CN101193685A - Game with remotely controlled game vehicles - Google Patents

Abstract

A game has one or more remotely controlled game vehicles that are each controlled by an operator interface. The game includes a visually controlled computer that senses the remotely controlled game vehicle or vehicles visually and controls each remotely controlled game vehicle using visually sensed input and input from its operator interface.

Description

Have the recreation of remotely controlled game vehicles

Quoting of related application

The application requires in the interests of the interim sequence number 60/673,290 of the U.S. of submission on April 20th, 2005.

Technical field

The present invention relates generally to recreation, and relate more particularly to have Remote Control Vehicle recreation, be used for the vehicle of this recreation, the street machine (arcade booth) that is used for the charging system of this vehicle and is used for this recreation.

Background technology

The recreation that has Remote Control Vehicle is known, such as the FTG (BattleBotts) of televised.But these known recreation do not comprise the central computer controller of supervising game process.

Summary of the invention

In one aspect, the invention provides a kind of recreation that has remotely controlled game vehicles, this recreation comprises the central computer controller that is used to supervise game process.

In yet another aspect, the invention provides a kind of remotely controlled game vehicles.

Again aspect another, the invention provides a kind of recreation that has Remote Control Vehicle and charging station, this Remote Control Vehicle has on the plate battery and charging station is used for battery on the plate.

Again aspect another, the invention provides a kind of recreation stand that is used to play, this recreation has remotely controlled game vehicles and is used to supervise the central computer controller of game process.

Also again aspect another, the invention provides a kind of method of the recreation that is used to play, this recreation has Remote Control Vehicle and is used to supervise the central computer controller of game process.

Description of drawings

Fig. 1 and 2 is respectively front view and a side view of realizing the street machine of recreation of the present invention.

Fig. 3 a, 3b, 3c and 3d are respectively front view, top view, side view and the stereograms with the Remote Control Vehicle of the recreation of the office connection of street shown in Fig. 1 and 2.

Fig. 4 a and 4b are the front view and the side views of the Remote Control Vehicle shown in Fig. 3 a, 3b, 3c and the 3d, show the scope of arm motion.

Fig. 5 a and 5b are the stereogram and the top views of Remote Control Vehicle shown in Fig. 3 a, 3b, 3c, 3d, 4a and the 4b, and wherein top shell is removed so that interior details to be shown.

Fig. 5 c is the diagram that abutment rescuer's torque (saver torque) and angular relationship are shown.

Fig. 6 is that explanation realizes the elevational schematic view that has the recreation of Remote Control Vehicle of the present invention.

Fig. 7 is the top-level schematic of recreation shown in Figure 6.

Fig. 8 is the top-level schematic of the recreation that has a Remote Control Vehicle pattern example shown in Figure 6.

Fig. 9 a is the legend of pattern example shown in Figure 8.

Fig. 9 b is the vehicles identifications table that is used for the scope of pattern example shown in Figure 8.

Figure 10 is the top-level schematic of the recreation that has another Remote Control Vehicle pattern example shown in Figure 6.

Figure 11 is the part top-level schematic of recreation shown in Figure 6, and possible external light source is shown.

Figure 12 is the part top-level schematic of recreation shown in Figure 6, and the Remote Control Vehicle with optional movable lighting apparatus is shown.

Figure 13 is the part top-level schematic of recreation shown in Figure 6, has optional special fixed light source.

Figure 14 is the part top-level schematic of recreation shown in Figure 6, has the optional retroreflecting surface on the Remote Control Vehicle and is used near the camera of sensing Remote Control Vehicle visually optional fixed light source.

Figure 15 is the top-level schematic of recreation shown in Figure 6, has optional charging station.

Figure 16 is the schematic diagram of the simplification charging circuit of charging station shown in Figure 15.

Figure 17 is the schematic diagram of the more complicated charging circuit of charging station shown in Figure 15.

Figure 18 and 19 is the elevational schematic view with recreation of the present invention of optional hoistable platform.

Figure 20 and 21 is top layer and elevational schematic view of the recreation shown in Figure 18 and 19.

Figure 22 and 23 is top layer and elevational schematic view of the recreation shown in Figure 18 and 19, has the optional hoistable platform in the memory location.

The specific embodiment

The street machine that is used to play

The typical street machine 10 that is used for recreation of the present invention is shown in Fig. 1 and 2.This street machine comprises rack 12, label zone (the signage area) 14 that raises and the viewing areas 16 between rack and the label zone.Rack has typically held the controller that is used for the street machine.It also provides the space that is used for one or more coin passages 18, and this coin passage 18 is accepted banknote or credit card or token.Surface 20 the upper surfaces of playing that are used for game vehicles 22 at rack.Rack 12 has operator interface 24 (game mat, handle, button), and it allows game player to provide to make the input that the player can remotely controlled game vehicles.Game vehicles travels on the surface 20 of playing of rack during playing.The surface of playing 20 is called playground sometimes.

On some sides, viewing areas 16 is preferably covered by glass or clear plastic front board, and these sides prevent that game vehicles from leaving the surface and prevent that game vehicles is removed of playing of rack.In the side plate of viewing areas, exist for the vehicle that to serve usually and a plurality of passages or the access panel of reserving.

Last label zone 14 provides a place to have sign and has also reserved one and locally easily the lighting apparatus that is used for the street machine has been installed and is used for installing the needed camera of recreation, projecting apparatus etc.The label zone is stamped backlight to attract the user usually.

Game vehicles

Recreation typically has two remotely controlled game vehicles 22, but also can comprise more or less remotely controlled game vehicles.Fig. 3 a, 3b, 3c and 3d show four views of exemplary game vehicle 22, more specifically are respectively front view, top view, side view and the stereogram of exemplary game vehicle.The recreation that pushes box (pushing game) in " Sumo Wrestling " or " King of Hill " type game that is used for specially playing of shown special play vehicle, wherein target is one or more adversary's vehicles will be pushed away playground 20.

Preferably, typical vehicle 22 has two driving wheels 26 that do not have mark usually near the center of vehicle when looking from the side, and when on the left side at center and right side, having two driving wheels 26 that do not have mark usually when look in the front.Driving wheel 26 has the driving shaft of separation, and it is conllinear preferably, but described driving shaft can be offset.Driving wheel 26 is powered by corresponding motor, and described motor allows vehicle to travel around the place.Turning to is " tank formula ", this means by must vehicle being turned to the left than left driving wheel right drive wheel, perhaps left driving wheel is driven to such an extent that than right driving wheel vehicle is turned to the right.This driving method not only simply but also effective.It also considers the good control of vehicle.This also allows " zero radius of turn " to turn, and this turning has strengthened the driven nature of vehicle and the interest of recreation.

Exemplary game vehicle 22 preferably also has two non-driving castors 28, and it has reduced sliding friction.If can accept higher friction, then use slide block (sliding pad) to replace castor 28.Also may use and four driving wheels like the tank class or track.These substitute modes all have the advantage of driving force under some condition of increasing.But these substitute modes may be more expensive and may make turning more difficult.

Exemplary game vehicle 22 preferably is generally circular its center of gravity and is lower than " toroid ", so that the self-correction feature is provided.If vehicle is from erectting surpass 90 degree, vehicle self-correcting automatically so.Driving wheel 22 has also preferably been equipped two arms 30, and this two arms 30 adapt to vehicles excessive its situation of self-correcting automatically that makes that may tilt.30 needs of arm are enough must be grown so that vehicle sections is erect, and promptly is the self-correction angle near about 90 degree.

Each bar of two arms 30 of vehicle preferably has two abutments, and these two abutments have two frees degree, is typically and two pivot motions that the quadrature reference axis is relevant.Fig. 4 a and 4b show the scope of arm motion and Fig. 5 a and 5b have exported the inner body that is used for the arm motion.The first typical engagement scope of the pivot motion of every arm 30 is lateral shaft or X-axis shown in Fig. 4 b and 5b approximately as far as possible, and the second typical engagement scope of the pivot of every arm motion is longitudinal axis or Z axle shown in Fig. 4 a and 5b approximately as far as possible.Each of two abutments of every arm provides power by motor/gear-box.First abutment motor/gear-box 32 is static with respect to the chassis of vehicle 22, and second abutment motor/gear-box 34 is installed in the output of first abutment motor/gear-box.The structure of abutment and related motor/gear-box can be arranged to driving is hidden in outside the game vehicles dexterously, so that avoid damaging and beautifying outward appearance, still make simultaneously narrow motor/gear-box 32, if 34 can to allow arm 30 be useful and self-correcting need to assist, then help the vehicle self-correcting in the contest that pushes box.

Fig. 5 a and 5b show last shell 36 with game vehicles 22 and remove and make and can know and see that first abutment motor/gear-box 32 is static with respect to the chassis of vehicle and arm 30 carries out pivot and rotates around their lateral shaft or X-axis separately.Also clearly see that second abutment motor/gear-box 34 is installed in the output of first abutment motor/gear-box 32 and arm 30 carries out pivot and rotates around their longitudinal axis or Z axles separately.

Shown in Fig. 3 a, 3b, 3c, 3d, 4a, 4b, 5a and 5b, arm 30 has upper arm part 30a, and it carries out pivot around their X-axis separately and rotates so that move on the plane separately vertical with their X-axis separately.Arm 30 also has forearm part 30b, it makes that with a fixed angle with respect to their upper arm part 30a separately forearm 30b moves in the path outside these vertical planes separately when upper arm part 30 carries out the pivot rotation around their z axles separately.

And, because little gear teeth damages because of impact load easily, so each abutment of every arm 30 is preferably protected via " rescuer " abutment.These rescuers are the spring-loaded self-centering equipment 38 (clearly shown in Fig. 5 a and the 5b) with relation of abutment rescuer's torque and angle, and described relation promptly is the institute's transmitting torque shown in Fig. 5 c and the relation of related angle.In normal running, the torque of motor/gear-box output is so to make torque tighten required torque less than the spring that makes the shaft coupling inboard.But when impact load surpassed " flex point " of angle/torque curve, spring tightened, and restriction is delivered to the load of the gear-box inner tines gear teeth, makes gear teeth exempt from damage thus.

Schematically illustrate as Fig. 6, exemplary game vehicle 22 preferably has the digital microprocessor 49 and the communication link 40 that is connected with main control computer 42 of management control task in the inboard.Communication link is radio link but also may be other link preferably.

Typical gaming vehicle 22 preferably has lamp at its end face, and described lamp is cooperated with vision system 46 as described below to follow the tracks of game vehicles position and direction.

Typical gaming vehicle 22 also preferably has " inclination sensor " (not shown) in the inboard.Inclination sensor can comprise installation two accelerators in a horizontal plane.By using known method, two accelerator readings can be used for calculating the angle of inclination.A substitute mode of sense tilt comprises vertically arranged single accelerator, but this method is less sensitive for measuring the inclination angle with respect to the method for using two horizontal accelerators to measure.Another substitute mode is to use three quicken to measure, and it is expensive more but can be more effective.The addition method of sense tilt comprises mechanical g switches/sensors, has the pendulum, " Standing Man " of 1D or 2D, by the in position fixing steel ball of magnet, or the like.

The motor of game vehicles 22 is by 42 controls of main control computer.These motors are controlled via known technology, for example depend on needed control level and use H bridge and/or relay.Each of the first and second knee-joint chalaza all has feedback circuit, and this feedback circuit allows arm 30 to be accurately positioned.

Exemplary game vehicle 22 battery 48 from one or more plates extracts power, and therefore has connector or the pad that battery can be recharged.

Explain the battery circuit of engagement zero, one or more batteries below.Replacedly, game vehicles can via the floor of learning from dodgem or with the United States Patent (USP) 6,044 of by name " the slotless electricity rail that is used for vehicle ", the similar method shown in 767 extracts power.

Typical gaming vehicle 22 preferably has the lamp that is used for " eyes ", and " eyes " can rotate (for example, eyes can " be watched " adversary's vehicle) under programme-control.These eyes help the entertaining of playing.Eyes also help to give the vehicle anthropomorphic countenance, help the driver that individual character is associated with the vehicle that they drive.

Recreation with Remote Control Vehicle

Recreation comprises, two or more remotely controlled game vehicles 22 being driven by the player, one of described player's operate game vehicle.Fig. 6 and 7 shows the recreation with three game vehicles 22 that are labeled as A, B and C.Depend on the participant of the recreation that just is at play, more or less game vehicles 22 can be arranged.

The player is input to their game vehicles that is labeled as A, B and C 22 separately via import the control that they want such as operator interfaces 24 such as joystick, switch, buttons, also is marked as A, B and C with corresponding to their game vehicles separately at operator interface described in Fig. 6 24.Input from the operator is monitored by main or central control computer 42.

Camera 50 generally is installed on the sports ground 20.For example, camera 50 can be installed in the label zone 14 of rising of the street machine 10 shown in Fig. 1 and 2.Turn back to Fig. 6 and 7, camera 50 is parts that the image of sports ground 20 and game vehicles 22 is provided for main control computer in the vision system 46.The Computer Processing view data is so that in each position (X and Y coordinates) and direction (Θ s) of determining game vehicles and any additional game piece (not shown) that may use constantly, game piece is such as being ball, movable object etc.

Vision system 46 provides the position (X and Y coordinates) of game vehicles 22 and direction (Θ s) to give control computer 42.This information is desired, because it allows control computer 42 more level and smooth and more automatically and finally more advantageously finish game function.

What this information also allowed to play keeps the score automatically, and this requires position probing (for example, the variation in the recreation " King of Hill " or " Musical Chairs ").

This information also allows " referee's calling ", such as " clip foul " in " three-second violation " in the basketball, the rugby and " offside " in football/hockey.

In addition, this information allows control computer 42 point-to-point ground to drive game vehicles 22 can be driven into charging station automatically with (especially), also allows " attraction pattern " demonstration recreation to play, reset with computer fight and automatic place when the player that enough do not play to increase to pay.

This information can also allow " virtual enclosure wall " (vehicle forbid travel zone), and it can strengthen plays and protect game vehicles to exempt from damage.In particular, this game vehicles that can allow to damage exempts from collision or attack in the future, prevent to have malicious operation person's steering vehicle of damage vehicle intention to " brick wall " or " falling down steep cliff ", prevent " DemolitionDerby " type behavior of operator, and allow computer 42 to drive to such an extent that too far away getting lost helped them by preventing neophyty operation person.

Computer 42 analysis operation persons import and send what order for game vehicles 22 from the data of vision system 46 to judge.

Computer 42 is retouching operation person's input according to circumstances.For example, the operator can ask to cause that game vehicles bumps the input of wall or other barrier.In this case, computer may be revised this request to avoid collision.

Computer 42 has the communication link 52 of game vehicles 22.This communication link 52 is radio system preferably, but it can be realized in many ways, the United States Patent (USP) 6 of infrared light, ultraviolet light, sound wave even possibility as " the slotless electricity rail that is used for vehicle " by name, that is done in 044,767 is such via the ground link (ground link) by the floor.

Communication link 52 can be unidirectional, promptly is to the Remote Control Vehicle receiver from the stationary computer transmitter.But transmitter is preferred at the bidirectional communication link of each end, makes stationary computer 42 can have the diagnostic message from game vehicles, such as cell voltage, inclination information, motor current, fault message etc.

Game vehicles 22 preferably all has computer 49 on the plate.Computer help is managed the needed local control task of each vehicle (communication, motor control, battery cell monitoring/management, fault diagnosis etc.) on the plate.Replacedly, all control tasks can be managed via static master computer 42.

Fig. 7 illustrates the top-level schematic of sports ground 20.Game vehicles 22 is just played on the left side of sports ground 20.Three game vehicles 22 that are labeled as A, B and C are illustrated still and can have more or less game vehicles.Storage area 54 is positioned at the right of sports ground 20.For computer 42 desired be position (X and Y coordinates) and the direction (Θ s) that will know game vehicles shown in Figure 7.

Fig. 8 has illustrated that vision system determines an example of the scheme of the position of each game vehicles 22 and direction.This scheme is based on the pattern of the point shown in Fig. 9 a, and Fig. 9 a is the legend of possible pattern example.Shown in Fig. 9 a, there are six points, wherein two is shadow spots.Dark shadow spots 56 is used for determining the position (X and Y coordinates) of each game vehicles.Brighter other " vicinity " point 58,60,62 and 64 and 66 of shade is used for determining the direction of each special car and this special car.The brighter contiguous shadow spots 62 of vicinity of " from getting farthest " is used for determining direction (Θ).Four brighter shadow spots of remaining vicinity are optionally and are used to identify special car.For example, each of game vehicles A, B among Fig. 8 and C all has the difference pattern of optional brighter shadow spots.Vehicle A only has an optionally brighter shadow spots 58, and vehicle B has an optional brighter shadow spots 60 in different positions.On the other hand, vehicle C has two optionally brighter shadow spots 58 and 60.Fig. 9 b illustrates the table how four optional brighter shadow spots can be used to identify 16 different game vehicles or object.It is also understood that if use color camera, can use color at the shadow positions place.

Figure 10 has illustrated that NI Vision Builder for Automated Inspection determines another example of the scheme of the position of each game vehicles and direction.This scheme is based on the combination of shape and size, and it can be used for providing position and directional information rather than the method for optimizing as shown in Fig. 8,9a and 9b.In this example, position and directional information are provided " house " shape mark 68 and the shade in " house " provides the special car identification information.

There are a plurality of other possibility characteristics, these characteristics oneself are used by them or are combined so that position, direction and identification information to be provided, and comprise colored/shaded, size, girth, " moment (Moment) " (for example Ixx, Iyy, Ixy, Jzz etc.) and other what is called " hu is bending moment not " (with reference to the article of any associated machine vision system).

Figure 11 has illustrated the problem of uncontrolled external light source.Can reflect from the exterior light in the sun 71, contiguous light source 73 or other source and to leave sports ground 20 and game vehicles 22 and as the camera 50 of the indicated arrival vision system of arrow 75.This uncontrolled light makes and is difficult to the machine vision algorithm is used for tracing object.Most machine vision applications need be measured the image that prevents that undesired light source influence from being seen by camera.Cause the problem of NI Vision Builder for Automated Inspection from the uncontrolled light pollution in source, the outside.Problem in the industrial machine vision system requires in check luminescent condition so that determine the position and the direction of object healthy and strongly.

Also played with various lighting conditions in different positions and in single position probably even have the recreation of Remote Control Vehicle, for example the sunlight that enters from contiguous window can cover whole sports ground 20 and every now and then in the different piece that covers sports ground At All Other Times.Illumination change between the position can be significant, and for example the home entertaining chamber is provided with and the luminous good access road of neighbours' fence setting with general store.These variations in light need a kind of unique solution for the algorithm known of using in machine vision applications, described machine vision applications will be used in the controlled recreation of machine vision with the Remote Control Vehicle that uses in many variable environment.

Figure 12 illustrates unique scheme, and wherein movable illumination is used to improve the performance of vision system.For example, on game vehicles 2, use active light source 70 to improve the vision system performance in the above in conjunction with in the illustrated dot pattern of Fig. 8,9a and 9b.Therefore, the image of being seen by computer is greatly simplified.For example, image exposure can be so arranged and make the highlights have only image divide just can be seen fully.This filters available multiple mode and finishes, and comprises the iris control of lens or by the exposure able to programme in the camera or by the software filter during handling at image.

When the use activity was thrown light on, exposure can be lowered to following degree, promptly have only active light source to be retained in the image in fact and all other light all by filtering, or even the light of the adjacent source of improving oneself.

This makes that track algorithm is healthy and strong more and make the environment light emitting control unnecessary.Being easy to the use activity throws light on and realizes the pattern example shown in Fig. 8,9a and the 9b.

Another processing cause the vision system problem surround lighting unique solution as shown in figure 13.In this unique solution, special light 72 is used to illuminate sports ground 20 and game vehicles 22.Be installed in wave filter 74 before the camera lens of camera 50 as arrow 75 indications obstruction from the reverberation of the sun 71 and light source 73, the permission of indicating as arrow 77 is simultaneously passed through from the reverberation of special light 72.

The feature of useful " special light " promptly is that " special light " can not exist in as the ambient lighting of pollution sources in a large number in this type game, and wave filter can be used for allowing this special light by and do not allow other light to pass through.The example of light source comprises ultraviolet light, infrared light and polarised light specially.

Game vehicles 22 still needs to have unique shape and/or the pattern of having described, so that computer is determined position, direction and the sign of each vehicle in a plurality of game vehicles.

Another processing cause the vision system problem surround lighting unique solution as shown in figure 14.In this scheme, near the static light source 76 of camera lens that is positioned at camera 50 is used to illuminate sports ground 20 and game vehicles 22 and " retroreflecting " surface 78 and is installed in game vehicles 22.The retroreflecting surface has their attributes towards the light of light source reflected back.In this case because light source 76 is near camera gun, therefore as arrow 77 indicated towards the camera gun reflected light.From the light in source, any outside, such as the sun 71 or light source 73, will as being reflected of arrow 75 indication leave camera gun.By this way, this scheme is very similar to movable illumination scheme and comes work.Because light source 76 is near the camera lens of camera 50, so retroreflecting surface 78 seems very bright and irrelevant with ambient lighting conditions.Under the activity lighting condition of describing in previous preferred scheme shown in Figure 12, this relevant brightness provides and has allowed to filter so that remove the chance of light from source, the outside.Game vehicles 22 still needs to have the unique shape described and/or pattern so that computer is determined position, direction and the sign of each vehicle in a plurality of game vehicles.

Remote Control Vehicle requires power to operate.Game vehicles can be from obtaining power as the floor in the United States Patent (USP) 6,044,767 of " the slotless electricity rail that is used for vehicle " by name, and this patent requires the specific features on special-purpose floor surface and the vehicle.Replacedly, game vehicles 22 can obtain power from radio wave, but this is difficult to while safety and enough power is arranged.

But the method for optimizing that power is provided is a battery 48 on as shown in Figure 6 one or more plates.But battery need be recharged or periodically change.The present invention has the optional special charging station that is used for this purpose.

Game vehicles 22 is parked in charging station automatically.Method for optimizing will use vision system 46 to notify the position of each game vehicles 22 to main control computer 42 (or another central computer), and main control computer 42 determines that then the particular game vehicles are to the path of one of charging station and with this particular game vehicle special charging station that navigates.Replacedly, exist beacon (IR, visible light, radio wave etc.) to provide the method for information to vehicle, the information that is provided allows them with they charging stations that oneself navigates.Another substitute mode is that this allows vehicle finally to stroll charging station with " labyrinth behavior " programming vehicle again.

Figure 15 is illustrated in the storage area 54 on sports ground 20 the right, and it is also as a plurality of charging stations that charge.These charging stations provide a place, are recharged when here game vehicles 22 can be recharged or have only a subclass of the vehicle of machine entire quantity facing the street to be used between competition.For example, in the recreation with three game vehicles, when having only two game vehicles to use just in play, the 3rd vehicle can spend whole match and charge.

When storage/charging zone 54 illustrated near sports ground 20 in as Figure 15, storage and charging station can charge and " unloading (below deck) " game vehicles 22 by the use elevator system in position.This has the big as far as possible interests of the sports ground of permission.

The charging circuit of simplifying 80 is shown in Figure 16.The diode of the voltage spike that charging circuit produces when being avoided relay coil and cut out by relay, current-limit resistor, current-sense resistor, the battery that is charging, the thermal resistor that is used for the sensing battery temperature, the computer of control procedure, the driving transistors that activates relay coil and the protective transistor of the direct voltage source that is higher than the battery that is charging, beginning/stop to switch on is formed.

Computer comes monitoring cell voltage by AD converter (ADC).Computer comes the monitoring battery charging current by the voltage drop of measuring the sense resistor two ends, and its ADC and ohm theorem (known V=IR equation) used in the voltage drop of measuring the sense resistor two ends.By using reference voltage, thermal resistor (along with the resistor of temperature change resistance) and voltage grading resistor R to measure battery temperature.

Thermal resistor, diode and relay are used to allow computer to begin/stop charging process by the opening/closing relay in very typical mode.

Notice that when on charging station, repeater can not be opened a way--can not make restoration methods safety.

Current-limit resistor is used to keep electric current in acceptable level, so that battery is recharged with given DC voltage and battery behavior.Also current-limit resistor and current-sense resistor may be merged into a unit.

Computer monitoring electric current, voltage, and most important battery temperature comes safety and rechargeable battery effectively.By monitoring this three parameters, can be aspect the longer battery life and obtaining best battery performance aspect the largest battery charging.

In conjunction with the described method of Figure 16, there is other so not complicated method than top, is used for the safety and the game vehicles battery that charges effectively as outlined below:

Substitute mode: variable voltage input (being higher than nominal battery voltage a little) monitor current, voltage, temperature; Adjust input voltage between charge period, to have suitable electric current; When beginning to be increased to, battery temperature stops charging when surpassing the threshold temperature that is higher than environment temperature.Safety, the performance and the life-span of maximum battery reliably.Advantage: can charge different battery types, voltage etc., wherein embedded resistor (inline resistor) more depends on the battery details.Shortcoming: cost.

Substitute mode: monitoring temperature not has the charging voltage of removing but measures the ability of cell voltage, when cell voltage stops during to peak value.The life-span and the such safety of performance and good like that do not have maximum battery.

Substitute mode a: service time, not working voltage, electric current, temperature.By embedded resistor restriction electric current.Cheaply, but battery life, charging is so not good fully, so safe.

Substitute mode: the combination of service time, electric current, temperature and voltage measurement comes battery charge.

The current measurement of replacing: based on current sensor (for example AllegroMicro ASC750 device) inductance sensor of Hall effect.

The battery measurement of replacing: temperature can be monitored with multiple mode, comprises sensor, thermal switch (bimetallic, solid-state etc.) and many other known methods of thermocouple, based semiconductor.

More complicated system 82 to battery charge in Remote Control Vehicle is shown in Figure 17.System shown in the extraordinary image Figure 16 of this system also has some remarkable improvement.This system shows the Remote Control Vehicle with connector now.When game vehicles arrives charging station, should connect and set up.The system of Figure 17 shows remote computer and stationary computer.Static and remote computer is communicated by letter via communication link (be preferably radio, but can be IR, sound etc.).They divide a plurality of functions of system shown in Figure 16 together.

The key feature of system shown in Figure 17 is that it has securely and effectively ability to a plurality of battery charge.Show two batteries, but can easily expand to a plurality of batteries.Do not have the battery engagement and system " is revived ".Remote computer is via the charging system received power.After some trial inspections, long-range and stationary computer can agree to mesh a battery.If this is battery operated good, second battery can be engaged.Any moment in " powering up " process, stationary computer can the relay of deexcitation on that side of its connector so that move power to remote computer.By this way, bad battery can be isolated and can be realized many diagnosis with secured fashion.

Figure 18 shows a recreation, and wherein sports ground 20 is on hoistable platform 84, and in hoistable platform 84, object will push away platform with the other side's vehicle.Figure 18 is the side view of the game vehicles 22 on hoistable platform 84 before the match.Platform 84 is risen to the centre position.Notice that in Figure 18, the label zone 14 of street machine 10 can be removed to promote clearness.

Exist many possibility methods that hoistable platform mechanism is provided.Importantly stablize (promptly not tilting) for platform 84.A method comprises that the ball bearing drawer sliding rail and the typical electricity that are used for platform 84 drive automatic window elevating mechanism, are used for raising and reducing platform.Preferably, use switch to indicate the position of platform, simultaneous computer 42 control motors come suitably locating platform (it is full to rise, and it is full or middle to descend).

Figure 19 shows the side view of the game vehicles 22 on hoistable platform 84 after end of match and vehicle 22A have pushed away platform 84 with vehicle 22B.This platform is risen to the centre position.The platform that rises has added the vision that the is perfectly clear indication that stimulates and the triumph game vehicles is provided for recreation.As previously mentioned, the top layer of street machine has been removed so that promote clearness in Figure 18.

Figure 20 shows the top view that game vehicles 22 is positioned at hoistable platform 84 outsides, and wherein game vehicles is prepared to travel and entered into the storage under the platform 84 and charge regional 86.This platform is then risen to higher position from middle position, makes game vehicles to travel under the sports ground of platform 84 as shown in figure 21.Figure 21 shows that platform 84 raises and game vehicles 22 is positioned at their views in machine corner, street of the position that enters storage and charging zone 86 of preparing to travel.Notice that also the label zone 14 of street machine 10 is removed so that promote clearness in Figure 20 and 21.

Game vehicles 22 then travels for 84 times as Figure 22 and 23 platforms that are shown in rising, and Figure 22 and 23 is respectively that game vehicles 22 is positioned at the storage under the platform of rising and the top view and the side view of regional 86 positions of charging.Figure 23 shows the platform rising and vehicle 22 is arranged in storage and the view in the machine corner, street in the zone 86 of charging.Notice that the label zone 14 of street machine 10 is removed so that promote clearness in Figure 22 and 23.The side of platform surface and/or platform 84 is preferably transparent, so that the game vehicles 22 that is positioned at the memory location is shown.

The person skilled in the art will easily understand that the present invention is easy to utilize widely and use.Of the present invention many embodiment outside above-mentioned and reorganization and many modification, modification and equivalent arrangements can be known from the explanation of the present invention and front and find out or hint reasonably, and can not depart from essence of the present invention or scope.Thus, although describe the present invention in detail here, should be appreciated that the disclosure is explanation of the present invention and example and only is in order to provide complete sum of the present invention effective disclosed purpose according to its preferred embodiment.Foregoing disclosure is not intended to be taken as restriction the present invention or gets rid of any this other embodiment, reorganization, modification, modification and equivalent arrangements, and the present invention is only limited by subsequently claim and equivalent thereof.

Claims (20)

1. recreation that has by at least one remotely controlled game vehicles of operator interface control, it is characterized in that, described recreation comprises the control computer, and this control computer is sensing remotely controlled game vehicles and use the input of sensing visually and control remotely controlled game vehicles from the input of operator interface visually.

2. as the recreation that claim 1 limited, wherein control the position and the direction of computer sensing remotely controlled game vehicles.

3. as recreation that claim 2 limited, have a plurality of Remote Control Vehicles, each Remote Control Vehicle is by corresponding input device controls, and wherein controls computer each remotely controlled game vehicles of sensing and use the input of sensing visually and control each Remote Control Vehicle from the input of its operator interface visually.

4. as the recreation that claim 3 limited, wherein control position, direction and the identity of each Remote Control Vehicle of computer sensing.

5. as claim 1,2,3 or 4 recreation that limited, has the place of playing that is used for one or more Remote Control Vehicles.

6. as the recreation that claim 5 limited, wherein one or more Remote Control Vehicles have movable lighting apparatus, so that control the computer one or more Remote Control Vehicles of sensing visually.

7. as recreation that claim 5 limited, wherein control computer and comprise the vision system with camera, wherein said recreation comprises the light source that camera attachment is near and wherein one or more Remote Control Vehicles have the retroreflecting surface so that the one or more Remote Control Vehicles of camera sensing of control computer.

8. as recreation that claim 5 limited, wherein control computer and comprise the vision system with camera, wherein said recreation comprises that special light source and the wherein said recreation under the camera comprises the wave filter between special light source and the camera so that control the one or more Remote Control Vehicles of camera sensing of computer.

9. as the recreation that claim 5 limited, the place of wherein playing is positioned on the platform that rises and descend.

10. as the recreation that claim 9 limited, wherein said recreation is included in the storage area that is used for one or more Remote Control Vehicles below the platform.

11. as the recreation that claim 10 limited, wherein one or more Remote Control Vehicles have on the plate battery and described recreation has battery charger in storage area.

12. a game vehicles, this game vehicles center on centre of gravity usually and have pair of driving wheels.

13. having two, the game vehicles of claim 12, wherein said game vehicles carry out pivotally supported arm.

14. the game vehicles of claim 14, wherein said two arms are enough must be grown to be reversed with convenient game vehicles and surpass 90 and correct described game vehicles when spending.

15. the game vehicles of claim 13 or 14, wherein every arm has around two axles and carries out pivotally supported upper arm.

16. the game vehicles of claim 13 or 14, wherein every upper arm has the longitudinal axis, is used for making upper arm to carry out pivotally supported first abutment and be used to make upper-arm circumference to carry out pivotally supported second abutment around the upper arm longitudinal axis around first on first plane that comprises the upper arm longitudinal axis.

17. the game vehicles of claim 16, wherein every arm has forearm, and this forearm is positioned at an angle place with respect to upper arm.

18. the game vehicles of claim 16, wherein every arm has forearm, and this forearm is fixed on an angle place with respect to upper arm.

19. a recreation stand that is used for the recreation of claim 1 comprises rack, at zone and viewing areas between rack and last zone on the rack upper support.

20. the method for the recreation of playing, this recreation has by the Remote Control Vehicle of operator interface control and sensing Remote Control Vehicle and use the input of sensing visually and control the control computer of Remote Control Vehicle from the input of operator interface visually, and described method comprises:

Operating operation person interface will be so that will offer the control computer from the input of operator interface.

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