the robots R, R and a collision between the robot R and the game table 1 do not occur.

The robot operation selecting device 35 controls the air nozzle 2 according to the image information processed by the image processing device 34.
A plurality of types of algorithms for moving 7 are stored and held, so that each player can select a desired one from these algorithms. Further, the robot operation selection device 35 instructs the controller 31 to operate the robot R according to the selected algorithm.

As an example of an algorithm stored in the robot operation selection device 35, a final hitting position of an object that moves irregularly due to an obstacle is estimated geometrically in real time, and an air nozzle is attached to the object T. There are algorithms that follow, and algorithms that predict and compensate for delays in image processing. More specifically, a plurality of such various algorithms are prepared, and the characteristics of each algorithm are simply described. Each player observes the arrangement of the obstacle 16 on the play board 13 and the like, and considers the air ejection pressure and the ejection shape of the air nozzle 27 selected by himself, and determines the most appropriate algorithm by the robot operation selection device 35. To select.

The algorithm selected by the robot operation selection device 35 is not limited to the one prepared in advance,
The algorithm created by the player himself may be input to the robot operation selection device 35, and the robot R may be operated according to the algorithm.

More specifically, software for creating an algorithm that enables the creation of the algorithm without specialized knowledge is programmed and distributed to each player. The player himself creates an algorithm using this software on a commercially available personal computer, for example. The created algorithm is input to the robot operation selecting device 35 via a portable recording medium such as a floppy disk or a communication means such as the Internet.

As a result, the player can enjoy the pleasure of making the most suitable algorithm for operating the robot R by trial and error, which is relatively unmanned.

Next, the operation of the competitive robot game system A having such a configuration will be specifically described.

(A) When the player directly operates the robot R When the player directly operates the robot R with the operation device 32, the switch SW is set so that the operation device 32 and the controller 31 are connected. Switch. The controller 31 controls each axis 2 of the arm 20 according to an operation input from the operation device 32.
The air nozzles 27 are moved on the game board 13 by appropriately operating 1, 22, 23, 24 and 25. At this time, the tip of the air nozzle 27 is automatically directed to the opponent's base. The player performs an operation of ejecting air from the tip of the air nozzle 27 when the distance between the object T and the air nozzle 27 becomes appropriate. At this time, if any of the positional relationship between the air nozzle 27 and the object T or the timing of the operation for ejecting air is inappropriate, the object T continues to roll on its own without reaching the opponent's base, Falls from the game board 13 on its own side. At this time, it is determined that the player has lost the game. Conversely, if the object T falls on the opponent's base from the game board 13, it is determined that the game has been won.

(I) In the case where the player indirectly operates the robot When the player indirectly operates the robot R by the robot operation selecting device 35, when the object T moves to the own side, The image information of the object T is acquired by the imaging unit 33, the image information is processed by the image processing device 34, and the position of the object T is detected based on the processed image information. The robot controller 31 controls the air nozzle 27 according to the algorithm selected by the robot operation selection device 35 according to the detected position of the target T.
To move. The position of the air nozzle 27 is corrected every moment in accordance with the movement of the object T. When the distance between the object T and the tip of the air nozzle 27 reaches a distance set by the algorithm, air is ejected from the tip of the air nozzle 27. Also in this case, the determination of lost or win of the game is performed in the same manner as in the case of (a).

The combination of the operation modes of the robot R in the actual battle is arbitrary, and according to the above classification, the direct operation vs. the direct operation, the direct operation vs. the indirect operation, and the indirect operation vs. the indirect operation The following three types are possible.

Embodiment 2 Next, with reference to FIG. 3, a competitive robot game system according to Embodiment 2 of the present invention will be described.

FIG. 3 shows an arrangement of each component in the system of the present embodiment. The playground 51 used in the system B of the present embodiment has a rectangular parallelepiped shape, and a pair of opposing side surfaces among the four side surfaces has goals G1 and G1, respectively.
2 are provided. Since the third and fourth robots R3 and R4 used in the present system B have the same configuration as the robot R of the first embodiment, the corresponding components are denoted by the same reference numerals. Detailed description is omitted.
The control systems C3 and C4 provided corresponding to the robots R3 and R4 are also the control systems C and C of the first embodiment.
Means that the imaging unit 33 is deleted and the three-dimensional camera 5
The only difference is that 2 and 53 are connected,
The other components are denoted by the same reference numerals, and detailed description is omitted.

Each robot R3, R4 has a goal G
1, disposed in front of G2. Numerous pores are provided on the floor surface of the playground 51, and air at an appropriate pressure is constantly blown out of these pores, so that an object T1 such as a balloon moves from the floor surface to a predetermined height. It is made to float at L.

The tip of the air nozzle 27 attached to the tip of the arm 20 of each robot is controlled by the controller 31 so that the tip of the air nozzle 27 faces the opponent's goal no matter where the air nozzle 27 moves.

In the system B having such a configuration, when the player directly operates the robot R by the operation device 32, each player moves the air nozzle 27 by the operation device 32 in accordance with the movement of the target T1 visually observed. And air nozzle 2
When it is determined that the distance between the tip 7 and the object T1 is at an appropriate distance, an operation of ejecting air from the tip of the air nozzle 27 is performed.

Further, the player operates the robot operation selecting device 35.
The procedure for operating the robot R indirectly by the following is as follows.

Each of the control systems C3 and C4 is connected to three-dimensional cameras 52 and 53 installed in its own position, and is obtained by the three-dimensional cameras 52 and 53 in accordance with the algorithm selected by the robot operation selection device 35. The position of the air nozzle 27 is moved according to the image information processed by the image processing device 34. The correction of the position of the air nozzle 27 is repeated in real time,
When the distance between the tip and the object T1 is equal to the distance set by the algorithm, air is blown from the tip of the air nozzle 27.

In any of the above cases, when the object T1 passes through the goal of the opponent, the game is determined to be a win, while when the object T1 passes the goal of the player's own side due to a hit back by the opponent, the game is determined to be lost. .

Also, in the system B, the algorithm selected by the robot operation selecting device 35 can include the algorithm created by the player himself, as in the first embodiment. Also, as in the first embodiment, three types of combinations of operation modes of the robot R in an actual battle are possible: direct operation vs. direct operation, direct operation vs. indirect operation, and indirect operation vs. indirect operation. It is.

As described above, in each of the above embodiments,
The player directly or indirectly operates the robot R to give a desired momentum to the objects T and T1, and competes for superiority or inferiority according to the result of repeatedly executing the object. It is possible to easily enjoy the entertainment of fighting by operating without damaging the robot.

When the player operates the robot R indirectly, the player can create an algorithm for operating the robot R by himself / herself, thereby obtaining a game using the robot R. It is also possible to fully enjoy the unique entertainment.

In each of the above embodiments, only the battle between robots has been described. However, the present invention is not limited to this. For example, the present invention can be applied to an automatic training machine for ball games such as tennis and table tennis. is there.

That is, by increasing the pressure of the air ejected from the air nozzle 27 or replacing the air nozzle 27 with a racket, the same level as when a person actually hits an object such as a ping-pong ball or a tennis ball. The end effector of the robot R is configured so that the momentum of the robot R can be given.

Further, an image pickup section 33 for acquiring image information
(52, 53) and the image processing device 34 are configured to supplement the movement of the object and the movement of the other party, and strike the object at an appropriate position in accordance with the movement of the object and the movement of the other party. A plurality of types of algorithms that can be returned are created and can be selected by the robot operation selection device 35 or an algorithm created by the player himself can be input.

The player selects an algorithm suitable for his or her motor ability with the robot operation selecting device 35 and plays a game with the robot R. Thus, unlike a monotonous practice such as wall hitting, for example, it is possible to practice in a form closer to that in the case of actually dealing with a human.

Further, instead of the operation by the operation device 32, for example, operation software which operates on a commercially available personal computer is prepared and installed in the personal computer at hand of the player, so that the robot can be operated by an operation device such as a keyboard. R can be operated, and if a game pattern is photographed and output as image information in real time from an image processing device, the robot R can be directly operated via a communication means such as the Internet to have a battle. Is also possible.

[0050]

As described above in detail, according to the robot playing method and the game apparatus of the present invention, the end effector capable of detecting the movement of the object and providing the object with a momentum according to the detected movement. Is moved, and the end effector repeats the operation of giving a desired momentum to the object, so that the robot competes for the superiority or inferiority, so that the robot can compete against the robot in a powerful manner without any adverse effects such as damaging the robot. Can be done.

Also, if an algorithm for operating the robot is created by the player himself, the unique entertainment obtained by playing with the robot can be sufficiently brought out.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a schematic configuration of a competitive robot game system including a robot game device according to Embodiment 1 of the present invention.

FIG. 2 is a diagram showing a more detailed configuration of the system.

FIG. 3 is a block diagram showing a schematic configuration of a competitive robot game system including a robot game device according to Embodiment 2 of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Amusement table 31 Controller 32 Operation device 33 Imaging part 34 Image processing device 35 Robot operation selection device 27 Air nozzle 51 Playground 52, 53 3D camera C Control system R Robot T Object

Continuing from the front page (72) Inventor Seishi Hashimoto 1-1, Kawasaki-cho, Akashi-shi Kawasaki Heavy Industries, Ltd. Inside the Akashi Plant (72) Inventor Yasumitsu Kurosaki 1-1-1, Kawasaki-cho, Akashi-shi, Kawasaki Heavy Industries Co., Ltd. ) Inventor Sumihiro Ueda 1-1, Kawasaki-cho, Akashi-shi Inside the Akashi factory of Kawasaki Heavy Industries, Ltd. (56) References JP-A-10-99558 (JP, A) JP-A-7-574 (JP, A) (58) A) Surveyed field (Int. Cl. ⁷ , DB name) A63F 9/00-11/00 B25J 9/22 B25J 13/08

Claims (12)

(57) [Claims] 1. A robot having an air nozzle is disposed facing the robot.
Let meBy autopilotCompetitive robot play equipment
Control method,The air nozzles have different diameters and shapes of air outlets
Are prepared in advance and can be selected. The air injection pressure from the air nozzle is adjustable,  The movement of the object placed between the two robots is detected, and this
Move the air nozzle according to the detected movement, and
ElephantThe distance between the selected air nozzle tip and the
Distance set by rhythmWhen you reach the air nos
From the airWith adjusted pressureBlast toward the same object
Irradiating the object with a desired momentum.
A control method for a robot game device. 2. The method according to claim 1, wherein an angle-shaped play board is provided between the robots arranged opposite to each other, and the object is moved on the play board. 3. The control method for a robot game apparatus according to claim 1, wherein a plurality of pores are provided on the floor of the playground, and air at a predetermined pressure is blown out of the pores to float the object. . 4. A predetermined number of algorithms for moving the air nozzle are prepared in advance, and the air nozzle is automatically moved according to a specific algorithm selected from the predetermined number of algorithms by a player before the game starts. The control method for a robot game device according to claim 1, wherein: 5. A robot having an air nozzle opposed to the robot.
It is a battle type robot play device that is made toThe air nozzles have different diameters and shapes of air outlets
Are prepared in advance and can be selected. The air injection pressure from the air nozzle is adjustable,  Detection that detects the movement of an object placed between both robots
Means for detecting a movement of the object detected by the detection means.
The air nozzle to move the objectAnd selected
The distance to the tip of the air nozzle is determined in advance by an algorithm. More settings
At the distanceThen the air from the air nozzleAdjusted
Depending on the pressureSpray toward the same object,
Characterized by giving a desired momentum
Robot play equipment. 6. Robots with air nozzles facing each other
It is a battle type robot play device that is made to The robot is operable by a player, The air nozzles have different diameters and shapes of air outlets
Are prepared in advance and can be selected, The air injection pressure from the air nozzle is adjustable, The air nozzle can be jetted by the player.
And Detection that detects the movement of an object placed between both robots
With means, The player detects the target object detected by the detection means.
While moving the air nozzle according to the movement,
Same object by pressure adjusted air from selected air nozzle
Spraying at the object, whereby the object has a desired operation.
The robot is characterized in that the robot
Play equipment. 7. The robot game machine according to claim 5 , wherein a mountain-shaped game board is provided between the robots arranged to face each other, and the object is moved on the game board. . 8. provided a large number of pores on the floor of the play area, according to claim 5 or 6, characterized in that formed by so as to float an object by ejecting the air of a predetermined pressure from their pores Robot play equipment. 9. The system according to claim 1, wherein the operation of the player is performed by remote operation via communication.
7. The robot play device according to 6 . 10. A predetermined number of algorithms for moving the air nozzle are prepared in advance, and the air nozzle is automatically moved by a specific algorithm selected by the player from the predetermined number of algorithms before the game starts. 6. The robot game device according to claim 5, wherein 11. The robot game device according to claim 5, wherein the player can create an algorithm for giving a desired momentum to the object by the air nozzle. 12. The robot game apparatus according to claim 11 , wherein the algorithm created by the player is supplied to the robot via communication.