EP2205333A1 - System to control semi-autonomous robots in interactive robot gaming - Google Patents

System to control semi-autonomous robots in interactive robot gaming

Info

Publication number
EP2205333A1
EP2205333A1 EP08807749A EP08807749A EP2205333A1 EP 2205333 A1 EP2205333 A1 EP 2205333A1 EP 08807749 A EP08807749 A EP 08807749A EP 08807749 A EP08807749 A EP 08807749A EP 2205333 A1 EP2205333 A1 EP 2205333A1
Authority
EP
European Patent Office
Prior art keywords
robot
control unit
mobile toy
remote control
semi
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP08807749A
Other languages
German (de)
French (fr)
Inventor
Christian Kunneke
Johannes Petrus Jacobus Poolman
Jozef Hendrik Willem Cordier
Leon Coetsee
Willem Jacobus FOUCHÉ
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robonica Pty Ltd
Original Assignee
Robonica Pty Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robonica Pty Ltd filed Critical Robonica Pty Ltd
Publication of EP2205333A1 publication Critical patent/EP2205333A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H30/00—Remote-control arrangements specially adapted for toys, e.g. for toy vehicles
    • A63H30/02—Electrical arrangements
    • A63H30/04—Electrical arrangements using wireless transmission
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H11/00—Self-movable toy figures
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H2200/00—Computerized interactive toys, e.g. dolls

Definitions

  • THIS invention relates to robots used in an interactive gaming scenario, in general, and specifically to one or more semi-autonomous mobile toy robots controlled from a single remote control unit in an interactive gaming scenario.
  • Robot gaming may either be in a single player mode or multi-player mode which may comprise one or more mobile toy robots in competition against other mobiie toy robots, in order to achieve specified gaming objectives within the context of a specific gaming scenario.
  • multi-player mode mobile toy robots may be grouped in multiple teams and these teams may compete against each other to achieve a specified gaming objective within the context of a specific gaming scenario.
  • a system generally comprises of at least one or more mobile toy robots that are controlled by one or more operators or players, as well as other types of game related items to augment the realism and general gaming experience and that may or may not have an influence on the outcome of the game.
  • robots are generally controlled by operators (players) that have a thorough understanding of the game rules, that can analyze, interpret and predict the opponent's behavior and intentions, and that can make more informed decisions regarding game tactics and other game- related and operational issues, fn the conventional role the operator will steer and control the mobile toy robot in a robot game in much the same way that a bomb disposal robot wif! be steered and controlled, except that in the robot game the operators will generally have a full and direct view of the robot gaming playing field.
  • robot generally refers to a machine or similar device which includes some form of automation or sensors for performing functions automatically with limited or no human interference. These functions may include traversing a certain course, interacting with other mobile toy robots in a gaming environment, and the like.
  • reference to the term “robot” includes reference to any mobile electronic toy subject to human control irrespective of the level of autonomy involved, e.g., a radio controlled toy car, a radio controlled gaming robot, or the like.
  • these robots are generally mobile in that they are configured for propulsion or locomotion autonomously or upon suitable instruction. According to a first aspect of the invention there is provided an interactive robot gaming system, comprising
  • a remote control unit having a processor, a display and control means for remotely controlling one or more semi-autonomous mobile toy robots;
  • a semi-autonomous mobile toy robot comprising an onboard control unit and a memory on which is stored gaming software which includes various software routines of autonomous operating modes, the onboard control unit being configured to receive a high level command instruction from the remote control unit and in response to receiving the high level command instruction from the remote control unit, executing the software routine related to the high level command instruction thereby to autonomously perform actions in a programmable manner according to the software routine within a gaming environment without further command instructions from the remote control unit.
  • the interactive robot gaming system may comprise multiple semi- autonomous mobile toy robots, each receiving high level command instructions from the remote control unit, and each executing software routines related to the high level command instruction thereby to autonomously perform actions in a programmable manner according to the respective software routines without further command instructions from the remote control unit, allowing the remote control unit to simultaneously control multiple semi-autonomous mobile toy robots within a gaming environment.
  • the interactive robot gaming system may additionally comprise at least one remote controlled mobile toy robot, configured to receive from the remote control unit low level command instructions to directly control actuators or drive or steering motors of the robot in such a way that the -A-
  • remote control unit actively steers the robot and control accessories of the remote controlled mobile toy robot.
  • the low level command instructions allow the remote controlled mobile toy robot to avoid obstacles, seek out and engage another opposing mobile toy robot, interact with one or more game related accessories, or perform other tasks within the context of the game environment while under the direct control of the remote control unit.
  • Each of the mobile toy robots is configured to transmit information on the state of the robot to the remote control unit which information is displayed on the display of the remote control unit.
  • the transmitted information may include status and/or game state information on a robot, thereby allowing an operator of the remote control unit to monitor the mobile toy robots with respect to their physical status and game parameters.
  • the software routines related to the high level command instructions of the semi-autonomous mobile toy robots may include software routines to alfow the mobile toy robot to autonomously move around the playing field, to autonomously monitor or interact with other mobile toy robots or game related accessories in the robot's vicinity, to attack a mobile toy robot detected in the robot's vicinity, to independently follow the movement of another toy robot in the gaming environment, or the like.
  • the gaming software may be downloaded from a personal computer onto the semi-autonomous mobile toy robot.
  • a semi- autonomous mobile toy robot comprising an onboard control unit and a memory on which is stored gaming software which includes various software routines of autonomous operating modes, the onboard control unit being configured to receive a high level command instruction from a remote control unit and in response to receiving the high level command instruction from the remote control unit, executing the software routine related to the high level command instruction thereby to autonomously perform actions in a programmable manner according to the software routine within a gaming environment without further command instructions from the remote control unit.
  • the semi-autonomous mobile toy robot may be configured to transmit information on the state of the robot to the remote control unit which information is displayed on the display of the remote control unit.
  • the transmitted information may include status and/or game state information on the robot, thereby allowing an operator of the remote control unit to monitor the mobile toy robots with respect to their physical status and game parameters.
  • the software routines related to the high level command instructions of the semi-autonomous mobile toy robot may include software routines to allow the mobile toy robot to autonomously move around the playing field, to autonomously monitor other mobile toy robots or game related accessories in the robot's vicinity, to attack a mobile toy robot detected in the robot's vicinity, to independently follow the movement of another toy robot in the gaming environment, or the like.
  • the gaming software may be downloaded from a remote personal computer onto the semi-autonomous mobile toy robot.
  • Figures 1 A to 1C show various configurations of an interactive gaming system in accordance with the present invention, the system comprising at least one semi-autonomous mobile toy robot and optionally one remote controlled mobile toy robot, the toy robots associated to a single remote control unit;
  • Figure 2 shows a remote control unit to control semi-autonomous mobile toy robots and remote controlled mobile toy robots in accordance with the present invention
  • FIG. 3 is a schematic of a mobile toy robot operating either as a semi-autonomous or remote controlled mobile toy robot, in accordance with the present invention
  • FIG 4 is a block diagram showing modules of an onboard control unit of the mobile toy robot of Figure 2, in accordance with an example embodiment of the present invention
  • Figure 5 shows bi-directional communication between a single semi- autonomous robot and an associated remote control unit of Figure 1A;
  • Figure 6 shows communication between multiple semi-autonomous robots and an associated remote control unit of Figure 1B;
  • Figure 7 shows communication between multiple semi-autonomous robots, a single remote controlled robot and an associated remote control unit of Figure 1C.
  • a gaming environment including at least one remote control unit and at least one semi-autonomous mobiie toy robot.
  • the operator's workload is reduced by introducing one or more semi- autonomous mobile toy robots.
  • the operator in control of the mobile toy robot in a robot game typically has two main tasks to perform, namely to remotely steer or drive a mobile toy robot by giving low level instructions to the robot's drive or steering motors through a remote controf unit or other means in such a way that the robot avoids obstacles, seeks out and engages an opponent's mobile toy robots, interacts with one or more game related accessories, or performs other tasks within the context of the game.
  • the operator is to control and direct the mobile toy robot to achieve the necessary game objectives, i.e. planning and deciding on the timing and actions required that will result in the game objectives being achieved with due consideration of the game rules, the opponent's tactics and actions (if applicable), layout of the playing field, availability of resources, general disposition of other robots and game accessories, etc.
  • the invention reduces the operator's workload by providing a system that will result in one or more robots semi-autonomously performing the operator's steering and driving tasks.
  • a semi-autonomous robot that drives around on its own in execution of a number of high level instructions from an onboard control unit can perform by way of illustration some or all of the following tasks within the context of a robot game and without direct operator intervention:
  • FIG. 1A Different example embodiments of interactive gaming systems in which remote-controlled and semi-autonomous mobile toy robots participate under the control of a single common remote control unit are shown by Figures 1 A to 1 C.
  • a suitable remote control unit 10 is linked or associated to a single semi-autonomous mobile toy robot 12. This configuration allows the semi-autonomous mobile toy robot 12 to receive high level commands 14 from the remote control unit 10 and to pass information, such as status, game state, situational awareness and related information back to the remote control unit 10.
  • the remote control unit 10 is linked to a number of semi- autonomous mobile toy robots 12A, 12B and 12C, in effect allowing the remote control unit 10 to issue high level commands 14 to any or all of the semi-autonomous mobile toy robots 12A to 12C and to receive information, such as status, game state, situational awareness and related information from all the associated semi-autonomous mobile toy robots in real-time.
  • a remote-controlled mobile toy robot 16 has been added to the configuration as illustrated in Figure 1 B.
  • This configuration allows the operator to directly steer and control the remote controlled mobile toy robot 16 through low level instructions 18 directed to an onboard control unit of the robot, thereby to control the drive or steering motors of the robot 16.
  • the operator controls through the remote control unit 10 a number of semi-autonomous mobile toy robots 12A to 12C by transmitting a number of appropriate high level commands 14 to these robots 12A to 12C.
  • Radio-frequency (RF) communications are used for communication between the remote control unit and any one of the mobile toy robots.
  • RF communications are preferred as various devices can communicate with each other in real time, without the nuisance of wires connecting any of the devices.
  • Infrared communication between the remote control unit and the mobile toy robots would not be feasible, as infrared communication cannot effectively transfer the amount of data between the various devices that is necessary within an interactive gaming environment.
  • the association process may be done in different ways, including for instance by physically placing the robots in close proximity to the intended remote control unit 10 so that the robots 12A to 12C and 16 that are intended to be associated to the remote control unit may be identified by calculating their distances to the remote control unit 10, i.e. the robots which are the closest to the remote control unit 10 by virtue of their infrared or radio frequency signal strength will be associated to that remote control unit.
  • FIG 2 a more detailed embodiment of a remote control unit 20 that may be used to control remote controlled and semi-autonomous mobile toy robots in accordance with the present invention is shown.
  • the remote control unit 20 is representative of the remote control units 10 shown in Figures 1A to 1C.
  • the remote control unit 20 is also to process and display real-time game-state data, status data, environment data and situational awareness data provided by such robots.
  • the remote control unit 20 is associated or matched to one or more semi-autonomous mobile toy robots and optionally to a remote controlled mobile toy robot.
  • the assignment or matching is typically performed by placing both the remote control unit and the mobile toy robot to be matched in a pairing mode.
  • a pairing mode either or both of the remote control unit and the robot sends a pair request to the other device and on receipt thereof, the other device sends a reply in the form confirmation indicating that the other device accepts the pair request.
  • the pair request and reply/confirmation message may comprise the unique identifying number of each device, which numbers are saved in the lookup tables of each device.
  • the remote control unit's housing 22 contains a power supply for the unit, as well as a processor and memory chips for storing and executing instructions.
  • a radio-frequency module for communicating with the associated mobile toy robots is also contained in the housing 22.
  • a power switch 24 will allow the operator to switch the unit on or off.
  • a 2-axis analogue joystick 26 or a digital device that fulfills the same purpose or one or more control buttons (e.g. forward, reverse, turn left or right) will make it possible, for instance, directly to control the drive motors of an associated remote controlled mobile toy robot to manoeuvre the robot or even to rotate a gun turret or lift a mechanical arm.
  • the remote control unit 20 may further comprise an interface port 28 that enables a cable interface to a personal computer using industry standard protocol such as USB or Ethernet.
  • the interface wilt make it possible for programs created on the persona! computer to be downloaded to the memory of the remote control unit 20, and for applications on the personal computer to directly send and receive information to/from the associated mobile toy robots via the remote control unit 20 and even to control the associated mobile toy robots.
  • a radio-frequency link 30 enables bi-directional communication with the associated remote controlled and semi-autonomous mobile toy robots. Instructions and commands (whether high-level to semi-autonomous toy robots or low-leve! to remote controlled mobile toy robots) may be sent to the mobile toy robots from the controlling remote control unit 20, and status, game-state, situational awareness and environmental information may be passed back to the remote control unit for further processing, display and/or action. Trigger buttons 32 and 34 as well as control buttons 36 may be configured by the user to assume different tasks, but come with a default configuration to suit a particular gaming scenario.
  • Remote control units 20 may additionally be interfaced with personal computers via the radio-frequency link, in addition to the possible cable connection.
  • This provides an alternative way for personal computers to control the mobile toy robots via the remote control units and also to receive real-time sensory feedback and game-state information from them.
  • the personal computer may have a radio- frequency enabled external unit (such as an external Zigbee unit) allowing the personal computer to act as a display unit or relay station of game-state information, situational awareness data, status data and environment data.
  • the personal computer may in this scenario also act as an additional processor for one or more robots or the personal computer may act as an extension or part of a distributed game engine.
  • the remote control unit 20 also has a built-in liquid crystal display (LCD) unit 38 that displays the unit's start-up and system management information as well as game-related information as determined by a particular gaming scenario and as received from various mobile toy robots in the system.
  • LCD liquid crystal display
  • the LCD 38 may support game-specific menu structures and multiple screen pages which may be accessed by means of control buttons 36.
  • the LCD may display different types of information, including but not limited to the player's particulars 40, game progress or score 42, game state variables such as the number of shots left 44 (which form part of game-state information), feedback regarding obstacles in front of the robot from the mobile robot's proximity sensors 46, competing robots detected by the mobile toy robot's infrared sensors per quadrant 48 with concentric rings or dots in each quadrant that indicate either the distance to competing robots or the number of competing robots detected in a particular quadrant (which all form part of situational awareness data), battery level and game time left 50 (which form part of status data).
  • the control buttons 36 may also be used to toggle between different screens indicating the vital status of the various mobile toy robots under the control of the remote control unit 20.
  • Other game-related icons and options 52 may also be displayed as required by a particular gaming scenario.
  • FIG. 3 a schematic of a mobile toy robot operating either as a semi-autonomous or remote controlled mobile toy robot is shown.
  • the robot 60 is equipped with an onboard control unit 62 and a power supply unit (not shown).
  • the mobile toy robot 60 has an undercarriage with at least two wheels 64, or tracks, some of which are driven by motors in such a way as to enable the robot 30 to manoeuvre forwards and/or backwards and/or laterally in response to instructions 66 received from the onboard control unit 62.
  • the main function of the onboard control unit 62 is to control the robot 60 by executing instructions to control a number of output devices and/or actuators.
  • the control of the robot 60 may be based on control instructions received from the controlling remote control unit 10 of Figures 1A to 1C or may be based on certain conditions detected by input devices of the mobile toy robot.
  • the mobile toy robot 60 may execute, as a remote controlled mobiie toy robot, low level driving instructions to steer the remote controlled robot around the playing field.
  • the mobile toy robot 60 as a semi-autonomous mobile toy robot, may execute high levei commands transmitted from the remote control unit 10 that will instruct the robot to perform certain game-related tasks within a particular mode in the context of a robot game.
  • further actions of the robot as semi- autonomous may be based on conditions detected by any sensor of the mobile toy robot and/or from RF communication that may be received from other mobile toy robots in an interactive robot gaming system.
  • the mobife toy robot 60 may further execute instructions based on communications or the detection of game-related accessories in a particular gaming environment.
  • the onboard control unit 62 is adapted to communicate with other external devices such as other remote controlled or semi-autonomous robots or any number of passive and/or active game-related accessories.
  • the instructions executed by the mobile toy robot 60 and the communications of the onboard control unit 62 with other mobile toy robots, game-related accessories or the remote control unit typically depend on gaming software that may be downloaded onto the mobile toy robot.
  • the mobile toy robot 60 is accordingly configured to react in a programmable manner to other mobile toy robots or game-related accessories, so that the robot is able to participate in an interactive gaming environment framework or toy robot game.
  • the gaming software can be executable code that have been created through a high level language such as C++ of C#, or it can be created by the user on a personal computer by means of a an interactive software application.
  • the onboard controller unit 62 is configured to interpret high level commands issued by the operator via the remote control unit into lower level instructions that will allow the toy robot to react by controlling a number of output devices and/or actuators, e.g. to navigate to a specified destination or to engage the opponent when within reach (see description of Figures 5 to 7).
  • the onboard control unit 62 comprises various modules to ailow the functioning of the onboard control unit 62.
  • the onboard control unit 62 comprises a central processing unit (CPU) 100, a radio-frequency transceiver unit 102, memory 104, a direct communication port 106 (e.g., a Universal Series Bus (USB)), and a generic digital bus 108 that supports a number of input/output (I/O) devices.
  • the I/O devices supported may include different types of actuators, such as direct current motors, solenoids and light emitting diodes, a variety of sensors (e.g., transducers), such as infrared and ultrasonic sensors, and interface devices to communicate with external devices such as personal computers.
  • the CPU 80 may comprise a timer 1 10 used to determine certain time periods according to game rules within a particular gaming environment.
  • modules of the onboard control unit may be communicatively coupled (e.g., via interfaces) to each other so as to allow information to be passed between the modules or so as to allow the modules to share and access common data
  • the CPU 100 and the memory 104 are shown as separate modules.
  • these modules may function together as a single unit.
  • the direct communication port 106 may be used to download particular gaming software and custom settings onto the onboard control unit 62, in particular the memory 104 of the mobile toy robot.
  • the gaming software is used in order to apply game rules in a gaming environment framework, i.e., between a mobile toy robot, game-related accessories, a remote control unit and additional mobile toy robots.
  • the gaming software may further be employed to assign different functionalities to high-level commands that a semi-autonomous robot may receive within a particular gaming scenario. This enables a semi- autonomous robot to receive a high-level command and in response to it, to react in a predefined way by performing certain activities which are specified by the software routines associated with the particular command. For example, in response to a high level command received, the onboard control unit 102 of the semi-autonomous toy robot will activate certain sensors and actuators and will autonomously perform functions within the gaming environment.
  • the gaming software may further be employed to assign functionalities to the active game-related accessories. This enables the mobile toy robots to identify and interact with the different game-related accessories, e.g., through identification codes that are assigned to a similar group of accessories during their manufacture or activation, and to allow the mobile toy robot 60 to communicate with its remote control unit and with other participating mobile toy robots.
  • the data stored on the memory of the onboard control unit may include the customizable parameters that are saved on firmware in the memory.
  • the customizable parameters may include the top speed of the robot, acceleration and deceleration settings of the robot and other programmable behaviour. These parameters would typically be stored on the robot by a user of the robot in order for the user to better control the robot.
  • the gaming software that is downloaded onto the memory of the mobile toy robot, in combination with the execution thereof by the CPU, enables the mobile toy robot to operate as a game engine within the gaming system. It is this game engine, i.e., the software routines (embodied by game rules, scoring mechanism and lookup tables) executed on the onboard control unit of a single robot in a single player game that governs the rules, scoring and in-game variables of a particular game.
  • high level command software routines are also stored in the memory, these routines being executed by the CPU.
  • the mobile toy robot 60 may be equipped with sensors that will provide the robot with various data, e.g., situational awareness information.
  • Situational awareness information relates to information regarding the distance and/or directions of other mobile toy robots or game-related accessories or obstacles in the environment of a particular robot.
  • the mobile toy robot may, for example, comprise one or more proximity sensors 68 (shown by Figure 3) at the front of the robot that emit signals 70 towards the front and/or sides of the robot 60.
  • the proximity sensors 68 will detect signals reflected back from obstacles in front or at the sides of the robot and will send a signal 72 to the onboard control unit 62 that contain information regarding the nature and approximate distance to one or more obstacles in front or at the sides of the robot 60.
  • the mobile toy robot 60 may further be equipped with an infrared emitter 74 that emits pulsed infrared signals 76 in response to instructions 78 received from the onboard control unit 62.
  • the infrared signals 76 may contain amongst others the unique identifier code for the robot 62.
  • An infrared sensor unit 80 with sensors arranged in a number of quadrants detects the infrared signals emitted by other participating robots, and provides data 82 to the onboard control unit 62 regarding the quadrant in which it detected other participating robots as well as an approximation of the distance to them.
  • the mobile toy robot is further equipped with a suitable RFID transceiver which is able to detect and decode the identification codes on the active or passive game-related accessories when a transponder of the accessories comes within the electromagnetic zone of the robot's transceiver.
  • a suitable RFID transceiver which is able to detect and decode the identification codes on the active or passive game-related accessories when a transponder of the accessories comes within the electromagnetic zone of the robot's transceiver.
  • Different types of robot accessories may also be attachable to mobile toy robots within the context of the particular gaming scenario.
  • the robot accessories may include laser or infrared guns 84, gripper actuators and related accessories. These accessories may also be controlled by signals 86 sent from the onboard control unit, and may further be based on the high-ievel commands transmitted to semi-autonomous mobile toy robots.
  • the onboard control unit 62 also sends, via radio-frequency signals 88 or other means, game-state information or data to other participating robots and to the controlling remote control unit.
  • the onboard control unit 62 further generally receives game-state data from other robots and instructions from its controlling remote control unit.
  • Game-state data typically reflects information on the state of a particular game at any point in time.
  • game state data comprise information that has been interpreted according to the set of game rules that is available on the memory of the onboard control unit of the mobile toy robot. This information accordingly usually originates in the onboard control unit.
  • Game-state data may include information on interactions with other participating robots and/or game accessories, e.g., game-specific events, such as an attacking mobile toy robot that has 'shot' a target robot, or the target robot's acknowledgement that it has received an effective 'shot'.
  • Game-state information may further include game-related information such as life points, number of hits or targets in sight or information received or obtained from game-related accessories, e.g., the game-state of game accessories, such as a colour indication of the LED's, the time period left in a particular game, etc.
  • Game-state information particular to each robot that has been broadcasted 88 to all participating devices can be broadcasted in real-time as it happens via the radio-frequency link.
  • the onboard control unit 62 may also send, via radio-frequency signals 88 or other means, status data, environment data and situational awareness data to its own controlling remote control unit.
  • Status data typically comprises information on the physical state of the particular mobile toy robot, e.g., the mobile toy robot's battery levels, it's current speed.
  • the status data may further include customizable parameters that may be set by the user, e.g., the allowable acceleration, deceleration and top speed of the mobile toy robot. These parameters may be set by a player when the mobile toy robot is connected to a personal computer through the USB port or other means. Typically, these parameters are set to allow a player to better control a mobile toy robot during gaming.
  • Environmental data may include data relating to particular targets or obstacles in the physical environment of the mobile toy robot.
  • Figure 5 illustrates a semi-autonomous mobile toy robot 12 that has been associated to a remote control unit 10.
  • the operator uses the remote control unit 10 to send high level commands 120 to the mobile toy robot 12 via radio frequency signals.
  • Radio frequency signals can also be used to communicate the mobile toy robot's status, the game-state and environmental information 122 back to the remote control unit 10.
  • the high level commands 120 are typically made up of a series of individual instructions that will result in the semi-autonomous robot 12 performing a game-related task with limited or no further involvement by the operator.
  • the game-related task allows the semi-autonomous robot 12 to be in a particular operational mode within the gaming context. For example, a 'SEARCH AND DESTROY' command could result in the mobile toy robot 12 driving around in a random search pattern until its infrared sensors detect the emitted infrared signals of an opponent's mobile toy robot, after which it will turn and travel towards the opponent's mobile toy robot and engage it with its laser gun when within firing range.
  • the operations and functions associated with the 'SEARCH AND DESTROY' command is stored in the memory of the onboard control unit and is accessed on receipt of the command.
  • the CPU of the onboard control unit 62 activates the necessary sensors and actuators to allow the robot to move in the random search pattern in order to detect any emitted infrared signals.
  • the command will be suspended when it is either superseded by another command received by the remote control unit or interrupted by an externa! event as programmed.
  • a 'PATROL AND ENGAGE' command would result in the semi-autonomous robot driving around in a random pattern in the vicinity of its original position when the command was activated, and engaging an opponent's robot when approached and within firing range.
  • the high level commands can either be part of a standard set of commands that are bundled with the mobile toy robot 12 and saved in its memory, or it can be programmed by the operator/user by means of either a high level language such as C++ of C# or an interactive software application on a personal computer and downloaded to the mobile toy robot 12.
  • the command-programs could be of varying sophistication, ranging from basic sequences of pre-programmed moves to sophisticated artificial intelligence routines. Since the remote control unit may be interfaced to a personal computer via, for instance, a USB connection, accessible through an external memory device of the semi-autonomous robot or through a radio frequency link to a host computer it should be possible to use the processing power of the personal computer to execute more complex and sophisticated artificial intelligence routines and related programs.
  • a number of semi-autonomous mobile toy robots 12A to 12C have been associated to a remote control unit 10.
  • the remote control unit 10 issues different high level commands 120 to the different mobile toy robots 12A to 12C, and will on a real-time basis be updated with regard to the different mobile toy robots' status, game-state and environmental information 122.
  • the mobile toy robots 12A to 12C will aiso communicate the same information via radio frequency or another carrier such as infrared 124 between the different robots so that all the robots are constantly kept up to date.
  • the high levei commands may be directed at a specific mobile toy robot by using for instance its unique identifier that was assigned to it or recorded during the pairing process that was conducted prior to the start of a robot game.
  • Figure 7 shows an example embodiment where a remote controlled mobile toy robot 16 participates with the semi-autonomous mobile toy robots 12A to 12C in a gaming environment.
  • the remote controlled robot 16 is not able to interpret and react to the high level commands that the remote control unit 10 sends out to the other semi-autonomous robots 12A to 12C.
  • the remote control unit 10 instead issues low level instructions 126 to effectively steer the remote controlled mobile toy robot in the same way that a radio-controlled toy car will be steered.
  • the addition of a remote controlled robot will enable the operator/player to perform a variety of additional functions within the context of a robot game.
  • the operator/player can steer the remote controlled robot 16 to the immediate vicinity of a particular semi-autonomous robot, issue a 'FOLLOW command to the semi-autonomous robot concerned, then steer the remote controlled robot to a designated location with the semi-autonomous robot in tow, following it, and then issue a 'PATROL' command that will result in the semi-autonomous robot patrolling in the vicinity of the designated location.
  • the remote controlled robot can be used in a logistics role where the operator/player steers it towards a fuel depot to fill up and then to the different semi-autonomous robots in order to refuel them.
  • the mobile toy robots 12A to 12C and 16 aiso communicates the same information via radio frequency or another carrier such as infrared 124 between the different robots so that all the robots are constantly kept up to date.
  • Semi-autonomous robots that are tasked, for instance, to autonomously locate and engage competing robots in a sport-like game or combat scenario, need to be able to use their situational awareness sensors to distinguish between friendly and competing robots.
  • the unique identifying numbers of the various participating devices in a mobile toy robot game saved in the lookup tables in the memories of these devices are used to determine whether a robot is friendly or an opponent in a particular gaming environment. For example, when a robot detects the presence of another robot in its vicinity, the robot receives the other robots unique identifying number through transmissions between the robots. The robot will then access its memory and compare the other robot's unique identifying number with the numbers in its lookup table thereby to determine whether the robot is "friendly" or a competing robot.
  • the semi-autonomous robots also need to determine the general direction and approximate distance to competing robots to make it possible to navigate towards them and to interact or engage them.
  • both remote controlled and semi-autonomous robots will require electronic devices, resembling laser 'guns', that will enable them to manually (under operator control) or automatically 'shoot' and 'neutralize' competing robots when in line-of-sight and within a predefined range.

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Abstract

An interactive robot gaming system comprising a remote control unit and one or more semi-autonomous mobile toy robots is provided. The remote control unit (10) has a processor, a display and control means for remotely controlling one or more semi-autonomous mobile toy robots. The semi- autonomous mobile toy robot (12) comprises an onboard control unit (62) and a memory (100) on which is stored gaming software which includes various software routines of autonomous operating modes. The onboard control unit (62) is configured to receive a high level command instruction (120) from the remote control unit (10) and in response to receiving the high level command instruction from the remote control unit, executes the software routine related to the high level command instruction thereby to autonomously perform actions in a programmable manner according to the software routine within a robot gaming environment without further command instructions from the remote control unit.

Description

SYSTEM TO CONTROL SEMI-AUTONOMOUS ROBOTS IN INTERACTIVE ROBOT GAMING
BACKGROUND OF THE INVENTION
THIS invention relates to robots used in an interactive gaming scenario, in general, and specifically to one or more semi-autonomous mobile toy robots controlled from a single remote control unit in an interactive gaming scenario.
Recent developments have provided mobile toy robots which may be used in interactive robot games. Robot gaming may either be in a single player mode or multi-player mode which may comprise one or more mobile toy robots in competition against other mobiie toy robots, in order to achieve specified gaming objectives within the context of a specific gaming scenario. In the multi-player mode, mobile toy robots may be grouped in multiple teams and these teams may compete against each other to achieve a specified gaming objective within the context of a specific gaming scenario. A system generally comprises of at least one or more mobile toy robots that are controlled by one or more operators or players, as well as other types of game related items to augment the realism and general gaming experience and that may or may not have an influence on the outcome of the game.
In robot gaming, robots are generally controlled by operators (players) that have a thorough understanding of the game rules, that can analyze, interpret and predict the opponent's behavior and intentions, and that can make more informed decisions regarding game tactics and other game- related and operational issues, fn the conventional role the operator will steer and control the mobile toy robot in a robot game in much the same way that a bomb disposal robot wif! be steered and controlled, except that in the robot game the operators will generally have a full and direct view of the robot gaming playing field.
In robot gaming the operator will be responsible for a number of tasks that may in the context of a game be necessary to be performed in rapid succession or even simultaneously. It should be appreciated that the operator's workload will increase exponentially in team games where teams of multiple mobile toy robots are competing against other teams with multiple robots. It should further be appreciated that this workload can sometimes be quite stressful to the operator, which would render robot gaming much less entertaining and enjoyable that what it potentially could be. Additionally, it may be very difficult if not impossible for a single operator to control more than one mobile toy robot in a robot game.
It is an object of the present invention to provide an alternative interactive gaming system to address the abovementioned problems.
SUMMARY OF THE INVENTION
It is to be appreciated that the term "robot" generally refers to a machine or similar device which includes some form of automation or sensors for performing functions automatically with limited or no human interference. These functions may include traversing a certain course, interacting with other mobile toy robots in a gaming environment, and the like. In this specification, it is to be appreciated that reference to the term "robot" includes reference to any mobile electronic toy subject to human control irrespective of the level of autonomy involved, e.g., a radio controlled toy car, a radio controlled gaming robot, or the like. In addition, it is further to be appreciated that these robots are generally mobile in that they are configured for propulsion or locomotion autonomously or upon suitable instruction. According to a first aspect of the invention there is provided an interactive robot gaming system, comprising
a remote control unit having a processor, a display and control means for remotely controlling one or more semi-autonomous mobile toy robots; and
a semi-autonomous mobile toy robot comprising an onboard control unit and a memory on which is stored gaming software which includes various software routines of autonomous operating modes, the onboard control unit being configured to receive a high level command instruction from the remote control unit and in response to receiving the high level command instruction from the remote control unit, executing the software routine related to the high level command instruction thereby to autonomously perform actions in a programmable manner according to the software routine within a gaming environment without further command instructions from the remote control unit.
The interactive robot gaming system may comprise multiple semi- autonomous mobile toy robots, each receiving high level command instructions from the remote control unit, and each executing software routines related to the high level command instruction thereby to autonomously perform actions in a programmable manner according to the respective software routines without further command instructions from the remote control unit, allowing the remote control unit to simultaneously control multiple semi-autonomous mobile toy robots within a gaming environment.
Preferably, the interactive robot gaming system may additionally comprise at least one remote controlled mobile toy robot, configured to receive from the remote control unit low level command instructions to directly control actuators or drive or steering motors of the robot in such a way that the -A-
remote control unit actively steers the robot and control accessories of the remote controlled mobile toy robot.
Typicaily, the low level command instructions allow the remote controlled mobile toy robot to avoid obstacles, seek out and engage another opposing mobile toy robot, interact with one or more game related accessories, or perform other tasks within the context of the game environment while under the direct control of the remote control unit.
Each of the mobile toy robots is configured to transmit information on the state of the robot to the remote control unit which information is displayed on the display of the remote control unit.
The transmitted information may include status and/or game state information on a robot, thereby allowing an operator of the remote control unit to monitor the mobile toy robots with respect to their physical status and game parameters.
The software routines related to the high level command instructions of the semi-autonomous mobile toy robots may include software routines to alfow the mobile toy robot to autonomously move around the playing field, to autonomously monitor or interact with other mobile toy robots or game related accessories in the robot's vicinity, to attack a mobile toy robot detected in the robot's vicinity, to independently follow the movement of another toy robot in the gaming environment, or the like.
The gaming software may be downloaded from a personal computer onto the semi-autonomous mobile toy robot.
According to a second aspect of the invention, there is provided a semi- autonomous mobile toy robot comprising an onboard control unit and a memory on which is stored gaming software which includes various software routines of autonomous operating modes, the onboard control unit being configured to receive a high level command instruction from a remote control unit and in response to receiving the high level command instruction from the remote control unit, executing the software routine related to the high level command instruction thereby to autonomously perform actions in a programmable manner according to the software routine within a gaming environment without further command instructions from the remote control unit.
The semi-autonomous mobile toy robot may be configured to transmit information on the state of the robot to the remote control unit which information is displayed on the display of the remote control unit.
The transmitted information may include status and/or game state information on the robot, thereby allowing an operator of the remote control unit to monitor the mobile toy robots with respect to their physical status and game parameters.
The software routines related to the high level command instructions of the semi-autonomous mobile toy robot may include software routines to allow the mobile toy robot to autonomously move around the playing field, to autonomously monitor other mobile toy robots or game related accessories in the robot's vicinity, to attack a mobile toy robot detected in the robot's vicinity, to independently follow the movement of another toy robot in the gaming environment, or the like.
The gaming software may be downloaded from a remote personal computer onto the semi-autonomous mobile toy robot.
BRIEF DESCRIPTION OF THE DRAWINGS
The invention is now described, by way of non-limiting example, with reference to the accompanying drawings wherein Figures 1 A to 1C show various configurations of an interactive gaming system in accordance with the present invention, the system comprising at least one semi-autonomous mobile toy robot and optionally one remote controlled mobile toy robot, the toy robots associated to a single remote control unit;
Figure 2 shows a remote control unit to control semi-autonomous mobile toy robots and remote controlled mobile toy robots in accordance with the present invention;
Figure 3 is a schematic of a mobile toy robot operating either as a semi-autonomous or remote controlled mobile toy robot, in accordance with the present invention;
Figure 4 is a block diagram showing modules of an onboard control unit of the mobile toy robot of Figure 2, in accordance with an example embodiment of the present invention;
Figure 5 shows bi-directional communication between a single semi- autonomous robot and an associated remote control unit of Figure 1A;
Figure 6 shows communication between multiple semi-autonomous robots and an associated remote control unit of Figure 1B; and
Figure 7 shows communication between multiple semi-autonomous robots, a single remote controlled robot and an associated remote control unit of Figure 1C.
DESCRIPTION OF PREFERRED EMBODIMENTS In accordance with an example embodiment of the present invention, there is provided a gaming environment including at least one remote control unit and at least one semi-autonomous mobiie toy robot. To make the gaming experience of an operator/player participating in a robot game less stressful and more enjoyable and at the same time also to make it possible for the operator to control more than one mobile toy robot in the robot game, the operator's workload is reduced by introducing one or more semi- autonomous mobile toy robots.
The operator in control of the mobile toy robot in a robot game typically has two main tasks to perform, namely to remotely steer or drive a mobile toy robot by giving low level instructions to the robot's drive or steering motors through a remote controf unit or other means in such a way that the robot avoids obstacles, seeks out and engages an opponent's mobile toy robots, interacts with one or more game related accessories, or performs other tasks within the context of the game. Additionally, the operator is to control and direct the mobile toy robot to achieve the necessary game objectives, i.e. planning and deciding on the timing and actions required that will result in the game objectives being achieved with due consideration of the game rules, the opponent's tactics and actions (if applicable), layout of the playing field, availability of resources, general disposition of other robots and game accessories, etc.
In providing semi-autonomous mobile toy robots, the invention reduces the operator's workload by providing a system that will result in one or more robots semi-autonomously performing the operator's steering and driving tasks. A semi-autonomous robot that drives around on its own in execution of a number of high level instructions from an onboard control unit can perform by way of illustration some or all of the following tasks within the context of a robot game and without direct operator intervention:
• Navigate autonomously to avoid obstacles and objects that may hinder or restrict the mobile toy robot's general movement;
• Identify, seek out and interact with certain types of game related accessories; • identify, seek out and engage the opponent's mobile toy robot(s);
• Perform evasive maneuvers to escape from an opponent's mobile toy robot(s); and/or
• Provide assistance to another robot in the operator's team.
These types of semi-autonomous mobile toy robot actions thereby enable the operator to focus all his attention on controlling mobile toy robots under his control with respect to game rules and high-level objectives of the game, which reduce the workfoad on the operator to such an extent that the gameplay may be more advanced although the gaming experience will be less stressful and more enjoyable. It will also at the same time allow the operator to simultaneously control more than one robot in a robot game.
Different example embodiments of interactive gaming systems in which remote-controlled and semi-autonomous mobile toy robots participate under the control of a single common remote control unit are shown by Figures 1 A to 1 C. In Figure 1A a suitable remote control unit 10 is linked or associated to a single semi-autonomous mobile toy robot 12. This configuration allows the semi-autonomous mobile toy robot 12 to receive high level commands 14 from the remote control unit 10 and to pass information, such as status, game state, situational awareness and related information back to the remote control unit 10.
In Figure 1 B the remote control unit 10 is linked to a number of semi- autonomous mobile toy robots 12A, 12B and 12C, in effect allowing the remote control unit 10 to issue high level commands 14 to any or all of the semi-autonomous mobile toy robots 12A to 12C and to receive information, such as status, game state, situational awareness and related information from all the associated semi-autonomous mobile toy robots in real-time.
As shown by Figure 1C, a remote-controlled mobile toy robot 16 has been added to the configuration as illustrated in Figure 1 B. This configuration allows the operator to directly steer and control the remote controlled mobile toy robot 16 through low level instructions 18 directed to an onboard control unit of the robot, thereby to control the drive or steering motors of the robot 16. In addition, and at the same time, the operator controls through the remote control unit 10 a number of semi-autonomous mobile toy robots 12A to 12C by transmitting a number of appropriate high level commands 14 to these robots 12A to 12C.
Radio-frequency (RF) communications are used for communication between the remote control unit and any one of the mobile toy robots. RF communications are preferred as various devices can communicate with each other in real time, without the nuisance of wires connecting any of the devices. Infrared communication between the remote control unit and the mobile toy robots would not be feasible, as infrared communication cannot effectively transfer the amount of data between the various devices that is necessary within an interactive gaming environment.
Prior to the start of a robot game where multiple mobile toy robots are controlled by a single remote control unit 10 an association process is to take place where the different robots, e.g., robots 12A to 12C and 16 in Figure 1 C, are paired with the specific remote control unit 10. During this association process unique identification numbers or codes of all of the mobile toy robots 12A to 12C and 16 as well as the remote control unit 10 are assigned and/or recorded by necessary software on the respective devices. As is described in more detail below, these unique identification numbers or codes may be stored in lookup tables in memory of the toy robots 12A to 12C and 16 and/or the remote control unit 10, to be accessed during a game thereby to apply different game rules and scoring mechanisms within a gaming context. The association process (pairing exercise) may be done in different ways, including for instance by physically placing the robots in close proximity to the intended remote control unit 10 so that the robots 12A to 12C and 16 that are intended to be associated to the remote control unit may be identified by calculating their distances to the remote control unit 10, i.e. the robots which are the closest to the remote control unit 10 by virtue of their infrared or radio frequency signal strength will be associated to that remote control unit. Turning to Figure 2, a more detailed embodiment of a remote control unit 20 that may be used to control remote controlled and semi-autonomous mobile toy robots in accordance with the present invention is shown. The remote control unit 20 is representative of the remote control units 10 shown in Figures 1A to 1C. The remote control unit 20 is also to process and display real-time game-state data, status data, environment data and situational awareness data provided by such robots.
As mentioned above, the remote control unit 20 is associated or matched to one or more semi-autonomous mobile toy robots and optionally to a remote controlled mobile toy robot. The assignment or matching is typically performed by placing both the remote control unit and the mobile toy robot to be matched in a pairing mode. During this mode either or both of the remote control unit and the robot sends a pair request to the other device and on receipt thereof, the other device sends a reply in the form confirmation indicating that the other device accepts the pair request. The pair request and reply/confirmation message may comprise the unique identifying number of each device, which numbers are saved in the lookup tables of each device.
The remote control unit's housing 22 contains a power supply for the unit, as well as a processor and memory chips for storing and executing instructions. A radio-frequency module for communicating with the associated mobile toy robots is also contained in the housing 22. A power switch 24 will allow the operator to switch the unit on or off. A 2-axis analogue joystick 26 or a digital device that fulfills the same purpose or one or more control buttons (e.g. forward, reverse, turn left or right) will make it possible, for instance, directly to control the drive motors of an associated remote controlled mobile toy robot to manoeuvre the robot or even to rotate a gun turret or lift a mechanical arm.
The remote control unit 20 may further comprise an interface port 28 that enables a cable interface to a personal computer using industry standard protocol such as USB or Ethernet. The interface wilt make it possible for programs created on the persona! computer to be downloaded to the memory of the remote control unit 20, and for applications on the personal computer to directly send and receive information to/from the associated mobile toy robots via the remote control unit 20 and even to control the associated mobile toy robots.
A radio-frequency link 30 enables bi-directional communication with the associated remote controlled and semi-autonomous mobile toy robots. Instructions and commands (whether high-level to semi-autonomous toy robots or low-leve! to remote controlled mobile toy robots) may be sent to the mobile toy robots from the controlling remote control unit 20, and status, game-state, situational awareness and environmental information may be passed back to the remote control unit for further processing, display and/or action. Trigger buttons 32 and 34 as well as control buttons 36 may be configured by the user to assume different tasks, but come with a default configuration to suit a particular gaming scenario.
Remote control units 20 may additionally be interfaced with personal computers via the radio-frequency link, in addition to the possible cable connection. This provides an alternative way for personal computers to control the mobile toy robots via the remote control units and also to receive real-time sensory feedback and game-state information from them. In one example embodiment, the personal computer may have a radio- frequency enabled external unit (such as an external Zigbee unit) allowing the personal computer to act as a display unit or relay station of game-state information, situational awareness data, status data and environment data. The personal computer may in this scenario also act as an additional processor for one or more robots or the personal computer may act as an extension or part of a distributed game engine.
The remote control unit 20 also has a built-in liquid crystal display (LCD) unit 38 that displays the unit's start-up and system management information as well as game-related information as determined by a particular gaming scenario and as received from various mobile toy robots in the system. The LCD 38 may support game-specific menu structures and multiple screen pages which may be accessed by means of control buttons 36. The LCD may display different types of information, including but not limited to the player's particulars 40, game progress or score 42, game state variables such as the number of shots left 44 (which form part of game-state information), feedback regarding obstacles in front of the robot from the mobile robot's proximity sensors 46, competing robots detected by the mobile toy robot's infrared sensors per quadrant 48 with concentric rings or dots in each quadrant that indicate either the distance to competing robots or the number of competing robots detected in a particular quadrant (which all form part of situational awareness data), battery level and game time left 50 (which form part of status data). The control buttons 36 may also be used to toggle between different screens indicating the vital status of the various mobile toy robots under the control of the remote control unit 20. Other game-related icons and options 52 may also be displayed as required by a particular gaming scenario.
Turning now to Figure 3, a schematic of a mobile toy robot operating either as a semi-autonomous or remote controlled mobile toy robot is shown. The robot 60 is equipped with an onboard control unit 62 and a power supply unit (not shown). The mobile toy robot 60 has an undercarriage with at least two wheels 64, or tracks, some of which are driven by motors in such a way as to enable the robot 30 to manoeuvre forwards and/or backwards and/or laterally in response to instructions 66 received from the onboard control unit 62.
The main function of the onboard control unit 62 is to control the robot 60 by executing instructions to control a number of output devices and/or actuators. The control of the robot 60 may be based on control instructions received from the controlling remote control unit 10 of Figures 1A to 1C or may be based on certain conditions detected by input devices of the mobile toy robot. For example, the mobile toy robot 60 may execute, as a remote controlled mobiie toy robot, low level driving instructions to steer the remote controlled robot around the playing field. Alternatively, the mobile toy robot 60 as a semi-autonomous mobile toy robot, may execute high levei commands transmitted from the remote control unit 10 that will instruct the robot to perform certain game-related tasks within a particular mode in the context of a robot game. In the event that high level commands are processed by the toy robot, further actions of the robot as semi- autonomous may be based on conditions detected by any sensor of the mobile toy robot and/or from RF communication that may be received from other mobile toy robots in an interactive robot gaming system. The mobife toy robot 60 may further execute instructions based on communications or the detection of game-related accessories in a particular gaming environment.
It follows that the onboard control unit 62 is adapted to communicate with other external devices such as other remote controlled or semi-autonomous robots or any number of passive and/or active game-related accessories.
The instructions executed by the mobile toy robot 60 and the communications of the onboard control unit 62 with other mobile toy robots, game-related accessories or the remote control unit typically depend on gaming software that may be downloaded onto the mobile toy robot. The mobile toy robot 60 is accordingly configured to react in a programmable manner to other mobile toy robots or game-related accessories, so that the robot is able to participate in an interactive gaming environment framework or toy robot game. The gaming software can be executable code that have been created through a high level language such as C++ of C#, or it can be created by the user on a personal computer by means of a an interactive software application.
As mentioned, the onboard controller unit 62 is configured to interpret high level commands issued by the operator via the remote control unit into lower level instructions that will allow the toy robot to react by controlling a number of output devices and/or actuators, e.g. to navigate to a specified destination or to engage the opponent when within reach (see description of Figures 5 to 7).
Turning to Figure 4, the onboard control unit 62 comprises various modules to ailow the functioning of the onboard control unit 62. For example, the onboard control unit 62 comprises a central processing unit (CPU) 100, a radio-frequency transceiver unit 102, memory 104, a direct communication port 106 (e.g., a Universal Series Bus (USB)), and a generic digital bus 108 that supports a number of input/output (I/O) devices. The I/O devices supported may include different types of actuators, such as direct current motors, solenoids and light emitting diodes, a variety of sensors (e.g., transducers), such as infrared and ultrasonic sensors, and interface devices to communicate with external devices such as personal computers.
The CPU 80 may comprise a timer 1 10 used to determine certain time periods according to game rules within a particular gaming environment.
It will be appreciated that some of the modules of the onboard control unit may be communicatively coupled (e.g., via interfaces) to each other so as to allow information to be passed between the modules or so as to allow the modules to share and access common data, in the example embodiment described in accordance with Figure 4, the CPU 100 and the memory 104 are shown as separate modules. However, it will be appreciated that in other embodiments, these modules may function together as a single unit.
The direct communication port 106, in one example embodiment, a USB port, may be used to download particular gaming software and custom settings onto the onboard control unit 62, in particular the memory 104 of the mobile toy robot. The gaming software is used in order to apply game rules in a gaming environment framework, i.e., between a mobile toy robot, game-related accessories, a remote control unit and additional mobile toy robots. The gaming software may further be employed to assign different functionalities to high-level commands that a semi-autonomous robot may receive within a particular gaming scenario. This enables a semi- autonomous robot to receive a high-level command and in response to it, to react in a predefined way by performing certain activities which are specified by the software routines associated with the particular command. For example, in response to a high level command received, the onboard control unit 102 of the semi-autonomous toy robot will activate certain sensors and actuators and will autonomously perform functions within the gaming environment.
The gaming software may further be employed to assign functionalities to the active game-related accessories. This enables the mobile toy robots to identify and interact with the different game-related accessories, e.g., through identification codes that are assigned to a similar group of accessories during their manufacture or activation, and to allow the mobile toy robot 60 to communicate with its remote control unit and with other participating mobile toy robots.
The data stored on the memory of the onboard control unit may include the customizable parameters that are saved on firmware in the memory. For example, the customizable parameters may include the top speed of the robot, acceleration and deceleration settings of the robot and other programmable behaviour. These parameters would typically be stored on the robot by a user of the robot in order for the user to better control the robot.
The gaming software that is downloaded onto the memory of the mobile toy robot, in combination with the execution thereof by the CPU, enables the mobile toy robot to operate as a game engine within the gaming system. It is this game engine, i.e., the software routines (embodied by game rules, scoring mechanism and lookup tables) executed on the onboard control unit of a single robot in a single player game that governs the rules, scoring and in-game variables of a particular game. In addition, high level command software routines are also stored in the memory, these routines being executed by the CPU.
In order for the mobile toy robot to interact in its environment, which is especially important to a semi-autonomous mobile toy robot, the mobile toy robot 60 may be equipped with sensors that will provide the robot with various data, e.g., situational awareness information. Situational awareness information relates to information regarding the distance and/or directions of other mobile toy robots or game-related accessories or obstacles in the environment of a particular robot. The mobile toy robot may, for example, comprise one or more proximity sensors 68 (shown by Figure 3) at the front of the robot that emit signals 70 towards the front and/or sides of the robot 60. The proximity sensors 68 will detect signals reflected back from obstacles in front or at the sides of the robot and will send a signal 72 to the onboard control unit 62 that contain information regarding the nature and approximate distance to one or more obstacles in front or at the sides of the robot 60.
The mobile toy robot 60 may further be equipped with an infrared emitter 74 that emits pulsed infrared signals 76 in response to instructions 78 received from the onboard control unit 62. The infrared signals 76 may contain amongst others the unique identifier code for the robot 62. An infrared sensor unit 80 with sensors arranged in a number of quadrants detects the infrared signals emitted by other participating robots, and provides data 82 to the onboard control unit 62 regarding the quadrant in which it detected other participating robots as well as an approximation of the distance to them.
The mobile toy robot is further equipped with a suitable RFID transceiver which is able to detect and decode the identification codes on the active or passive game-related accessories when a transponder of the accessories comes within the electromagnetic zone of the robot's transceiver. Different types of robot accessories may also be attachable to mobile toy robots within the context of the particular gaming scenario. For example, the robot accessories may include laser or infrared guns 84, gripper actuators and related accessories. These accessories may also be controlled by signals 86 sent from the onboard control unit, and may further be based on the high-ievel commands transmitted to semi-autonomous mobile toy robots.
The onboard control unit 62 also sends, via radio-frequency signals 88 or other means, game-state information or data to other participating robots and to the controlling remote control unit. The onboard control unit 62 further generally receives game-state data from other robots and instructions from its controlling remote control unit. Game-state data typically reflects information on the state of a particular game at any point in time. For example, game state data comprise information that has been interpreted according to the set of game rules that is available on the memory of the onboard control unit of the mobile toy robot. This information accordingly usually originates in the onboard control unit. Game-state data may include information on interactions with other participating robots and/or game accessories, e.g., game-specific events, such as an attacking mobile toy robot that has 'shot' a target robot, or the target robot's acknowledgement that it has received an effective 'shot'. Game-state information may further include game-related information such as life points, number of hits or targets in sight or information received or obtained from game-related accessories, e.g., the game-state of game accessories, such as a colour indication of the LED's, the time period left in a particular game, etc.
Game-state information particular to each robot that has been broadcasted 88 to all participating devices can be broadcasted in real-time as it happens via the radio-frequency link. The onboard control unit 62 may also send, via radio-frequency signals 88 or other means, status data, environment data and situational awareness data to its own controlling remote control unit.
Status data typically comprises information on the physical state of the particular mobile toy robot, e.g., the mobile toy robot's battery levels, it's current speed. The status data may further include customizable parameters that may be set by the user, e.g., the allowable acceleration, deceleration and top speed of the mobile toy robot. These parameters may be set by a player when the mobile toy robot is connected to a personal computer through the USB port or other means. Typically, these parameters are set to allow a player to better control a mobile toy robot during gaming.
Environmental data, in turn, may include data relating to particular targets or obstacles in the physical environment of the mobile toy robot.
Figure 5 illustrates a semi-autonomous mobile toy robot 12 that has been associated to a remote control unit 10. The operator uses the remote control unit 10 to send high level commands 120 to the mobile toy robot 12 via radio frequency signals. Radio frequency signals can also be used to communicate the mobile toy robot's status, the game-state and environmental information 122 back to the remote control unit 10.
The high level commands 120 are typically made up of a series of individual instructions that will result in the semi-autonomous robot 12 performing a game-related task with limited or no further involvement by the operator. The game-related task allows the semi-autonomous robot 12 to be in a particular operational mode within the gaming context. For example, a 'SEARCH AND DESTROY' command could result in the mobile toy robot 12 driving around in a random search pattern until its infrared sensors detect the emitted infrared signals of an opponent's mobile toy robot, after which it will turn and travel towards the opponent's mobile toy robot and engage it with its laser gun when within firing range. The operations and functions associated with the 'SEARCH AND DESTROY' command is stored in the memory of the onboard control unit and is accessed on receipt of the command. The CPU of the onboard control unit 62 activates the necessary sensors and actuators to allow the robot to move in the random search pattern in order to detect any emitted infrared signals.
The command will be suspended when it is either superseded by another command received by the remote control unit or interrupted by an externa! event as programmed. As another example, a 'PATROL AND ENGAGE' command would result in the semi-autonomous robot driving around in a random pattern in the vicinity of its original position when the command was activated, and engaging an opponent's robot when approached and within firing range.
The high level commands can either be part of a standard set of commands that are bundled with the mobile toy robot 12 and saved in its memory, or it can be programmed by the operator/user by means of either a high level language such as C++ of C# or an interactive software application on a personal computer and downloaded to the mobile toy robot 12. The command-programs could be of varying sophistication, ranging from basic sequences of pre-programmed moves to sophisticated artificial intelligence routines. Since the remote control unit may be interfaced to a personal computer via, for instance, a USB connection, accessible through an external memory device of the semi-autonomous robot or through a radio frequency link to a host computer it should be possible to use the processing power of the personal computer to execute more complex and sophisticated artificial intelligence routines and related programs.
In Figure 6 a number of semi-autonomous mobile toy robots 12A to 12C have been associated to a remote control unit 10. The remote control unit 10 issues different high level commands 120 to the different mobile toy robots 12A to 12C, and will on a real-time basis be updated with regard to the different mobile toy robots' status, game-state and environmental information 122. The mobile toy robots 12A to 12C will aiso communicate the same information via radio frequency or another carrier such as infrared 124 between the different robots so that all the robots are constantly kept up to date. The high levei commands may be directed at a specific mobile toy robot by using for instance its unique identifier that was assigned to it or recorded during the pairing process that was conducted prior to the start of a robot game.
Figure 7 shows an example embodiment where a remote controlled mobile toy robot 16 participates with the semi-autonomous mobile toy robots 12A to 12C in a gaming environment. The remote controlled robot 16 is not able to interpret and react to the high level commands that the remote control unit 10 sends out to the other semi-autonomous robots 12A to 12C. The remote control unit 10 instead issues low level instructions 126 to effectively steer the remote controlled mobile toy robot in the same way that a radio-controlled toy car will be steered. The addition of a remote controlled robot will enable the operator/player to perform a variety of additional functions within the context of a robot game. For instance, the operator/player can steer the remote controlled robot 16 to the immediate vicinity of a particular semi-autonomous robot, issue a 'FOLLOW command to the semi-autonomous robot concerned, then steer the remote controlled robot to a designated location with the semi-autonomous robot in tow, following it, and then issue a 'PATROL' command that will result in the semi-autonomous robot patrolling in the vicinity of the designated location. In another example, the remote controlled robot can be used in a logistics role where the operator/player steers it towards a fuel depot to fill up and then to the different semi-autonomous robots in order to refuel them. The mobile toy robots 12A to 12C and 16 aiso communicates the same information via radio frequency or another carrier such as infrared 124 between the different robots so that all the robots are constantly kept up to date.
Semi-autonomous robots that are tasked, for instance, to autonomously locate and engage competing robots in a sport-like game or combat scenario, need to be able to use their situational awareness sensors to distinguish between friendly and competing robots. The unique identifying numbers of the various participating devices in a mobile toy robot game saved in the lookup tables in the memories of these devices are used to determine whether a robot is friendly or an opponent in a particular gaming environment. For example, when a robot detects the presence of another robot in its vicinity, the robot receives the other robots unique identifying number through transmissions between the robots. The robot will then access its memory and compare the other robot's unique identifying number with the numbers in its lookup table thereby to determine whether the robot is "friendly" or a competing robot.
The semi-autonomous robots also need to determine the general direction and approximate distance to competing robots to make it possible to navigate towards them and to interact or engage them. For some types of games, both remote controlled and semi-autonomous robots will require electronic devices, resembling laser 'guns', that will enable them to manually (under operator control) or automatically 'shoot' and 'neutralize' competing robots when in line-of-sight and within a predefined range.

Claims

CLAlMS
1. An interactive robot gaming system, comprising
a remote control unit having a processor, a display and control means for remotely controlling a semi-autonomous mobile toy robot; and
a semi-autonomous mobile toy robot comprising an onboard control unit and a memory on which is stored gaming software which includes various software routines of autonomous operating modes, the onboard control unit being configured to receive a high level command instruction from the remote control unit and in response to receiving the high level command instruction from the remote control unit, executing the software routine related to the high level command instruction thereby to autonomously perform actions in a programmable manner according to the software routine within a robot gaming environment without further command instructions from the remote control unit.
2. An interactive robot gaming system according to claim 1 , comprising multiple semi-autonomous mobile toy robots, each receiving high level command instructions from the remote control unit, and each executing software routines related to the high level command instruction thereby to autonomously perform actions in a programmable manner according to the respective software routines without further command instructions from the remote control unit, allowing the remote control unit to simultaneously control multiple semi-autonomous mobile toy robots within a robot gaming environment.
3. An interactive robot gaming system according to claim 1 or claim 2 wherein the software routines related to the high level command instructions of the semi-autonomous mobile toy robot include software routines to afiow the mobile toy robot to autonomously move around the playing field, to autonomously monitor other mobile toy robots or game related accessories in the robot's vicinity, to attack a mobile toy robot detected in the robot's vicinity, to independently follow the movement of another toy robot in the robot gaming environment, or the like.
4. An interactive robot gaming system according to any one of claims 1 to 3, further comprising at least one remote controlled mobile toy robot, configured to receive from the remote control unit low level command instructions to directly control actuators or drive or steering motors of the robot in such a way that the remote control unit actively steers the robot and control accessories of the remote controlled mobile toy robot.
5. An interactive robot gaming system according to claim 4 wherein the low level command instructions allow the remote controlled mobile toy robot to avoid obstacles, seek out and engage another opposing mobile toy robot, interact with one or more game related accessories, or perform other tasks within the context of the game environment while under the direct control of the remote control unit.
6. An interactive robot gaming system according to claim 1 , 2 or 4 wherein each of the mobile toy robots is configured to transmit information on the state of the robot to the remote control unit which information is displayed on the display of the remote control unit.
7. An interactive robot gaming system according to claim 6 wherein the transmitted information includes status information on a mobile toy robot and/or game state information, thereby allowing an operator of the remote control unit to monitor the mobile toy robots with respect to their physical status and game parameters.
8. An interactive robot gaming system according to any one of claims 1 to 7 wherein the gaming software is downloaded from a remote personal computer onto the semi-autonomous mobile toy robot.
9. An interactive gaming system according to any one of claims 1 to 8 wherein communications between the remote control unit and each of the mobile toy robots are via radio frequency link.
10. A semi-autonomous mobile toy robot comprising an onboard control unit and a memory on which is stored gaming software which includes various software routines of autonomous operating modes, the onboard control unit being configured to receive a high level command instruction from a remote control unit and in response to receiving the high level command instruction from the remote control unit, executing the software routine related to the high level command instruction thereby to autonomously perform actions in a programmable manner according to the software routine within a gaming environment without further command instructions from the remote control unit.
11. A semi-autonomous mobile toy robot according to claim 10 wherein the semi-autonomous mobile toy robot is configured to transmit information on the state of the robot to the remote control unit which information is displayed on the display of the remote control unit.
12. A semi-autonomous mobile toy robot according to claim 10 or claim 11 wherein the transmitted information includes status information on the robot and/or game state information, thereby allowing an operator of the remote control unit to monitor the mobile toy robots with respect to their physical status and game parameters.
13. A semi-autonomous mobile toy robot according to any one of claims 10 to 12 wherein the software routines related to the high level command instructions of the semi-autonomous mobile toy robot includes software routines to aflow the mobile toy robot to autonomously move around the playing field, to autonomously monitor other mobile toy robots or game related accessories in the robot's vicinity, to attack a mobile toy robot detected in the robot's vicinity, to independently follow the movement of another toy robot in the robot gaming environment, or the like.
14. A semi-autonomous mobile toy robot according to any one of claims 10 to 13 wherein the gaming software is downloaded from a remote personal computer onto the semi-autonomous mobile toy robot.
15. A semi-autonomous mobile toy robot according to any one of claims 10 to 14 wherein communications between the semi-autonomous robot and the remote control unit are via radio frequency link.
EP08807749A 2007-09-21 2008-09-22 System to control semi-autonomous robots in interactive robot gaming Withdrawn EP2205333A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ZA200708415 2007-09-21
PCT/IB2008/053836 WO2009037678A1 (en) 2007-09-21 2008-09-22 System to control semi-autonomous robots in interactive robot gaming

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EP2205333A1 true EP2205333A1 (en) 2010-07-14

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EP08807749A Withdrawn EP2205333A1 (en) 2007-09-21 2008-09-22 System to control semi-autonomous robots in interactive robot gaming
EP08807746A Withdrawn EP2203228A1 (en) 2007-09-21 2008-09-22 Interactive robot gaming system

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WO2009037679A1 (en) 2009-03-26
WO2009037677A1 (en) 2009-03-26
EP2205334A1 (en) 2010-07-14
EP2203228A1 (en) 2010-07-07

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