WO2017166310A1 - Lieu de compétition intelligent, robot mobile, système de jeu et procédé de commande - Google Patents

Lieu de compétition intelligent, robot mobile, système de jeu et procédé de commande Download PDF

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Publication number
WO2017166310A1
WO2017166310A1 PCT/CN2016/078370 CN2016078370W WO2017166310A1 WO 2017166310 A1 WO2017166310 A1 WO 2017166310A1 CN 2016078370 W CN2016078370 W CN 2016078370W WO 2017166310 A1 WO2017166310 A1 WO 2017166310A1
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WO
WIPO (PCT)
Prior art keywords
information
mobile robot
game
read head
venue
Prior art date
Application number
PCT/CN2016/078370
Other languages
English (en)
Chinese (zh)
Inventor
贝世猛
张华森
韩家斌
苗向鹏
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2016/078370 priority Critical patent/WO2017166310A1/fr
Priority to CN201680002464.3A priority patent/CN106714917B/zh
Publication of WO2017166310A1 publication Critical patent/WO2017166310A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F7/00—Indoor games using small moving playing bodies, e.g. balls, discs or blocks
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F7/00—Indoor games using small moving playing bodies, e.g. balls, discs or blocks
    • A63F7/22—Accessories; Details
    • A63F7/30—Details of the playing surface, e.g. obstacles; Goal posts; Targets; Scoring or pocketing devices; Playing-body-actuated sensors, e.g. switches; Tilt indicators; Means for detecting misuse or errors
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F7/00—Indoor games using small moving playing bodies, e.g. balls, discs or blocks
    • A63F7/22—Accessories; Details
    • A63F7/36—Constructional details not covered by groups A63F7/24 - A63F7/34, i.e. constructional details of rolling boards, rims or play tables, e.g. frame, game boards, guide tracks
    • A63F7/40—Balls or other moving playing bodies, e.g. pinballs or discs used instead of balls
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H11/00—Self-movable toy figures
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
    • G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisions for transferring data to distant stations, e.g. from a sensing device
    • G06K17/0029—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisions for transferring data to distant stations, e.g. from a sensing device the arrangement being specially adapted for wireless interrogation of grouped or bundled articles tagged with wireless record carriers
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B5/00—Near-field transmission systems, e.g. inductive or capacitive transmission systems
    • H04B5/70—Near-field transmission systems, e.g. inductive or capacitive transmission systems specially adapted for specific purposes
    • H04B5/77—Near-field transmission systems, e.g. inductive or capacitive transmission systems specially adapted for specific purposes for interrogation
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F2250/00—Miscellaneous game characteristics
    • A63F2250/52—Miscellaneous game characteristics with a remote control
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Definitions

  • the invention relates to a mobile robot competition technology, in particular to an intelligent competition venue, a mobile robot, a competition system and a control method.
  • the mobile robot integrates technologies such as computer, automation, mechatronics and artificial intelligence. Its core is artificial intelligence technology. The purpose is to make the mobile robot possess human characteristics such as walking, sense, thinking and judgment. In order to promote the research and development of mobile robots, various mobile robots have been organized to compete against the competition. How to improve the intelligence and interest of mobile robots in the confrontation competition has become an urgent problem to be solved.
  • aspects of the present invention provide an intelligent playing field, a mobile robot, a game system, and a control method for improving the intelligence and interest of a mobile robot in combating a game.
  • a first aspect of the present invention provides an intelligent playing field, comprising:
  • At least one field-mounted read head is disposed on the platform, and the mobile robot on the platform performs information interaction with the field-mounted read head by short-range wireless communication.
  • a second aspect of the present invention provides a mobile robot comprising:
  • the on-board read head is disposed on the mobile robot body, and the on-board read head is used for information interaction with the field-mounted read head in the intelligent game venue by using short-range wireless communication.
  • a third aspect of the present invention provides a mobile robot game system, including:
  • An intelligent competition venue comprising a platform and at least one on-board read head, the field-mounted read head being disposed on a platform, the mobile robot on the platform adopting short-range wireless communication Means interacting with the field-mounted read head;
  • a mobile robot comprising a mobile robot body and an onboard read head, the onboard read head being disposed on the mobile robot body, the onboard read head being used for a field-mounted read head in an intelligent playing field Information exchange is performed by short-range wireless communication.
  • a fourth aspect of the present invention provides a mobile robot control method, including:
  • Information interaction with the on-board read head of the mobile robot is performed by short-range wireless communication.
  • a fifth aspect of the present invention provides a mobile robot control method, including:
  • the short-range wireless communication method is used to exchange information with the field-mounted read head in the intelligent game venue.
  • a sixth aspect of the present invention provides an intelligent competition venue, including:
  • a first triggering module configured to trigger a mobile robot to start a game by using short-range wireless communication
  • the first communication module is configured to perform information interaction with the on-board read head of the mobile robot by using short-range wireless communication.
  • a seventh aspect of the present invention provides a mobile robot, including:
  • a receiving module configured to receive a trigger instruction for starting a game by using short-range wireless communication
  • An execution module configured to perform a game operation according to the triggering instruction
  • the second communication module is configured to perform information interaction with the field-mounted read head in the intelligent game venue by using short-range wireless communication.
  • the on-board read head can exchange information with the on-board read head through short-range wireless communication, thereby being able to receive the field-reading read.
  • the information in the head or the information is sent to the field, so that the mobile robot can be intelligent and interesting in the game.
  • the information is exchanged by short-distance wireless communication, the information transmission speed is fast, the anti-interference is strong, and the power consumption is low, and the situation of affecting the game due to information interaction can be avoided as much as possible.
  • FIG. 1A is a schematic structural diagram of a mobile robot game system according to an embodiment of the present invention.
  • FIG. 1B is a schematic structural diagram of an intelligent playing field according to still another embodiment of the present invention.
  • FIG. 2 is a schematic structural view of a mobile robot according to still another embodiment of the present invention.
  • 3A is a schematic structural diagram of a mobile robot game system according to another embodiment of the present invention.
  • 3B is a schematic structural diagram of a mobile robot game system according to still another embodiment of the present invention.
  • FIG. 4 is a schematic flow chart of a mobile robot control method according to another embodiment of the present invention.
  • FIG. 5 is a schematic flow chart of a mobile robot control method according to still another embodiment of the present invention.
  • FIG. 6A is a schematic structural diagram of an intelligent playing field according to still another embodiment of the present invention.
  • 6B is a schematic structural diagram of an intelligent playing field according to another embodiment of the present invention.
  • FIG. 7 is a schematic structural view of a mobile robot according to still another embodiment of the present invention.
  • Read head includes a card reader and a controller.
  • the read head is a communication system formed by encapsulating the chip of the card reader and communicating with the controller through a serial port or an Inter-Integrated Circuit (IIC). .
  • IIC Inter-Integrated Circuit
  • the read head can wirelessly communicate with other read heads, and can also read information in the electronic tag based on wireless communication.
  • Short-range wireless communication In general, short-distance wireless communication can be called as long as the communication transceiver transmits information through radio waves and the transmission distance is limited to a short range (for example, less than or equal to 200 meters). There are many short-range wireless communication methods, such as RF communication and WiFi. Communication, UWB (Ultra Wideband) communication, Bluetooth communication, and the like.
  • Electronic label It is the physical carrier of the product electronic code, which can be identified and read and written.
  • the electronic tag of the present invention is, for example, a radio frequency identification (RFID) tag or an NFC (Near Field Communication) tag.
  • RFID radio frequency identification
  • NFC Near Field Communication
  • the invention provides a mobile robot competition system.
  • the system of the present embodiment includes a smart game venue 100 and a plurality of mobile robots 200, and may further include a server 300.
  • the plurality of mobile robots 200 are divided into at least two teams for playing against each other.
  • the battle venue is located at the smart game venue 100. .
  • the intelligent game venue 100 is provided with a field-mounted read head 101, and may also be provided with an electronic tag 102 for storing game venue information.
  • the mobile robot 200 is provided with an organic load-reading head 201, which can be combined with a field-mounted read head. 101 performs information interaction based on short-range wireless communication, and can also read game venue information from the electronic tag 102 to perform corresponding operations.
  • the read head described in the present invention can receive information as well as send information.
  • This embodiment provides an intelligent playing field for a game of a mobile robot.
  • FIG. 1B it is a schematic structural diagram of an intelligent game venue according to the present embodiment.
  • the intelligent playing field includes a platform 110 and at least one on-board read head 101 disposed on the platform 110, such as in the embedded platform 110 or disposed on other objects in the platform 110, and the mobile robot 200 is performed on the platform 110.
  • Related preparations and competition operations are also possible.
  • the field-mounted read head of this embodiment may be at least one of the following devices: a radio frequency read head, a WiFi read head, a UWB (Ultra Wideband) read head, and a Bluetooth read head.
  • the platform 110 of this embodiment may be any platform for competition, and objects such as obstacles, obstructions, and the like may be disposed on the platform 110 to increase the interest of the game.
  • the platform 110 of the present embodiment may include at least one of the following areas: a preparation area 111, a start area 112, and a competition area 113, wherein the field-mounted read head 101 of the preparation area 111 is used to acquire the team information of the mobile robot that conforms to the competition rule. And the identification information, and the team information and the identification information are sent to the server, and the field-mounted read head 101 of the start area 112 is used to simultaneously send a trigger instruction for starting the game to the mobile robot in the start area 111, and the battle area 113 is on the field.
  • the read head 101 is used for interactive battle information with the mobile robot in the game.
  • the preparation area 111, the start area 112, and the competition area 113 may be sequentially connected, as shown in FIG. 1B, so that it is convenient to enter from another area to another area.
  • Preparation area 111 Before the robot game starts, it is first necessary to place the mobile robot in the preparation area 111 to check whether the mobile robot conforms to the competition rule, and the recorded items may include at least one of the following information: size, type, and size of the mobile robot.
  • the hit point may be a physical device, such as a flat panel.
  • the detecting device disposed under the hit point sends the struck force to the onboard read head 201 for reading by the airborne
  • the header 201 sends the hit information to the server, and the hit information includes the hit time, the striking strength, and the identification information of the hit point.
  • the field-mounted read head 111 can also exchange information with the mobile robot, and obtain information such as a preset size, type, weight, and installation position of the hit point directly from the memory in the mobile robot, and the information can be manually input to the mobile In the robot.
  • a weighing device may be provided in the preparation area 111 for acquiring the weight of the mobile robot and transmitting the weight to the field-mounted read head 101 of the preparation area 111.
  • a field-mounted read head 101 is disposed in the preparation area 111, and the mobile robot moves to the weighing apparatus, and the weight of the mobile robot is detected by the weighing apparatus, and the acquired weight is read to the field in the preparation area 111.
  • Head 111 sends.
  • an image recognition system 117 may be further disposed in the preparation area 111, and the image recognition system 117 is configured to acquire specification information of the mobile robot, and send the specification information to the field-mounted read head, the specification information including at least one of the following information.
  • the image recognition system can acquire image information of the mobile robot, and obtain three-dimensional information of the mobile robot as the size of the mobile robot by using the image information, and further, the image information obtained by the analysis can be matched in a preset database to obtain The type of the mobile robot, the database has various types of pictures of the mobile robot, and the installation position of the hit point can also be obtained by analyzing the image information.
  • the image recognition system 117 transmits all the acquired information to the on-board head 201, and can also directly interact with the server for information, and the server receives the information acquired by the image recognition system 117. In this way, the weighing device and the image recognition system 117 automatically recognize the relevant information of the mobile robot, thereby avoiding the situation where the input information is incorrect when manually manually. Make the inspection results of mobile robots more accurate.
  • the field-mounted read head 101 is also used to acquire the game rules, and judge whether the mobile robot conforms to the game rules according to the weight and specification information of the mobile robot.
  • a game rule may be pre-stored, or a request command may be sent to the server to receive a game rule returned by the server according to the request instruction, and the game rule may include a size, a weight, a type, and a
  • the requirements of the point installation location are as follows, and then the mobile robots in the start area 111 are checked according to the competition rules to determine the mobile robots that meet the competition rules, and the team information and identification information of the mobile robots are acquired, the team information and The identification information may be pre-stored in the mobile robot, and is acquired by the on-board read head 101 by the on-board read head of the mobile robot.
  • the mobile robot may also be manually moved by the mobile robot after determining the mobile robot that conforms to the game rules.
  • the team information and identification information are entered into the field-mounted read head 101, which is then sent by the field-mounted read head 101 to the server.
  • the on-board read head 101 can also send the information obtained from the mobile robot to the server, and finally the mobile robot that meets the rules of the game is determined by the server, and can be set according to actual needs, and details are not described herein again.
  • the mobile robots that meet the rules of the game move to the start area 112, and may specifically move to the start area 102 according to the movement instruction, or may manually move the mobile robots to the start area 112.
  • the mobile robot that meets the competition rules enters the competition area 113 to start the game after receiving the trigger command uniformly issued by the field-mounted read head 101 in the start area 112 in the start area 112.
  • the field-mounted read head 111 in the battle zone 113 can interact with the on-board read head of the mobile robot in the game, such as interactive battle information.
  • the battle zone 113 also includes at least one of the following: a sprayer for spraying, an illuminator for illuminating, a sprayer and an illuminator that are special effects in the game and can add interest to the game.
  • the platform 110 can also be provided with an electronic tag 102.
  • the electronic tag 102 is disposed at various places of the platform 110 according to actual needs, and the electronic tag 102 stores game venue information.
  • the electronic tag 102 in the start area 111 may store site information indicating that the location is the start zone
  • the electronic tag in the preparation area 112 may store site information indicating that the site is the preparation zone
  • the battle zone 113 The electronic tag 102 in the middle may store site information indicating that the location is a competition area, so that the mobile robot can know which area it is located in, for example, it does not move to other areas during the competition.
  • the electronic tag 102 in the competition area 112 may further include at least one of the following information: geographic location information, location information, special effect information, wherein the special effect information is used to trigger a nebulizer or an illuminator.
  • the mobile robot needs to know the information of the companion or inform the companion of its location. Since the information of the electronic tag 102 needs to be relatively close to the on-board read head of the mobile robot, for example, 0-20 cm, the mobile robot can transmit the geographical location information acquired from the electronic tag 102 to the server. In the mobile robot that is sent to the same team through the server, the mobile robot of the same team is informed of the location of the mobile robot that transmits the geographical location information.
  • the site information can be set to indicate that the site is a stronghold and needs to be occupied, if the mobile robot Recognizing the electronic tag 102 as the location information, the identification information of the electronic tag 102 may be sent to the server to indicate that the team in which the mobile robot is located occupies the site, or the mobile robot is acquiring the electronic tag 102.
  • the server is asked whether it is possible to occupy the site, and according to the feedback information of the server, it is determined whether the site is occupied, and the server also knows which team is occupied by the site.
  • the corresponding sprayer or illuminator can be triggered according to the special effect information to increase the interest of the game.
  • the position of the nebulizer or illuminator can be set according to actual needs.
  • a field-mounted read head is provided, and the field-mounted read head can perform information interaction with the mobile robot through short-range wireless communication, thereby acquiring relevant information in the mobile robot, and can also send the mobile robot to the mobile robot.
  • the information enables the mobile robot to perform corresponding operations, thus improving the intelligence and interest of the mobile robot in combating the game.
  • the information is exchanged by short-distance wireless communication, the information transmission speed is fast, the anti-interference is strong, and the power consumption is low, and the situation of affecting the game due to information interaction can be avoided as much as possible.
  • the embodiment provides a mobile robot for robot racing.
  • the mobile robot 200 includes a robot body 202 and an on-board read head 201.
  • the on-board read head 201 is disposed on the mobile robot body 202, and the on-board read head 201 is used for field loading in the intelligent competition venue.
  • the read head uses short-range wireless communication for information interaction.
  • the exchanged information may include at least one of the following information: team information of the mobile robot, identification information, triggering instructions to start the game, and game information.
  • the game information includes at least the information of the shooting device and The team information of the mobile robot is described in detail later.
  • the mobile robot body 202 of the present embodiment may be of any shape, such as a human shape, or a tank shape as shown in FIG. 2, and may be specifically set according to actual needs.
  • the on-board read head 201 can also perform information interaction with the on-board read head on other mobile robots, for example, receiving the target mobile robot to transmit the game information of the target mobile robot, and after receiving the game information of the target mobile robot, according to the game
  • the information performs a preset operation.
  • the target mobile robot at this point, that is, another mobile robot on the intelligent game field, uses the description of the "target mobile robot" to distinguish it from the mobile robot 200. For example, when the target mobile robot is another Moth robot of the same team, if the mobile robot 200 receives the information requested by the target mobile robot, it moves to the geographical location information carried in the information to support the target. moving robot.
  • the on-board readhead 201 of the present embodiment can also perform information interaction with the server, and send the game information of the associated mobile robot 200 to the server for relevant statistics.
  • the on-board read head 201 is also used to read information in an electronic tag in a smart playing field, and the playing field information is stored in the electronic tag.
  • the information in the competition venue includes at least one of the following information: geographical location information, location information, and special effect information, wherein the special effect information is used to trigger a sprayer or an illuminator in the smart game venue information to increase the fun of the game. No longer.
  • the game venue information can be obtained from the electronic tag, and the corresponding operation is performed according to the game venue information. It is specifically the same as that described in Embodiment 1, and details are not described herein again.
  • the on-board read head of this embodiment is at least one of the following: a radio frequency read head, a WiFi read head, a wireless carrier UWB read head, and a Bluetooth read head.
  • the on-board read head can perform information interaction with the on-board read head through short-range wireless communication, and can receive information in the field-mounted read head or The head sends information, which can improve the intelligence and interest of the mobile robot in the game.
  • the information is exchanged by short-distance wireless communication, the information transmission speed is fast, the anti-interference is strong, and the power consumption is low, and the situation of affecting the game due to information interaction can be avoided as much as possible.
  • This embodiment further supplements the description of the mobile robot of the second embodiment.
  • the mobile robot 200 of the present embodiment further includes a shooting device 211, and the shooting device 211 is disposed on the mobile robot body 202.
  • the shooting device 211 may be at least one of the following devices: a laser emitting device, a shooting device for launching a bullet, a shooting device for launching an arrow, or a mobile robot 200 having different types of shooting devices at the same time. Set according to actual needs.
  • the on-board head 201 of the present embodiment is further configured to acquire game information of the mobile robot 200, and transmit the game information of the mobile robot 200 to the target mobile robot located in the same smart game venue to enable the target mobile robot to perform the pre-action according to the game information.
  • the game information includes at least the information of the shooting device and the team information of the mobile robot. For example, if the mobile robot 200 acquires the target mobile robot as a robot of a different team through the on-board reader and it is within its own shooting process, a shooting operation can be performed on the target mobile robot. The target mobile robot recognizes that the movement is based on the information transmitted by the mobile robot 200, and when the robot 200 shoots at itself, the avoidance operation can be performed.
  • the information of the shooting device includes at least one of the following: the orientation of the mobile robot body, the orientation of the shooting port of the shooting device relative to the mobile robot body, and the launch time of the shooting device.
  • the mobile robot can determine the actual orientation of the shooting port of the shooting device according to the orientation of the mobile robot body and the orientation of the shooting port of the shooting device relative to the moving robot body, and the actual orientation can be received by the target mobile robot according to the target
  • the information is determined by itself, or the target mobile robot sends the received game information to the server, and the determination result is fed back to the target mobile robot, so that the target mobile robot determines the time of the shooting port of the shooting device.
  • the request support information is sent to the server, and the request information carries the location information.
  • the other robots of the same team move to the geographic location indicated by the location information to support the target mobile robot.
  • the target mobile robot within the range can send reminder information for prompting the target mobile robot to be hit, and the target mobile robot receives the After the reminder message, perform corresponding operations such as avoiding, hiding into the obstruction, and counterattack, and request support from other mobile robots of the same team.
  • the target mobile robot can also send the game information to the mobile robot 200, and the mobile robot 200 can also perform corresponding operations according to the game information, as described above, and details are not described herein again.
  • the mobile robot 200 can also send the game information to the server, the server counts the launch time of the shooting device of the mobile robot 200, and determines the actual orientation of the shooting port of the shooting device, and can also be reported according to other mobile robots.
  • the hit time is used to determine which mobile robot the hit mobile robot was hit by.
  • the killing hotspot area on the field and the hitting probability of each mobile robot can be determined, and then the information can be adjusted according to the information, for example, adjusting the installation position of the shooting device of the mobile robot, etc., to better perform game.
  • the mobile robot 200 of the present embodiment may further include detection means disposed on the mobile robot body 202 for detecting the impact information received by the mobile robot body 202.
  • the detecting device is disposed, for example, below the point to be struck.
  • the hit information detected by the detecting device may include at least one of the following information: striking time, striking strength, and identification information of the hit point.
  • the detecting device can send the above information to the on-board read head, and after acquiring the hit information, the on-board read head can send the hit information to the server, and the server performs statistics.
  • the server sends an outbound command to the mobile robot 200, and the mobile robot 200 can receive the outgoing command of the server and move to the start area or the preparation area of the smart game venue to exit the game.
  • the on-board readhead 201 of the embodiment is further configured to receive game information of the target mobile robot sent by the target mobile robot, and correspondingly, the mobile robot further includes a processing device, where the processing device is configured to move the robot according to the target.
  • the game information performs a preset operation.
  • the processing device can be disposed inside or outside of the mobile robot body 202, and the processing device can be connected to the onboard read head 201 and communicated by wire or wirelessly.
  • the mobile robot 200 of the present embodiment can be moved by arranging the wheel 205 on the mobile robot body 202. As shown in FIG. 2, the shape of the mobile robot 200 is similar to that of a tank having four wheels 205.
  • the on-board read head can perform information interaction with the on-board read head through short-range wireless communication, and can receive information in the field-mounted read head or The head sends information, which can improve the intelligence and interest of the mobile robot in the game.
  • the information is exchanged by short-distance wireless communication, the information transmission speed is fast, the anti-interference is strong, and the power consumption is low, and the situation of affecting the game due to information interaction can be avoided as much as possible.
  • the shooting device on the mobile robot the mobile robot can perform the shooting operation to the mobile robots of other teams, which further increases the interest of the robot against the game.
  • the mobile robot game system includes the smart game venue and the mobile robot of any of the above embodiments, and may further include a server.
  • the server of this embodiment can determine which team wins or which robot is out according to the preset game rules.
  • a match rule in a mobile robot game may include at least one of the following:
  • the striking force of the mobile robot is greater than or equal to the preset threshold, it is determined that the mobile robot is out, and the striking strength can be obtained by accumulating the striking force multiple times;
  • the server may determine which mobile robot is out or which team's mobile robot wins or which team's mobile robot is out based on the collected game information of each mobile robot.
  • the game rules can also include many other contents, such as the specification information of the mobile robot or other methods to determine the victory of the robot out or the team, which can be set according to actual needs.
  • FIG. 3A it is a schematic structural diagram of a mobile robot game system according to the present embodiment.
  • the mobile robot shown in FIG. 3A is two teams, namely, team A and team B.
  • the four mobile robots After the recording of the start area 111, the four mobile robots determine that they all conform to the game rules and move to the preparation area 112. As shown in FIG. 3B, after receiving the same trigger command, the mobile object moves to the competition area 113 to start the game. It should be noted that the competition area 113 occupies a much larger area than the preparation area 111 and the start area 112, and can accommodate many mobile robots to move freely in a large space at the same time.
  • the shooting operations can be performed on each other, and the received hit information is sent to the server. statistics. If the server recognizes that the number of hits received by one of the mobile robots 200A1 exceeds the preset number of times, it can be determined that the mobile robot 200A1 is out. If another mobile robot 200A2 is also out, it can be determined that the team B wins and the team A is out.
  • the on-board read head can perform information interaction with the on-board read head through short-range wireless communication. Furthermore, it is possible to receive information in the field-mounted read head or to transmit information to the field-mounted read head, which can improve the intelligence and interest of the mobile robot in combating the game. Moreover, the information is exchanged by short-distance wireless communication, the information transmission speed is fast, the anti-interference is strong, and the power consumption is low, and the situation of affecting the game due to information interaction can be avoided as much as possible.
  • the embodiment provides a mobile robot control method, and the execution subject is the intelligent game venue of the above embodiment.
  • the mobile robot control method includes:
  • step 401 the short-range wireless communication mode is used to trigger the mobile robot to start the game.
  • This step can include:
  • the mobile robot that matches the game rules is triggered to start the game according to the team information and the identification information of the mobile robot.
  • the mobile robot that meets the competition rules is triggered to start the competition, including:
  • the short-range wireless communication method is used to trigger the mobile robot to move to the start region of the platform
  • the triggering instruction for starting the game is received, and the triggering command is simultaneously issued to each mobile robot in the starting area by short-range wireless communication to move the mobile robot to the competition area of the platform for playing.
  • Step 402 Perform short-distance wireless communication with the on-board read head of the mobile robot for information interaction.
  • the step includes using the short-range wireless communication method to interact with the airborne read head of the mobile robot in the competition area.
  • the method before acquiring the team information and the identification information of the mobile robot in the preparation area on the platform, the method further includes:
  • the specification information includes at least one of the following information: size, type, weight, installation location of the hit point.
  • the short-range wireless communication mode includes at least one of the following communication modes: radio frequency communication, WiFi communication, wireless carrier UWB communication, and Bluetooth communication.
  • the communication range of the short-range wireless communication mode is less than or equal to 200 meters.
  • the related information in the mobile robot can be acquired, and the information can also be transmitted to the mobile robot to cause the mobile robot to perform the corresponding operation. It can improve the intelligence and interest of mobile robots in combating competitions. And by short-range wireless communication Inter-interaction, fast information transmission, strong anti-interference and low power consumption, can avoid the situation of the game due to information interaction.
  • the embodiment provides a mobile robot control method, and the execution subject is the mobile robot of the above embodiment.
  • the mobile robot control method includes:
  • Step 501 Receive a trigger instruction for starting a game by using short-range wireless communication.
  • Step 502 performing a game operation according to the trigger instruction.
  • Step 503 using short-range wireless communication mode to perform information interaction with the field-mounted read head in the intelligent game venue.
  • the method further includes:
  • the game venue information includes at least one of the following information: geographic location information, location information, and special effect information, wherein the special effect information is used to trigger a sprayer or an illuminator in the smart game venue information.
  • the short-range wireless communication method includes at least one of the following technologies:
  • Radio frequency communication technology WiFi communication technology
  • wireless carrier UWB communication technology wireless carrier UWB communication technology
  • Bluetooth technology Bluetooth technology
  • the method further includes:
  • the information interacting with the on-board read head includes at least one of the following information:
  • the team information of the mobile robot The team information of the mobile robot, the identification information, the trigger command to start the game, and the game information.
  • the method further includes:
  • the information of the shooting device includes: a direction of the mobile robot body, and a shooting device The orientation of the shooting port relative to the mobile robot body and the launch time of the shooting device.
  • the method further includes:
  • the hit information is acquired.
  • the strike information includes at least one of the following information: strike time and strike strength.
  • control method of this embodiment further includes:
  • the game venue information is the location information, and performing preset operations according to the venue information includes:
  • the game venue information is special effect information, and performing preset operations according to the site information includes:
  • the sprayer and/or illuminator corresponding to the special effect information is triggered according to the special effect information.
  • the game venue information is geographic location information
  • performing preset operations according to the site information includes:
  • control method of the embodiment further includes:
  • the preset operation is performed according to the game information of the target mobile robot.
  • control method of the embodiment further includes:
  • the information is exchanged with the on-board read head by the short-range wireless communication method, and the information in the field-mounted read head can be received or transmitted to the field-mounted read head, thereby improving the mobile robot in confrontation. Intelligent and fun in the game.
  • the information is exchanged by short-distance wireless communication, the information transmission speed is fast, the anti-interference is strong, and the power consumption is low, and the situation of affecting the game due to information interaction can be avoided as much as possible.
  • the embodiment provides an intelligent playing field for performing the control method of the fifth embodiment.
  • the smart game venue includes a trigger module 601 and a first communication module 602.
  • the triggering module 601 is configured to trigger the mobile robot to start the game by using the short-range wireless communication mode; the first communication module 602 is configured to perform information interaction with the on-board read head of the mobile robot by using short-range wireless communication.
  • the triggering module 601 includes: an obtaining sub-module 6011 and a triggering sub-module 6012, wherein the obtaining sub-module 6011 is configured to acquire the team information of the mobile robot in accordance with the game rules in the preparation area on the platform.
  • the identification information module is configured to trigger the mobile robot that meets the competition rule to start the game according to the team information and the identification information of the mobile robot.
  • the triggering submodule 6011 is specifically configured to:
  • the short-range wireless communication method is used to trigger the mobile robot to move to the start region of the platform
  • the triggering instruction for starting the game is received, and the triggering command is simultaneously issued to each mobile robot in the starting area by short-range wireless communication to move the mobile robot to the competition area of the platform for playing.
  • the first communications module 602 is specifically configured to:
  • the short-range wireless communication method is used to interact with the airborne read head of the mobile robot in the competition area.
  • the smart game venue of the embodiment further includes an obtaining module 603, where the acquiring module 603 is configured to:
  • the specification information includes at least one of the following information: size, type, weight, installation location of the hit point.
  • the short-range wireless communication mode includes at least one of the following communication modes: radio frequency communication, WiFi communication, wireless carrier UWB communication, and Bluetooth communication.
  • the communication range of the short-range wireless communication mode is less than or equal to 200 meters.
  • the related information in the mobile robot can be acquired, and the information can also be transmitted to the mobile robot to cause the mobile robot to perform the corresponding operation, thereby improving the movement.
  • the robot is intelligent and interesting in the game.
  • the information is exchanged by short-distance wireless communication, the information transmission speed is fast, the anti-interference is strong, and the power consumption is low, and the situation of affecting the game due to information interaction can be avoided as much as possible.
  • the embodiment provides a mobile robot for performing the control method of the sixth embodiment.
  • the mobile robot includes a receiving module 701, an executing module 702, and a second communication module 703.
  • the receiving module 701 is configured to receive a triggering instruction for starting a game by using a short-range wireless communication manner; the executing module 702 is configured to perform a game operation according to the triggering instruction; and the second communication module 703 is configured to use a short-range wireless communication method and a smart game.
  • the field midfielder reads the information for information exchange.
  • the second communication module 703 is further configured to:
  • the game venue information includes at least one of the following information: geographic location information, location information, and special effect information, wherein the special effect information is used to trigger a sprayer or an illuminator in the smart game venue information.
  • the short-range wireless communication method includes at least one of the following technologies:
  • Radio frequency communication technology WiFi communication technology
  • wireless carrier UWB communication technology wireless carrier UWB communication technology
  • Bluetooth technology Bluetooth technology
  • the second communication module 703 is further configured to:
  • the information interacting with the on-board read head includes at least one of the following information:
  • the team information of the mobile robot The team information of the mobile robot, the identification information, the trigger command to start the game, and the game information.
  • the second communication module 703 is further configured to send the game information to the server.
  • the information of the shooting device includes: an orientation of the mobile robot body, an orientation of the shooting port of the shooting device relative to the mobile robot body, and a launching time of the shooting device.
  • the second communication module 703 is further configured to acquire the hit information if it is recognized that the mobile robot is hit.
  • the strike information includes at least one of the following information: strike time and strike strength.
  • the second communication module 703 is further configured to send the hit information to the server.
  • the game venue information is the location information
  • the second communication module is specifically configured to:
  • the game venue information is special effect information
  • the second communication module is specifically configured to:
  • the sprayer and/or illuminator corresponding to the special effect information is triggered according to the special effect information.
  • the game venue information is geographic location information
  • the second communication module is specifically configured to:
  • the second communication module 703 is further configured to:
  • the preset operation is performed according to the game information of the target mobile robot.
  • the second communication module is further configured to:
  • the information is exchanged with the on-board read head by the short-range wireless communication method, and the information in the field-mounted read head can be received or transmitted to the field-mounted read head, thereby improving the mobile robot in confrontation. Intelligent and fun in the game.
  • the information is exchanged by short-distance wireless communication, the information transmission speed is fast, the anti-interference is strong, and the power consumption is low, and the situation of affecting the game due to information interaction can be avoided as much as possible.
  • the readable storage medium when executed, executes the steps including the above-described method embodiments; and the foregoing storage medium includes: a medium that can store program codes, such as a ROM, a RAM, a magnetic disk, or an optical disk.

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Abstract

L'invention concerne un lieu de compétition intelligent (100) qui comprend : une plate-forme (110) ; au moins une tête de terrain (101) disposée sur la plate-forme (110), la tête de terrain (101) échangeant des informations avec un robot mobile (200) sur la plate-forme (110) en adoptant un mode de communication sans fil de courte portée. En fournissant une tête embarquée (201) au robot mobile (200), et en fournissant la tête de terrain (101) au lieu de compétition intelligent (100), la tête embarquée (201) peut échanger des informations avec la tête de terrain (101) dans un mode de communication sans fil de courte portée, et d'autres informations peuvent être reçues en provenance de la tête de terrain (101) ou transmises à cette dernière, en rendant ainsi le robot mobile (200) plus intelligent et plus divertissant dans une compétition. De plus, en adoptant un mode de communication sans fil de courte portée pour un échange d'informations, la vitesse de transmission d'informations est rapide, la performance anti-interférence est forte et la consommation d'énergie est faible, de façon à empêcher des scénarios dans lesquels une interférence d'informations a un impact négatif sur la compétition.
PCT/CN2016/078370 2016-04-01 2016-04-01 Lieu de compétition intelligent, robot mobile, système de jeu et procédé de commande WO2017166310A1 (fr)

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CN201680002464.3A CN106714917B (zh) 2016-04-01 2016-04-01 智能比赛场地、移动机器人、比赛系统及控制方法

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