CN109453525A - A kind of recreation interactive system and method based on immersion robot - Google Patents
A kind of recreation interactive system and method based on immersion robot Download PDFInfo
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- CN109453525A CN109453525A CN201811323111.0A CN201811323111A CN109453525A CN 109453525 A CN109453525 A CN 109453525A CN 201811323111 A CN201811323111 A CN 201811323111A CN 109453525 A CN109453525 A CN 109453525A
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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
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/80—Special adaptations for executing a specific game genre or game mode
- A63F13/837—Shooting of targets
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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
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/20—Input arrangements for video game devices
- A63F13/21—Input arrangements for video game devices characterised by their sensors, purposes or types
- A63F13/219—Input arrangements for video game devices characterised by their sensors, purposes or types for aiming at specific areas on the display, e.g. light-guns
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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
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/40—Processing input control signals of video game devices, e.g. signals generated by the player or derived from the environment
- A63F13/42—Processing input control signals of video game devices, e.g. signals generated by the player or derived from the environment by mapping the input signals into game commands, e.g. mapping the displacement of a stylus on a touch screen to the steering angle of a virtual vehicle
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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
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/55—Controlling game characters or game objects based on the game progress
- A63F13/56—Computing the motion of game characters with respect to other game characters, game objects or elements of the game scene, e.g. for simulating the behaviour of a group of virtual soldiers or for path finding
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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
- A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
- A63F2300/80—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game specially adapted for executing a specific type of game
- A63F2300/8076—Shooting
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Human Computer Interaction (AREA)
- Theoretical Computer Science (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of recreation interactive systems based on immersion robot, cloud server includes at least the shooting criterions module for carrying out information exchange with intelligent movable end and robot respectively, and carries out the driving path planning module of information exchange with shooting criterions module and robot respectively.Shooting criterions module is configured as: being received the collected second simulated laser transmitting of information and/or robot based on the collected first simulated laser transmitting in intelligent movable end and is received information and collected real-time firing rate information progress information analysis and the firing rate control parameter for generating user, and the firing rate control parameter is exported to the firing rate to robot to control robot.Driving path planning module is configured as: being obtained and hide to robot the environmental monitoring information of route planning, and determines that several are hidden path and indicate that robot hides the shooting of user and updates driving path with this based on obtained user gradation information and environmental monitoring information.
Description
Technical field
The present invention relates to human-computer interaction, gunnery training, laser simulated firing, autonomous control shooting game robots, more people
Shot strategy training, military training technical field more particularly to a kind of recreation interactive system and side based on immersion robot
Method.
Background technique
It with information-based, industrialization constantly fusion, is surging forward by the intelligent industry of representative of robot science and technology, becomes existing
One important symbol of Time Technology innovation.Robot and intelligence manufacture are incorporated the priority setting of national science and technology innovation by China
Field.
And under the continuous development of science and technology, the introducing of information technology, computer technology and artificial intelligence technology,
The research of robot has been not limited to industrial circle, gradually extends to medical treatment, health care, family, amusement and service industry
Equal fields.And then requirement of the people for robot is also conformed to the principle of simplicity single duplicate mechanical action, being promoted to has anthropomorphic question and answer, autonomous
Property and the intelligent robot that can be interacted with other robot, human-computer interaction, which also just becomes, determines intelligent robot development
Therefore key factor improves the interactive capability of intelligent robot, promote the intelligence of intelligent robot, becomes at present urgently
Major issue to be solved.
Robot is especially widely used in simulated gunnery technology in amusement emulation field.Simulation is penetrated
The basic principle for hitting technology is to generate simulated gunnery scene by computer and by showing equipment such as large screen or passing through throwing
Shadow instrument is projected in screen and is shown, the simulated gunnery target in the scene comprising successively occurring according to preset rule
Such as virtual enemies, virtual unit.During simulated gunnery, ejaculator is penetrated using model gun such as infrared gun, laser gun etc.
Hit the simulated gunnery target in scene, position detecting system calculates point of impact position and by the position of itself and shown goal
It is matched, assert that ejaculator hits the mark in successful match.Due to goal is changed by traditional fixation target can be with
The intelligent robot controlled by computer, therefore existing simulated gunnery system is a kind of " man-machine confrontation " system.
And on the basis of traditional analog gunnery system, technical staff develops a kind of more true simulated gunnery again
System.This system makes document scene using true shooting scene, and the broadcasting of this document is then kept by display,
Shown scene is taken from true shooting scene, therefore ejaculator has much the sense of reality as being in the action.
However, although simulation effect is more and more true to nature, due to simulated gunnery target and mould in existing simulated gunnery system
The setting of quasi- shooting scene cannot change, and cause simulated gunnery target can only be mechanically on pre-set moving track
Return is dynamic to detect user, and stops movement when detecting user, carries out according to pre-set firing rate to player
Attack.Therefore, being increasing with access times, user are easy to remember the appearance situation of simulated gunnery target, not only use
Family can easily hide the attack of simulated gunnery target, and always need when simulated gunnery target will attack player
Want stop motion, what the quite a while was exposed to user can be in firing area.Different from real gaming, two game players
Between should accuse each other and can hide other side lasting attack situation, thus reduce game difficulty and playability and
Weaken the simulation effect of simulated gunnery target.Further, since the usually single fixation of the setting of simulated gunnery scene, can not build
The tense atmosphere in environment is really shot out.
Chinese patent (Publication No. CN107121019A) discloses a kind of group's confrontation fire training system, by multiple intelligence
Energy running target composition, shoots for simulating actual combat scene, has group control, target identification, danger judgement, the independently function such as confrontation
Energy.Wherein, group control refers to multiple running targets according to tactical problem, between planning path or free movement, running target or moves
It is mutually avoided between target and blindage；Danger judgement refers to that running target being capable of automatic sensing, judgement and escape from danger；Autonomous confrontation refers to shifting
After moving-target enters belligerent range, energy image processor target is simultaneously struck back.The patent includes master control, video location, autonomous classification, movement
The modules such as target and laser countermeasure (s), each intermodule are connected with each other, and are constructed training court space by video location and main control module and are sat
Mark system, provides target real-time coordinates, realizes the accessible movement of group, danger judgement and autonomous confrontation is carried out by program, for ginseng
Instruction person provides the group's tactical confrontation shooting condition for meeting actual combat, improves cooperation technical ability.
Although group's confrontation fire training system that the patent provides, can be real for tissue by the way that a variety of Tactical Modes are arranged
Identification shooting or collaboration shooting under the conditions of war provide technical support, so that the person's of participating in training main body truly incorporates shooting training
In, it can be improved the practical marketing skill of soldier.But it in group's confrontation fire training system that the patent provides, is penetrated as simulation
The intelligent sliding moving-target for hitting target is only limitted to according to scheduled tactical formation under the control function of its group, along preset fixation
Line-of-road movement, in multiple interactive process, user is easy to touch out the appearance situation of the simulated gunnery target, not only user's energy
Enough attacks for easily hiding simulated gunnery target, and always need to stop when simulated gunnery target will attack player
It only moves, what the quite a while was exposed to user can be in firing area.Different from real gaming, between two game players
The situation that should accuse each other and can hide the lasting attack of other side thus reduces the difficulty of game and playability and weakens
The simulation effect of simulated gunnery target.
Chinese patent (Publication No. CN2793674) discloses a kind of shoot-simulating dress with actual situation combination display effect
It sets, it further includes half reflection which, which has display unit, computing unit, camera unit, the gun that can emit light beam,
Mirror and the outdoor scene built；Computing unit is connected with display unit and camera unit respectively；Display unit shows that computing unit is drawn
The virtual scene produced, which projects on half-reflecting mirror, after being reflected by half-reflecting mirror, is shown in and holds gun
Player at the moment；The outdoor scene built and player are distributed in the two sides of half-reflecting mirror, outdoor scene by half-reflecting mirror projection it
It is also shown in player afterwards at the moment.
Although the shoot-simulating device with actual situation combination display effect that the patent provides, can be by virtual scene and reality
Border scene is simultaneously displayed in player's eye, to realize more life-like shooting scenario simulation effect.But the patent provides
The shoot-simulating device with actual situation combination display effect in, since the shoot-simulating device is merely able to from player to movement
Simulated gunnery target attack, and simulated gunnery target can not start shooting to strike back to player, therefore player is participating in
It can be absorbed in strike simulated gunnery target in the process and do not have to the riposte for worrying simulated gunnery target, it cannot be with simulated gunnery mesh
Effective interaction and failing builds the tense atmosphere in true shooting environment between mark.And the patent use half-reflecting mirror and
The outdoor scene built, although solving the problems, such as that tradition takes up a large area, the place scene of the single type is not only maintained into
This is higher, and the demand without solving broad masses' shooting scene changeable to novelty, cause the sense of reality for bringing user and
Feeling of immersion experience is insufficient.
Summary of the invention
For the deficiencies of the prior art, the present invention provides a kind of recreation interactive system based on immersion robot, including
At least one robot, Cloud Server and at least one intelligent movable end worn by user, wherein use at the intelligent movable end
Emit in the first simulated laser of automatic collection and receive information, the robot includes around the robot is locating for automatic collection
The environmental monitoring information of environment, the real-time firing rate information of the robot and the transmitting of the second simulated laser receive information.Institute
It states Cloud Server and includes at least the shooting criterions module for carrying out information exchange with the intelligent movable end and the robot respectively,
And the driving path planning module of information exchange is carried out with the shooting criterions module and the robot respectively.
Preferably, the driving path planning module is configured as: under conditions of the user hits the robot,
The environmental monitoring information for hide to the robot route planning is obtained, and is penetrated based on the environmental monitoring information and by described
The user gradation information determination for hitting control module generation hides path to indicate shooting of the robot to the user
Hidden and driving path is updated with this.
According to a kind of preferred embodiment, the shooting criterions module is configured as: being acquired based on the intelligent movable end
The the first simulated laser transmitting arrived receives the collected second simulated laser transmitting of information and/or the robot and receives information life
The shooting frequency that information analysis generates the user is carried out at user gradation information, and in conjunction with collected real-time firing rate information
The firing rate control parameter of generation is exported to the robot shooting frequency to control the robot by rate control parameter
Rate.
According to a kind of preferred embodiment, the driving path planning module the user hit the robot to
The robot receives second simulated laser transmitting and receives the current location for obtaining the robot under conditions of information
Coordinate and the environmental monitoring information, wherein
The driving path planning module is based on the blindage information and the user sensed in the environmental monitoring information
Current position coordinates, the blindage information include at least the shaped volumes of the blindage, the blindage position coordinates and
The relative distance of the robot and the blindage, in conjunction with the current position coordinates and the environmental monitoring information of the robot
Use what Artificial Potential Field Method planned the robot to hide path to the target point at the rear of the blindage to hide the user's
Shooting.
According to a kind of preferred embodiment, the driving path planning module is according to the collected video information of video module
The scene map of the location coordinate information including the blindage is generated, and is generated based on given initial position and target position
It the driving path of several described robots on the environmental map and stores to presetting database and/or is provided to described
Robot.
According to a kind of preferred embodiment, the driving path planning module is configured as: being collected according to video module
Video information identify the boundary of the blindage and the scene in the video module, generated with this including the blindage
The scene map of location coordinate information enables the robot in a manner of avoiding the blindage along the driving path planned
It is mobile.
According to a kind of preferred embodiment, the driving path planning module plans the robot using Artificial Potential Field Method
The step of hiding path includes at least:
Hitting the robot in the user, the second simulated laser transmitting receives to which the robot receives
Under conditions of information, by the current position coordinates and the environmental monitoring information of the robot, following draw is substituted into respectively
Force function and repulsion function simultaneously acquire the resultant force of both gravitation function and repulsion function as a result, determining the machine according to resultant force result
People's hides path direction, wherein
Gravitation function are as follows: Fatt(X)=k (XG-XR),
Repulsion function are as follows:
Its resultant force are as follows:
In formula, k indicates gravitation gain, ηXIndicate repulsion gain coefficient, ρ (XR,Xi) indicate blindage to the robot away from
From ρ (XR,XG) indicate distance of the robot to the target point for being located at blindage rear, ρ0Indicate that blindage can influence the robot
Maximum distance, XRIndicate the current position coordinates of the robot, XiIndicate the current position coordinates of blindage, XGIt represents to be located at and cover
The position coordinates of the target point at body rear.
According to a kind of preferred embodiment, the shooting criterions module of the Cloud Server is acquired based on the intelligent movable end
The the first simulated laser transmitting arrived receive the collected second simulated laser transmitting of information and/or the robot receive information into
Row information is analyzed to obtain the current cumulative integral of the user and is stored in the presetting database and the current accumulation
Integrate corresponding user gradation information.
Wherein, the information analysis process, which is included at least, is stored in institute based on the user gradation information of acquisition to retrieve
State the firing rate control parameter in presetting database with the user gradation information for corresponding relationship, the shooting criterions
The firing rate control parameter that module will acquire export to the robot so that the firing rate of the robot with work as
Preceding user gradation is corresponding.
According to a kind of preferred embodiment, the information analysis process includes at least the user gradation letter based on acquisition
It ceases to retrieve the movement speed control parameter being stored in the presetting database with the user gradation information for corresponding relationship,
And hitting the robot in the user, the second simulated laser transmitting receives information to which the robot receives
Under conditions of by the movement speed control parameter that the shooting criterions module will acquire export to the driving path plan
Module, the driving path planning module indicate the Robot based on the environmental monitoring information generate described in hide road
The shooting of the user is hidden with the movement speed in the movement speed control parameter in diameter direction.
According to a kind of preferred embodiment, the Cloud Server further includes carrying out information exchange with the shooting criterions module
And show that equipment carries out the scenery control module of scenery control information association with scene.Preferably, the scenery control module is used
The current user's level of the user is believed in the user gradation information for obtaining the shooting criterions module generation and with this
Breath is updated, and the scenery control module is stored in institute to retrieve in the case that user gradation information changes in this prior
State in presetting database with the scene information that the user gradation information is corresponding relationship and by scene display equipment into
The corresponding scene of row is shown, and updated user gradation information is mentioned by the intelligent movable end to the user
Show.
A kind of entertainment interactive method based on immersion robot, including at least one robot, Cloud Server and at least
One intelligent movable end worn by user, the Cloud Server includes at least shooting criterions module and driving path plans mould
Block, which is characterized in that the entertainment interactive method at least includes the following steps: the condition of the robot is hit in the user
Under, the environmental monitoring information for hide to the robot route planning is obtained, and based on the environmental monitoring information and by institute
The user gradation information determination for stating the generation of shooting criterions module hides path to indicate the robot to the user's
Shooting is hidden and updates driving path with this.
According to a kind of preferred embodiment, the entertainment interactive method is further comprising the steps of: being based on the intelligent movable
It holds collected first simulated laser transmitting to receive the collected second simulated laser transmitting of information and/or the robot to receive
Information generates user gradation information, and carries out information analysis in conjunction with collected real-time firing rate information and generate the user's
Firing rate control parameter exports the firing rate control parameter of generation to the robot to control the robot
Firing rate.
Advantageous effects of the invention:
(1) recreation interactive system provided through the invention, user and robot are each other according to being capable of active attack
The mode and platform space of other side carries out information exchange, and platform space controls the shooting frequency of robot in such a way that data are transmitted
The path of hiding of rate and robot carries out simulation with user and interacts, and when by user's laser hits, which can be according to hiding
It keeps away path and voluntarily hides shooting, and at the same time can replace after hiding shooting to other driving paths, and avoid tradition single
Shot pattern and fixed mobile path increase the fidelity of entertainment systems and the playability of amusing method, based on different amusements
Scene improves the substitution sense and sense of reality experience of player.
(2) by establishing Robot Virtual repulsion Artificial Potential Field Model, while variation with user's game ratings, control
The firing rate of robot and the movement speed of robot it is synchronous variation, improve the simulation effect of system；And due to control
Replacement is to other driving paths after hiding shooting for its robot, even if user's access times and time are continuously increased, also not
The appearance situation that can remember simulated gunnery target increases the difficulty of game and playability and enhances the entertainment interactive system
The true simulation effect of system.
Detailed description of the invention
Fig. 1 is the module connection diagram of a preferred embodiment of recreation interactive system of the invention；
Fig. 2 is the method schematic diagram of a currently preferred preferred embodiment；
Fig. 3 is the method schematic diagram of another currently preferred preferred embodiment；With
Fig. 4 is the module connection diagram of another preferred embodiment of recreation interactive system of the invention.
Reference signs list
100: robot 200: user 300: intelligent movable end
400: shooting criterions module 500: driving path planning module 600: scenery control module
700: Cloud Server
Specific embodiment
It is described in detail with reference to the accompanying drawing.
As shown in Figure 1, the recreation interactive system based on immersion robot, including at least one robot 100, cloud service
Device 700 and at least one intelligent movable end 300 for being worn by user 200, wherein intelligent movable end 300 is for automatic collection the
The transmitting of one simulated laser receives information, and robot 100 is used for the environment that automatic collection includes ambient enviroment locating for the robot 100
Monitoring information, the real-time firing rate information of robot 100 and the transmitting of the second simulated laser receive information.Cloud Server 700 to
Few includes the shooting criterions module 400 for carrying out information exchange with intelligent movable end 300 and robot 100 respectively, and respectively with
Shooting criterions module 400 and robot 100 carry out the driving path planning module 500 of information exchange.Preferably, the first simulation swashs
It includes that intelligent movable end 300 emits laser and intelligent movable end 300 and hits two letters by user 200 that light emitting, which receives information,
Breath, it includes that the transmitting laser of user 200 and user 200 are hit by intelligent movable end 300 that the transmitting of the second simulated laser, which receives information,
Two information.
Preferably, driving path planning module 500 is configured as: under conditions of user 200 hits robot 100, being obtained
The environmental monitoring information for hide to robot 100 route planning is taken, and based on the environmental monitoring information and by shooting criterions
The user gradation information that module 400 generates determines that several are hidden path and indicate that robot 100 carries out the shooting of user 200
Hide and driving path is updated with this.Preferably, whether environmental monitoring information includes at least uses within the scope of monitoring Observable
Blindage location information within the scope of family 200 and acquisition Observable.When robot is hit by user, Cloud Server can be passed through
The 700 lasting attacks hidden path and hide user provided, and continue to move along different from former driving path after hiding, it beats
Breaking traditional fixed form path causes user to be easy the problem of remembeing and reducing game difficulty and playability.
The present invention setting user and robot each other according to can by way of active attack other side it is empty with platform
Between carry out information exchange, platform space controls in such a way that data are transmitted the firing rate of robot and road is hidden by robot
Diameter carries out simulation with user and interacts, and robot can voluntarily hide shooting and avoid the single shot pattern of tradition, increases amusement
The fidelity of system and the playability of amusing method improve the substitution sense and the sense of reality of player based on different Entertainment Scenes
Experience.And also by establishing Robot Virtual repulsion Artificial Potential Field Model, while variation with user's game ratings, control
The firing rate of robot and the movement speed of robot it is synchronous variation, improve the simulation effect of system；And due to control
Its robot after hiding shooting replacement to other driving paths, so even if user's access times and time be continuously increased,
The appearance situation that can not remember simulated gunnery target increases the difficulty of game and playability and enhances the entertainment interactive
The simulation effect of system.
Preferably, which includes at least the water bullet rifle battle equipment worn by user 200, the water bullet rifle pair
War equipment includes helmet equipment, jumper is standby and water bullet rifle equipment, user 200 carry out robot 100 by transmitting water bullet rifle
Attack, compared with the prior art in common paintball class battle equipment, although having the gun sense of reality due to using all-metal
There are certain risks for bullet, and water bullet rifle battle equipment had both enhanced the sense of reality of gun and there is no the danger hurted sb.'s feelings.Wherein,
Intelligent movable end 300 collects the first simulation and swashs while water bullet rifle is equipped to helmet equipment or jumper preparation jetting bullet
Light emitting receives information, when helmet equipment or jumper it is standby in by water bullet rifle water attack while the robot 100 adopt
Collect the transmitting of the second simulated laser and receives information.
Preferably, shooting criterions module 400 is configured as: being based on collected first simulated laser in intelligent movable end 300
Transmitting receives information and/or the transmitting of collected second simulated laser of robot 100 receives information and collected penetrates in real time
It hits frequency information to carry out information analysis and generate the firing rate control parameter of user 200, and the firing rate is controlled and is joined
Number output controls the firing rate of robot 100 to robot 100.Due to the going game proficiency based on user, attack
Elementary game ratings are in attack is hidden, it is therefore desirable to which the simulated gunnery target that grade matches therewith passes through user 200
It is analyzed with the corresponding shooting situation of robot 100 and situation of being hit by a bullet, obtains the game ratings of the user 200, and lead to
The real-time firing rate information for crossing the feedback of robot 100 obtains firing rate control parameter corresponding with the game ratings and right
The real-time firing rate information of robot 100 is updated, for example, firing rate control parameter may include the continuous fire time
Interval was not less than 3 seconds or continuous fire time interval is not less than the number of shooting in 5 seconds or 1min and is no more than 5 times or 1min
Interior shoots number no more than 10 times.
Preferably, when user hits robot, by the collected first simulated laser transmitting information in intelligent movable end 300
And information and real-time firing rate information are received by collected second simulated laser of the robot, shooting control is fed back to respectively
Molding block 400 carries out information analysis.The process that shooting criterions module 400 carries out information analysis includes accumulating in the history of the user
Increase corresponding score changing value on the basis of integral to generate the current cumulative integral of user, and based on the current accumulation product
Divide and be stored in corresponding user gradation information in presetting database to retrieve, and obtains being stored in presetting database simultaneously
It is the firing rate control parameter and movement speed control parameter of corresponding relationship with the user gradation information.Shooting criterions module
The 400 movement speed control parameters that will acquire are exported to driving path planning module 500, and driving path planning module 500 indicates
Robot hides path direction according to the movement speed in the movement speed control parameter based on what environmental monitoring information generated
The shooting of user is hidden；And when the real-time firing rate information of acquisition exceeds firing rate control parameter, i.e. user
User gradation change, shooting criterions module 400 by the firing rate control parameter export to the robot 100 with control
The firing rate of the robot 100 under the user gradation.When to receive the information that robot 100 is hit, road is travelled
Diameter planning module 500 can be according to the movement speed for the information control robot that shooting criterions module 400 generates, and is judging
While the user gradation of the user changes out, shooting criterions module 400 controls the firing rate of the robot 100, makes
The movement speed and firing rate for obtaining robot are consistent with the present level of the user always.
According to a kind of preferred embodiment, driving path planning module 500 hits robot 100 in user 200 to machine
Device people 100 receives the current position coordinates and ring that the transmitting of the second simulated laser receives acquisition robot 100 under conditions of information
Border monitoring information.Preferably, driving path planning module 500 is based on the blindage information sensed in environmental monitoring information and user
200 current position coordinates, blindage information include at least the position coordinates and robot 100 of the shaped volumes of blindage, blindage
With the relative distance of blindage, planned in conjunction with the current position coordinates and environmental monitoring information of robot 100 using Artificial Potential Field Method
The shooting of the robot 100 hidden path and hide user 200 to the target point at the rear of blindage.
According to a kind of preferred embodiment, driving path planning module 500 is according to the collected video information of video module
The scene map of the location coordinate information including blindage is generated, and several based on given initial position and target position generation
It driving path of a robot 100 on the environmental map and stores to presetting database and/or is provided to robot 100.
According to a kind of preferred embodiment, driving path planning module 500 is configured as: collected according to video module
Video information identifies the boundary of blindage and scene in video module, and the scene of the location coordinate information including blindage is generated with this
Map enables driving path of the robot 100 in a manner of avoiding blindage along planning to move.Preferably, according to being mounted on
The video module in scene of game can collect blindage number of locations and scene boundary in the scene of game, and according to adopting
The boundary of the scene collected generates the scene map in the scene of game, can be used in not starting previous existence into several rows in game
Path is sailed, allows the robot to avoid blindage automatically to move.
Preferably, intelligent movable end 300 may include smart phone or other intelligent wearable devices, and mobile intelligent terminal
300 communicatedly connect with laser emitter, laser pickoff and the positioning device carried by user respectively.Preferably, machine
People includes at least one or more of laser emitter, laser pickoff, image collecting device or positioning device.
According to a kind of preferred embodiment, driving path planning module 500 plans the robot 100 using Artificial Potential Field Method
Included at least the step of hiding path:
Robot 100 is hit in user 200 to which robot 100 receives the item that the transmitting of the second simulated laser receives information
Under part, by the current position coordinates and environmental monitoring information of robot 100, following gravitation function and repulsion letter are substituted into respectively
It counts and acquires the resultant force of both gravitation function and repulsion function as a result, hiding road according to what resultant force result determined the robot 100
Diameter direction, wherein
Gravitation function are as follows: Fatt(X)=k (XG-XR),
Repulsion function are as follows:
Its resultant force are as follows:
In formula, k indicates gravitation gain, ηXIndicate repulsion gain coefficient, ρ (XR,Xi) indicate blindage to the robot 100
Distance, ρ (XR,XG) indicate that robot 100 arrives the distance of the target point positioned at blindage rear, ρ0Indicate that blindage can influence this
The maximum distance of robot 100, XRIndicate the current position coordinates of the robot 100, XiIndicate the current position coordinates of blindage,
XGRepresent the position coordinates for being located at the target point at blindage rear.
Preferably, by establishing Robot Virtual repulsion Artificial Potential Field Model, the movement environment of robot is abstracted into
Movement in one Artificial Potential Field Model, it is assumed that have " attraction ", blindage and robot between the target point and robot in environment
There is " repulsive force ", it is mobile by the resultant direction control robot of both " attraction " and " repulsive force ", one, which is cooked up, with this puts down
Sliding safety hides path.Preferably, target point is chosen at positioned at blindage rear and is located at another different from current driving road
On other driving paths of diameter, so that in robot according to hiding after path hides the shooting of user attack, Neng Gouyan
It is continued to move to different from other paths of original route, avoids still causing user to be easy according to initial setting up path is mobile after hiding
The driving path of the robot is remembered, so that the simulation effect of the recreation interactive system reduces and user's sense of reality is experienced not
By force.Preferably, the selection process of target point may comprise steps of: as illustrated in fig. 2, it is assumed that the robot is attacked by user
When the location of be b point, the target point positioned at blindage rear is denoted as c point, then makees an extension tangent with blindage by b point
Line takes the intersection point of the extended line and global path, as target point c point, while obtaining being overlapped on scene map with target point c point
At least one other driving paths.And it is preferred, if having other blindages on c point, as shown in figure 3, if abandon this at this time
Selected c point, finding another using Artificial Potential Field Method again can be used for the place d point that robot is hidden, and its step is adopted
It is gone to choose new target point e point with method similar to the above, be planned using random Lu Tufa.
Preferably, above-mentioned random Lu Tufa is at least included the following steps: random Lu Tufa is firstly the need of building route map, i.e.,
V is added in figure node set V by the random selected element v in configuration space if v is not belonging to the point on blindage；By v with
Other points v ' in set V is attached, if it is possible to be connected, then this edge v, v ' is added to the corresponding road route subgraph N
Line subgraph is the set of single course) in, v is otherwise added to a new route subgraph；So repeat two above
Step, when sampled point can connect multiple subgraphs, then these subgraphs can be synthesized into a new subgraph, thus finally obtain
Route map；Beginning and end is added in route map, searches out a paths as hiding path using the route map.
According to a kind of preferred embodiment, the shooting criterions module 400 of Cloud Server 700 is based on intelligent movable end 300 and adopts
The the first simulated laser transmitting collected receives information and/or the transmitting of collected second simulated laser of robot 100 receives information
Information analysis is carried out to obtain the current cumulative integral of user 200 and be stored in corresponding with current cumulative integral in presetting database
User gradation information.
Wherein, information analysis process, which is included at least, is stored in presetting database based on the user gradation information of acquisition to retrieve
Interior and user gradation information is the firing rate control parameter of corresponding relationship, the shooting frequency that shooting criterions module 400 will acquire
Rate control parameter is exported to robot 100 so that the firing rate of robot 100 is corresponding with current user's level.
According to a kind of preferred embodiment, information analysis process includes at least the user gradation information based on acquisition to retrieve
It is stored in presetting database the movement speed control parameter with user gradation information for corresponding relationship, and is hit in user 200
Middle robot 100 receives under conditions of information to which robot 100 receives the transmitting of the second simulated laser by shooting criterions module
The 400 movement speed control parameters that will acquire are exported to driving path planning module 500, and driving path planning module 500 indicates
Path direction is hidden along what is generated based on environmental monitoring information with the movement speed pair in movement speed control parameter by robot 100
The shooting of user 200 is hidden.
According to a kind of preferred embodiment, Cloud Server 700 further include with shooting criterions module 400 carry out information exchange and
Show that equipment carries out the scenery control module 600 of scenery control information association with scene.Preferably, scenery control module 600 is used
Current user's level information of user 200 is carried out in the user gradation information for obtaining the generation of shooting criterions module 400 and with this
It updates, scenery control module 600 is stored in preset data to retrieve in the case that user gradation information changes in this prior
It is shown with the scene information that user gradation information is corresponding relationship in library and by the corresponding scene of scene display equipment progress, and
And updated user gradation information is prompted by intelligent movable end 300 to user 200.As user's game ratings become
Simulated scenario corresponding change is controlled while change, and by being prompted by intelligent movable end 300 to user 200, is built
The tense atmosphere in environment is really shot out, solves demand of the broad masses to novel changeable shooting scene, and maintenance cost
It is lower.
A kind of entertainment interactive method based on immersion robot, including at least one robot, Cloud Server and at least
One intelligent movable end worn by user, Cloud Server 700 includes at least shooting criterions module 400 and driving path plans mould
Block 500, which is characterized in that entertainment interactive method at least includes the following steps: under conditions of user 200 hits robot 100,
The environmental monitoring information for hide to robot 100 route planning is obtained, and is controlled based on the environmental monitoring information and by shooting
The user gradation information determination that molding block 400 generates hides path to indicate that the shooting of user 200 is hidden by robot 100
And driving path is updated with this.
According to a kind of preferred embodiment, entertainment interactive method is further comprising the steps of: being acquired based on intelligent movable end 300
The the first simulated laser transmitting arrived receives information and/or the transmitting of collected second simulated laser of robot 100 receives information life
At user gradation information, and collected real-time firing rate information is combined to carry out the shooting frequency that information analysis generates user 200
The firing rate control parameter of generation is exported to robot 100 the shooting frequency to control robot 100 by rate control parameter
Rate.
Preferably, the Cloud Server 700 is also configured to be associated with multiple robots progress operation data, and is based on
Different firing data and robot motion's data is formed pair in the way of establishing corresponding relationship in the operation data obtained
War strategy, and by the battle policy store to presetting database, so that robot can not only when connecting with Cloud Server
It uploads the operation data of itself and the battle policy download is updated in the database of itself simultaneously.For example, the firing data
Including at least shooting battle data, firing rate data and the user gradation data between multiple robots and user, the machine
Device people's exercise data hides path data, driving path more new data and movement speed number including at least multiple robots
According to.
Wherein, as shown in figure 4, robot 100 includes at least the shooting criterions for carrying out information exchange with intelligent movable end 300
Module 400 and the driving path planning module 500 that information exchange is carried out with shooting criterions module 400.Wherein, in user 200
Under conditions of hitting robot 100, obtains and hide the environmental monitoring information of route planning to robot 100 and controlled by shooting
The user gradation information that molding block 400 generates, and retrieve based on above- mentioned information the battle in the database for being stored in robot
Strategy will be retrieved since battle strategy includes the different firing datas and robot motion's data for establishing corresponding relationship each other
To robot motion's data be transmitted to driving path planning module 500 and then control the robot hides path and movement
Firing rate data in the firing data retrieved are transmitted to shooting criterions module 400 and then control the robot by speed
Firing rate.
Wherein, while not retrieving battle strategy, the transmitting of the first simulated laser is based on by shooting criterions module 400 and is connect
Breath and/or the second simulated laser transmitting reception information of collecting mail and collected real-time firing rate information progress information analysis are simultaneously
The firing rate control parameter of user 200 is generated, and the firing rate control parameter is exported to robot 100 to control machine
The firing rate of device people 100 is generated by shooting criterions module 400 based on environmental monitoring information and by shooting criterions module 400
User gradation information determine several hide path and indicate robot 100 shooting of user 200 is hidden and with this more
New driving path.After fighting with user, robot connect the operation data to upload itself with Cloud Server, and same
When the battle policy download is updated in the database of itself.
It should be noted that above-mentioned specific embodiment is exemplary, those skilled in the art can disclose in the present invention
Various solutions are found out under the inspiration of content, and these solutions also belong to disclosure of the invention range and fall into this hair
Within bright protection scope.It will be understood by those skilled in the art that description of the invention and its attached drawing are illustrative and are not
Constitute limitations on claims.Protection scope of the present invention is defined by the claims and their equivalents.
Claims (10)
1. a kind of recreation interactive system based on immersion robot, including at least one robot (100), Cloud Server
(700) and at least one by user (200) wear intelligent movable end (300), wherein the intelligent movable end (300) is used for
The transmitting of the first simulated laser of automatic collection receives information, and the robot (100) includes the robot (100) for automatic collection
The environmental monitoring information of locating ambient enviroment, the real-time firing rate information of the robot (100) and the second simulated laser hair
Penetrate reception information, which is characterized in that
The Cloud Server (700) includes at least and carries out letter with the intelligent movable end (300) and the robot (100) respectively
Cease the shooting criterions module (400) of interaction, and respectively with the shooting criterions module (400) and the robot (100) into
The driving path planning module (500) of row information interaction, wherein
The driving path planning module (500) is configured as: hitting the item of the robot (100) in the user (200)
Under part, the environmental monitoring information for hide to the robot (100) route planning is obtained, and be based on the environmental monitoring information
It is determined with the user gradation information generated by the shooting criterions module (400) and hides path to indicate the robot
(100) shooting of the user (200) is hidden and driving path is updated with this.
2. recreation interactive system as described in claim 1, which is characterized in that the shooting criterions module (400) is configured as:
Information is received based on the collected first simulated laser transmitting of the intelligent movable end (300) and/or the robot (100) is adopted
The the second simulated laser transmitting collected receives information and generates user gradation information, and combines collected real-time firing rate information
The firing rate control parameter that information analysis generates the user (200) is carried out, the firing rate control parameter of generation is defeated
The firing rate of the robot (100) is controlled to the robot (100) out.
3. the recreation interactive system as described in one of preceding claims, which is characterized in that the driving path planning module
(500) robot (100) described second simulation to which the robot (100) receive is hit in the user (200)
The current position coordinates and the environmental monitoring information of the robot (100) are obtained under conditions of Laser emission reception information,
Wherein,
The driving path planning module (500) is based on the blindage information and the user sensed in the environmental monitoring information
(200) current position coordinates, the blindage information include at least the position coordinates of the shaped volumes of the blindage, the blindage
And the relative distance of robot (100) and the blindage, current position coordinates and institute in conjunction with the robot (100)
State the target for hiding path to the rear of the blindage that environmental monitoring information plans the robot (100) using Artificial Potential Field Method
It puts to hide the shooting of the user (200).
4. the recreation interactive system as described in one of preceding claims, which is characterized in that the driving path planning module
(500) the scene map of the location coordinate information including the blindage is generated according to the collected video information of video module, and
And several rows of the robot (100) on the environmental map are generated based on given initial position and target position
It sails path and stores to presetting database, hit the robot (100) in the user (200) to the robot
(100) it is different from current driving path to receive offer at least one under conditions of the second simulated laser transmitting receives information
Other driving paths be updated to the robot (100), wherein the driving path planning module (500) is also configured to
The boundary of the blindage and the scene in the video module is identified according to the collected video information of video module,
The scene map of the location coordinate information including the blindage is generated with this, so that the robot (100) can be to avoid
The mode for stating blindage is moved along the driving path of planning.
5. the recreation interactive system as described in one of preceding claims, which is characterized in that the driving path planning module
(500) including at least the step of hiding path for robot (100) is planned using Artificial Potential Field Method:
Hitting the robot (100) in the user (200), second simulation swashs to which the robot (100) receive
Under conditions of light emitting receives information, the current position coordinates and the environmental monitoring information of the robot (100) are obtained, point
Following gravitation function and repulsion function are not substituted into and acquire the resultant force of both gravitation function and repulsion function as a result, according to resultant force
As a result determine the robot hides path direction, wherein
Gravitation function are as follows: Fatt(X)=k (XG-XR),
Repulsion function are as follows:
Its resultant force are as follows:
In formula, k indicates gravitation gain, ηXIndicate repulsion gain coefficient, ρ (XR,Xi) indicate distance of the blindage to the robot, ρ
(XR,XG) indicate distance of the robot to the target point for being located at blindage rear, ρ0Indicate that blindage can influence the robot most
Big distance, XRIndicate the current position coordinates of the robot, XiIndicate the current position coordinates of blindage, XGIt represents after being located at blindage
The position coordinates of the target point of side.
6. the recreation interactive system as described in one of preceding claims, which is characterized in that the shooting of the Cloud Server (700)
Control module (400) is based on the intelligent movable end (300) collected first simulated laser transmitting and receives information and/or described
The collected second simulated laser transmitting of robot (100) receives information progress information analysis and obtains working as the user (200)
Preceding cumulative integral and user gradation information corresponding with the current cumulative integral is stored in the presetting database,
In,
The information analysis process, which is included at least, is stored in the present count based on the user gradation information of acquisition to retrieve
It is the firing rate control parameter of corresponding relationship, the shooting criterions module according to Ku Nei and the user gradation information
(400) the firing rate control parameter that will acquire is exported to the robot (100) so that the robot (100) are penetrated
It is corresponding with current user's level to hit frequency.
7. the recreation interactive system as described in one of preceding claims, which is characterized in that the information analysis process is at least wrapped
The user gradation information based on acquisition is included to retrieve to be stored in the presetting database and be with the user gradation information
The movement speed control parameter of corresponding relationship, and the robot (100) are hit in the user (200) to the machine
People (100) receives under conditions of the second simulated laser transmitting receives information and will be obtained by the shooting criterions module (400)
The movement speed control parameter taken is exported to the driving path planning module (500), the driving path planning module
(500) indicate that the robot (100) hides path direction with the shifting described in generate based on the environmental monitoring information
Movement speed in dynamic speed control parameter hides the shooting of the user (200).
8. the recreation interactive system as described in one of preceding claims, which is characterized in that the Cloud Server (700) further includes
Information exchange is carried out with the shooting criterions module (400) and shows that equipment carries out the scene of scenery control information association with scene
Control module (600), wherein
The scenery control module (600) is used to obtain the user gradation information that the shooting criterions module (400) generates
And current user's level information of user (200) is updated with this, the scenery control module (600) is in this prior
User gradation information to retrieve to be stored in the presetting database with the user gradation information is in the case where changing
The scene information of corresponding relationship simultaneously shows that equipment carries out corresponding scene and shows by the scene, and by updated user
Class information is prompted by intelligent movable end (300) the Xiang Suoshu user (200).
9. a kind of entertainment interactive method based on immersion robot, including at least one robot (100), Cloud Server
(700) and at least one is by the intelligent movable end (300) of user (200) wearing, and the Cloud Server (700), which includes at least, shoots
Control module (400) and driving path planning module (500), which is characterized in that the entertainment interactive method includes at least following
Step:
Under conditions of the user (200) hits the robot (100), the robot (100) is hidden in acquisition
The environmental monitoring information of route planning, and based on the environmental monitoring information and the institute generated by the shooting criterions module (400)
It states the determination of user gradation information and hides path to indicate that the shooting of the user (200) is hidden by the robot (100)
And driving path is updated with this.
10. entertainment interactive method as claimed in claim 9, which is characterized in that the entertainment interactive method further includes following step
It is rapid:
Information and/or the robot are received based on the collected first simulated laser transmitting of the intelligent movable end (300)
(100) collected second simulated laser transmitting receives information and generates user gradation information, and combines collected real-time shooting
Frequency information carries out the firing rate control parameter that information analysis generates the user (200), by the firing rate control of generation
Parameter processed exports to the robot (100) firing rate for controlling the robot (100).
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210267212.0A CN114618169A (en) | 2018-11-07 | 2018-11-07 | Information capturing system and method for entertainment interactive system |
| CN202210268191.4A CN114632332A (en) | 2018-11-07 | 2018-11-07 | Planning module and application method of entertainment interactive system |
| CN201811323111.0A CN109453525B (en) | 2018-11-07 | 2018-11-07 | Entertainment interaction system and method based on immersive robot |
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| CN201811323111.0A CN109453525B (en) | 2018-11-07 | 2018-11-07 | Entertainment interaction system and method based on immersive robot |
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| CN202210268191.4A Division CN114632332A (en) | 2018-11-07 | 2018-11-07 | Planning module and application method of entertainment interactive system |
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| CN201811323111.0A Active CN109453525B (en) | 2018-11-07 | 2018-11-07 | Entertainment interaction system and method based on immersive robot |
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- 2018-11-07 CN CN202210267212.0A patent/CN114618169A/en active Pending
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| US6821206B1 (en) * | 1999-11-25 | 2004-11-23 | Namco Ltd. | Game machine, game route selection method, and information storage medium |
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Also Published As
| Publication number | Publication date |
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| CN114632332A (en) | 2022-06-17 |
| CN109453525B (en) | 2022-03-01 |
| CN114618169A (en) | 2022-06-14 |
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