KR20020033303A - robot location recognizing apparatus for robot soccer game machine - Google Patents

Abstract

PURPOSE: A device for recognizing a position of a robot in a robot soccer game appliance is provided to help a user to enjoy a more well organized robot soccer game by measuring the position of the robot at real time. CONSTITUTION: The device for recognizing a position of a robot in a robot soccer game appliance comprises: a position informing order sending device(122) installed at an appropriate position of a field to send a position informing order to at least two player robots; a position informing order receiving device installed in each player robot; an ultrasonic signal generator installed in the each player robot; a robot control device installed in the each robot for driving the ultrasonic signal generator by decoding the received position informing order; at least two ultrasonic signal receiving device installed at different positions of the field; a timer for measuring a time from an operation starting time point of the position informing order sending device to an ultrasonic signal receiving time point; and a field control device for recognizing the position of the player robots by substituting a measured time value for a predetermined calculation formula.

Description

Robot location recognizing apparatus for robot soccer game machine}

The present invention relates to a robot position recognition apparatus in a robot soccer game machine, and more particularly, to a robot position recognition apparatus in a robot soccer game machine capable of real-time recognition of the position of a player robot that is the subject of a real robot soccer game.

As is well known, football is a sporting event that people around the world enjoy together because of simple rules and equipment. In addition, a game machine that allows users to enjoy a soccer game by operating a real robot in an electronic game room has been proposed in Korean Patent Publication No. 2000-24324 (published May 6, 2000, hereinafter referred to as 'prior art'). Bar, the prior art discloses in detail the configuration related to the appearance configuration of the robot soccer game machine, goal detection and goal input in the stadium and the appearance configuration of the player robot. However, the above-mentioned prior art does not disclose anything about how to detect the position of each athlete robot and control each athlete robot.

On the other hand, in most robot soccer game machines on the market, at least two or three player robots co-operate in a team to progress the game. If only two players are competing with each other or one is playing a game, the rest of the player robots must co-operate with the player robot that is directly controlled.

However, in the conventional soccer game machine, since the device for recognizing the position of the individual player robots is not provided, regardless of the position of the individual player robots, the rest is based on the instructions given to the currently operated player robot. Since a cooperative algorithm for player robots is being used, in many cases, there is a problem that individual player robots behave very wrongly and halve the interest of soccer games.

In addition, since the player robot does not recognize the current position and direction, the command to operate the player robot is also made in the center of the stadium rather than the center of the player robot, there is a problem that the game player's operation direction recognition confusion occurs.

An object of the present invention is to operate the cooperative algorithm in consideration of the position of the individual player robot in addition to the command given to the currently operated player robot by enabling the real-time recognition of the position of the individual player robot that is the subject of the real robot soccer game It is to provide a robot position recognition device of the robot soccer game machine to enable it and to enjoy a more textured soccer game accordingly.

Robot position recognition device of the robot soccer game machine of the present invention for achieving the above object is installed in place in the stadium, the position notification to transmit the position notification command to the at least two or more player robots accommodated in the stadium in the form of wireless data Command sending means; Position notification command receiving means mounted on each of the athlete robots and receiving the position notification command; Ultrasonic signal generating means mounted on each of the bow robots and outputting an ultrasonic signal indicating a position of the robot; A robot control means mounted on each athlete robot, the robot control means for decoding the position notification command received by the position notification command receiving means to drive the ultrasonic signal generating means, and at least receiving the ultrasonic signal at different locations of the stadium; At least two ultrasonic signal receiving means; The player is operated by synchronizing with the position notification command generating means to measure the time until the ultrasonic signal is received by the ultrasonic signal receiving means, and substitutes the time result of the clock means into a predetermined distance calculation formula. A stadium control means for recognizing the position of the robot in the stadium.

1 is a perspective view schematically showing the appearance according to an embodiment of the robot soccer game machine of the present invention,

2 is an enlarged perspective view of a part of the robot soccer game machine shown in FIG. 1;

Figure 3 is a perspective view schematically showing the appearance of the player robot according to an embodiment of the robot position recognition device of the present invention,

4 is a plan view showing the arrangement of the position notification command receiver in FIG.

5 is a view for explaining the principle of operation of the ultrasonic transmitter in the present invention,

6 is a block diagram showing an electrical configuration of a stadium in which the robot position recognition apparatus of the present invention is implemented;

7 is a block diagram showing the electrical configuration of the athlete robot is implemented robot position recognition apparatus of the present invention,

8 is a flowchart illustrating a stadium control process in the robot position recognizing apparatus of the present invention;

9 is a flowchart illustrating a player robot control process in the robot position recognition apparatus of the present invention.

*** Explanation of symbols for the main parts of the drawing ***

100: stadium, 110: stadium floor,

120: stadium sidewall, 122: location notification command transmitter,

124: ultrasonic receiver, 130: goal post,

140: ball, 150: joystick,

160: operation button, 170: cash inlet,

180: stadium control unit, 181: money input detection unit,

182: key input unit, 183: goal detection unit,

184: joystick input section, 185: A / D conversion section,

190: ultrasonic receiver, 191: timer,

192: sound output unit, 193: display unit,

194: ball input unit, 195: movement command transmission unit,

196: location notification command transmitter, 200: auxiliary facility,

202: pillar, 204: crossbar,

210: speaker, 220: billboard,

230: movement command transmitter, 300: player robot,

310: body, 312: support roller,

320: wheel, 322: rim,

324: tread, 330: move command receiver,

340: location notification command receiver, 350, 360: ultrasonic transmitter,

352, 362: reflector, 380: robot control unit,

381: movement command receiver; 382: ultrasonic transmitter;

383: motor drive unit, 384: left motor,

385: right motor, 386: position notification command receiving unit,

400: base

Hereinafter, with reference to the accompanying drawings will be described in detail with respect to the robot position recognition apparatus of the robot soccer game machine according to an embodiment of the present invention.

1 is a perspective view schematically showing an appearance according to an embodiment of a robot soccer game machine of the present invention, Figure 2 is an enlarged perspective view of a part of the robot soccer game machine shown in FIG. As shown in Figure 1 and 2, the robot soccer game machine of the present invention largely accommodates the player robot 300, the player robot 300 is a stadium 100, the stadium 100, the football game is played a predetermined Installed in place of the base 400 to support the height and the stadium 100 may be made of an auxiliary facility 200 for guiding various matters related to the game.

In the above-described configuration, the floor 110 of the stadium 100 has a substantially rectangular shape, and each side of the stadium floor 110 does not allow the athlete robot 300 or the ball 140 to leave the stadium floor 110. The side wall 120 is prevented from being installed. Each sidewall 120 facing the stadium 100 in the longitudinal direction is formed with a hole 130 of a predetermined size to function as a goal, the goal 130 is a goal detector (not shown) installed in the base 400 And a ball auto feeder (not shown).

Additional facilities 200 are mounted on pillars 202 installed on both sides of the stadium sidewall 120, crossbars 204 across the posts 202, crossbars 204 to display game progress such as scoring. The display board 220 may include a speaker 230 for outputting various effect sounds related to a game.

At least one position notification command transmitter 122 for instructing each athlete robot 300 to notify his / her location is installed in the place of the stadium 100, for example, the side wall 120. Is installed on the top of the side wall 120 to approximately match the installation height of the position notification command receiver (to be described later) installed in the athlete robot 300, and also due to physical interference by the other athlete robot 300 communication path In consideration of being able to block, a plurality of side walls 120 are installed around the ice. At least two or more ultrasonic receivers 124 are installed in place of the stadium 100, for example, the side wall 120, to receive ultrasonic waves that each athlete robot 300 emits to inform its position. Also in FIG. 1, ultrasonic waves for front position detection 124a and rear position detection 124b correspond to the embodiment of simultaneously transmitting ultrasonic waves at different frequencies at the right and lower positions of the bow robot 300, for example. The receiver 124 constitutes one set, and further, in the case of the ultrasonic receivers 124a and 124b for position detection in each direction, two are installed vertically so that detection failure does not occur. In the embodiment of FIG. 1, six sets of such ultrasonic receivers 124 are installed. In FIG. 1, reference numeral 230 denotes a movement command transmitter installed at the bottom of the game machine, for example, at the bottom of the display board 220 to view the stadium 100 to issue a movement command to the player robot 300. The movement command transmitter 230 may be implemented as an infrared transmitter.

Figure 3 is a perspective view schematically showing the appearance of the player robot according to an embodiment of the robot position recognition device of the present invention, Figure 4 is a plan view showing the arrangement of the position notification command receiver in Figure 3, Figure 5 is a present invention To explain the principle of operation of an ultrasonic transmitter. As shown in Figures 3 to 5, the bow robot 300 according to the present invention is installed on both sides of the body 310, the body 310 is mounted on the various components constituting the robot large body 310 Moving command receiver 330, body 310, which is mounted on, for example, a pair of wheels 320, placed in place of the body 310, for example, and receives commands from the movement command transmitter 230. ) Is installed in the upper part of the position notification command receiver 340 and the body 310 to receive the position notification command from the position notification command transmitter 122, for example, the upper part of the It includes an ultrasonic transmitter 350, 360 for transmitting an ultrasonic signal informing the position.

In the above-described configuration, the wheel 320 is a rim made of a hard material in order to increase the frictional force with the stadium floor 110 to improve the operating performance such as instantaneous braking and to easily replace it when the surface is worn out 322 and a rim 322 are mounted around the rubber floor tread 324 in direct contact with the stadium floor 110. In addition, the body 310 is supported by only two wheels 320 on the left and right sides, and the wheels 320 and the center of the lower body of the body 310, for example, in order to prevent the tilt in the front and rear directions It is preferable to provide the support roller 312 which rotates in the same horizontal plane.

On the other hand, the position notification command receiver 340 is preferably arranged radially a plurality of, for example, a total of eight, in consideration of the physical interference by the other robot robot 300 may occur. Furthermore, in order to reduce interference by the signal output from the movement command transmitter 230 as much as possible, it is preferable to have a structure in which the reception sensitivity is higher in the forward direction than in the upper direction. In the case of the ultrasonic transmitters 350 and 360, only one position is detected when only one is installed, and it is preferable to install two because only two units can be detected until the direction of the bow robot 300 can be detected. In this embodiment, one at each of the front and rear of the body 310 is installed. In this case, in order to prevent the ultrasonic waves from scattering in all directions, it is preferable to install the reflectors 352 and 362 in the shape of inverting the top of each of the ultrasonic transmitters 350 and 360. As shown in FIG. 5, the ultrasonic waves output from the ultrasonic transmitters 350 and 360 in the vertically upward direction are reflected by the reflectors 352 and 362, and are then refracted and output in the horizontal direction. 124 will be faced.

6 is a block diagram showing an electrical configuration of a stadium in which the robot position recognition apparatus of the present invention is implemented. As shown in FIG. 6, the electrical configuration of the stadium 100 in which the robot position recognition apparatus of the present invention is implemented includes a money input detection unit 181 for detecting an input of money required for a game, a game start and a game personnel. A key input unit 182, a goal detection unit 183, a ball in the stadium 100 for inputting an input, a selection of a player robot 300 to be directly controlled, or a command for turning the player robot 300 to be manipulated. The ball input unit 194 for injecting the 140, the movement command transmission unit 195 for outputting in the form of infrared rays after modulating the movement command for each athlete robot 300 to a predetermined frequency, each athlete robot ( Infrared transmitter 196 for transmitting the position notification command for 300 to a predetermined frequency and transmitting in the form of infrared light, Display unit 193 for displaying various situations related to the game, Various effects sound related to the game speaker 210 Exodus through A signal is output to the ultrasonic receiver 190 from the time point at which the position notification command is transmitted through the sound output unit 192, the ultrasonic receiver 190 receiving the ultrasonic wave emitted from the athlete robot 300, and the position notification command transmitter 196. It may include a timer 191 for measuring the time until the reception and the stadium controller 180 to collectively control each of the above-described parts.

In the above-described configuration, the position notification command transmitter 196 may include a plurality of position notification command transmitters 122 installed on the stadium sidewall 120 as described above, and the movement command transmitter 195 may be configured as an electronic board 220. It may be made by including a movement command transmitter 230 installed below. As described above, the ultrasonic receiver 190 may be provided for the front position detection and the rear position detection, and furthermore, these pairs may be provided in a plurality of pairs, and the timer 191 may include the ultrasonic receiver for each position detection. One may be provided at 124a, 124b. In this case, the front position detection and rear position detection ultrasonic receiver 190 should be provided with a filter (not shown) which detects only the signal of the frequency band which is in charge of each.

Figure 7 is a block diagram showing the electrical configuration of the athlete robot in which the robot position recognition apparatus of the present invention is implemented. As shown in FIG. 7, the electrical configuration of the athlete robot according to the present invention includes a movement command receiver 381 and a stadium 100 that receive and demodulate infrared signals output from the movement command transmitter 195 of the stadium 100. Position notification command receiving unit 386 for receiving and demodulating the infrared signal output from the position notification command transmission unit 196 of the control unit, an ultrasonic transmitter 382 for firing its position notification signal in the form of ultrasonic waves, left and right wheels 320 The robot control unit 380 for controlling the overall operation of the left motor 384 and the right motor 385, the motor driver 383 for driving the respective motors 384, 385 and the bow robot 300 respectively. It can be made, including).

In the above-described configuration, the move command receiver 381 may include the move command receiver 330, and the location notice command receiver 386 may also include the plurality of location notice command receivers 340. The ultrasonic transmitter 382 may include the respective ultrasonic transmitters 350 and 360.

Hereinafter, the operation of the robot position recognition apparatus of the present invention will be described in detail.

8 is a flowchart illustrating a stadium control process in the robot position recognition apparatus according to the present invention. It is noted that the stadium controller 180 is mainly performed.

In step S10, it is determined whether the money required for the game has been input. When the required money is input, the process proceeds to step S12 to update the content of the display unit 193 constituting the display board 220. In operation S14, the player robot 300 determines the player robot 300 to be directly controlled by the player based on the signal provided through the key input unit 182. In operation S16, the joystick for the player robot 300 to be directly controlled is determined. Command, that is, direction and speed commands.

In step S18, the joystick command is mapped in this manner. The mapping is considered in relation to the analog joystick. The free end of the joystick 150 is projected onto the stadium floor 120, that is, on a horizontal plane, and the joystick ( Refers to a task for obtaining a vector connecting the fixed end of the 150 and the projected point on the floor of the stadium 120, the size and direction of the obtained vector is taken as the speed and direction of the athlete robot 300 to be controlled, respectively. .

Next, in step S19, the control signal is issued to the position notification command transmitter 196 to fire the position notification command, and at the same time, the timer 191 is operated to receive the ultrasonic wave through the ultrasonic receiver 190. The time is measured. Next, in step S20, the current position and direction of the athlete robot 300 are determined based on the time until the ultrasound reception time.

In more detail, the stadium controller 180 converts a location notification command for instructing each player robot 300 of its own location every predetermined period into a packet form, for example, and then the location notification command. The position notification command transmitter 196 modulates the packet data thus provided at a predetermined frequency and outputs the infrared data.

9 is a flowchart for explaining a player robot control process in the robot position recognition apparatus according to the present invention. Each player robot 300 is performed as a subject. In operation S30, each athlete robot 300 demodulates the control command packet after receiving the control command packet through the position notification command receiver 386 or the movement command receiver 381, and transmits the demodulated signal to the robot controller 380. At step 1), the robot controller 380 decodes the provided packet data, and then compares the ID with the ID to determine whether the robot controller 380 is a command for itself. As a result of the determination in step S32, if the IDs match, that is, a command to the self, the flow advances to step S34 to determine whether the received command is a position notification command or a moving command. As a result of the determination in step S34, in the case of the position notification command, steps S52 and S54 are performed to drive the ultrasonic transmitter 382 for a predetermined time to notify the position of the self. In this process, the ultrasonic signals output from the front ultrasonic transmitter 350 and the ultrasonic signals output from the rear ultrasonic transmitter 350 are different from each other and simultaneously output.

In this way, after the ultrasonic signal is output, the stadium controller 180 substitutes the time measured by the timer 191 into Equation 1 below, and then geometrically processes it to recognize the front position and the rear position of the athlete robot. You can do it.

Distance [L] = arrival time (t) * propagation speed of the ultrasonic wave (sound_speed)

Returning to FIG. 8 again, in step S22, the position and direction information of each athlete robot 300 thus determined, and the command given to the athlete robot 300 to be directly controlled are substituted into each cooperation robot by using a predetermined cooperative algorithm. After generating a movement command for 300, the process proceeds to step S24 and outputs to each athlete robot 300. The above-described process is repeated until the game completion situation matures in step S26.

9 again, in this way, when a movement command for each athlete robot 300 is output, the robot controller 380 checks this in step S34, and proceeds to step S40 to provide the movement command provided for the self. Create a velocity profile according to. In this case, the velocity profile increases the speed linearly for a predetermined time when the step input is input through the joystick 150, so that the velocity profile is maintained at the same speed as the input is maintained, and the joystick 150 returns to the origin again. In this case, too, it refers to the task of linearly decreasing the speed over a period of time.

In step S42, a control signal is output to the motor driver 383 according to the generated speed profile to drive the left motor 384 and the right motor 385. Here, in the case of in-situ rotation, one motor may be rotated in the opposite direction and the other motor may be rotated in the reverse direction.

The robot position recognition apparatus of the robot soccer game machine of the present invention is not limited to the above-described embodiments, and may be variously modified and implemented within the range permitted by the technical idea of the present invention, for example, a movement command transmitter. It will be possible to appropriately change the number and installation location of the 230, the number and installation location of the location notification command transmitter 122, and correspondingly the number and location of the location notification command receiver 340 and the installation and movement command receiver ( 330 may be changed as appropriate. In addition, in the above-described embodiment, the location notification command transmitter 196 and the move command transmitter 195 are separately configured and operated, and these are integrated into one, that is, the move command transmitter 230 installed under the display panel 220. It may be possible to integrate and operate. In addition, the frequency of the ultrasonic waves used may be operated as one. In this case, the firing time of the front position detecting ultrasonic wave and the firing time of the rear position detecting ultrasonic wave may be different. Of course, the form of the signal transmitted and received between the stadium 100 and each athlete robot 300 may be a radio frequency, not infrared.

According to the robot position recognition device of the robot soccer game machine of the present invention as described above, since the position of the individual player robot can be recognized in real time, robot-oriented control is possible so that the player can easily operate the joystick. By building a more structured and diverse framework for collaborative algorithms, you can further increase your interest in the game.

Claims (4)

Location notification command sending means which is installed in place at a stadium and transmits a location notification command in the form of wireless data to at least two player robots accommodated in the stadium; Position notification command receiving means mounted on each of the athlete robots and receiving the position notification command; Ultrasonic signal generating means mounted on each of the bow robots and outputting an ultrasonic signal indicating a position of the robot; A robot control means mounted on each of the athlete robots and driving the ultrasonic signal generating means by decoding the position notification command received by the position notification command receiving means; At least two ultrasonic signal receiving means for receiving the ultrasonic signal at different locations of the stadium; Time means for operating in synchronism with the position notification command generating means to measure a time until the ultrasonic signal is received by the respective ultrasonic signal receiving means; And a stadium control means for recognizing a position in the playing field of the player robot by substituting the result of the time indicating of the timekeeping means into a predetermined distance calculation formula. The method of claim 1, wherein the ultrasonic signal generating means comprises at least two or more ultrasonic signal transmitters installed in the other of the respective robot, wherein the athlete robot each of the ultrasonic signal transmitter is a different frequency To simultaneously output the ultrasonic signal Each of the ultrasonic signal receiving means includes two ultrasonic signal receivers corresponding to the frequencies of the ultrasonic signals output from the respective ultrasonic signal transmitters. The method of claim 1, wherein the ultrasonic signal generating means comprises at least two or more ultrasonic signal transmitters which are installed elsewhere of the respective robot, wherein the robot control means each ultrasonic signal transmitter is the same frequency Robot position game apparatus of the robot soccer game machine, characterized in that for controlling to output the ultrasonic signal having a parallax. The said stadium is provided with a side wall, The side wall of Claim 2 or 3, And the apparatus further comprises a reflector around each of the ultrasonic signal transmitters for refracting the ultrasonic signals outputted from the respective ultrasonic signal transmitters toward the sidewall of the stadium.