PT105490A - ROBOTIZED TABLE FOR FOOTBALL GAMES OR MATRACKERS - Google Patents

Abstract

The present invention relates to a table (1) for a robotic matrach game. IT HAS APPLICATION IN THE AREA OF INDUSTRIAL AUTOMATION, THE GAME WHICH MAY BE COMPLETELY AUTONOMOUS IN ITS OPERATION, INCLUDING THE ABILITY TO RESET AUTOMATICALLY. In one preferred embodiment, the table has a play surface (5), a set of one or more rotating shafts (2), where several players are fixed (3), sensors for ball detection and for positioning of the players, CONTROL, BEACONS (4), AND BALL MECHANISMS (6, 7) ALLOWING HUMAN-MACHINE INTERACTION THROUGH VARIOUS COMMON INTERFACES. In this way, the present invention is useful because it allows for different configurations: the use by people with higher limbs with reduced mobility; THE POSSIBILITY OF USING THE MACHINE AS AN ADVERSARY; PLAYERS PRESENCE OR REMOTE (GAME ON NETWORK); AND STILL A FULLY AUTONOMOUS CONFIGURATION (A COMPUTER PROGRAM AGAINST OTHERS); ALLOWING A HIGHLY REALISTIC JOGABILITY.

Description

DESCRIPTION " ROBOTIZED TABLE FOR FOOTBALL GAMES OR MATRACKERS "

TECHNICAL FIELD OF THE INVENTION The present invention relates to a robotic table football game with industrial automation technology. The table is completely autonomous in its operation, including the ability to restart automatically.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a solution for the automation / robotization of a football table or table football while maintaining a high and realistic gameplay.

In addition to the typical operating setup of a non-robotic table football game - that is, four players: two against two -, the robotic table football game has the following advantages, in which the players configuration concerns: • The same two or four human players as in a non-robotic table football game, but using a gaming console, digital, analog or gyroscopic / accelerometric console-type interface. This type of interface, unlike a non-robotic table football game, allows this invention to still be used by people with upper limbs with reduced mobility; • One or two human players against the machine, since it is an autonomous game in its operation; 1 • One or two local human players against one or two remote human players, or one or two remote human players against one or two remote human players, given the ability to network, materialized in the use of Ethernet technology; • A computer program against another computer program, that is, a game without any player / human interaction. This configuration can be used by individual or collective programmers such as conducting an inter-class or inter-school championship, winning the team with the most efficient algorithm / program. The present invention describes a robotized table for a football game comprising one or more linear axes (2) where one or more players (3) are fixed, said axes having axial and rotary linear movement, and also comprising: vertically movable base (5) and damped for play area; (3) with a substantially flat front lower surface (11) and a substantially flat front lower surface (12); actuator module for displacement of players (3); actuator module for backtacking players (3).

A preferred embodiment has the feature that said base (5) is also elastically coupled to said table (1).

A preferred embodiment has the feature of additionally comprising air nozzles (7) oriented towards the playing area. 2

A preferred embodiment has the feature that said front lower surface (12) of the players (3) is smaller than said front lower surface (11).

A preferred embodiment has the feature of comprising one or more beacons (4) for receiving a ball, cushioned so as to absorb the impact of said ball.

A preferred embodiment has the feature of additionally comprising a ball position sensing module.

A preferred embodiment has the feature that the ball position sensing module comprises photoemissing pairs and photoreceptors.

A preferred embodiment has the feature of additionally comprising a module sensing the position of the players (3).

A preferred embodiment has the feature that the player position sensor module (3) comprises magnetic switches.

A preferred embodiment has the feature that the player displacement module (3) and / or the actuator module for backtacking the players (3) comprises pneumatic actuators.

A preferred embodiment has the feature that the player shift module (3) and / or the actuator module for the players' backtack (3) comprises speed regulation, which is analog relative or absolute analog.

A preferred embodiment further comprises a mechanism for automatically inserting the ball (6) into said base (5).

A preferred embodiment has the feature that the automatic ball insertion mechanism (6) in said base (5) comprises one or more conduits and a pneumatic actuator.

A preferred embodiment further comprises a data processor module.

A preferred embodiment has the feature of comprising a clearance between a lateral recess in the walls of the table and its lower support, for vertical movement of said base (5).

A preferred embodiment has the feature that said base (5) comprises a protrusion (13) on its upper surface in the areas adjacent to or at its ends, so that the ball does not remain static in these areas.

A preferred embodiment has the feature that said protrusion (13) is a sloped ramp in the areas adjacent the ends of said base (5).

A preferred embodiment has the feature that said base (5) is made of aluminum with 4 to 6 mm thickness. 4

A preferred embodiment has the feature that said base (5) is in aluminum with 4.5 to 5.5 mm thickness.

A preferred embodiment has the feature of additionally comprising a protection and viewing element (9) of the playing area.

A preferred embodiment further comprises a support module (8) of said table.

A preferred embodiment has the feature that said air nozzles (7) are positioned horizontally, symmetrically to the two playing fields in their arrangement and number.

A preferred embodiment has the feature that the protection and viewing element 9 comprises an acrylic plate measuring from 600 to 800 mm wide and 1000 to 1400 mm long, 8 to 12 mm thick.

A preferred embodiment has the feature that the beacons of the game (4) are in aluminum from 1 to 3 mm thick, with dimensions from 150 to 300 mm wide, 40 to 100 mm high and 40 to 80 mm deep, rubber cushions.

BACKGROUND OF THE INVENTION GB205991 discloses that which is considered the first patent of table football as we know it today. When compared with the present invention, it becomes apparent that it is a fully manual table football game: there is no automatism at all and therefore no autonomous play in its operation, including the ability to automatically restart . US Pat. No. 4,148,484 describes a table football game with very unrealistic playability when compared to the present invention: on the one hand, it has the substantial drawback of not ensuring that the ball is permanently in motion, namely at the four corners of the table, which results in a need for human intervention in order to get the ball within reach of the players' players; on the other hand, when a goal occurs it becomes again evident the need for human intervention to put the ball in play from the midfield. US 5112047 discloses a table football machine to be played exclusively by four human players without physical limb limitation which, as compared with the present invention, has the drawback of not allowing other configurations, namely the use by persons with upper limbs with reduced mobility and the possibility of using the machine as an opponent. Document US6623004 discloses a table football table with four rounded corners and a base without any locking mechanism which, when compared to the present invention, has the important disadvantage that in some situations it is still possible for the ball to stop at the edges of the table and force a human intervention if the ball does not have sufficient kinetic energy to circumvent the corner and be within the reach of the players' players. With regard to the base of the table, said invention has the drawback that, having no release mechanism, it is possible for the player to temporarily block the ball by pushing it against the table, preventing a highly realistic gameplay.

SUMMARY OF THE INVENTION The present invention relates to a robotic table football game table. It has application in the area of industrial automation, and the game can be completely autonomous in its operation, including the ability to restart automatically.

Description of problem (s)

As is apparent from the foregoing description of the invention, the patented tabletop game tables do not solve a number of problems, having limitations at various levels, described in more detail in the following paragraphs.

One of the problems is the absence of certain automatisms that promote a relatively autonomous game in its operation, including the ability to restart automatically. More specifically, a common problem is that the ball stops, namely at the four corners of the table, and it is not possible for the game to continue without human intervention to move the ball to the nearest player, or possibly from the middle field. 7

Another aspect related to an automated table football game with realistic gameplay has to do with the computerized determination of the location of the ball. This may contribute to the invention allowing for various configurations of human players: the use by persons with upper limbs with reduced mobility (through several common interfaces); the possibility of using the machine as an opponent; presence or remote players (network play); and a fully autonomous configuration (one computer program against another).

On the other hand, a problem associated with robotic tables for table football is to obtain realistic gameplay identical to that of a non-robotic table football table. In this sense, other problems common to table football tables, which detract from said gameplay, include: - Situation in which, after the ball enters the goal, it leaves again, usually generating disagreement among the human players about whether such a situation is considered a goal or not ; - Ball shots in which, in punctual situations due to their distance from the vertical axis of the puppet, the rotation of the ball causes a pressure from top to bottom, " the ball; - The production of a typically pleasant sound when the ball is popped on the table. - Positioning of the players players so that situations of direct goal from one goal to another are likely to be avoided. In general, a table football table that allows the positioning of midfield players and defense that prevents the direct goal from the opponent's defense is considered more realistic and therefore more interesting to play.

Description of the Solution Developed The present invention is characterized in that it comprises several modules:

A support module (8) including an aluminum tray (5) with a thickness of between 4 and 6 mm, with a vertical movement flexibility (14;) through a gap between the lateral recess in the table walls and the lower support, which has the advantage of producing a sound very similar to a table, said traditional, non-robotized and still avoiding said " stagnation " of the ball between the players and the table.

A module of moving elements (3) in the form of a player, the number of which is preferably comprised between 3 and 11, and the base of which has a substantially flat planar aspect on the face facing forward ". The positioning of the players is such that it guarantees the non-occurrence of direct lines of goal between the defenses of a team and the opposing goal.

A player actuator block module (3) coupled to the supporting axes of the respective players (2) allows the digital movement with speed regulation, relative analog and absolute analog, in both the rotation and the translation of the players. 9 Analog regulation allows a much more realistic and close control than would be possible at a traditional game table. The speed regulation allows the adjustment, flne-tuning, of the game conditions for better " gameplay " and realism. The relative control reflects in the movement of the players the relative position of the controls by the user, while the absolute control makes mirror the position of the user controls in the position of the player elements.

Two modules of sensors / detectors: one of position of the ball and the other of position of the players elements and also an actuator module for displacement of the players elements make the table robotized, allowing the game to be completely autonomous in its operation. The ball position photodetector elements are preferably arranged in a matrix: parallel to the rods (2) of the play elements (3), making a total of 17, and at the ends of the table, a total of 9. There is an additional sensor in each (4) to detect a goal and another to position the ball in the field, allowing to restart the game automatically through a conduit to replace the ball in play (6).

Two independent control units, each representing your team, sharing the same sensor information, optionally through a control unit that can be one of the two above or a third, allows the automation of the equipment.

As there is, in a preferred embodiment, a compressed air reservoir which allows feeding the linear axes (rods where the player dolls are fixed), this invention has the advantage of being able to play through a gaming console control type interface, allowing this feature is the use by people with upper limbs with reduced mobility. The use of compressed air movement also allows interesting aspects of approach to the game reality, but it is possible to provide other types of mechanisms such as servomotors, stepper motors or electromagnets.

On the other hand, the use of computer communications technology, namely Ethernet, allows one or both teams of human players not to physically be at the site of the invention. A camcorder, in a preferred embodiment, sends the game image to a remote computer with which the team consisting of one or two human players is located.

From the foregoing, the present invention presents a great diversity of configurations of human players, usually between one and four. Since it is a completely autonomous device, with no need therefore any human intervention, it is possible to perform a game between two computer programs. However, the most common configuration will be with one or more human players.

Description of Figures

For an easier understanding of the invention, the figures are attached, which represent preferred embodiments of the invention which, however, are not intended to limit the object of the present invention.

Figure 1: Schematic representation of the game table where: 11 (1) represents the game table, (2) represents a player support axis, (3) represents a player, (4) represents a goal, (5) represents the game table base 6 represents a conduit for insertion of the ball into play and 7 represents an air intake directed to the game table.

Figure 2: Schematic representation of the game table (1) including its support where: (8) represents a suitable support.

Figure 3: Schematic representation of the game table including ball exit guard (9) where: (9) represents the representation of said guard.

Figure 4: Schematic representation of the arrangement of the game elements on said game table.

Figure 5: Schematic representation of a player viewed from the front where: (10) represents the player's head, (11) represents a flat front surface, and (12) represents a flat back surface.

Figure 6: Schematic representation of a player from behind.

Figure 7: Schematic representation of a set of players (3) on the same axis (2) of the game table (1).

Figure 8: Schematic representation of a detail of a corner of the game table. 12

Figure 9: Schematic representation of the mechanism for replacing the ball on the game table.

Figure 10: Schematic representation of a detail of a corner of the game table where: (13) represents a protrusion at the base of the game table, (14) represents an interval of freedom of vertical movement of said base.

Figure 11: Schematic representation of a longitudinal section of the game table.

Figure 12: Schematic representation of a game table plan.

DETAILED DESCRIPTION OF THE INVENTION The present invention is characterized in that it comprises several modules.

A support module consisting of a frame with approximate preferred measures of 650 mm in width, 1190 mm in length and 140 mm in height. The base is preferably in metal, and more preferably in aluminum with 4 to 6 mm in thickness, preferably in the range of 4.5 to 5.5 mm, preferably damped with a spring system and machined so as to have a slight inclination at the four corners so that the ball does not stop at these sites. The damping of the tray can also be obtained by the simple friction of its vertical movement in the recess of its recess, using springs to return to its initial vertical position. This clearance is typically 1 to 10 mm. 13

A compressed air injection module to force the ball to move, in case of sporadic rest, namely in the four corners of the table. The air is injected through small holes located by the play area or preferably only at its lateral limits.

A module of moving elements, preferably machined aluminum, in the form of a player with the lower (base) section (horizontal) in semicircle or oval, the front and back parts being laminated according to the radius of the game ball. These substantially flat, front and back portions should have a generally normal size of one to two beams of the ball in play. The size of the top (head) of the element is preferably suitable for integration of radio-frequency Identification (RFID) technology for ball detection. The positioning of the players is such that it guarantees the non-occurrence of direct lines of goal from goal to goal.

A module for protection and safe visualization of the course of the game, which preferably consists of an acrylic plate measuring approximately 705 mm wide and 1245 mm long, 10 mm thick with ± 1 mm.

A module representative of the beacons of the game, preferably in aluminum of 2 mm, preferably with the approximate dimensions of 210 mm in width, 70 mm in height and 60 mm in depth, preferably damped in rubber or another element that absorbs the impact of the ball so that it does not return to the field after entering. 14

A ball sensor / ball position detectors module, preferably Omron Photoelectric Switch E3Z-T81-L / E3Z-T81-D, respectively photoemitter and photoreceptor, with signal amplification with detection distance up to 15m and response time less than lms.

A module of sensor elements / position detectors of the player preferably of the type magnetic switch Festo Reed Switch VN13 that allows to position the players within its range of action in the horizontal axis.

An actuator module for displacement of the player elements, preferably of the pneumatic type Festo DGPL-25, with the length suitable for the number of players per axis and pressure up to 10bar for player movement and realistic gameplay.

A pneumatic SMC 85N25-50 pneumatic tip actuator module with the appropriate length for the attack and defense position of the players.

A ball replacement module comprising a conduit system for capturing the ball after entry into one of the beacons and returning it to the playing field, and a tire preferably of the Festo DSW-16 type of the length suitable for positioning the ball to launch.

An air reservoir module preferably in the form of a cylinder, sealed, preferably with flow and pressure regulation and having a capacity greater than 201, in order to maintain stable air levels. 15

A module preferably comprising programmable controllers of the Omron type with CPU CJ1M with various communication protocols, characterized in that it comprises preferably fast input units type CJ1W-IDP01, fast output units type CJ1W -OD212 and control units for servo actuators.

Additionally, the following claims define preferred embodiments of the present invention.

Lisbon, January 18, 2011 16

Claims (23)

Robotic table (1) for a football match comprising one or more linear axes (2) where one or more players (3) are fixed, said axes having axial and rotary linear movement, comprising: a. actuator module for displacement of the sensors (3); B. actuator module for capturing players (3); characterized in that it comprises: c. vertically movable base (5) and damped for play area; d. (3) with a substantially flat front lower surface (11) and a substantially flat front lower surface (12). Robotic table (1) for a football match according to the preceding claim, characterized in that said base (5) is also elastically coupled to said table (D). Robotic table (1) for a football game according to the preceding claims, characterized in that it additionally comprises air nozzles (7) oriented towards the playing area. Robotized table for a football game according to the preceding claims, characterized in that said front lower surface (12) of the players (3) is smaller than said front lower surface (11). 1 Robotic table (1) for a football match according to the preceding claims, characterized in that it further comprises one or more beacons (4) for receiving a ball, damped in order to absorb the impact of said ball. Robotic table (1) for a football match according to the preceding claims, characterized in that it additionally comprises a ball position sensing module. Robotic table (1) for soccer game according to the preceding claim, characterized in that the ball position sensing module comprises photo-emitter pairs and photoreceptors. Robotic table (1) for a football match according to the previous claims, characterized in that it additionally comprises a module sensing the position of the players (3). Robotic table (1) for football match according to the preceding claim, characterized in that the player position sensing module (3) comprises magnetic switches. Robotic table (1) for a football match according to the previous claims, characterized in that the player displacement module (3) and / or the actuator module for capturing players (3) comprises pneumatic actuators. Robotic table (1) for a football match according to the previous claims, characterized in that the player's shifting module (3) and / or the actuator module for shots of the players (3) comprise speed control, which is analog or absolute analog. Robotic table (1) for a football match according to the preceding claims, characterized in that it further comprises an automatic ball reset mechanism (6) in said base (5). Robotic table (1) for a football match according to the preceding claim, characterized in that the automatic ball reset mechanism (6) in said base (5) comprises one or more ducts and a pneumatic actuator. A soccer game table (1) according to the previous claims, characterized in that it further comprises a data processing module. A soccer robotic table (1) according to the preceding claims, characterized in that it comprises a clearance between a lateral recess in the walls of the table and its lower support, for vertical movement of said base (5). A soccer robotic table (1) according to the preceding claims, characterized in that said base (5) comprises a protuberance (13) on its upper surface in the areas adjacent to or at its ends, so that the do not remain static in these areas. 3 Robotic table (1) for a football match according to the preceding claim, characterized in that said protuberance (13) is a sloped ramp in the areas adjacent the ends of said base (5). Robotic table (1) for a football match according to the preceding claims, characterized in that said base (5) is made of aluminum with a thickness of 4 to 6 mm. Robotic table (1) for a football match according to the preceding claims, characterized in that said base (5) is made of aluminum with 4.5 to 5.5 mm thickness. Robotic table (1) for a football match according to the preceding claims, characterized in that it further comprises a protection and display element (9) for the playing area. A soccer game table (1) according to the preceding claims, characterized in that it further comprises a support module (8) of said table. Robotic table (1) for a football match according to claims 3-21, characterized in that said air injectors (7) are positioned horizontally, symmetrically to the two playing fields in their arrangement and number. Robotic table (1) for football match according to claims 20-22, characterized in that a. the protection and viewing element (9) comprises an acrylic plate having the dimensions 4 of 600 to 800 mm wide and 1000 to 1400 mm in length, 8 to 12 mm thick; B. the beacons of the game (4) are in aluminum from 1 to 3 mm thick, with dimensions 150 to 300 mm wide, 40 to 100 mm high and 40 to 80 mm deep, rubber dampened. Lisbon, December 14, 2012 5