CN105999692A - Humanoid robot football game machine - Google Patents
Humanoid robot football game machine Download PDFInfo
- Publication number
- CN105999692A CN105999692A CN201610326635.XA CN201610326635A CN105999692A CN 105999692 A CN105999692 A CN 105999692A CN 201610326635 A CN201610326635 A CN 201610326635A CN 105999692 A CN105999692 A CN 105999692A
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- Prior art keywords
- football
- robot
- joints
- humanoid
- platform
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F7/00—Indoor games using small moving playing bodies, e.g. balls, discs or blocks
- A63F7/06—Games simulating outdoor ball games, e.g. hockey or football
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F7/00—Indoor games using small moving playing bodies, e.g. balls, discs or blocks
- A63F7/22—Accessories; Details
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F7/00—Indoor games using small moving playing bodies, e.g. balls, discs or blocks
- A63F7/22—Accessories; Details
- A63F7/30—Details of the playing surface, e.g. obstacles; Goal posts; Targets; Scoring or pocketing devices; Playing-body-actuated sensors, e.g. switches; Tilt indicators; Means for detecting misuse or errors
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H13/00—Toy figures with self-moving parts, with or without movement of the toy as a whole
- A63H13/02—Toy figures with self-moving parts, with or without movement of the toy as a whole imitating natural actions, e.g. catching a mouse by a cat, the kicking of an animal
- A63H13/04—Mechanical figures imitating the movement of players or workers
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Toys (AREA)
Abstract
The invention relates to the technical field of robots, and in particular discloses a humanoid robot football game machine. The humanoid robot football game machine comprises a humanoid football robot, an automatic football game platform and a remote control operation module, wherein the humanoid football robot is powered by a lithium battery, the height of the humanoid football robot is 340mm, 17 joints are designed on the whole body of the humanoid football robot, each arm is provided with three joints, the torque born by the joints of each arm can not exceed 9kg/cm, each leg is provided with 5 joints, the walking speed can not exceed 50mm/s, the torque born by the joints of each leg can not exceed 15kg/cm, the working voltage is DC 6V, and a lithium battery is used for providing electricity; the automatic football game platform is taken as a football playing field; the remote control operation module is a smart phone. The humanoid football robot in the humanoid robot football game machine can simulate a human being to kick the football towards any direction, and an automatic device is arranged on the football game platform, so that the game operation is flexible and simple, and the use is safe and convenient.
Description
Technical field
The present invention relates to ball games machine technical field, be specifically related to the trip of human emulated robot football
Gaming machine.
Background technology
It is known that the fortune that football as the king of physical culture, is whole world various nationalities all to be liked
One of move, so starting American-European countries from the fifties in last century to propose the evil spirit according to football
Power makes foot ball game appliance, referred to as table soccer game machine, is on the one hand used for doing converter tools,
On the other hand it is used for promoting the development of football.
If table tennis is the miniaturization fortune moving on to tennis tournament handle on table top
Dynamic, then the most American-European popular table soccer game machine is that the football match of green field is moved on to
The play sport handled on table top, it not only can be 1 people to 1 people or 2 people to 2 people's
Combination carries out competition game, and can also do physical health exercise tool movement, and it concentrates football
Acrobatics and tumblings, each simulated player manipulates in player's hands, and manipulator both can be forward and penetrate
Hands, it is possible to be rear guard goalkeeper, the both hands of pull bar of only need to holding with a firm grip coordinate brain, eye, drop or turn
Dynamic pull bar just can play football game.
But this game machine there is the problem that the game process of the most this game machine is to pass through
Move before and after pull bar or rotational action, make " chump " fixing on pull bar run into ball,
Ball being thrown into the one at goal play ball motion, the most this game machine not only loses real playing
Ball theory, and football technique development is not had impetus；Secondly the pull bar of this game machine
Position is relatively-stationary, and " chump " namely " played football " can not be as mankind's football
Comprehensive at will run, thus lose the sense of reality of football with interesting；3rd, at pull bar
Formula foot ball game appliance football match platform structure is very simple, and 6 only moving or rotating are drawn
Linkage is contained in above gaming platform, and ball moves below at pull bar, does not sees the movement locus of ball,
Directly affect the emotion of player.
, at the fifties in last century, there are many intelligence in field of artificial intelligence in another aspect
The energy systemtheoretical research topic of body, this problem mainly studies each intelligent body (Agent) multiple
Miscellaneous dynamic environment is worked in coordination and counterplot problem, the what is called one the most here proposed
Individual intelligent body (Agent) is exactly to have motion, perception, the robot of three functions of control,
The what is called so played football with robot to study multi-agent system policing issue just to propose
Robot soccer system, and carried out robot soccer contest.
Due to problems such as technology, initial stage Soccer robot is with monolithic processor controlled wheel type mobile machine
Device people, it is shaped as square, is similar to an ink bottle size, through 20 Duo Nian robots
Football competition develops into autonomous from semi-autonoumous, match scale develop into 5vs5 and
11vs11.Along with the development of robot soccer technology, especially deep by IBM in artificial intelligence technology
Blue computer Chinese chess technology is defeated under mankind Chinese chess king Kasprov stimulation, and scientists proposes
" can robot soccer defeat mankind football champion " problem.
Summary of the invention
For problems of the prior art, it is an object of the invention to provide apery type football
Game machine, the robot of the inventive method game machine can imitate the mankind and play football to any direction,
And automation equipment is installed on football game platform, make game operation flexibly, simply, use
Safe ready.
For achieving the above object, the present invention adopts the following technical scheme that and is solved:
Human emulated robot foot ball game appliance, including apery type Soccer robot, automatization
Football game platform, remote manipulation module；Described apery type Soccer robot by lithium battery power supply,
Height is 340mm.Whole body has 17 joints, and wherein every arm is provided with 3 joints,
Every lower limb is provided with 5 joints, and walking speed is less than 50mm/s, and arm part joint can be held
By moment of torsion less than 9kg/cm, leg joint can bear moment of torsion less than 15kg/cm, work
Voltage is unidirectional current 6V, uses lithium battery power supply；The football game platform conduct of described automatization
Football match place；Described remote manipulation module uses smart mobile phone.
Further, described apery type Soccer robot is provided with gyrosensor, makes robot energy
Sensation actively calls the program of standing after tilting or falling, and makes robot steadily stand；It is provided with voltage
Sensor, supply voltage tells sound not the most at once to make robot to feel, is convenient for changing electricity
Pond；In order to make Soccer robot strong, it is possible to playing football forcefully, leg is provided with high-torque
Steering wheel (15kg/cm), and done the improvement of corresponding robot kinematics, kinetic model；
Be provided with the various motion driven programs that football is required, comprise forward/backward, left/right turn,
Shifted left/right, shooting/flutter ball, base program of falling/stand, make the motion of Soccer robot
More life-like.
Further, described automatization football game platform is real world cup green field football ratio
Competition field ground reduce plate, comprise goal, seal bootr, lifting platform, football scene, scoring board,
Timer, coin-freed arrangement, automatically kick off device, baffle plate, important actor, make match need not add extra auxiliary
Personnel also can be carried out automatically.
Further, described smart mobile phone is by blue tooth wireless communication directly with Soccer robot even
Connect, 2 Table foot ball game robots can be controlled with a mobile phone.
The human emulated robot foot ball game appliance of the present invention has the advantages that
First, playing football to liking human emulated robot, its great advantage is its appearance and people
Similar, obtain liking of people, and its structure is also similar to that the mankind, during the games can
Stand and anti-beat, resist and get rid of test；It can be simulated true man and complete various football action, as front simultaneously
Enter/retreat, left/right turn, shifted left/right, fall/stand, ball etc. of playing football/flutter.In order to
Realizing so many functions, the present invention have employed similarity designing technique in hardware designs, makes
Human emulated robot can be stood up rather than recumbency or couchant, have employed in software design
Modularity design technology, additionally uses " zero check " needed for various action trainings simultaneously
Technology.
Secondly, present invention employs brand-new automation mechanized operation platform, bring true to nature to player
World Cup Competition place on the sensation played football.Traditional table soccer game machine platform only draws
Bar and be configured to, but simulating human world cup contest place of the present invention standard, by international machine
The laws of the game requirement that device people's football league (FIRA) is formulated, be specifically designed self-clocking,
Automatic score, automatically the new fully automatic system such as kick off, thus bring cordial feeling with true to player
True feeling.
3rd, foot ball game appliance remote manipulation of the present invention unlike traditional table soccer game machine that
Sample player dragging to push away or rotate and realize playing football by pull bar in person, but with common intelligent hands
Machine carries out operating control, simple to operate, flexible, easy to use.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the present invention is described in further detail with detailed description of the invention.
Fig. 1 is the human emulated robot hardware structure diagram of foot ball game appliance, wherein (a) apery
Type Soccer robot profile, (b) apery type Soccer robot joint scattergram；
Fig. 2 is apery type Soccer robot striking action driver flow chart；
Fig. 3 is that apery type Soccer robot flutters ball action drives program flow diagram；
Fig. 4 is apery type Soccer robot standing activities driver flow chart；
Fig. 5 is the structural representation of human emulated robot football game machine platform；
Fig. 6 is that each module of human emulated robot football game platform connects and information flow direction figure；
Fig. 7 is remote manipulation interface based on mobile phone；
Fig. 8 is the operating process of human emulated robot football game.
Wherein, 1, cervical region；2, shoulder；3, ancon；4, buttocks；5, knee；6, foot
Wrist；7, sole；8, important actor；9, timer plate；10, baffle plate；11, goal, A side；
12, seal bootr；13, lifting platform；14, score indicator plate；15, football scene；16, court
Graticule；17, goal, B side.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in further detail, but the present invention does not limits
In this embodiment.
Embodiment
Human emulated robot foot ball game appliance of the present invention includes apery type Soccer robot, automatization
Football game platform, remote manipulation module.The present invention can use domestic and international various apery type machine
Device people, by FIRA laws of the game, its height 0.5 meter.With reference to Fig. 1, the present invention adopts
Biped human emulated robot, imitate the mankind, containing cervical region 1, shoulder 2, ancon 3, buttocks
Portion 4, knee 5, ankle 6, sole 7；Its height 340mm, the long 180mm of lower limb, brachium 90mm,
This robot use lithium battery power supply, charge 60 minutes actionable 20 minutes, weight is 1.2lg,
Whole body has 17 joints, and every arm contains 3 joints, and arm part joint can bear
Moment of torsion is less than 9kg/cm, and every lower limb contains 5 joints.Its maximum walking speed is 50mm/s,
It is 15kg/cm that leg joint can bear peak torque, and running voltage is DC6V.
The structural representation of gaming platform of the present invention is with reference to Fig. 5, wherein gaming platform length 2.74
Rice, wide 1.525 meters.The gaming platform of the present embodiment is according to real world cup green field football ratio
Competition field ground, be provided with important actor 8, timer plate 9, baffle plate 10, goal, A side 11, seal bootr 12,
Lifting platform 13, score indicator plate 14, football scene 15, court graticule 16, goal, B side 17.
The each structure of gaming platform of the present invention connects with reference to Fig. 6, and lifting platform 13 is positioned in the middle of gaming platform.
Robot in game machine of the present invention passes through Programming Methodology, can complete football
Required various actions, as forward/backward, left/right turn, shifted left/right, left foot play/
Right crus of diaphragm is played, a left side flutter ball/right side flutter ball, in block, fall/stand.Wherein, play football, keep goal and
Standing activities driver flow process is shown in Fig. 2,3,4.With reference to Fig. 7 be game machine of the present invention based on
The remote manipulation interface of mobile phone, user can implement operation according to the corresponding button.
Gaming machine operation running is with reference to Fig. 8, and concrete operations are described as follows:
(1) player is before starting game, should determine that and has the most installed Robotsoccer in mobile phone
Application program of mobile phone, installs this application program if not installing please to download according to prompting.
(2) player throws one piece of game money, after hearing welcome voice, illustrates to insert coins successfully,
Then can start game.Now, gaming platform has been started up, and each parts have powered in place.
(3) two players open mobile phone A PP application program, are being successfully connected respective machine
After people athlete, just can press " taking the field " button on game machine.Now the first half is opened
Beginning, timer starts countdown, timing 5 minutes from 10:00.During this period, player scores
Rear corresponding score indicator meeting automatic score, can kick off, by the side's of losing points service simultaneously automatically.
(4) when scoring board to 05:00, the first half terminates, automatically into midfield, timing
Device enters countdown in 1 minute.Player can pass through voice message, waits that timing terminates automatically to enter
Enter the second half or " start the second half " button of pressing when midfield on game machine is directly entered
The second half.
(5) after midfield is terminated or after player presses " start the second half " button, Wan Jiajin
Enter second half of the match.
(6), when timer shows " 00:00 ", a full match terminates.
The above, be only the preferable case of the present invention, and the present invention does not make any restriction,
Every above case study on implementation is done for the technology of the present invention content any simple modification, change,
Imitate the protection domain belonging to technical solution of the present invention.
Claims (4)
1. human emulated robot foot ball game appliance, it is characterised in that include apery type Soccer robot, from
Dynamicization football game platform, remote manipulation module；Described apery type Soccer robot by lithium battery power supply,
Its height is 340mm, and whole body has 17 joints, and wherein every arm is provided with 3 joints, described hands
Arm joint can bear moment of torsion and is less than 9kg/cm, and every lower limb is provided with 5 joints, and walking speed does not surpasses
Crossing 50mm/s, described leg joint can bear moment of torsion and is less than 15kg/cm, and running voltage is unidirectional current
6V, uses lithium battery power supply；Described automatization football game platform is as football match place；Described distant
Control operation module is smart mobile phone.
Human emulated robot foot ball game appliance the most according to claim 1, it is characterised in that described
Apery type Soccer robot is provided with gyrosensor, makes robot steadily stand；It is provided with voltage sensor,
Convenient inspection fault and replacing battery；Leg steering wheel uses the steering wheel of high-torque, makes Soccer robot have by force
Play football to power；Be provided with relative motion driver, comprise forward/backward, left/right turn, shifted left/right,
Shoot/flutter ball, basic exercise program of falling/stand.
Human emulated robot foot ball game appliance the most according to claim 1, it is characterised in that described
Automatization's football game platform be a real world cup grass place reduce plate, it comprises goal, envelope
Close cover, lifting platform, football scene, scoring board, coin-freed arrangement, automatically kick off device, timer, baffle plate,
Important actor.
Human emulated robot foot ball game appliance the most according to claim 1, it is characterised in that described
Smart mobile phone is directly connected with Soccer robot by blue tooth wireless communication, can control 2 with a mobile phone
Table foot ball game robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610326635.XA CN105999692B (en) | 2016-05-17 | 2016-05-17 | Human emulated robot foot ball game appliance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610326635.XA CN105999692B (en) | 2016-05-17 | 2016-05-17 | Human emulated robot foot ball game appliance |
Publications (2)
| Publication Number | Publication Date |
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| CN105999692A true CN105999692A (en) | 2016-10-12 |
| CN105999692B CN105999692B (en) | 2018-04-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610326635.XA Active CN105999692B (en) | 2016-05-17 | 2016-05-17 | Human emulated robot foot ball game appliance |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9782648B2 (en) | 2014-04-25 | 2017-10-10 | Christopher DeCarlo | Athletic training, data collection, dynamic, and personified sporting method, apparatus, system, and computer program product |
| CN107837535A (en) * | 2017-12-06 | 2018-03-27 | 北京智能佳科技有限公司 | Intelligent robot competition area and control system |
| CN110091338A (en) * | 2019-04-25 | 2019-08-06 | 上海瀚创机器人技术有限公司 | A kind of robot entertainment systems |
| CN110097274A (en) * | 2019-04-25 | 2019-08-06 | 上海瀚创机器人技术有限公司 | A kind of amusement robot management system |
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| EP1103451A2 (en) * | 1999-11-25 | 2001-05-30 | Sony Corporation | Legged mobile robot and method and apparatus for controlling the operation of a robot |
| CN1394660A (en) * | 2002-08-06 | 2003-02-05 | 哈尔滨工业大学 | Full-automatic football robot and its intelligent control system |
| CN101254347A (en) * | 2008-03-20 | 2008-09-03 | 上海交通大学 | Apery robot center forward competition real-time emulation system |
| CN101290519A (en) * | 2008-03-27 | 2008-10-22 | 上海交通大学 | Small-sized chevron-shape emulated soccer ball robot remote monitering system based on 3G network |
| CN103217903A (en) * | 2013-04-07 | 2013-07-24 | 南京邮电大学 | Method for kicking ball at all directions by humanoid soccer robot based on double-balance control mechanism |
-
2016
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1103451A2 (en) * | 1999-11-25 | 2001-05-30 | Sony Corporation | Legged mobile robot and method and apparatus for controlling the operation of a robot |
| CN1394660A (en) * | 2002-08-06 | 2003-02-05 | 哈尔滨工业大学 | Full-automatic football robot and its intelligent control system |
| CN101254347A (en) * | 2008-03-20 | 2008-09-03 | 上海交通大学 | Apery robot center forward competition real-time emulation system |
| CN101290519A (en) * | 2008-03-27 | 2008-10-22 | 上海交通大学 | Small-sized chevron-shape emulated soccer ball robot remote monitering system based on 3G network |
| CN103217903A (en) * | 2013-04-07 | 2013-07-24 | 南京邮电大学 | Method for kicking ball at all directions by humanoid soccer robot based on double-balance control mechanism |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9782648B2 (en) | 2014-04-25 | 2017-10-10 | Christopher DeCarlo | Athletic training, data collection, dynamic, and personified sporting method, apparatus, system, and computer program product |
| CN107837535A (en) * | 2017-12-06 | 2018-03-27 | 北京智能佳科技有限公司 | Intelligent robot competition area and control system |
| CN110091338A (en) * | 2019-04-25 | 2019-08-06 | 上海瀚创机器人技术有限公司 | A kind of robot entertainment systems |
| CN110097274A (en) * | 2019-04-25 | 2019-08-06 | 上海瀚创机器人技术有限公司 | A kind of amusement robot management system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105999692B (en) | 2018-04-24 |
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Effective date of registration: 20200323 Address after: 301-3, floor 3, building D, intersection of Hanan 11th Road and 12th Avenue (33, Hanan 12th Road), Pingfang District, Harbin City, Heilongjiang Province 150000 Patentee after: HARBIN LEJU INTELLIGENT TECHNOLOGY Co.,Ltd. Address before: 150001, Harbin building, building 92, West 818 straight street, Nangang District, Heilongjiang, Harbin Patentee before: Hong Bingrong |
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Effective date of registration: 20221124 Address after: 518110 Hudipai 85, Nandafu Community, Guanlan Street, Longhua New District, Shenzhen City, Guangdong Province Patentee after: LEJU (SHENZHEN) ROBOTICS CO.,LTD. Address before: 301-3, 3rd floor, building D, intersection of Hanan 11th Road and 12th Avenue, Pingfang District, Harbin City, Heilongjiang Province Patentee before: HARBIN LEJU INTELLIGENT TECHNOLOGY Co.,Ltd. |
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