JP2006051586A - Robot control system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot control system capable of enhancing the operation property of a robot. <P>SOLUTION: The robot control system 100 has the robot 1 and a transmitter 2 to transmit a RAW command to the robot 1. The robot 1 is equipped with a plurality of servo motors 5, a sensor part 6, and a control part 3. When the control part 3 receives the RAW command, a motion command is set according to the condition of the robot 1 acquired from the sensing result of the sensor part 6 and a program executed by the control part, and the motions of the robot 1 are accomplished by driving the servo motors 5 on the basis of the motion command. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a robot control system.

  A robot control system for manipulating a robot with a transmitter (remote control means) is known (for example, see Patent Document 1).

  In the robot control system described in Patent Document 1, the robot is operated using a stick-type transmitter such as a joystick. However, a stick-type transmitter is, for example, a model airplane or automobile, such as a rudder or steering wheel that operates in an analog manner, and a servo motor that can be driven in one axial direction, such as a steering wheel. In the case of controlling, that is, controlling the posture in one direction, it is suitable to be used for what is sufficient if one drive unit is moved. As an example, an airplane is configured to move attitude control wings such as elevators and ladders in proportion to the movement of the stick of the transmitter when changing its attitude.

  However, in the case of a robot, for example, when considering instructing the robot that is moving forward to turn slightly to the right, it is necessary to perform operations such as slightly shortening the step length of the right foot and slightly increasing the step length of the left foot. These are operations that can only be performed by delicately controlling a plurality of foot joints (a plurality of servo motors), and do not simply mean that the striking angle of one servo motor should be changed. . In the case of a robot, it can be considered to perform various operations such as simply moving to the right, walking to the right by walking on a crab, or moving only the upper body to the right. In addition, it is not limited to normal times such as walking when the robot is walking. For example, when moving the body in the right direction in an emergency such as a fall, use not only the feet but the whole body such as the hand. It is necessary to change the direction of the body. That is, in the case of a robot, when one operation is performed, the servo motor to be operated changes completely according to the posture and state of the robot, so that there is a problem that the operation is very difficult (operability is poor). .

JP-A-8-108385

  The objective of this invention is providing the robot control system which can improve the operativity of a robot.

Such an object is achieved by the present inventions (1) to (37) below.
(1) A robot control system having a robot and remote control means for transmitting a command to the robot,
The robot is
A plurality of drive units;
A judging means for judging the state of the robot;
Receiving means for receiving a command transmitted from the remote control means;
When the command is received by the receiving means, an operation command corresponding to the state of the robot obtained by the determination means is set, and the plurality of driving units are driven based on the operation command, respectively. A robot control system comprising: an operation realizing means for realizing an operation of the robot.

  (2) The robot control system according to (1), wherein the determination unit can determine at least two different states.

(3) The robot is a walking robot,
The different states include a stationary state where the robot is not standing and walking, a walking state where the robot is walking, and a falling state where the robot is falling,
The robot control system according to (2), wherein the motion realization means sets motion commands corresponding to the stationary state, the walking state, and the falling state.

(4) The operation command is preset,
The motion realization means selects a suitable motion command from the preset motion commands based on a combination of the determination result by the determination means and the command, and realizes the motion of the robot (1) to (3) The robot control system according to any one of the above.

  (5) The determination unit includes a program that causes the drive unit to be driven and a detection unit that detects external information of the robot. The determination unit is configured to detect the robot from at least one of the program and the detection unit. The robot control system according to any one of (1) to (4), wherein the state is determined.

  (6) The robot control system according to (5), wherein the detection unit includes a gyro sensor that detects angular velocities about the X axis, the Y axis, and the Z axis that are substantially orthogonal to each other.

  (7) The robot control system according to (5) or (6), wherein the detection unit includes a three-dimensional acceleration sensor that detects acceleration in three directions substantially orthogonal to each other.

  (8) The detection means includes at least one landing detection means for detecting the landing, and determines the landing of the robot based on the detection value of the landing detection means. The robot control system according to any one of 7).

  (9) The robot control system according to (8), wherein the landing detection means is a pressure sensor.

  (10) The robot control system according to (5), wherein the program causes the robot to stop or to walk.

  (11) The robot control system according to any one of (1) to (10), wherein the robot includes at least one leg portion including at least a foot portion, an ankle joint driven by the driving portion, and a waist portion. .

(12) The leg portion can perform a turning operation of turning in a direction substantially parallel to the ground contact surface,
The robot control system according to (11), wherein the robot starts the walking operation or the turning operation when the operation command is received when the robot is stationary.

  (13) The robot control system according to (11) or (12), wherein the robot changes a walking speed and / or a walking direction when the robot receives the operation command during the walking.

  (14) The robot control system according to any one of (1) to (13), wherein the robot further includes a body part that is rotatable by a predetermined angle with respect to the waist part.

  (15) The robot control system according to (14), wherein when the robot receives the operation command during the walking, the robot changes a rotation angle of the torso with respect to the waist.

  (16) The robot control system according to any one of (1) to (15), wherein the remote control unit includes a joystick having a tiltable stick.

  (17) The robot control system according to (16), wherein an operation unit is provided at a predetermined portion of the joystick, and the command is transmitted to the robot by the operation of the joystick or the operation unit.

  (18) The robot control system according to any one of (1) to (17), further including a restricting unit that restricts an operation of each part of the robot according to the state of the robot.

  (19) The restricting means may be configured to be stepwise or continuously according to a stationary state where the robot is not standing and walking, a walking state where the robot is walking, and a falling state where the robot is falling. The robot control system according to (18), wherein the operation of each part of the robot is restricted.

  (20) The robot control system according to (19), wherein the limiting unit limits a walking speed of the robot in the walking state.

  (21) The robot control system according to any one of (1) to (20), wherein the operation realizing unit includes a signal generating unit that generates a shooting signal based on the operation command.

  (22) The robot control system according to (21), further including a signal receiving unit that receives the shooting signal.

(23) signal receiving means for receiving the shooting signal;
The robot control system according to (21), further including a restricting unit that restricts the operation of each part of the robot according to the state of the robot.

  (24) The robot control system according to (23), wherein the restricting unit restricts the operation of each part of the robot stepwise or continuously in accordance with the number of times the shooting signal is received.

  (25) In the above (23) or (24), the limiting means limits the generation speed and / or the number of generations of the shooting signal in the signal generating means in the fall state where the robot is falling. The robot control system described

  (26) The robot control system according to any one of (22) to (25), wherein the robot is provided with a transmission unit that transmits an impact signal when the shooting signal is received.

  (27) The robot control system according to any one of (22) to (26), wherein the determination unit is configured to determine a bulleted state in which the signal reception unit has received the shooting signal.

  (28) The robot control system according to any one of (21) to (27), wherein the shooting signal is an infrared shooting signal using infrared light.

  (29) The robot control system according to any one of (1) to (28), further including a notification unit configured to visually and / or audibly notify the state of the robot.

  (30) The robot control system according to any one of (1) to (29), wherein the driving unit includes a servo motor, and the operation command is a rotation angle command for the servo motor.

  (31) The robot control system according to any one of (1) to (30), wherein the remote control unit and the receiving unit are configured to perform bidirectional data communication using a communication protocol. .

  (32) The robot control system according to (31), wherein the communication protocol is a TCP / IP protocol.

  (33) The robot control system according to (31) or (32), wherein the bidirectional communication is performed via a wireless LAN.

  (34) The robot control system according to any one of (31) to (33), wherein at least part of the bidirectional communication is performed via the Internet or an intranet.

  (35) The robot control system according to any one of (1) to (34), wherein the robot includes an imaging unit that captures a subject image as an electronic image.

  (36) The robot control system according to (35), wherein the determination unit determines a fall state in which the robot is falling based on an image obtained by the imaging unit.

  (37) The robot control system according to (35) or (36), wherein the remote operation unit includes a display unit that displays an image captured by the imaging unit.

  According to the present invention, since the operability (maneuverability) of the robot can be improved, it is possible to cause the robot to perform a desired operation easily and reliably.

  In particular, since the operation is partially automated, for example, an accurate operation can be performed without looking at the robot.

  Hereinafter, a robot control system of the present invention will be described in detail based on preferred embodiments shown in the accompanying drawings.

  FIG. 1 is a block diagram schematically showing main parts of the robot control system of the present invention, FIG. 2 is a perspective view showing a transmitter of the robot control system shown in FIG. 1, and FIG. 3 is a robot control shown in FIG. FIG. 4 is a block diagram of a servo control system, and FIG. 5 is a diagram showing a command conversion table in the first embodiment of the robot control system of the present invention. In the following, for convenience of explanation, the upper side in FIG. 3 is referred to as “upper” and the lower side is referred to as “lower”. 3 is the front (front side) of the robot 1, the left side of FIG. 3 is the right side of the robot 1, and the right side of FIG.

  In the embodiments shown in these drawings, a robot control system according to the present invention is applied between a robot 1 and a transmitter (remote control means) 2. As shown in FIG. The robot 1 and the transmitter 2 are included. Hereinafter, each of these components will be described sequentially.

  The transmitter 2 is communicably connected to the robot 1, and performs remote operation (remote control) of the robot 1 by performing bidirectional communication with the robot 1.

The transmitter 2 includes a control unit 21 having a CPU (Central Processing Unit) 211, a joystick (direction instruction unit) 22, an operation button (operation unit) 23 installed on the joystick 22, a wireless LAN interface unit 24, The display unit 25 and the storage unit 26 are provided. The joystick 22, the operation button 23, the wireless LAN interface unit 24, the display unit 25, and the storage unit 26 are electrically connected to the control unit 21, respectively.
Each component of the control unit 21 is electrically connected via a bus (not shown).

  The wireless LAN interface unit 24 is a wireless communication unit, and is connected to the wireless LAN interface unit 7 described later provided in the robot 1 by a wireless LAN, and uses a communication protocol such as a TCP / IP protocol. This is an interface for performing wireless communication of various types of information including a RAW command (command) to be described later.

  Further, the wireless LAN interface unit 24 can perform wireless communication with various electronic devices such as computers and terminal devices.

  The display unit 25 includes a liquid crystal display element (LCD). On the display unit 25, for example, an image (moving image, still image), a character, a symbol, a figure, a character, or the like from a CCD (imaging means) 94 described later is displayed. The display unit 25 may have an illumination (backlight) function.

  The storage unit 26 is not particularly limited. For example, in addition to a semiconductor memory such as a RAM (Random Access Memory) and a ROM (Read Only Memory), a storage unit that stores various information as magnetic information can be used. The storage unit 26 may be detachable (detachable) from the robot 1.

  The operation button 23 is a switch that can be tilted in multiple directions. The operation button 23 is configured to drive the arm portion 13 or the arm portion 14 in conjunction with the operation in a stationary state and a walking state described later.

  The transmitter 2 is, for example, a RAW that causes the robot 1 to perform a predetermined operation by inclining the joystick 22 by a predetermined angle with respect to a predetermined direction or operating an operation button 23 provided on the joystick 22. Send a command (command). This RAW command includes, for example, a digital command including angle information “joystick 22 is tilted 10 degrees to the right” and a digital command “button 23 is pressed (turned on)”. .

  The robot 1 includes a wireless LAN interface unit 7 that receives a RAW command transmitted from the transmitter 2, a control unit 3, a storage unit 4, and a plurality of servo motors 5 provided at each joint unit of the robot 1, A sensor unit (detection means) 6 and a CCD (Charge-Coupled Device) 94 that is an image sensor are provided.

  The control unit 3 includes a CPU 30 that executes various processes such as a drive process for a plurality of servo motors of the robot 1.

  The storage unit 4 stores various data such as a RAW command input from the transmitter 2 via the wireless LAN interface unit 7, a program for executing the operation of each part of the robot 1, and a command conversion table to be described later. . This program includes, for example, a walking program for walking the robot 1 at a predetermined speed, a stationary program (pause program) for stopping the robot 1 in a predetermined posture, and the like.

  Although it does not specifically limit as this memory | storage part 4, For example, the thing similar to the memory | storage part 26 can be used.

  The sensor unit 6 includes a gyro sensor 31 that detects angular velocities around the X axis, the Y axis, and the Z axis that are orthogonal to each other by using Coriolis force, and each axial direction of the X axis, the Y axis, and the Z axis that are orthogonal A three-dimensional acceleration sensor (G sensor) 32 for detecting the acceleration to the pressure sensor 33 and a pressure sensor 33 are configured.

  The three-dimensional acceleration sensor 32 is not particularly limited, and examples thereof include a piezoelectric acceleration type, a servo type, a strain gauge type, and a semiconductor acceleration sensor using a CMOS.

The wireless LAN interface unit 7 has the same function as the wireless LAN interface unit 24 described above, and a description thereof is omitted.
Each component of the control unit 3 is electrically connected via a bus (not shown).

  The CCD 94 captures a subject image (surrounding image) that is guided and formed on the light receiving surface (imaging surface) of the CCD 94 by, for example, a lens (not shown). The signal (digital signal) output from the CCD 94 is amplified by, for example, an amplifier circuit (not shown), and then input to the control unit 3.

The details of the servo motor 5 will be described later.
The control unit 3 and the wireless LAN interface unit 7 constitute a main part of receiving means.

  The control unit 3, the gyro sensor 31, the three-dimensional acceleration sensor 32, and the pressure sensor 33 constitute a main part of the determination unit.

The control unit 3 and the servo motor 5 constitute the main part of the operation realizing means.
Next, the overall configuration of the robot 1 will be described.

  As shown in FIG. 3, the robot 1 is a biped walking robot that uses a link mechanism for legs and arms, and includes a head 11, a torso 12, two arms 13 and 14, and legs. Part 15.

A gyro sensor 31 and a three-dimensional acceleration sensor 32 are installed on the body portion 12. In addition, a head portion 11, arm portions 13 and 14, and leg portions 15 are connected to the body portion 12.
The leg portion 15 includes a right leg 41, a left leg 51, and a waist portion 50.

  The right leg 41, which is a leg type mechanism, is a link mechanism having the right thigh 42, the right lower leg 43, and the right foot 44 as link elements, and the right thigh 42 is connected to the lumbar region via the right hip joint 47. The right leg part 43 is connected to the right thigh part 42 via the right knee joint 48, and the right foot part 44 is connected to the right leg part 43 via the right ankle joint 49.

  The right hip joint 47 includes a right foot yaw angle servomotor (drive unit) LR1, a right foot pitch angle servomotor LR2, a right foot roll angle servomotor LR3, and the power of these servomotors LR1 to LR3 to the right thigh 42. A power transmission mechanism (not shown) including a reduction gear for transmission, and the right thigh 42 is driven with respect to the waist 50 through the power transmission mechanism by driving each servo motor LR1 to LR3. .

  The right knee joint 48 includes a right foot knee pitch angle servomotor LR4 and a power transmission mechanism (not shown) including a speed reducer that transmits the power of the right foot knee pitch angle servomotor LR4 to the right lower leg 43. The right leg knee 43 is driven with respect to the right thigh 42 via the power transmission mechanism by driving the right foot knee pitch angle servomotor LR4.

  The right ankle joint 49 includes a right foot pitch angle servomotor LR5, a right foot roll angle servomotor LR6, and a power transmission mechanism (such as a speed reducer) that transmits the power of these servomotors LR5 and LR6 to the right foot portion 44. And a pressure sensor (landing detection means) 33 provided on the back side (lower part) of the right foot portion 44, and the right foot portion 44 is moved to the right via a power transmission mechanism by driving each servo motor LR5, LR6. It is driven with respect to the crus 43.

  The left leg 51, which is a leg type mechanism, is a link mechanism having the left thigh 52, the left lower leg 53, and the left foot 54 as link elements, and the left thigh 52 is connected to the waist 50 through the left hip joint 57. The left lower leg 53 is connected to the left thigh 52 via the left knee joint 58, and the left foot 54 is connected to the left lower leg 53 via the left ankle joint 59.

  The left hip joint 57 includes a left foot yaw angle servo motor (drive unit) LL1, a left foot pitch angle servo motor (drive unit) LL2, a left foot roll angle servo motor (drive unit) LL3, and servo motors LL1 to LL3. A power transmission mechanism (not shown) including a speed reducer that transmits power to the left thigh 52, and the left thigh 52 is connected to the waist through the power transmission mechanism by driving the servo motors LL1 to LL3. 50 is driven.

  The left knee joint 58 includes a left foot knee pitch angle servomotor (drive unit) LL4 and a power transmission mechanism (not shown) including a reduction gear that transmits the power of the left foot knee pitch angle servomotor LL4 to the left lower leg 53. The left lower leg 53 is driven with respect to the left thigh 52 via the power transmission mechanism by driving the left foot knee pitch angle servomotor LL4.

  The left ankle joint 59 includes a left foot pitch angle servomotor (drive unit) LL5, a left foot roll angle servomotor (drive unit) LL6, a speed reducer that transmits the power of the servomotors LL5 and LL6 to the left foot portion 54, and the like. And a pressure sensor (landing detection means) 33 provided on the back side (lower part) of the foot portion 54, and the power transmission mechanism is driven by driving the servo motors LL5 and LL6. Accordingly, the left foot 54 is driven with respect to the right lower leg 15.

  The waist part 50 is connected to the lower side of the body part 12 in FIG. 3 via the waist joint 46 so as to be rotatable by a predetermined angle with respect to the body part 12.

The body 12 includes a yaw angle servomotor (drive unit) BC1 and a power transmission mechanism (not shown) including a speed reducer that transmits the power of the yaw angle servomotor BC1 to the body 12. The body 12 is driven with respect to the waist 50 through the power transmission mechanism by driving the servo motor BC1.
Note that the yaw angle servomotor may be provided on the waist 50 side.

  The arm portion (right arm portion) 13 is a link mechanism having the upper right arm portion 62, the right forearm portion 63, and the right hand portion 64 as link elements, and the upper right arm portion 62 is connected to the body portion 12 via the right shoulder joint 67. The right leg part 43 is connected to the right upper arm part 62 via the right elbow joint 68, and the right hand part 64 is connected to the right forearm part 63 via the right wrist joint 69.

  The right shoulder joint 67 includes a right-hand pitch angle servomotor (drive unit) HR1, a right-hand roll angle servomotor HR2, and a power transmission mechanism including a speed reducer that transmits the power of each servomotor HR1 and HR2 to the upper-right arm 62. (Not shown), and the upper right arm portion 62 is driven with respect to the body portion 12 through a power transmission mechanism by driving the servo motors HR1 and HR2.

  The right elbow joint 68 includes a right foot elbow pitch angle servomotor HR3 and a power transmission mechanism (not shown) including a speed reducer that transmits the power of the right foot elbow pitch angle servomotor HR3 to the right forearm portion 63. The right forearm 63 is driven with respect to the upper right arm 62 through the power transmission mechanism by driving the right foot elbow pitch angle servomotor HR3.

  The right wrist joint 69 has a right hand yaw angle servomotor HR4 and a power transmission mechanism (not shown) including a speed reducer that transmits the power of the right hand yaw angle servomotor HR4 to the right hand portion 64. The right hand portion 64 is driven with respect to the right forearm portion 63 through the power transmission mechanism by driving the servo motor HR4.

  The arm part (left arm part) 14 is a link mechanism having a left upper arm part 72, a left forearm part 73, and a left hand part 74 as link elements, and the left upper arm part 72 is connected to the body part 12 via a left shoulder joint 77. The left lower leg portion 43 is connected to the left upper arm portion 72 via the left elbow joint 78, and the left hand portion 74 is connected to the left forearm portion 73 via the left wrist joint 79.

  The left shoulder joint 77 includes a left-hand pitch angle servomotor (drive unit) HL1, a left-hand roll angle servomotor HL2, and a power transmission mechanism (such as a speed reducer that transmits the power of the servomotors HL1 and HL2 to the left upper arm portion 72). The left upper arm portion 72 is driven with respect to the body portion 12 through a power transmission mechanism by driving the servo motors HL1 and HL2.

  The left elbow joint 78 includes a left foot elbow pitch angle servomotor HL3 and a power transmission mechanism (not shown) including a speed reducer that transmits the power of the left foot elbow pitch angle servomotor HL3 to the left forearm 73. The left forearm 73 is driven with respect to the left upper arm 72 through a power transmission mechanism by driving the left foot elbow pitch angle servomotor HL3.

  The left wrist joint 79 has a left-hand yaw angle servomotor HL4 and a power transmission mechanism (not shown) including a speed reducer that transmits the power of the left-hand yaw angle servomotor HL4 to the left hand portion 74. The left hand portion 74 is driven with respect to the left forearm portion 73 through the power transmission mechanism by driving the servo motor HL4.

  The head portion 11 is connected to the upper side of the body portion 12 via the neck joint 45 so as to be rotatable by a predetermined angle with respect to the body portion 12.

  The head 11 includes a CCD 94, a head yaw angle servomotor (drive unit) HC1, a head pitch angle servomotor HC2, and a speed reducer that transmits the power of the servomotors HC1 and HC2 to the body unit 12. The head 11 is driven with respect to the body part 12 through the power transmission mechanism by driving the servo motors HC1 and HC2.

FIG. 4 is a block diagram of the servo control system.
The drive control system shown in FIG. 4 has the joints 47 to 49 and 57 to 59 of the right leg 41 and the left leg 51 and the joints 67 to 69 and 77 of the arm part 13 and the arm part 14 by the control unit 3 described above. ˜79, the waist joint 46, and the neck joint 45 are controlled.

  Further, the control unit 3 determines the landing state of the robot 1 based on input signals (detection signals) from the pressure sensors 33 and 33 provided on the foot portions 44 and 54.

  When the control unit 3 receives the RAW command from the transmitter 2 via the wireless LAN interface unit 7, the CPU 30 receives the program currently being executed, the gyro sensor 31, the three-dimensional acceleration sensor 32, and the pressure sensor 33. Based on the input data, an operation command is set from the command conversion table, and on the basis of this operation command, the servo motors LR1 to LR6, LL1 to LL6, HR1 to HR4 constituting the servo motor 5 via the serial bus, A drive current (drive voltage) is output to HL1 to HL4, BC1, HC1, and HC2. As a result, the corresponding servo motors LR1 to LR6, LL1 to LL6, HR1 to HR4, HL1 to HL4, BC1, HC1, and HC2 are driven. Thereby, the operation of the robot 1 is realized (executed).

FIG. 5 is a diagram showing a command conversion table of the present embodiment.
The operation command set from the RAW command of the present embodiment is set using a command conversion table stored in the storage unit 4.

  An example of this command conversion table is shown in FIG. The column of column 111 shows the operation (state) currently being performed by the robot. Columns 112 to 114 show RAW commands obtained by operating the joystick 22 and corresponding operations. A column of 115 columns indicates a RAW command obtained by operating the operation button 23 and an operation corresponding to the RAW command. In FIG. 5, “upper body” means the head 11 and the trunk 12, and “lower body” means the leg 15. Also, the hatched portion indicates that there is no operation command corresponding to the RAW command. Hereinafter, the 112th row (back and forth operation of the joystick 22) will be described as a representative. When the robot 1 is stopped, the robot 1 starts moving forward when the joystick 22 is tilted forward, and moves backward (reverses) when the joystick 22 is tilted backward. To start. When the robot 1 is walking forward, the forward speed increases when the joystick 22 is tilted forward, and the forward speed decreases when the joystick 22 is tilted backward. When the robot 1 is moving forward diagonally, the same operation as during forward walking is performed. When the robot 1 falls, immediately after the fall, when the joystick 22 is tilted forward, the arm portions 13 and 14 are swung in front of the body portion 12, and when the joystick 22 is tilted back, the arm portions 13 and 14 are moved to the body. The operation of shaking behind the unit 12 is performed. Immediately after the fall of the robot 1, when the joystick 22 is tilted forward, the right leg 41 and the left leg 51 are swung in front of the body 12, and when the joystick 22 is tilted backward, the right leg 41, left An operation of swinging the legs 51 behind the trunk 12 is performed. When the robot 1 falls, whether the operation immediately after the fall 1 or the operation 2 immediately after the fall is performed is appropriately selected by the control unit 3 based on, for example, information from the sensor unit 6 in the fall state of the robot 1. In the state where the robot 1 is in the collapsed state, even if the joystick 22 is tilted forward or backward, control is performed to bend each joint of the leg portion 15 to contract the body, and then the robot 1 stands up. In the state where the robot 1 is turned upside down, the upper body is raised using the arm portions 13 and 14 even if the joystick 22 is tilted forward or backward, and then stands up.

A drive command that the control unit 3 gives to each servo motor in response to the selected operation command is set in the storage unit 4 in advance.
FIG. 6 is a flowchart for explaining the data reception routine.

  Next, the operation of the robot control system 100 will be specifically described with reference to the flowchart shown in FIG. Note that the flowchart shown in FIG. 6 shows, as an example, operations of the robot 1 during a stationary operation, a forward walking (walking), and a fall with respect to the forward operation and the backward operation.

  First, the control unit 3 of the robot 1 determines whether or not a signal transmitted from the transmitter 2 has been received (step S101).

  Then, when determining that the signal has been received, the control unit 3 determines whether or not it is a RAW command (step S102).

  If the control unit 3 determines that the command is a RAW command (Yes in step S102), the control unit 3 shifts to a processing routine described later and executes the processing routine (step S103).

  On the other hand, when the control unit 3 determines that the command is not a RAW command (No in Step S102), the process proceeds to Step S101 and waits in Step S101 until the next data is received.

  In step S103, when the execution of the processing routine is completed, it is determined whether or not the driving power source for driving each servo motor of the robot 1 is OFF (step S104). In step S104, the data reception routine ends. On the other hand, if the drive power is not OFF (No in step S104), the process proceeds to step S101, and waits in step S101 until the next data is received.

  Next, the processing routine in step S103 of the flowchart shown in FIG. 6 will be described with reference to FIG. FIG. 7 is a flowchart showing the processing routine.

First, the control unit 3 stores the detected values detected by the gyro sensor 31, the three-dimensional acceleration sensor 32, and the pressure sensor 33 in the storage unit 4 (step S201).
Next, the control unit 3 confirms the currently executed program (step S202).

  Next, the control unit 3 determines whether or not the state of the robot 1 is normal based on the currently executed program and the detection values detected by the sensors 31, 32, and 33 stored in the storage unit 4. Is determined (step S203).

  Specifically, it is determined based on the detection value of the pressure sensor 33 whether one or both of the right foot portion 44 and the left foot portion 54 are grounded.

  If either one or both feet are in contact with the ground (in a walking state or a stationary state), the control unit 3 determines that the state of the robot 1 is normal (Yes in step S203), and the step The process proceeds to S204.

  Next, the control unit 3 determines whether or not the robot 1 is in a stationary state (hereinafter referred to as “stationary state”) in which the robot 1 is not standing and walking (step S204).

  Specifically, the control unit 3 determines whether or not a walking program is currently being executed. If the walking program (forward walking program) is being executed, the control unit 3 determines that the robot 1 is in a walking state (walking) (No in step S204), and proceeds to step S205.

  Next, the control unit 3 determines whether or not the RAW command received via the wireless LAN interface unit 7 is a forward command (step S205).

  When the control unit 3 determines that the received RAW command is a forward command (Yes in step S205), the command conversion table stored in the storage unit 4 is extracted (step S206) and obtained by this command conversion table. The forward speed adjustment 1 is performed according to the received operation command (step S207). Specifically, the control unit 3 performs control to increase the forward speed (walking speed) of the robot 1. Thereby, the robot 1 that is walking increases its forward speed.

  On the other hand, when the control unit 3 determines that the received RAW command is not a forward command (No in step S205), the command conversion table stored in the storage unit 4 is extracted (step S208). Advance speed adjustment 2 is performed by the obtained operation command (step S209). Specifically, the control unit 3 performs control to slow down the forward speed (walking speed) of the robot 1. Thereby, the robot 1 that is walking reduces its forward speed.

  If the walking program is not executed in step S204, it is determined that the robot 1 is stationary (the stationary program is executed) (Yes in step S204), and the process proceeds to step S210.

  Next, the control unit 3 determines whether or not the received RAW command is a forward command (step S210).

  When the control unit 3 determines that the received RAW command is a forward command (Yes in step S210), the command conversion table stored in the storage unit 4 is extracted (step S211), and obtained by this command conversion table. The robot 1 is controlled to start advancing according to the received operation command (step S212). Thereby, the robot 1 that is stationary starts moving forward.

  On the other hand, when the control unit 3 determines that the received RAW command is not a forward command (No in step S210), the command conversion table stored in the storage unit 4 is extracted (step S213). Control for starting the backward movement of the robot 1 is performed by the obtained operation command (step S214). As a result, the robot 1 that is stationary starts retreating.

  If the controller 3 determines in step S203 that the state of the robot 1 is not normal (No in step S203), the controller 3 determines that the robot 1 has fallen (is in a fallen state). The process proceeds to S215.

  Next, the control part 3 takes in the image imaged by CCD in the memory | storage part 4 (step S215).

Next, the control unit 3 determines whether or not the robot 1 is in a collapsed state based on the image signal captured by the CCD (step S216).
Here, as an example, the control unit 3 determines whether or not the robot 1 is in a collapsed state based on the brightness of the obtained image signal.

  If the control unit 3 determines that the robot 1 is in the collapsed state (Yes in step S216), the RAW command conversion table stored in the storage unit 4 is extracted (step S217), and is obtained from the command conversion table. In accordance with the given operation command, control is performed to bend each joint of the leg portion 15 of the robot 1 to contract the body, and then stand up (step S218).

  On the other hand, when the control unit 3 determines that the robot 1 is not in the collapsed state, it determines that the robot 1 is in the supine state (No in step 216), and extracts the command conversion table stored in the storage unit 4 (step S219). The arms 13 and 14 of the robot 1 are extended by the operation command 1128 obtained from the command conversion table, the upper body is raised, and then stands up (step S220).

  In Step S204, the control unit 3 determines that the robot 1 is in a walking state (walking) by determining whether or not the current walking program is being executed. For example, it may be determined whether or not the robot 1 is in a walking state by detecting current consumption of each servo motor by a current detection means (not shown), or a stationary program for keeping the robot 1 in a stationary state. It may be determined whether or not the robot 1 is in a walking state by detecting whether or not is executed, and the acceleration of the robot 1 in three substantially orthogonal directions is detected by a three-dimensional acceleration sensor. Thus, it may be determined whether or not the robot 1 is in a walking state, or by appropriately combining these, it may be determined whether or not the robot is in a walking state. . Note that the current state of the stationary state and the falling state can be determined by appropriately selecting information from the programs and sensors.

  As described above, according to the robot control system 100, when the control unit 3 of the robot 1 receives the RAW command transmitted from the transmitter 2 via the wireless LAN interface unit 7, the gyro sensor 31 and the tertiary Based on the detection results (detected values) obtained by the original acceleration sensor 32 and the pressure sensors 33 and 33, and the program for executing driving of each servo motor of the robot 1, such as a stationary program and a walking program, the current state of the robot is determined. By determining, extracting a command conversion table, and setting an operation command according to the current state of the robot, a desired operation can be realized for the robot 1. As a result, the operability of the robot 1 is improved, and a desired operation can be performed on the robot 1 easily and reliably.

  In particular, by setting an operation command from the RAW command, it is possible to drive a plurality of servo motors for one operation of the joystick 22, so that the operation is partially automated, for example, without looking at the robot 1 However, an accurate operation can be performed.

  Hereinafter, a case where the robot control system of the present invention is applied to a shooting game system will be described.

  FIG. 8 is an overall configuration diagram of an embodiment of a shooting game system to which the robot control system of the present invention is applied. The shooting game system 200 of the present embodiment has a configuration having a plurality of the robots 1 described above, and FIG. 8 shows a shooting game system when two robots are used.

  FIG. 9 is a block diagram showing the shooting game system shown in FIG. 8, and shows the configuration of one robot in detail. In FIG. 9, the same parts as those in FIG.

  Since the two robots basically have the same configuration and perform the same operation, only one robot 1a will be described for convenience of description, and description of the other robot 1b will be omitted unless particularly necessary. And In addition, with respect to what the robot 1a has and what is attached to the robot 1a, “a” is added to the last part of the reference numeral, and what the robot 1b has and what is attached to the robot 1b. In the following description, “b” is added to the last part of the reference numeral.

  The shooting game system 200 includes a robot 1a, a transmitter 2a that wirelessly controls the robot 1a, a robot 1b, a transmitter 2b that wirelessly controls the robot 1b, and wireless communication between the robots 1a and 1b. And a determination device (determination means) 16 that performs determination of winning and losing, display of points of winning and losing, and the like.

  Further, the robot 1a has a signal conversion unit including a CPU having an antenna 10a for communicating with the determination device 16 and a plurality (two in the present embodiment) of infrared sensors (signal receiving means) 8a. A circuit (transmission means) 9a is detachably attached to the robot 1a. The signal conversion circuit 9a is electrically connected to the control unit 3a.

  In addition, the robot 1a of the present embodiment includes an infrared signal light emitting device (signal generating means) 17a capable of generating an infrared signal in the left hand portion 74.

  In this embodiment, by operating the operation button 23, an operation command for setting the shooting posture to the robot 1a and generating the infrared signal light emitting device 17a by setting the RAW command to the robot 1a is set. .

  Among the constituent elements described above, the organizer that hosts the shooting game has the determination device 16 and the signal conversion circuits 9a and 9b, and each pilot (competitor) who performs (plays) the shooting game, Robots 1a and 1b and transmitters 2a and 2b are provided, respectively.

  The robots 1a and 1b, the transmitters 2a and 2b, and the determination device 16 are connected to each other via a wireless LAN.

  FIG. 10 is a block diagram illustrating a configuration of the determination device 16. The determination device 16 includes an antenna 300, a reception circuit 301 as a reception unit that receives signals from the robots 1a and 1b via the antenna 300, and a central processing unit (CPU). And a control circuit 302 that performs determination of winning and losing, operation control of each robot 1a, 1b, and the like, a display circuit 303 that displays a battle content such as scores of each robot 1a, 1b, and a storage device 304. The storage device 304 includes a bullet database 305 that sequentially stores the bullet signals received by the reception circuit 301 in a table format, and a score database 306 that stores the score of each robot calculated by the control circuit 302 based on the bullet database 305. Have.

  The robot 1a and the transmitter 2a are paired, and the robot 1b and the transmitter 2b are paired. The robot 1a and the robot 1b have basically the same configuration, but are configured so that the identification (ID) codes of signals to be used are different. Although the transmitter 2a and the transmitter 2b have basically the same configuration, the transmitter 2a and the transmitter 2b cannot remotely control the robots 1b and 1a, respectively, and can only remotely control the robots 1a and 1b. As described above, radio signals having different frequencies or signals including different ID codes are used.

  When the robot 1a and the robot 1b play a battle, the operator of the robot 1a operates the joystick 22 of the transmitter 2a, operates the robot 1a, and operates the operation button 23 when the robot 1b is found. Then, by transmitting a RAW command to the robot 1a, the control unit 3a sets an operation command, causes the robot 1a to take a shooting posture, and sends an infrared signal for shooting (shooting signal) from the infrared signal light emitting device 17a. 18a emits light.

  FIG. 11 is a diagram showing a signal format of the shooting infrared signal 18a. In FIG. 11, the shooting infrared signal 18a includes a start bit 130 having a predetermined number of bits provided at the head, a launching robot ID 131 that is information for indicating the robot 1a that has fired the shooting infrared signal 18a, and the end of the signal. And stop bits 132 having a predetermined number of bits.

  When the shooting infrared signal 18b emitted by the robot 1b hits the (injected to) the infrared sensor 8a of the robot 1a, the robot 1a is in a hit state, and the hit robot 1a sends a signal conversion circuit 9a to the determination device 16. Then, a signal indicating that the shooting infrared signal 18b is received, that is, a bullet signal indicating that the bullet has been shot is transmitted to the determination device 16 wirelessly.

  The robot 1a that has been hit (in a bulleted state) uses the launch robot ID 131 and its own ID (light receiving robot ID) included in the shooting infrared signal 18b to generate a shot signal in a signal format as shown in FIG. Send. In FIG. 12, the bullet signal includes a start bit 80, a launch robot ID 81 indicating a robot that fires (shoots) an infrared signal, a light receiving robot ID 82 indicating a robot that is bulleted, and a light reception time when the infrared signal 18b for shooting is received. 83 and a stop bit 84.

  The determination device 16 can recognize which robot emits the shooting infrared signal 18 based on the bulleted signal and which robot was bulleted at what time. Scores can be added and winning / losing can be determined based on the addition result.

  The determination device 16 accumulates the results and holds information indicating how many times each robot has been hit as a database, and displays the information on the display circuit 303 or restricts the operation of each part of the robot described later. It can be used to do.

  The infrared sensor 8 (8a, 8b) and the determination device 16 constitute a main part of determination means for determining the bulleted state of the robot 1 of the present embodiment. In addition, the control unit 3 and the determination device 16 constitute a main part of the limiting unit of the present embodiment.

  The operation command set from the RAW command transmitted by operating the operation button 23 is set using the command conversion table stored in the storage unit 4 described above.

  Next, the overall operation when a game is played using the shooting game system 200 of the present embodiment will be described.

  FIG. 13 is a flowchart showing an overall operation in the shooting game system of the present embodiment.

  In the following, an example is shown in which a game is played using four robots 1 (robots 1a to 1d) as an example. Here, the robots 1a and 1b constitute a team A, and the robots 1c and 1d constitute a team B, which are configured to play each other.

  First, the transmitter 2a transmits a command to the control unit 3a of the robot 1a by the operator's operation (step S41 in FIG. 13).

  The control unit 3a sets the operation command described above according to the command from the transmitter 2a, and drives each servo motor of the robot 1a so as to perform a predetermined operation such as walking (step S42).

  At this time, the determination device 16 stands by in a state where it can receive the bullet signals from the signal conversion circuits 9a and 9b (step S43).

  Next, when shooting the robot of Team B, a command for shooting (hereinafter referred to as a shooting command) is transmitted to the robot 1a by operating the operation button 23a of the transmitter 2a (step S44). In response to this, the control unit 3a sets an operation command, drives each servo motor to take a shooting posture for shooting (step S45), and the infrared signal light emitting device 17a is shown in FIG. The shooting infrared signal 18 to which the self launch robot ID 31 is added is output (step S46).

  On the other hand, when the robot 1a receives the shooting infrared signal 18 from the robot 1c or the robot 1d by the infrared sensor 8a (step S47), the signal conversion circuit 9a receives the received shooting infrared signal as shown in FIG. The bullet signal to which the own ID (light receiving robot ID) and the light receiving time information are added to 18 is wirelessly transmitted to the determination device 16 (step S48).

  The determination device 16 stores the bullet data based on the received bullet signal in the bullet database 305 of the storage device 304, and determines the bullet result (step S49). Based on the determination result, the determination device 16 transmits a bullet confirmation signal including the ID of the robot that has been bulleted to the signal conversion circuit 9a of the robot that has been bulleted (step S50).

  The signal conversion circuit 9a confirms the ID information of the robot included in the bullet confirmation signal, and if it matches with its own ID, the bullet conversion command signal for instructing to perform the bullet movement is sent to the control unit 3a. Output (step S51).

  The control unit 3a determines that it is in a bulleted state in response to the bullet movement command signal, selects a suitable one from the command conversion table, and realizes the operation of the robot 1a. In the present embodiment, as an example of an operation command, a bulleted operation program stored in the storage unit 4a is read out and executed to drive each servo motor of the robot 1a and to hang a neck. A bullet movement is performed (step S52). Thereby, each player or spectator can easily determine which robot has been hit. At this time, if the robot that has been shot confirms that the shooting infrared signal 18 emitted by the robot hit the other robot by the information from the determination device 16, it indicates that the shot has been hit (hit). An operation may be performed.

  Further, when the bullet movement command signal is received, the operation of each servo motor of the robot 1a in the stepping motion or the turning motion (stepping angle (rotation angle of each servo motor), for example, stepwise or continuously depending on the number of times of reception. Angle) and rotation speed) and / or the generation speed and the number of generations of the infrared signal 18 for shooting in the infrared signal light emitting device 17a are preferably limited. In addition, even when the robot 1 is in a fall state, for example, the shooting interval in the infrared signal light emitting device is such that the generation interval of the shooting infrared signal 18 is longer than in the stationary state and the walking state, or the shooting infrared signal 18 cannot be generated. It is preferable to limit the generation speed and the number of generation of the infrared signal 18 for use. As a result, a more realistic battle can be performed.

  On the other hand, the determination device 16 updates the score database 306 based on the determination result of the bullet based on the bullet signal, and displays the score on the display circuit 303 (step S53).

  FIG. 15 is a diagram illustrating an example of display performed by the determination device 16. The display circuit 303 is divided into a score display area 101 for each team and a score display area 102 for each robot. The control circuit 302 displays on the display circuit 303 using the score for each robot and the score for each team stored in the score database. In FIG. 15, the score of Team A is 100 points, and the score of Team B is 50 points. Moreover, the score for each robot 1a-1d is displayed.

  The game ends when a predetermined time has elapsed since the game started. The determination device 16 determines the victory or defeat of each robot and each team based on the score data of the score database 306 (step S54). Based on the determination result, the determination device 16 transmits a win / loss recognition signal representing the contents of the win / loss to the signal conversion circuit 9a of each robot (step S55).

Next, the operation after the game is finished will be described.
FIG. 14 shows a signal format of the winning / losing recognition signal. In FIG. 14, the winning / losing recognition signal includes a start bit 90, a processing team information unit 91 indicating a winning team, a defeat team information unit 92 indicating a defeat team, and a stop bit 93.

  The robot 1a receives the winning / losing recognition signal by the signal conversion circuit 9a, determines whether the team to which the robot belongs is a winning team or a defeating team, and wins or loses according to which of the winning team or the defeating team it belongs to An operation command signal is output to the control unit 3 (step S56). The winning / losing motion signal is a winning motion command signal instructing to perform a predetermined winning motion in the case of a robot belonging to a winning team, and performing a predetermined defeating motion in the case of a robot belonging to a defeating team. It is a defeat operation command signal that is supported by The winning action is, for example, an action of performing a banzai by moving the arm part up and down. The defeat operation is, for example, an operation of drooping the head 11.

  Each of the robots 1a to 1d reads and executes a winning / losing operation program of each control unit 3 in response to the winning / losing operation command signal, and performs a winning / losing operation for each team. At this time, the winning team robot performs the winning action, and the defeat team performs the defeating action (step S57).

  Note that the end of the game is not limited to the passage of time. For example, the game ends when the score of any robot or the total score of the robots of any team reaches a predetermined score. Can be selected as appropriate.

  In addition, when it is determined whether an individual wins or loses, a signal obtained by inserting a winning robot ID indicating a winning robot and a defeating robot ID indicating a defeated robot between a start bit and a stop bit is used as a winning / losing recognition signal. In the same manner as described above, the winning robot and the losing robot each win or lose. At this time, the winning robot performs the winning action and raises the name of the winner, and the defeated robot performs the defeat action.

  Next, processing when the determination device 16 determines the impact of a bullet will be described. FIG. 16 is a flowchart illustrating a process in which the determination device 16 determines a shot. FIG. 17 is a timing diagram for explaining the impact determination processing of the determination device 16.

  16 and 17, the control circuit 302 of the determination device 16 receives the bulleted signal by the receiving circuit 301 and then within a predetermined time (in the case of competing, within a time when other bulleted signals can be received even if the communication time is slow). It is determined whether another bullet signal is received (for example, within 1 second) (step S71).

  If no other bullet signal is received within the predetermined time, the control circuit 302 determines that the robot with the launch robot ID 81 included in the bullet signal has landed the robot with the light receiving robot ID 82 instead of competing. The score is added to the robot assigned the launch robot ID 81 (step S75). This is the case 1 in FIG. 17, and (A) to (D) show that robot B fires and robot A hits, robot D hits and robot B hits, and robot A fires. In this example, the robot C is hit and the robot C is shot and the robot D is hit.

  In step S71, when the control circuit 302 determines that another bullet signal has been received within the predetermined time, the control circuit 302 analyzes the plurality of bullet signals received within the predetermined time and analyzes the same robots (for example, robots). It is determined whether or not a meeting between 1a and the robot 1b) (step S72).

  In step S72, when the control circuit 302 determines that the robots are not the same, for example, when the launch robot ID 81 and the light receiving robot ID 82 in the plurality of bullet signals are different from each other, After adding a score to the robot having the launch robot ID 81, the process returns to step S71 (step S75).

  In step S72, if the control circuit 302 determines that the robots are the same, for example, if the firing robot ID 81 and the light receiving robot ID 82 in one bullet signal are the same as the light receiving robot ID 82 and the firing robot ID 81 in the other bullet signal, the same robot It is determined that a mutual strike has occurred due to the mutual collision, and by comparing the light reception times 83 of the plurality of bullet signals, it is determined which robot has been bulleted first (step S73). This is the case 2 in FIG. 17, and (A) and (B) show that the robot B fires and the robot A hits within a predetermined time, and the robot A fires within the predetermined time. In this example, the robot B is hit.

  In step S73, for example, when the light reception time 83 of the bullet signal received from the robot 1b is earlier than the light reception time 83 of the bullet signal received from the robot 1a, the control circuit 302 determines that the robot 1b is more than the robot 1a. In this case, the score is added to the robot 1a, and the process returns to step S71 without adding the score to the robot 1b (step S76).

  In step S73, if the light reception time 83 of the bullet signal received from the robot 1a is earlier than the light reception time 83 of the bullet signal received from the robot 1b, the control circuit 302 determines that the robot 1a is ahead of the robot 1b. In this case, the score is added to the robot 1b, and the process returns to step S71 without adding the score to the robot 1a (step S77).

  In step S73, when the robot is playing a game with three or more robots and receives a bullet signal from three or more robots, the control circuit 302 is the earliest based on the light reception time 83 in the received bullet signal. The score is added to the robot that has been bulleted, and the process returns to step S71 without adding the score to the other robot (step S74).

  As described above, even when a plurality of robots are competing with each other, it is possible to appropriately determine which one has been hit in a form that is realistic.

  As described above, according to the shooting game system according to each of the above-described embodiments, it is possible to accurately determine win / loss. In addition, it becomes possible for the spectators and athletes to easily recognize the winning robot or the winning team.

  In addition, it is possible to obtain the sensation of a shooting game in which objects with shapes actually fight each other in ordinary buildings and homes that are not outdoors, as well as robot walking performance and avoidance performance, firearms (infrared rays) Because the participants have fun to devise ways to determine the outcome of the game, such as programming the destructive power of the signal light emitting device), planning avoidance operations, combat operations, and supply operations using the shape of the facility. It is possible to provide a shooting game that can be enjoyed not only by shooting game fans but also by a wider range of people with intellectual and engineering interests in robots and battle games.

  Also, if you use multiple robots and play shooting games in places such as event venues and amusement halls, you can avoid shooting with firearms (infrared signal light emitting devices) to make the game more enjoyable. Also, a safety zone for maintenance such as battery replacement of the robot is required. For example, terrain such as small hills and walls, and objects such as trees and forests are required in the facility, but if the robot is about 40 centimeters in size, even if it creates those environments, 5 meters square If there is enough space, it can be realized sufficiently, and can be installed on the floor in a general building. Because it is such a large facility, it is possible for the visitors to see the progress of the entire game directly with their own eyes with a single view, and not only the participants but also the visitors can play the game. I can enjoy it enough.

  Also, since an infrared light emitting device is used as a firearm (infrared signal light emitting device), it is safer than a system that actually fires bullets made of resin or the like.

  In addition, a battery as a drive source is necessary to actually operate the robot, and naturally the operation time is limited. Therefore, the battle is efficiently performed in a short time, and the timing and method of recharging the battery are also considered. It is necessary to develop a strategy. Also, the robot's walking performance and firearm (infrared signal light emitting device) performance are often different, and unforeseen situations may occur, such as the robot falling over due to a real thing in the facility. Yes, it is possible to improve the battle situation in the intelligent part, such as planning a rescue operation in such a case, so it is generally decided that if the walking performance of the robot and the performance of the firearm (infrared signal light emitting device) are good, it can be won. Not necessarily, the effectiveness of the strategy will be questioned more and you will be able to enjoy the sensation of a realistic battle.

  Also, by fighting with multiple robots, it is possible to make a strategy closer to the actual battle, such as one that becomes impossible to do with one robot, for example, one that becomes a trap and lures an enemy and shoots it. Realistic feeling of battle.

  In addition, as for the performance of firearms (infrared signal light emitting devices), it is possible to change the performance fairly freely by programming, such as continuous shooting performance, infrared irradiation range, light emission intensity, etc., but the rules of game progression so as not to be unfair If you decide on a combination of participants, such as by classifying, you will be able to manage the game more evenly.

  Also, if a robot is shot by another robot and hits an infrared ray, the robot will take a pose when it hits based on that information, and the robot that launched it will perform a boasting action. For example, participants and visitors can clearly recognize the game, and can perform more realistic battles.

  Considering the need for fair game in official game competitions, etc., it is preferable that the judgment device, infrared sensor, signal conversion circuit, etc. are separate from the robots owned by each pilot Since it is better for the game organizer to prepare the same function and performance, it is preferable that the game can be easily attached to the robot at the game venue.

  In particular, when the signal conversion circuit 9a and the robot 1a are provided integrally, the ball movement command signal converted by the signal conversion circuit 9a may be rewritten by the control unit 3a. Although the reliability of the signal transmitted to the determination device 16 is low and there is a possibility that a fair game determination cannot be made. In this embodiment, the signal conversion circuit 9a prepared by the organizer is separately provided for the robot 1a. Therefore, the shooting infrared signal 18 obtained by the infrared sensor 8 a is input to the signal conversion circuit 9 a without being rewritten and transmitted to the determination device 16.

  Thereby, the reliability of determination can be improved regardless of the robot (control circuit) to be used.

  Even when a robot in which the signal conversion circuit 9a and the control unit 3a are integrally formed is used, the signal conversion circuit 9a and the determination device 16 each have a separate CPU. The conversion circuit 9a and the determination device 16 can exchange correct signals with each other using a predetermined communication protocol.

  Thereby, for example, by performing communication between the signal conversion circuit 9a and the determination device 16, the signal conversion circuit 9a determines whether the signal transmitted to the determination device 16 is correctly transmitted, If the signal is not sent correctly, the signal conversion circuit 9a repeats the signal transmission a predetermined number of times. If the signal is still not sent, the signal conversion circuit 9a is notified visually or audibly such as an LED or a buzzer. It is preferable to provide an informing means. As a result, it is possible to determine, for example, that the player has lost the game by, for example, emitting an LED of a color according to the state of the robot 1 or making a sound and informing the user.

  Thereby, irrespective of the robot (control part) to be used, the reliability of determination can be improved.

  In addition, since the determination unit and the transmission unit are respectively connected by a wireless LAN, bidirectional communication can be performed. Thereby, the display unit 25 of the transmitter 2 displays, for example, the status (status) of the own robot such as the number of firing infrared signals 18 fired, the number of remaining bullets, and the number of times the infrared signal 18 received from other robots is received. In addition to the above, various information indicating the game remaining time such as the remaining time of the game, the (status) status of other robots of the team to which the player belongs and the current score that is counted by the judging means are displayed. As a result, the range of strategies is broadened and a sense of realism can be obtained.

  It should be noted that various changes can be made such as transmission / reception of signals between the robot, the transmitter, and the determination device using a mobile phone, a PHS (Personal Handy phone System), or the like.

Next, a second embodiment of the robot control system of the present invention will be described.
FIG. 18 is a block diagram showing a second embodiment of the robot control system of the present invention.

  Hereinafter, the robot control system 100 according to the second embodiment will be described with a focus on differences from the first embodiment described above, and descriptions of similar matters will be omitted.

  The robot control system 100 according to the second embodiment includes a plurality of PCs 34 (personal computers) connected to each joystick 22, and a LAN 300 to which each robot 1, each transmitter 2, and each PC 34 are connected. The LAN 300 is configured to be connectable to the Internet 400 via a router (communication device) 35.

  Note that the PC 34 of this embodiment has the functions of the control unit 21, the wireless LAN interface unit 24, and the storage unit 26 of the transmitter 2 of the first embodiment.

  Each PC 34 may have a router individually and can be connected to the Internet 400 via this router.

  The operator can operate the robot 1 by operating the transmitter 2 connected to the LAN 300 or by operating the joystick 22 and the operation buttons 23.

  When the robot control system 100 of the present embodiment is applied to the above-described shooting game system, when the infrared ray for shooting is detected through the infrared sensor 8a, the signal is input to the control unit 3a through the signal conversion circuit 9a, and communication is performed. The data is transmitted to the PC 34 via the device 35, and the determination software in the PC 34 performs the same function as the determination device 16 to determine the shot and win / loss.

  According to this robot control system 100, the same effect as the robot control system 100 of the first embodiment described above can be obtained.

  And when the robot control system 100 of 2nd Embodiment is applied to the shooting game system mentioned above, since the apparatus for exclusive use of shooting games, such as the determination apparatus 16, is not required, size reduction of a system can be achieved, The entire system can be configured at a relatively low cost.

In addition, since the transmitter 2, the PC 34, and the robot 1 are connected to the Internet 400 via the router 35, for example, one or more of the pilot and the organizer Even in remote locations (including foreign countries), by connecting to the Internet 400, the robot 1 can be operated and determined from a remote location, and a shooting game can be easily and reliably performed. In this case, when the transmitter 2 is used, a shooting game can be played while the image captured by the CCD 94 is monitored by the display unit 25. When the joystick 22 and the PC 34 are used, a display (monitor) that has substantially the same function as the display unit 25 and can be connected to the PC 34 is connected to the PC 34 separately from the display unit 25. A shooting game can be performed while an image captured by the CCD 94 is monitored on a display. Further, the transmitter 2 and the display may be connected. Thereby, visibility can be improved or the amount of information to be displayed can be increased. In addition, since the robot 1 and the transmitter 2 or the robot 1 and the PC 34 are connected via the Internet, high-speed communication is possible, and image data is transmitted to the display unit 25 or the display at any time, making it more comfortable and realistic. You can play games with
Further, an intranet or the like may be used instead of the Internet.

  The robot control system of the present invention has been described based on the illustrated embodiment. However, the present invention is not limited to this, and the configuration of each part is replaced with an arbitrary configuration having the same function. can do. In addition, any other component may be added to the present invention.

  In the present embodiment, the gyro sensor 31 is used as the speed sensor (angular speed sensor), but it goes without saying that the present invention is not limited thereto.

  In this embodiment, a biped walking robot with a link mechanism is used. However, the present invention is not particularly limited. For example, a walking robot having one leg or three or more legs may be used. It may be a movable robot.

  In this embodiment, a wireless LAN is used as a communication method. However, the present invention is not particularly limited, and for example, an infrared method can be used.

  In this embodiment, the pressure sensor is used as the landing detection means, but the present invention is not particularly limited.

  Further, the shooting partner of the robot 1 is not limited to the robot, and may be, for example, a shooting target displayed on a person or a monitor.

  In this embodiment, the operation command is set using the command conversion table. However, the operation command is not limited to this, and the operation command may be set by performing an operation.

  In addition, a plurality of colors (for example, three color (R, G, B) LEDs (for example, three colors (R, G, B)) that are electrically connected to a robot control unit at a predetermined portion of the robot, for example, the head, etc. A light emitting element) may be provided. Thereby, according to the information (robot posture and state (situation) etc.) obtained by the various sensors described above, for example, blue (B) when walking (walking), green (G) when stopped, The configuration may be such that the state (situation) of the walking robot can be grasped by emitting red (R) or the like in the event of an abnormality such as a fall.

Further, the light-emitting element is not limited to the above-described application, and may be used for other applications.
Further, the command conversion table may be configured such that the operation command for the RAW command can be customized so that the operation desired by the operator is achieved.

  Moreover, the use of the robot control system of the present invention is not limited to the above-described shooting, and can be applied to, for example, a robot that fights against each other, a robot that races, and the like.

It is a block diagram which shows roughly the principal part of the robot control system of this invention. It is a perspective view which shows the transmitter of the robot control system shown in FIG. It is the schematic which shows the robot of the robot control system shown in FIG. It is a block diagram of a servo control system. It is a figure which shows the command conversion table in 1st Embodiment of the robot control system of this invention. It is a flowchart which shows a data reception routine. It is a flowchart which shows a processing routine. 1 is an overall configuration diagram of an embodiment of a shooting game system to which a robot control system of the present invention is applied. It is a block diagram which shows the detail of the shooting game system shown in FIG. It is a block diagram of the determination apparatus used with the shooting game system shown in FIG. It is a figure which shows the signal format used with the shooting game system shown in FIG. It is a figure which shows the signal format used with the shooting game system shown in FIG. It is a flowchart which shows the whole operation | movement of the shooting game system shown in FIG. It is a figure which shows the signal format used with the shooting game system shown in FIG. It is a figure which shows the example of a display of the determination apparatus used with the shooting game system shown in FIG. It is a flowchart which shows the process of the determination apparatus used with the shooting game system shown in FIG. It is a timing diagram for demonstrating the process of the determination apparatus used with the shooting game system shown in FIG. It is a block diagram which shows 2nd Embodiment of the robot control system of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Robot control system 200 Shooting game system 1 Robot 1a-1d Robot 2 Transmitter 3 Control part 2a, 2b Transmitter 4 Memory | storage part 5 Servo motor 6 Sensor part 7 Wireless LAN interface part 8a, 8b Infrared sensor 9a, 9b Signal conversion circuit 10a Antenna 11 Head 12 Body 13 Arm 14 Arm 15 Leg 16 Judgment device 17a Infrared signal light emitting device 17b Infrared signal light emitting device 18 Infrared signal for shooting 18a Infrared signal for shooting 18b Infrared signal for shooting 21 Control unit 211 CPU
22 Joystick 23 Operation Button 24 Wireless LAN Interface Unit 25 Display Unit 26 Storage Unit 30 CPU
31 Gyro sensor 32 Three-dimensional acceleration sensor 33 Pressure sensor 34 PC
35 router (communication equipment)
41 Right leg 42 Right thigh 43 Right lower leg 44 Right foot 45 Neck joint 46 Lumbar joint 47 Right hip joint 48 Right knee joint 49 Right ankle joint 50 Lumbar 51 Left leg 52 Left thigh 53 Left lower thigh 54 Left foot 57 left hip joint 58 left knee joint 59 left ankle joint 62 right upper arm 63 right forearm 64 right hand 67 right shoulder joint 68 right elbow joint 69 right wrist joint 72 left upper arm 73 left forearm 74 left hand 77 left shoulder joint 78 left Elbow joint 79 Left wrist joint 80 Start bit 81 Launch robot ID
82 Light receiving robot ID
83 Light reception time 84 Stop bit 90 Start bit 91 Processing team information section 92 Defeat team information section 93 Stop bit 94 CCD
101 score display area for each team 102 score display area for each robot 111 to 115 columns 300 antenna 301 receiving circuit 302 control circuit 303 display circuit 304 storage device 305 hit database 306 score database 400 internet BC1 yaw angle servo motor LR1 right foot yaw angle servo Motor LR2 Right foot pitch angle servo motor LR3 Right foot roll angle servo motor LR4 Right foot knee pitch angle servo motor LR5 Right foot pitch angle servo motor LR6 Right foot roll angle servo motor LL1 Left foot yaw angle servo motor LL2 Left foot pitch angle servo motor LL3 Left foot roll angle servo motor Servo motor LL4 Left foot knee pitch angle servo motor LL5 Left foot pitch angle servo motor LL6 Left foot roll angle servo motor HR1 Right hand pitch angle servo motor H 2 Right foot roll angle servo motor HR3 Right foot elbow pitch angle servo motor HR4 Right hand yaw angle servo motor HL1 Left hand pitch angle servo motor HL2 Left foot roll angle servo motor HL3 Left foot elbow pitch angle servo motor HL4 Left hand yaw angle servo motor HC1 Head yaw angle servo Motor HC2 head pitch angle servo motor S41 to S57 Step S71 to S77 Step S101 to S104 Step S201 to S220 Step

Claims (37)

A robot control system having a robot and remote control means for transmitting a command to the robot,
The robot is
A plurality of drive units;
A judging means for judging the state of the robot;
Receiving means for receiving a command transmitted from the remote control means;
When the command is received by the receiving means, an operation command corresponding to the state of the robot obtained by the determination means is set, and the plurality of driving units are driven based on the operation command, respectively. A robot control system comprising: an operation realizing means for realizing an operation of the robot.   The robot control system according to claim 1, wherein the determination unit is capable of determining at least two different states. The robot is a walking robot,
The different states include a stationary state where the robot is not standing and walking, a walking state where the robot is walking, and a falling state where the robot is falling,
The robot control system according to claim 2, wherein the motion realization unit sets motion commands corresponding to the stationary state, the walking state, and the falling state. The operation command is preset,
4. The robot according to claim 1, wherein the operation realizing unit selects an appropriate one of the preset operation commands based on a combination of the determination result of the determination unit and the command, and realizes the operation of the robot. The robot control system described in Crab.   The determination unit includes a program for executing driving of the drive unit and a detection unit for detecting external information of the robot, and determines the state of the robot from at least one of the program and the detection unit. The robot control system according to any one of claims 1 to 4.   The robot control system according to claim 5, wherein the detection unit includes a gyro sensor that detects angular velocities about the X axis, the Y axis, and the Z axis substantially orthogonal to each other.   The robot control system according to claim 5, wherein the detection unit includes a three-dimensional acceleration sensor that detects acceleration in three directions substantially orthogonal to each other.   8. The detection unit according to claim 5, wherein the detection unit includes at least one landing detection unit that detects landing, and determines the landing of the robot based on a detection value of the landing detection unit. The robot control system described.   The robot control system according to claim 8, wherein the landing detection means is a pressure sensor.   The robot control system according to claim 5, wherein the program causes the robot to stop or to walk.   The robot control system according to any one of claims 1 to 10, wherein the robot includes at least one leg portion including at least a foot portion, an ankle joint driven by the driving portion, and a waist portion. The leg portion is capable of performing a turning operation of turning in a direction substantially parallel to the ground plane,
The robot control system according to claim 11, wherein the robot starts the walking motion or the turning motion when the motion command is received when the robot is stationary.   The robot control system according to claim 11 or 12, wherein the robot changes a walking speed and / or a walking direction when the operation command is received during the walking.   The robot control system according to any one of claims 1 to 13, wherein the robot further includes a body part that is rotatable by a predetermined angle with respect to the waist part.   The robot control system according to claim 14, wherein when the robot receives the operation command during the walking, the robot changes a rotation angle of the torso with respect to the waist.   The robot control system according to claim 1, wherein the remote control means includes a joystick having a tiltable stick.   The robot control system according to claim 16, wherein an operation unit is provided at a predetermined part of the joystick, and the command is transmitted to the robot by the operation of the joystick or the operation of the operation unit.   The robot control system according to claim 1, further comprising a restricting unit that restricts an operation of each part of the robot according to a state of the robot.   The restricting means is configured such that each of the robots is stepwise or continuously according to a stationary state where the robot is not standing and walking, a walking state where the robot is walking, and a falling state where the robot is falling. The robot control system according to claim 18, wherein the movement of the part is limited.   The robot control system according to claim 19, wherein the limiting means limits a walking speed of the robot in the walking state.   The robot control system according to any one of claims 1 to 20, wherein the operation realizing unit includes a signal generation unit that generates a shooting signal based on the operation command.   The robot control system according to claim 21, further comprising signal receiving means for receiving the shooting signal. Signal receiving means for receiving the shooting signal;
The robot control system according to claim 21, further comprising a restricting unit that restricts an operation of each part of the robot according to a state of the robot.   24. The robot control system according to claim 23, wherein the limiting means limits the operation of each part of the robot stepwise or continuously in accordance with the number of times the shooting signal is received.   25. The robot control system according to claim 23 or 24, wherein the limiting means limits a generation speed and / or generation number of a shooting signal in the signal generation means in a fall state where the robot is falling.   The robot control system according to any one of claims 22 to 25, wherein the robot is provided with a transmission means for transmitting a bullet signal when the shooting signal is received.   The robot control system according to any one of claims 22 to 26, wherein the determination unit is configured to determine a bulleted state in which the signal reception unit has received the shooting signal.   28. The robot control system according to claim 21, wherein the shooting signal is an infrared shooting signal using infrared light.   The robot control system according to any one of claims 1 to 28, further comprising notification means for visually and / or audibly informing the state of the robot.   The robot control system according to any one of claims 1 to 29, wherein the driving unit includes a servo motor, and the operation command is a rotation angle command for the servo motor.   The robot control system according to any one of claims 1 to 30, wherein the robot control system is configured to perform bidirectional data communication using a communication protocol between the remote control unit and the receiving unit.   The robot control system according to claim 31, wherein the communication protocol is a TCP / IP protocol.   The robot control system according to claim 31 or 32, wherein the bidirectional communication is performed via a wireless LAN.   34. The robot control system according to claim 31, wherein at least part of the bidirectional communication is performed via the Internet or an intranet.   The robot control system according to any one of claims 1 to 34, wherein the robot includes an imaging unit that captures a subject image as an electronic image.   36. The robot control system according to claim 35, wherein the determination unit determines a fall state in which the robot is falling based on an image obtained by the imaging unit. 37. The robot control system according to claim 35 or 36, wherein the remote control unit includes a display unit that displays an image captured by the imaging unit.

Images