KR20100100120A

KR20100100120A - Gaming method using multi-leged walking robot

Info

Publication number: KR20100100120A
Application number: KR1020090018820A
Authority: KR
Inventors: 이승철
Original assignee: 이승철
Priority date: 2009-03-05
Filing date: 2009-03-05
Publication date: 2010-09-15

Abstract

PURPOSE: A method for a game using a walking robot having multiple legs is provided, which can improve learning effect about a robot by directly feeling various kinds of properties of a walking robot. CONSTITUTION: A method for a game using a walking robot having multiple legs comprises: a first step(S100) of establishing a walking robot having multiple legs on a start line; a second step(S200) of proceeding a game according to the game rule; a third step(S300) of producing a game progress time of the walking robot; and a fourth step(S400) of computing rank while displaying game progress time.

Description

Gaming Method using Multi-leged Walking Robot

The present invention relates to a game method using a multiped walking robot, and more particularly, to a game method using a multiped walking robot that can use a walking robot having a walking function in a line tracer game.

In general, a line tracer (Line Tracer) is formed by forming a line according to a predetermined form in the stadium, and let the robot detect this line (driving line) by the detection means to move along the line to the desired position.

Such a line tracer is widely used for the development of an autonomous vehicle (AGV) for transporting goods unmannedly by an industry, a toy, or a brain development for education. In particular, in recent years, the line tracer has been developed and spread in many industrial or research use, such as factories as well as schools.

However, the conventional line tracer has the following problems.

1) Since the robot used in the conventional line tracer is generally using wheels, it is possible to obtain satisfaction only by the fast running speed.

2) And line tracers using wheels have limitations in installing obstacles.

The present invention has been made in view of this point, and more particularly, the object of the present invention is to provide a game method using a multi-pedestrian robot that enables the robot line tracer as a multi-legged robot.

In addition, the present invention can be a line tracer game with a walking robot of 2 groups, a walking robot of 4 groups, a walking robot of 6 groups and a walking robot of 8 groups, so that various types of walking robots have various characteristics for the game. The purpose of the present invention is to provide a game method using a multipedal walking robot that can improve the learning effect on the robot by being able to see and feel the visual effects directly.

In addition, the present invention is because the line tracer is made through a multi-pedestrian robot can be installed in a variety of obstacles to increase the interest in the game to increase the interest in the game as well as the game method using a multi-pedestrian robot that can be used for brain development. The purpose is to provide.

Game method using a multipedal walking robot according to the present invention for achieving this object,

A first step of installing, on the starting line of the line, a multi-foot walking robot capable of controlling according to a change of direction by separate driving of the right foot and the left foot;

A second step in which the multi-pedestrian robot performs a game according to a predetermined game method along the line with the measurement of the walking time;

A third step of calculating a game running time of the multipedal walking robot; And

And a fourth step of calculating a ranking with the display of the game progress time.

In particular, the multipedal walking robot is characterized in that any one of 2, 4, 6 and 8 group walking robot. In addition, it is possible to use more than one multipedal robot. Such a multipedal walking robot includes first and second driving means for driving the right foot and the left foot, respectively; Detecting means for detecting a line; And a controller for controlling the right foot part and the left foot part, respectively, according to the detection result of the detection means. The first and second driving means may each include a DC motor and a first reducer and a second reducer configured to decelerate the output of the DC motor and transmit the decelerated output to the right or left foot portion.

In addition, the line is characterized in that the on-line, off-road or mixed line of on-road and off-road. In addition, the line is characterized in that the step is further provided with a stepped obstacle obstacle stepped. In addition, the line may further comprise at least one of an uphill road, an uneven road, a sand road, and a road surface wet with water. And, the line is characterized in that the straight, circular, irregular closed curve or checkered line.

According to the present invention has the following effects.

1) By enabling the robot line tracer game using multi-legged robot, it is possible to induce a different interest from the general robot line tracer game that makes the wheel feel the driving feeling.

2) Since multi-group robots can adopt 2, 4, 6, or 8-group robots, the characteristics of each multi-group robot can be visually confirmed through the robot line tracer, thereby learning the brain as well as the game. The effect can be further improved.

3) When playing games using multi-legged robots, especially 8-legged multi-legged robots, it is not only possible to secure stability for walking but also to install various types of obstacles such as stairway obstacles and hills. It can add more interest.

Hereinafter, the game method of the present invention will be described in detail with reference to the accompanying drawings.

An example of using a game kit to explain a game method according to the present invention will be described. The game kit includes a line 200 formed in a predetermined shape and a multipedal walking robot 100 for walking on the line 200.

( Game Kit Basic configuration)

1 is a plan view schematically showing the configuration of a game kit for explaining a game method according to the present invention.

The line 200 may be used as it is typically used for the line tracer. That is, the line 200 may use an on-road type for playing a driving game in a flat state or an off-road type line having an artificial obstacle. In addition, the line 200 having a combination of the on-load type and the off-load type may be used.

In addition, since the line 200 uses the multipedal walking robot 100 in the present invention, it is possible to install various types of obstacles. That is, since the walkable multipedal robot 100 falls from the ground during walking, more than one clan may be installed on the line 200 with a stepped stepped obstacle 210 formed at a height corresponding thereto.

In addition, the line 200 may be installed at any position on the uphill road 220, the uneven road 230, the sand road 240, and the wet road surface 250, which may be generally applied to the line racer. have. Of course, it is also possible to install all of these obstacles, it is also possible to selectively select and install among them.

On the other hand, in the preferred embodiment according to the present invention, the line 200 can be manufactured in various forms. That is, the line 200 may be manufactured in a straight line, or may be manufactured in various forms according to the side hosting the competition, such as a circular line, an irregular closed curved line, and a checkerboard line. In FIG. 1, the line 200 shows an example of the inverted closed curve.

The multipedal walking robot 100 may use any walking robot that is typically developed to be able to walk. For example, as the multiped walking robot 100 according to the present invention, a biped walking robot, a quadruped walking robot, a six-foot walking robot, or an eight-leg walking robot may be used. In particular, since the multi-pedestrian robot 100 moves along the shape of the line 200, the multi-pedestrian robot 100 is configured to be able to change directions like a curved portion.

In order to enable the change of direction as described above, the multipedal walking robot 100 according to the present invention includes a detection means 130 for detecting the line 200, driving means for operating the foot according to the change of direction, and detection. It further comprises a control means for controlling the drive means based on the received signal.

Hereinafter, referring to the drawings, a configuration of these components will be exemplarily described by taking the biped walking robot 100a and the eighth walking robot 100b as an example.

Figure 2a is a front view schematically showing the configuration to explain the walking structure of the biped walking robot (100a) of the multi-pedestrian walking robot according to the present invention.

The biped walking robot 100a is provided with a right foot 110a and a left foot 110b on the left and right sides of the main body 150, respectively. In particular, the right foot 110a and the left foot 110b is hinged and fixed to the middle portion of the length by the rotation shaft 123a, 123b of the crankshaft system in order to enable running during rotation, respectively. In addition, the right foot 110a and the left foot 110b are installed to be rotatable at a link mechanism 160 provided on the same hinge axis. Each of the rotation shafts 123a and 123b is rotated by the first and second driving means 120a and 120b, respectively.

The first and second driving means (120a, 120b) are the DC motor (121a, 121b), respectively, the first reduction gear (122a) and the second to reduce the output from the DC motor (121a, 121b) Reducer 122b is provided. In addition, the above-described rotation shafts 123a and 123b are respectively connected to the first reducer 122a and the second reducer 122b.

In addition, the biped walking robot (100a) is provided with a fencing means 130 for identifying the line 200 in the main body 150. As the detection unit 130, an infrared light emitting diode may be used to project infrared rays to the ground and to read the line 200 and the surroundings through the reflection amount. The detection means 130 is preferably installed to be located parallel to the ground in the lower front of the main body 150. In addition, the detector 130 continuously transmits a detection signal to the controller 140 at a predetermined time unit while moving along the line 200.

Finally, the biped robot 100a includes a controller 140. The controller 140 controls the DC motors 121a and 121b according to the signal detected from the detection means 130. That is, when turning of the biped robot 100a is required, the controller 140 drives any one DC motor 121a on the outside of the turning direction and stops or stops the other DC motor 121b. It is controlled to be driven by.

Figure 2b is a front view schematically showing the configuration for explaining the walking structure of the eight-legged walking robot 100b among the multi-pedestrian walking robot according to the present invention.

Here, the eight-foot walking robot (100b) is configured in the same configuration as the two-foot walking robot (100a), only the difference will be described. That is, the eight-legged walking robot 100b is configured to include the left and right foot portion, the first and second driving means 120a and 120b, the detection means 130 and the controller 140 as described above. Here, the difference between the eight-legged walking robot (100b) and the two-legged walking robot (100a) is in the shape of the left and right foot portion and the rotation shaft (123a, 123b).

That is, the right foot portion and the left foot portion of the pedestal walking robot (100b) is composed of a pair of foot (111a, 111b), respectively. In addition, for deceleration, the rotation shafts 123a and 123b connected to the first reducer 122a and the second reducer 122b have a crankshaft shape. Each foot 111a and 111b is coupled to a crank pin portion of each rotation shaft 123a and 123b.

The eight-legged walking robot (100b) made in this way, as the four rotary shafts (123a, 123b) composed of two each on both sides of the main body 150 rotates so that each pair of feet (111a, 111b) each paired independently do.

Above, the configuration of the first and second driving means 120a and 120b, the detecting means 130, and the controller 140 will be described using the biped walking robot 100a and the eighth walking robot 100b as an example. However, since the configuration and operation of the multi-pedestrian robot 100 includes all of the right foot 110a and the left foot 110b, the same can be applied to these walking robots in the same way. Those skilled in the art will readily appreciate.

(How to play)

3 is a flowchart for explaining a game method according to the present invention. Here, the game will be described for the game method using a game kit including a multi-pedestrian robot 100 and the line 200 for the line tracer game. The game method according to the present invention is largely divided into four steps.

The first step (S100) is a step of installing the multipedal walking robot 100 on the starting line 260 of the line 200. In this case, the multipedal walking robot 100 may separately drive the right foot 110a and the left foot 110b as described above, and the multipedal walking robot 100 through a signal detected by the line 200 by the detecting unit 130. It will be used to have a controller 140 to control the redirection of (100).

In addition, the line 200 is to install a variety of issues. For example, in FIG. 1, a stepped obstacle 210, an uphill road 220, an uneven road 230, a sand road 240, and a wet road surface 250 are stepped on an irregular closed curve line 200. ) Shows an example of installation. These obstacles may be selectively configured according to the type of multipedal walking robot 100.

The second step (S200) is a step of proceeding with the game. The game progress is to allow the multipedal walking robot 100 to walk along the line 200, and may proceed in various forms. For example, one multiped walking robot 100 completes the line 200, or one multiped walking robot 100 walks after a predetermined time while walking, so that the other multiped walking robot 100 walks. The game will be played according to a predetermined game method such as catching up with each other.

The third step (S300) is a step of calculating the race progress time. The game progress time at this time depends on the method of the second step (S200) described above. That is, the game progress time may be a time taken for the multipedal walking robot 100 to complete the line 200. In addition, when using more than one multipedal walking robot 100, it may be time to catch up with the preceding multipedal walking robot 100.

The fourth step (S400) is a step of calculating the ranking with the display of the game progress time. The game progress time is to notify the time calculated in the third step S300 to ensure fairness, and is displayed through a display. Of course, such a display may be provided in the multipedal walking robot 100 for time display, or may be provided with a display that can be displayed separately.

The ranking is determined according to a predetermined rule according to the game method. For example, in order to complete the line 200, the case where the completion time is shortest is given priority. And, if you catch up with other multi-pedestrian robot 100 is to determine the ranking through the catching time.

The game method using the multipedal walking robot proceeding as described above may use one or more multipedal walking robots 100 according to the game progression method. And, unlike a robot game using wheels, it is possible to broaden the understanding of scientific and mathematical concepts through visual education on walking robots along with the interest in walking.

Although the present invention has been described with reference to one embodiment shown in the drawings, this is merely exemplary, and those skilled in the art will understand that various modifications and equivalent other embodiments are possible therefrom. Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

Figure 2a is a front view schematically showing the configuration for explaining the walking structure of the biped walking robot among the multiped walking robot according to the present invention.

Figure 2b is a front view schematically showing the configuration for explaining the walking structure of the eight-legged walking robot among multi-pedestrian walking robot according to the present invention.

3 is a flowchart for explaining a game method according to the present invention.

100: multiped robot 100a: biped robot

100b: 8-foot walking robot 110a: right foot

110b: left foot 120a, 120b: first and second driving means

121a, 121b: DC motor 122a, 122b: First and second reduction gear

123a, 123b: rotation axis 130: detection means

140: controller 150: main body

160: link mechanism

Claims

A first step (S100) of installing a multi-foot walking robot 100 capable of controlling according to a change of direction by separately driving the right foot 110a and the left foot 110b on the starting line 260 of the line 200;

A second step (S200) in which the multi-pedestrian robot 100 proceeds a game according to a game method determined along the line 200 together with the measurement of the walking time;

A third step (S300) of calculating a game running time of the multipedal walking robot 100; And

And a fourth step (S400) for calculating a ranking together with the display of the game progress time.

The method of claim 1,

The multipedal walking robot 100 is a game method using a multipedal walking robot, characterized in that any one of 2, 4, 6 and 8 group walking robot.

The method according to claim 1 or 2,

The multipedal robot 100 is a game method using a multipedal robot, characterized in that more than one.

The method of claim 3, wherein

The multipedal walking robot 100 includes first and second driving means (120a, 120b) for driving the right foot 110a and the left foot 110b, respectively;

Detection means (130) for detecting the line (200); And

And a controller (140) for controlling the right foot (110a) and the left foot (110b), respectively, according to the detection result of the detection means (130).

The method of claim 4, wherein

The first and second driving means 120a and 120b decelerate the outputs of the DC motors 121a and 121b and the DC motors 121a and 121b, respectively, so that the corresponding right foot part 110a or the left foot part 110b is reduced. The first method (122a) and the second reducer (122b) for transmitting to the game method using a multi-pedestrian robot, characterized in that made.

The method of claim 1,

The line (200) is a game method using a multipedal robot, characterized in that the on-road, off-road or a mixed line of on-road and off-road.

7. The method according to claim 1 or 6,

The line 200 is a game method using a multi-pedestrian robot, characterized in that the stepped stepped obstacle 210 is further provided in a stair form.

The method of claim 7, wherein

The line 200 is a game using a multi-pedestrian robot, characterized in that it further comprises at least one of the uphill road 220, uneven road 230, sand road 240, and the wet road surface 250. Way.

The method of claim 8,

The line 200 is a game method using a multipedal robot, characterized in that the straight, circular, irregular closed curve or checkerboard line.