KR20040041743A - Device for a warrior robot and method for controlling the robot - Google Patents

Abstract

PURPOSE: A fight robot and control method thereof is provided to freely control the driving of the robot by using communication data and outer physical data memorized in a memory unit. CONSTITUTION: A fight robot is composed of a data detecting unit(130) for detecting outer physical data(190), a communication unit(140) having a transmitting unit and a receiving unit, a memory unit(120) memorizing the detected data and the transmitting or receiving data, a control unit(110), and a driving unit(160). The control unit controls the driving unit on the basis of the memorized data.

Description

Chargeable robot device and control method {DEVICE FOR A WARRIOR ROBOT AND METHOD FOR CONTROLLING THE ROBOT}

The present invention relates to a robot device, in particular a robot device having control means for calculating stored information and reflecting it on subsequent driving.

A mechanical device that uses electric or magnetic action to perform a motion similar to human motion is called a robot. The etymology of the robot is said to come from the Slavic "ROBOTA" meaning slave. In Korea, simple robots have emerged since the late 1960s, and industrial robots are gradually spreading. Also, in the 1990s, toy robots manufactured to respond to certain stimuli by themselves began to appear. Unlike toy robots that work efficiently instead of humans, such toy robots perform entertainment functions for the purpose of attracting human attention.

Such toy robots are generally manufactured to respond to signals input by wired or wireless control or information input through a predetermined sensor. For example, "Purby", the origin of digital toys developed in the United States, "Bani", an interactive doll developed by Microsoft Corporation, or "Pucci," a dog-type robot manufactured and marketed by Sega Toy of Japan. There are robots designed to drive simple emotions or entertain entertainment in response to human voices and human touches. Although these robots recognize physical information from the outside and are driven by a certain control means, they do not have the feature of driving the robot by recognizing and driving other robots or communicating with other robots.

Also known as "battlebots" are produced for the purpose of combat between robots, unlike the robots presented as examples above. "Botbot" is a robot battle in which two or more robots destroy each other by using a tool such as a tooth, a hammer, etc., and also refers to the robot itself. These "battlebots" are driven to break each other's robots, and the victory is generally determined according to the damage. A wired or wireless controller is used to control the "Botbot" and is used in a manner in which a human directly controls it. "Battlebots" range from light weights of just a few kilograms to heavy weights of hundreds of kilograms. Such "Botbot" is inevitably shortened due to the damage of the robot due to the characteristics of the game is determined according to the degree of damage, and is also undesirable in terms of the emotional protection of children required by the toy robot. In addition, two or more robots are used together spatially, and do not have the feature of exchanging information or detecting each other.

A more advanced type of robot is "Aibo," manufactured and sold by Sony of Japan. The robot is a full-fledged entertainment doggy robot that features relatively complex electronics such as camera heat detectors, infrared rangefinders, tactile detectors, speed sensors, microphones, speakers, and a 64-bit CPU that drives and moves like a real dog. It is designed to be recognized as if To achieve this, Aibo has a built-in control program that controls the drive to respond to external stimuli such as heat and tactile sensations. Unlike "Battlebot", a robot such as "Aibo" has a means of recognizing external information from various angles, and has a characteristic of responding to it, such as "Purby" and "Pucci". Such "Aibo" not only expresses the reaction by calculating the information acquired by the robot itself, but also discloses the feature of reflecting the information obtained through communication with other robots in the driving control or continuously calculating the obtained information. not.

Accordingly, the present invention is intended to improve the features of the above-mentioned robots and to implement a robotic device in which the problems of the above-mentioned robots are complemented. That is, the present invention is not intended to control the robot based on the recognition of physical information from the outside, and is intended to implement a robot device having a feature involving repeated communication / repetitive detection / continuous interaction.

The present invention is particularly intended to implement an advantageous robotic device in a charging robot. For example, when the two or more robots move while approaching each other's opponent robots within a certain distance, the present invention approaches, and when any one of the robots has received a certain number of effective hits, the physical strength is thus increased. It can be used in a charging robot of a manner in which the game is decided by being exhausted. An object of the present invention corresponding to the implementation of the robot device as described above is as follows.

It is an object of the present invention to provide a robot which can store information obtained by the detection means and / or the communication means, and which can control variously its driving using the stored information.

Another object of the present invention is to provide a robot that variously controls the driving of a robot according to its interaction by using information, such as contact or communication with an external object, in particular, another robot.

Another object of the present invention is to provide a robot that calculates the information obtained by the interaction and reflects it on subsequent driving.

It is another object of the present invention to provide a robot that improves the artificial intelligence of the robot and improves the control of its driving by using the continuous calculation and accumulation of the obtained information.

Still another object of the present invention is to provide a charged robot in which two or more robots fight each other.

Another object of the present invention is to provide a robot that can easily recognize the result of the game without damage to the robot in a charging robot that two or more robots screen each other.

Another object of the present invention is to provide a control method for implementing a charging and / or training mode by using two or more robots which are robotic apparatuses according to the present invention.

1 is a block diagram of a robotic device according to the present invention.

2 and 3 are flowcharts according to an embodiment of the present invention.

4 is a front view and an elevation view of a robot according to an embodiment of the present invention.

FIG. 5 is a diagram illustrating an apparatus (robot arm detector) for hit detection using a robot arm according to an embodiment of the present invention.

6 is a control schematic diagram of the user control mode robot according to an embodiment of the present invention.

7 is a control schematic diagram of an artificial intelligence mode robot according to an embodiment of the present invention.

8 is a schematic diagram of a battle between a plurality of robots according to an embodiment of the present invention.

9 is a diagram illustrating an approach to the hitting target of the robot according to an embodiment of the present invention.

The configuration of the robot device according to the present invention, which is made in view of the above-described problems of the present invention, will be described below with reference to FIG. 1.

The robot 100 according to the first aspect of the invention comprises a communication means 140 comprising a detection means 130 for detecting physical information 190 from the outside and / or a transmission means and / or a reception means. A control means for storing information obtained by the detection means 130 and / or the communication means 140, and controlling the operation and operation of the robot based on the information stored in the storage means 120. Control means 110, and drive means 160 driven by the control means 110, wherein the control means 110 calculates the stored information to drive the robot 100 afterwards. It may include programs to reflect on.

On the other hand, the robot 100 according to the second aspect of the present invention is manufactured so that the main body portion 100 has a strong enough strength not to be damaged by the operation of the other robot, and due to the operation of the other outer skin portion It can be made by adding to have a relatively weak strength that can easily break.

Further, according to a third aspect of the present invention, there is a robot control method for charging between robots.

Hereinafter, the characteristics of each component of the present invention, the organic relationship between each component and the embodiment according to the present invention will be described.

The robot according to the first aspect of the invention comprises a detection means and / or a communication means, a memory means, a control means, and a drive means. This will be described in detail below.

1 . Detection means 130

The robot according to the present invention detects one or more of physical information such as a contact with an external object, an optical signal from the external object, an acoustic signal from the external object, and the like. Examples of sensors for the detection include contact sensors such as push switches and non-contact sensors such as infrared sensors, microphones, and C-MOS image sensors.

The push switch of the above example may be arranged in each part of the robot. Such a push switch is pressed when the pressure received when the robot comes into contact with another object is higher than a predetermined value, and thus stores the signal generated in the storage means of the robot.

In addition, the infrared sensor of the said example uses the reflection effect of a wave. This can be useful when detecting an object spaced a certain distance from the robot.

On the other hand, the microphone of the above example is used when detecting sound information from the outside. Such a microphone detects different information according to different acoustic information generated in a charging robot or the like, which can be stored in the storage means of the robot.

In addition to such a sensor, a detection means for obtaining information through driving of a so-called robotic arm, which may be connected to the driving means 160, may be implemented. More specifically, the robot of the present invention may include a robotic arm. The robot arm is always driven at regular intervals within an acceptable error range. However, if the robot arm is unable to maintain its original drive path due to some external object, the robot arm will generally move for a longer period of time than the drive cycle (e.g., a kind of striking motion in a charging robot). . Such a change can be detected by a robot arm detection unit (for example, a type of hit detection sensor in a charging robot) that can be included in the detection means. The detected change may be transmitted to another robot within a certain distance range in the form of an outgoing signal through the following communication means. Receiving such a signal confirms the valid detection of itself by sending a response signal to the robot that sent the signal in response to the received signal. For example, when such a complete detection operation is applied to a charging robot, information that a hit is successful is stored in a robot that detects another robot through the robot arm, and a robot that has been detected is hit. The information is stored. For a similar function, the detecting means of the present invention may include a device for separately detecting a sound generated when the robot arm contacts an external object.

2 . Communication means 140

The communication means of the robot comprises a transmitting means and / or a receiving means. This communication means can be used in the communication process, the main subject of the robot. For example, the robot may transmit a signal for transmitting certain information to the other robot through the transmitting means. The robot which has received the transmitted signal through the receiving means can know the state information of the robot which has transmitted the signal according to the signal. Therefore, information obtained from another robot can also be a parameter influencing the control means. Such robot-to-robot communication may be unidirectional or bidirectional, and may be effective in the form of communication between more robots as needed. Making the information obtained by such communication, in particular, communication between robots, as a parameter influencing the control means of the present invention can provide a better variety in driving control of the robot.

3 . Storage means 120

The storage means may include volatile and / or nonvolatile memory for efficient and cumulative management of the obtained information. The information stored through this memory can remain in the robot even after the robot is powered off. The information stored in the memory can be continuously used in the robot so that the state of the robot can be changed over time or influenced from the outside.

4 . Control means 110

The control means reflects the information stored in the storage means and performs calculation for determining the driving of the robot. The control means for realizing this operation can be programmed in various forms. More specifically, these operations can be programmed to include self-development or, if necessary, self-development learning programs to implement the robot's artificial intelligence to a higher level. Therefore, the driving of the robot is not only based on instantaneous external input or one-time communication, but can be controlled in various forms according to the information obtained for a relatively long time, and the user can be included in the control means of the robot. It is also possible to develop the driving mode of the robot. Such a method of evolution by learning of the robot has been presented in detail in the applicant's Korean Patent Application No. 2001-0073380, "Evolution of the robot by learning", the contents of which are incorporated herein. Briefly, the gist of the application is as follows:

As the robot moves, a learning table storing the robot's behavior information for each input information is generated based on information input from at least one direction sensor unit and a distance sensor unit. Thereafter, the information of the learning table is continuously calculated to generate habit information for providing average information for each sensor input information. Next, when the robot is in an artificial intelligence mode not controlled by the user, the sensor input information is first compared with the learning table information, and the robot is driven based on this. If there is no matching learning table information, the calculated behavior information Drive the robot based on this. This configuration allows the evolution of the robot.

Therefore, those skilled in the art can implement a robot capable of improving artificial intelligence by introducing a control method of the contents set forth in the above application to the robot device capable of controlling the driving by reflecting the information stored in the storage means according to the present invention. You will see that. This would be more desirable for toy robots that require a variety of unpredictable driving.

In addition, the control means can be programmed in a manner to drive the robot or to recognize the state of the robot from the outside based on the stored information. More specifically, it is possible to control the movement of the robot, that is, the movement in the front, rear, left and right directions, and control the driving of a part of the robot such as the robot arm. In addition, the driving control of the robot may interrupt the movement of the robot or give a constant weight to a parameter that affects the driving of the robot. On the other hand, the control means may also control the display means that can be additionally included in the robot device. Such display means may emit one or more of a visual signal, an acoustic signal and a vibration signal. The control of the display means may be used in a manner of recognizing the state of the robot to the user or another robot (for example, in the case of a charged robot, the number of hits received by the robot or the remaining stamina). However, the control of the display means can be made irrespective of the state of the robot.

5. Drive means 160

As for the drive means of this invention, the drive aspect is determined by control of the said control means. Such driving means may comprise moving means for two-dimensional movement of the robot and / or operating means for spatially operating at least a portion of the robot body. In particular, the robot arm detector for detecting a contact by driving the robot arm has been briefly described above along with the driving effect of the robot arm as a detection means according to the driving of the robot arm. The robotic arm of FIG. 5 is driven up and down. The robot arm contacts the contact 504 which defines the angle of rotation when driven. According to the driving of the robot arm, a predetermined driving period, which contacts the contacts, may be given constantly. If the robot arm is driven for a longer time than the driving period, this indicates that some impact has been made. Therefore, the change in the time interval may be detected by the robot arm detector 502.

In addition, the characteristic details of the overall driving means 160 is disclosed in the applicant's Korean Patent Application No. 000 "Driver for Robot", the contents of which are incorporated herein.

On the other hand, in the robot which has the characteristics of the said 1st side surface as a 2nd side surface of this invention, the robot which has a main body part of a robot and the outer skin part of a robot can be assumed.

6. The addition of the outer skin of the robot

Robots comprising a body portion and an outer shell can provide a preferred configuration, particularly for charging robots. The main body of the robot is generally a part necessary for implementing the functions of the robot, and includes a skeleton for supporting the robot and an exterior for protecting and not exposing the parts of the robot to the outside. Materials used for this may include materials of relatively high strength, that is, metallic materials or ceramic materials. In contrast, the outer skin of the robot is a part which is not necessary to implement the function of the robot, and may include a material having a relatively low strength, that is, plastic, styrofoam, paper, and wood. In addition, the material used for the main body of the robot or the outer skin of the robot may be the same material (plastic, etc. having different strengths or ductility). In addition, even when the material is a material of the same strength, it is possible to configure the outer skin portion and the main body portion of the robot to be broken by varying the thickness or coupling form. Usually, the robot body part and the robot skin part have a difference in strength. The strength of the robot body part is such that it is not damaged by the operation of other robots, and the strength of the robot skin part is easily due to the operation of other robots. It would be desirable to have a degree of strength that could break. In addition, since the outer shell is not an essential part of the driving control of the robot, it may be manufactured to be detachable as necessary in the charging robot. In addition, at least a portion of the body portion may be made of a relatively sharp or high strength material, in particular in electrified robots, to more easily cause breakage of the outer skin portion of other robots. In addition, at least some of the body portion may be manufactured to accommodate a relatively sharp or high strength material to more easily cause damage to the outer skin portion of another robot.

This aspect of the invention is particularly advantageous for the implementation of a charging robot in which two or more robots battle each other. By using the robot of the present invention, since only the outer skin is damaged even when the robots contact each other, it may not affect the life of the robot itself, and by replacing only the damaged outer skin, a part of the main body of the robot or the robot body itself may be replaced. There is no need to exchange.

A description will now be given of an embodiment of a robotic device of the invention for use as a charged robot, comprising one or more of the features according to the first and second aspects of the invention as mentioned above.

7. Embodiment of the robotic device

An example may be a charging toy robot having a user steering mode and / or an AI mode. Such a toy robot may be used in a form in which two or more robots in a user control mode battle each other, a robot in a user control mode and two or more robots in an AI mode, or a two or more robots in an AI mode. have. As a preferred embodiment, such a robot includes a knife 402, a robot arm 404, a wheel for moving 406, an infrared detection set 408, and a health power (HP) gauge 410, as shown in FIG. 4. ) May be included. The knife 402 may be replaced with other weapons, and the robot arm 404 and / or the wheel 406 may be replaced with other types of driving means. In addition, the infrared detection set 408 and the HP gauge 410 may also be replaced by other types of detection means and display means. A robot having such a configuration can be recognized as a humanoid toy, and can perform a function similar to human combat. Hereinafter, a detailed description for implementing the robot in detail.

In detail, the robot includes a detection means using infrared rays that can recognize an external object. The detection means specifically includes an infrared generator and an infrared detector. The infrared generator and the infrared detector may be used as one infrared detection set for efficient sensing, and two or more of these sets may be arranged in different directions to detect objects in at least one direction. As an example of such an infrared detection set, an infrared detection set which is uniquely manufactured for improving the efficiency of infrared detection is disclosed in the "light detecting apparatus" of the applicant's application number 000000, which is incorporated herein by reference. Shall be. The infrared detection set features a multi-directional detection function due to the arrangement of the infrared generator and the infrared detector in various directions, and an infrared detection set storage device having an uneven portion for preventing direct infrared incidence from the infrared generator to the infrared detector. Can be mentioned.

In addition, as a means for detecting a hit on another robot, it may include the above-mentioned robot arm. First, the robot will be described with reference to FIG. 2. Other robots may be recognized during the movement 202 of the robot (204). The robot arm can then be driven by the control means (206). When the robot arm hits another robot while driving, the detection means 502 connected to the robot arm recognizes that the robot arm has been driven for a longer time than a predetermined driving period, so that the robot has hit the external object. Is detected (208). The robot transmits a wireless signal (hereinafter, a hit signal) for communication between the robots, which is valid within a strikeable distance to confirm that the robot has hit another robot (210). Such a signal may be received by a hit robot, which will be described below, and the hit robot may transmit a response signal (hereinafter, hit response signal) indicating that the hit has been hit to the hit robot. The robot that has applied the hit may receive the hit response signal effectively (212). This immediately informs the robot of the success of the blow. In order to recognize the hitting success, information obtained through the infrared detection set (for example, distance and direction between robots) may also be used as a basis for determining the hitting success. Following the success of this one-time hit, the robot that has hit the hit may perform a continuous hitting action at the same location (214). In addition, the successful hitting robot can store in the storage means the information of the effective hitting. This may increase the level information of the robot through cumulative management of the information (216). In addition, the hitting robot can memorize wholly victorious by receiving the total recording signal sent by the hitting robot, which will be described below. The level information can also be raised by receiving the victory signal. In addition, when the robot that has hit in the hit response signal receiving step 212 does not receive the hit response signal effectively, the robot recognizes this as a hit on an object other than the robot and does not take a step after the hit is successful. And start moving again (202).

On the other hand, with reference to Figure 3 will be described in terms of the robot hit. The robot may be hit by the robot that hit the hit described above. In this case, as described above, the hit robot receives the hit signal sent by the hit robot (302). When the hit robot receives the hit signal, the hit robot sends a hit response signal indicating that the hit robot has been hit (304). After that, the hit robot accumulates the hit information (hereinafter, hit detection information) and reduces its HP by the number of times (306). In this case, the reduction of HP of the robot can be displayed through the display means of the robot (for example, an LED array, a speaker, or a vibration motor) (308). Then, when the hit robot is exhausted (HP = 0) (310), the robot can send a record signal indicating that he has lost to the hit robot. These lost achievements can be remembered by the hit robot. The robot that is hit can then be stopped 312. When the HPs of the robots hit by the HP detection step 306 are not exhausted (HP ≠ 0), the robots hit by the hit may move to avoid the movement (314). The level information of the hit robot may be lowered through the memory of the lost whole record and / or the memory of the hit detection information. After performing the avoidance operation 314, if the hit signal is received again 302, the steps mentioned so far will be taken.

Through this step, the whole or the hit success information (ie, the information of hitting another robot) and the hit detection information of the win and lose can be stored in the memory of the robot's storage means and affect the overall function of the robot later. For example, the robots may check the relative IDs through communication with each other so that the relatively defeated robots may move away from the victorious robots. It may be given a constant weight, such as increasing or moving speed. In addition, this weight may be viewed by the display means of the robot so that the user can observe it.

In addition, the robot of the present embodiment is also influenced by the information stored cumulatively in terms of control of movement. As mentioned above, the applicant's Korean Patent Application No. 2001-0073380, "Method of evolving a robot by learning", uses a pattern that is self-developed and reused when the robot moves to strike another robot. An example is disclosed. Referring to this, it can be seen that the memory pattern of the robot stores the movement pattern when a successful strike is performed in either the user control mode or the AI mode of the robot, thereby representing a more advanced movement pattern in the subsequent AI mode. Can be. Thus, it can be seen that the evolution of the robot apparatus according to the present invention is also possible by learning.

In addition, according to the second aspect of the present invention, the robot apparatus includes the main body portion and the outer skin portion, whereby a method of determining whether or not the winning or losing is determined by mutual contact between the robots may additionally be selected in this embodiment. have.

Hereinafter, according to the third aspect of the present invention, a method of actually applying the robot device according to the above embodiment to the competitive and / or training mode will be described.

8. Application method of charging robot

Here, an application method using a charging robot apparatus as described in the above embodiment will be presented. Possible modes for using a robot in a match include:

-1: 1 battle mode between robots (3 types)

-Robot in User Control Mode vs Robot in User Control Mode

-Robot in AI Mode vs Robot in AI Mode

-Robot in user control mode vs robot in AI mode

-Battle mode between multiple robots

-Training mode of the robot

The robot's sleep mode.

Hereinafter, the modes will be described in turn.

8-1. 1: 1 battle mode between robots

8-1-1. Robot in User Control Mode vs Robot in User Control Mode

For convenience, the first user and the second user each use their own robots. After turning on the robot, the first user and the second user may select a user control mode through a switch operation or a remote controller operation attached to the main body of the robot. Hereinafter, a description will be given with reference to FIG. 6. Both robots are moved back, front, left, and right by driving the wheel for movement by the user regardless of the information obtained by the detection by the infrared detection set, the robot arm with a knife can be driven. Each user can execute an operation of lowering the arm with a knife when the user moves his robot to approach the opponent robot within a short distance. For example, when the robot of the first user (hereinafter referred to as the first robot) hits the robot of the second user (hereinafter referred to as the second robot), as described in the above embodiment, the first When the robot performs a striking motion, the robot senses the movement of the arm for a longer time than the driving period of the general robot arm and sends a hit signal to the second robot. The second robot receiving the hit signal receives the hit response signal. To send. The first robot receiving the hit response signal acquires hit success information, and the second robot obtains hit detection information. When one of the first robot or the second robot accumulates a certain number of hit detection information (HP size) through mutual repetition of the information acquisition process, the robot is lost in the battle and the lost robot is stopped from driving. Can be.

For another example, unlike the hit signal and hit response signal communication process described above, the hitting robot regards all hits as success and acquires hitting success information, and the hitting robot receives all hits from outside itself. By detecting the detection information may be obtained. In addition, it is possible to determine whether or not the hit is substantially successful by comparing the hitting time of obtaining the hitting success information of the hitting robot with the hitting time of obtaining hit detection information of the hitting robot.

8-1-2. Robots in AI Mode vs Robots in AI Mode

After the first and second users turn on the robot, the AI mode may be selected through a switch operation or a remote controller operation attached to the main body of the robot. Hereinafter, a description will be given with reference to FIG. 7. Unlike the case of 8-1-1, both robots are moved back and forth, left and right by driving the wheel and the robot arm according to the information obtained by the detection by the infrared detection set and the robot arm with the knife can be driven. have. First, during the initial control, the first robot and the second robot can move without detecting each other. The movement control in this case may be based on a table that has been learned and stored in advance or according to the movement method stored in the control program. Then, at least one of the two robots in motion will first detect another robot by the infrared detection set. Hereinafter, suppose that the robot which first detected the opponent robot is a first robot. The first robot is controlled according to the detected information to track the second robot. Movement control in this case may also be based on a previously learned and stored table or a movement method stored in the control program. The first robot drives the robotic arm with the knife when approaching within a close distance to the second robot. This drive continues while within a certain distance from the second robot. If the hit is successful due to the driving of the robot arm, the two robots exchange information related to the hit as in the case of 8-1-1, which likewise affects the win or lose in the robot battle.

8-1-3. Robot in User Control Mode vs. Robot in AI Mode

Consider a case where the first user operates the first robot in the user control mode and the second robot is set in the artificial intelligence mode. As in the above two cases, the first robot determines the movement control and the robot arm driving control by the user's manipulation, and the second robot acts according to the movement method stored in the control program or the table which has been previously learned and stored. . In this case it will be readily seen that the first robot has the same mechanism as in the case of 8-1-1 and the second robot has the same mechanism as in the case of 8-1-2.

8-2. Battle mode between multiple robots

As an extension of the 1: 1 charging mode, N robots can be charged with each other. First, it is assumed that N robots operate in the user control mode. In this case, since the manipulation is performed according to the judgment of the user, it will not require modification of the control program according to the detection. On the other hand, in order for a large number of users to control their own robots, it is necessary to use divided frequency. To this end, it is required to divide a relatively wide band RF signal into N frequency bands and channelize them. Therefore, each manipulator and each robot are attached with a channel adjusting device for selecting any one of frequency channels 1 to N. Each user must perform a step of synchronizing the frequency channels of his robot and his controller before entering a match to control his robot. This allows each robot to be controlled by each manipulator, so that the users can control themselves and compete in the game. In this case, by synchronizing two or more robots to one remote controller, one user may control multiple robots.

Second, it may be assumed that N robots operate in the AI mode. In this case, when the robot to be hit detects a plurality of robots, it may require the addition of a control program that tracks the nearest robot. In addition, a robot that is recognized on the same side through communication between robots may be controlled to track and strike only the opponent's robot without hitting.

Third, it may be assumed that the robots in the user steering mode and the robots in the artificial intelligence mode are fighting. In this case, it will be easy to see that the robots in the user control mode are the first features and the robots in the AI mode have the second feature.

Hereinafter, an exemplary case will be described with reference to FIG. 8. In FIG. 8, the four left robots are controlled at different frequencies f1, f2, f3, and f4. These four robots can recognize each other on the same side by communicating with each other. In addition, the robot moves toward the opponent robot and strikes it. If the robots on the left side are not in the user control mode, the robot robot detects and strikes the opponent robot. In this case, by assigning IDs to the robots, accuracy of mutual identification and communication information transmission and reception may be ensured.

8-3. Robot training mode

You can assume a training mode for self-development learning, rather than a competitive mode, which will be enough external objects to be hit. For example, suppose an external object lies in front of the left side of a training robot in user-controlled mode. The user moves the robot in a predetermined pattern (for example, by moving from the position of 1 to the position of 4 through the positions of 2 and 3 to approach the external object and then hitting the external object as shown in FIG. 9). I can control it. If such user manipulation is repeated continuously, the robot will accumulate and store motion information for hitting an external object on the left front side. This may enable the user to act according to the habit information trained by the user in the training mode when the robot is in the battle through the use of the learning table through the self-developed learning program described above.

This training will also be possible in AI mode. In the case of an AI mode robot, it will be acted on by a learning table already accumulated or by a motion instruction embedded in a control program. Therefore, training in the AI mode may serve to bring the average value of the existing learning table closer to the habit information. If you want to enter new behavior information into the robot or if you want the robot to perform relatively complex movements, training through the user control mode may be more desirable.

8-4. Sleep mode of the robot

The robot may include a sleep mode to save power. The robot finds an external object to hit while moving in the user control mode or the AI mode, which can be continued without finding the external object. Therefore, in the user control mode, when there is no signal input from the remote controller for a certain time, and in the AI mode, when no other robot is detected for a certain time, the control means stops moving itself to save power. The sleep mode can be entered.

As described above, the present invention provides a robot which can store information obtained by the detection means and / or the communication means, and can control the driving and calculation variously using the stored information. In particular, this would be useful when using information obtained by communication with other robots.

Further, according to the present invention, it is possible to calculate the acquired information and reflect it in subsequent driving, change the level of the robot due to the continuous calculation and accumulation of the information, and improve the artificial intelligence thereof.

The above feature may be particularly useful for a competitive robot in which two or more robots are over each other, thereby enabling the implementation of various types of competitive and / or training modes disclosed herein.

In addition, various effects intended for the purpose of the present invention can be achieved.

Claims (32)

Detecting means for detecting physical information from the outside, Storage means for storing the detected information; Control means for controlling the operation and operation of the robot based on the information stored in the storage means, and And a driving means driven by said control means. Communication means comprising originating means and / or receiving means, Storage means for storing the sent and / or received information; Control means for controlling the operation and operation of the robot based on the information stored in the storage means, and And a driving means driven by said control means. The method according to claim 1 or 2, And the control means includes a program for calculating the stored information and reflecting the stored information to subsequent driving of the robot. The method of claim 3, wherein The robot has a robot body manufactured to have a strength so as not to be damaged by the operation of other robots and a robot skin manufactured to have a relatively weak strength that can be easily damaged by the operation of other robots. Robotic device. The method of claim 4, wherein The robot outer shell is a robot device, characterized in that easily removable from the robot body. The method of claim 4, wherein The robot shell is a robot device, characterized in that made of at least one material of plastic, styrofoam, paper, wood. The method of claim 4, wherein And at least a portion of the robot body is made of a material that is relatively sharp or of high strength so as to easily break the outer skin of another robot. The method of claim 4, wherein And at least a portion of the robot body is a portion capable of mounting a material that is relatively sharp or of high strength so as to easily break the outer skin of another robot. The method of claim 3, wherein And the control means can stop driving control of the robot when the information detected by the detection means is not updated for a predetermined time. The method of claim 3, wherein And the control means can stop driving control of the robot when the signal received by the receiving means is not updated for a predetermined time. The method according to claim 1 or 2, Further comprising display means recognizable from the outside, And the display means can emit at least one of a visual signal, an acoustic signal and a vibration signal according to the control signal of the control means based on the stored information. Detecting means for detecting physical information from the outside, Communication means comprising originating means and / or receiving means, Storage means for storing at least one of information detected by the detecting means and information sent or received by the communication means, Control means for controlling the operation and operation of the robot based on the information stored in the storage means, and Drive means driven by the control means, And the control means includes a program for calculating the stored information and reflecting the stored information to subsequent driving of the robot. The method of claim 12, Further comprising display means recognizable from the outside, And the display means can emit at least one of a visual signal, an acoustic signal and a vibration signal according to the control signal of the control means based on the stored information. The method of claim 12, Said detecting means comprising a contact sensor and / or a non-contact sensor. The method of claim 12, The driving means comprises a robotic arm, Determine whether the control means is within a certain distance from the other robot by the detection means and / or the communication means, Robot device, characterized in that for driving the robot arm when there is another robot within the predetermined distance. The method of claim 15, And the detecting means includes a device for detecting a sound generated when the robot arm is in contact with another robot. The method of claim 16, And the detecting means includes a device for detecting different information when different sounds are generated according to materials of the contact portion of the robot to be contacted. The method of claim 12, The driving means comprises a robotic arm, And the detecting means includes a robot arm detecting unit which detects contact with another robot by measuring a time taken when the robot arm is driven. The method of claim 18, And when the contact with the other robot is detected by the robot arm detector, the communication means sends a predetermined signal to the other robot. The method of claim 19, The outgoing signal is a robot device, characterized in that to reach the other robot effectively only within a certain distance range. The method of claim 12, The storage means can accumulate and store the stored information, And the control means comprises a self-developed learning program and / or a self-degenerating learning program based on the accumulated information. The method of claim 21, And the self-developed learning program is a program for tracking another robot. The method of claim 12, And the control means can give a predetermined weight to the drive control of the robot or stop the drive control of the robot based on the stored information. The method of claim 13, The control means gives a constant weight to the drive control of the robot based on the stored information, And the assigned weight is displayed externally by the display means so that the user can recognize the weight. The method of claim 12, And the control means can stop driving control of the robot when at least one or more of the information detected by the detecting means and the signal received by the receiving means are not updated for a predetermined time. The method of claim 12, The robot has a robot body manufactured to have a strength so as not to be damaged by the operation of other robots and a robot skin manufactured to have a relatively weak strength that can be easily damaged by the operation of other robots. Robotic device. The method of claim 12, The robot outer shell is a robot device, characterized in that easily removable from the robot body. The method according to any one of claims 1, 2 and 12, And the storage means comprises a memory. Includes a robotic arm and wheels for carrying weapons, With remote controller for users, An infrared sensor unit for detecting an external object, Communication means for communication between robots, Memory, and It includes a drive unit for moving back and forth and left and right and driving the robot arm, And a control unit incorporating a control program. 30. A method for controlling the robotic device of claim 29, Storing information input through the infrared sensor unit in a memory; Driving the driving unit according to the stored information; Hitting another robot, Transmitting and / or receiving information regarding the hit; and And storing the information in a memory to reflect the information in subsequent control. 30. A method for controlling the robotic device of claim 29, Driving the driving unit according to the information input from the remote controller, Hitting another robot according to the information input from the remote controller, Transmitting and / or receiving information regarding the hit; and And storing the information in a memory to reflect the information in subsequent control. 30. A method for controlling the robotic device of claim 29, Driving the driving unit according to the information input from the remote controller, Repeatedly performing the driving; The control program forming a learning table by the iterative driving, and And controlling, by the control program, to form certain habit information from the learning table.