JPWO2016067474A1 - Robot toy - Google Patents

Abstract

Provided is a robot toy that can execute one or more attack operations and that does not require an additional accessory such as a dedicated remote control unit to execute one of those attack operations. thing. A robot toy having a robot main body (1) capable of executing one or two or more attack operations, and having an object sensing area (4a, 4b) in the vicinity of the robot main body (1). , 2b, 3a, 3b) and control for controlling execution of one or more of the attack operations selected by the state of the object (7a) in the object sensing area (4a) based on the output of the object sensor Part (108). [Selection] Figure 2

Description

  The present invention relates to a robot toy, and more particularly, to a robot toy capable of executing an attacking action used in a battle play in which robots fight against each other.

  Various types of robot toys that can execute an attacking action (for example, a punching action, etc.) used in a battle game in which robots fight with each other have been conventionally known. These robot toys are roughly classified into a stationary type and a movable type.

  Stationary robot toys are mainly installed in game halls, etc., and two upper body humanoid robots that can perform left and right punching operations are placed opposite each other at a distance where each other's punch attack can reach. It is said that the player performs a left and right punch feed operation at an arbitrary timing when the player presses the operation button on the operation panel arranged behind the fingertip.

  The mobile robot toy is mainly used for home use, and can be walked or run in addition to the left and right punching operations, and is received from a wired or wirelessly connected remote control unit. In response to the operation command, by executing a walking or running operation, the robot body is brought close to another opponent, and in that state, in response to the operation command received from the operation unit, any timing It is said that the left and right punch unwinding operation is executed.

  The remote operation unit connected to the robot body by wire or wirelessly includes a button operation type equipped with operation buttons for generating execution commands for left and right punch operations, and arm movements corresponding to left and right punch operations. There is known a sensor-incorporated type that detects a sensor through a sensor (for example, an acceleration sensor) and generates a corresponding operation command.

  The button operation type remote operation unit has the advantage that the intended punching operation can be realized by a slight movement of the fingertip (button operation). On the other hand, the body action to make the robot body perform the punching operation and the operation in the operation unit Since there is some discrepancy in the will transmission system with the body action that tries to press the button, the player's will cannot be smoothly transmitted to the operation of the robot body. There is a problem of lack of excitement.

  On the other hand, the remote control unit with a built-in sensor is connected to the body action for generating a motion command as it is because the body action to cause the robot body to perform a punching action is performed. Can be smoothly transmitted to the operation of the robot body, and there is an advantage that the play can be greatly increased. For this reason, the applicant company previously proposed a robot toy having such a remote control unit with a built-in sensor (see Patent Document 1), and a robot toy product according to the proposal (trade name: Batroborg). Has been well received by the market (Non-Patent Document 1).

Japanese Patent No. 5426775

http://www.takaratomy.co.jp/products/battroborg/play.html

  The robot toy described in Patent Literature 1 and Non-Patent Literature 1 has a remote control unit of a built-in sensor type. This remote control unit has a substantially nunchaku shape formed by connecting two control unit casings each having a bar shape with an electric cord having an appropriate length.

  The player holds one of the two operation unit housings with the right hand and the other with the left hand, and performs a body action corresponding to left and right punches. Then, a sensor built in each operation unit casing senses this, and a corresponding operation command is generated by the action of the control unit in accordance with this detection output. The data is transmitted wirelessly to the robot body side through a transmission / reception unit built in one of the operation unit casings. On the robot body side, an operation command transmitted wirelessly from the remote operation unit side is received via the transmission / reception unit, and either left or right punching operation or walking operation is realized according to the content of the received operation command. To do.

  According to such a robot toy, one of the two operation unit housings is gripped with the right hand and the other with the left hand, and the body action corresponding to the left and right punches is performed. Therefore, the player can smoothly transmit the will from the player to the robot body, enthusiastically play the fighting game in which the robots fight each other, and arouse excitement.

  However, it is possible to achieve either left or right punching and walking on the robot body simply by performing body actions corresponding to left and right punches. In addition to the price of the robot body, the price of the remote control part that is an accessory will be added to the robot toy described above. As a result, the price of this kind of robot toy will be increased.

  In addition, considering that the target players of this type of robot toy include infants and lower-grade children, it is difficult to ignore the possibility of losing the remote control that is an accessory. If a loss occurs, it will no longer be possible to perform the play unless the accessories are purchased again.

  The present invention has been made in view of the above-described technical background, and its object is to execute one or more attack operations and to execute one of those attack operations. Another object is to provide a robot toy that does not require any additional accessories such as a dedicated remote control unit.

  Still other objects and operational effects of the present invention will be easily understood by those skilled in the art by referring to the following description of the specification.

<Robot toy according to the present invention>
A robot toy according to the present invention is a robot toy having a robot main body capable of executing one or more attack operations, an object sensor having an object detection area in the vicinity of the robot main body, and an output of the object sensor. And a control unit that controls execution of one or more attacking operations selected according to the state of the object in the object sensing area.

  According to such a configuration, any object (for example, fingertip, fist, palm, etc.) is intentionally present in the vicinity of the robot body, and the object can be attacked only by bringing the object into a predetermined state. Since one or two or more can be selected and executed, it is possible to provide a robot toy that does not require an additional accessory such as a dedicated remote control unit in order to execute one of the attack operations.

<First Embodiment>
In the first embodiment of the present invention, execution of one or more of the attack operations selected according to the state of the object is performed in an execution mode determined by the state of the object, Also good.

  According to such a configuration, it is possible to select not only the attack action to be executed but also the execution mode thereof only by controlling how the object exists in the sensing area.

  As an example, when an object appears in the object detection area, the execution mode of the attack operation is determined as the one in which the attack operation should be executed once. Good.

  According to such a configuration, for example, if a player performs a body action corresponding to a punching operation and the fist enters the object detection area, at the time of the intrusion, on the side of the robot body, The selected attacking action (for example, punching action) can be executed once.

  As another example, when the state of the object is that an object stays in the object sensing area for a predetermined time or longer, the execution mode of the attack operation is the predetermined number of times for a predetermined time, Alternatively, it may be determined to be executed cyclically during the stay.

  According to such a configuration, for example, if the player performs a body action corresponding to a punching operation and the fist enters the object sensing area and maintains the intrusion state, the robot main body side The selected attack action (for example, punch action) can be cyclically executed (for example, repeated hits) for a predetermined number of times, for a certain period of time, or during the stay.

  As yet another example, when the state of the object is that an object is approaching the object sensing area at a predetermined speed or more, the execution mode of the attack operation is that the attack operation is performed with a stronger power than usual. It may be determined to be executed.

  According to such a configuration, for example, if the player performs a body action corresponding to a punching operation and the fist enters the object sensing area at high speed, the selected attack is performed on the robot body side. The operation (for example, punching operation) can be executed with a stronger power than usual.

<Second Embodiment>
In the second embodiment of the present invention, the object sensing area may be set in the vicinity of a surface facing the assumed player among the peripheral surfaces of the robot body.

  According to such a configuration, the player performs a selected attack action (for example, punch action) on the robot body side by performing a body action corresponding to the punch action, for example, toward the front. Can be executed.

  As an example, the surface facing the assumed player may be a back surface of the robot body.

  According to such a configuration, the player can execute the selected attack action in his / her robot body by paying out a body action corresponding to the attack action while viewing the enemy robot body from the front. be able to.

  As another example, the side facing the assumed player may be the left side and / or the right side of the robot body.

  According to such a configuration, in the state where the two robot main bodies are relatively leaned, by performing a body action corresponding to an attacking action by two players from each side, in each robot main body, The selected attack action (for example, punch action) can be executed.

<Third Embodiment>
In the third embodiment of the present invention, the object sensing area is composed of a plurality of small areas distributed along a plane facing the assumed player of the robot body, and each of the plurality of small areas is Is associated in advance with one or more of the attack actions, and the control unit, for each of the plurality of small areas, has one or more of the attack actions associated with the small areas. It may be one that controls execution.

  According to such a configuration, the player performs an attack action (for example, on a small area associated with one or more target attack actions among a plurality of small areas constituting the object sensing area (for example, By performing a body action corresponding to a punch action, a selected attack action (for example, a punch action) can be executed in the robot body.

  At this time, the spatial layout when observing each of the plurality of small regions from the side facing the robot main body is consistent with the spatial layout of each of the starting points of the plurality of attack operations. Good.

  According to such a configuration, from an ergonomic viewpoint, it becomes easier to intuitively understand the relationship between each of the plurality of small areas and the corresponding attack action, and the body action corresponding to the target attack action can be obtained. It can be performed more smoothly.

  At this time, each of the plurality of small regions may be distributed along the back surface or the left side and / or the right side surface of the robot body.

  According to such a configuration, the body action corresponding to the target attack action can be performed more smoothly while observing the enemy robot body from the front or side.

  To give a more specific example, the robot body has a left-origin attack action such as various punch attacks using the left fist and various attacks using a weapon held in the left hand, various punch attacks using the right fist, and the right hand. And a right-type attack action such as various attacks by a weapon held by the robot, and the object sensing area is located on the left or right side of the robot body along the back or left side and / or the right side. The control unit includes two small areas to be laid out, and the control unit analyzes the state of the object in each of the two small areas, and based on the analysis result of the left small area Further, the execution of the attack operation from the left starting point may be controlled, and the execution of the attack operation from the right starting point may be controlled based on the analysis result of the small area on the right side.

  According to such a configuration, the player can perform a body action (for example, a left punching operation) corresponding to a target attacking action on the left small area among the two small areas constituting the object sensing area. In the robot body, the left-origin attack operation such as various punch attacks using the left fist and various attacks by the weapon held in the left hand can be executed on the right side of the robot. The body action (for example, right punching action) corresponding to the attacking action to be performed on the robot body performs left-origin attacking actions such as various punching attacks using the right fist and various attacks using the weapon held by the right hand. So you can empathize with yourself as if you were a robot body and enjoy playing against it.

  To give a more specific example, the robot body has an upper left starting attack operation such as a straight punch or hook punch attack using a left fist, and a straight punch or hook punch attack using a right fist. It is a humanoid robot that has an attack action starting from the upper right, an attack action starting from the lower left such as an upper punch attack using the left fist, and an attack action starting from the lower right such as an upper punch attack using the right fist, The object sensing area includes four small areas that are laid out vertically and horizontally along the back or left and / or right side of the robot body, and the command generator includes the four For each small area, analyze the state of the object in the small area, control the execution of the attack action of the upper left starting point based on the analysis result of the upper left area, and analyze the upper right small area Based on the results, control the execution of the attack motion of the upper right starting point, control the execution of the control operation of the lower left starting point based on the analysis result of the lower left small region, the analysis result of the lower right small region The execution of the attack operation of the lower right starting point may be controlled based on the above.

  According to such a configuration, the player can perform a body action (for example, an upper left punching operation) corresponding to a target attack action on the upper left small area among the four small areas constituting the object sensing area. The body action (for example, the upper right punching action) corresponding to the target attacking action against the upper right small area, such as the straight punch using the left fist and the hook punch attack, is performed. As a result, the body action (for example, the lower left punching action) corresponding to the target attacking action is performed on the lower left small area, such as a straight punch using a right fist or a hook punch attack, etc. Therefore, the attack action of the lower left starting point such as the upper punch attack using the left fist is equivalent to the target attack action for the lower right small area. By performing body action (for example, lower right punch action), it is possible to cause the target robot body to perform attack actions starting from the lower right such as an upper punch attack using the right fist. , You can empathize as if you were a robot body, and enjoy the play.

<Fourth embodiment>
In a fourth embodiment of the present invention, the object sensor is on the robot body side, a transmitter for sending a radiator serving as a detection medium to the object sensing area, and on the robot body side, A receiver for receiving the radiator reflected by an object present in the object sensing region, and sensitivity adjusted to match an object detection distance range to the sensing region, and the sensing region based on an output from the receiver A reflection type object sensor that generates a signal indicating the presence or absence of an object may be used.

  According to such a configuration, the cost of the object sensor can be reduced by simplifying the electrical hardware configuration and the software configuration for determining the presence or absence of an object in the area.

  At this time, the sensing area is composed of a plurality of small areas, and the transmitter is composed of a plurality of transmitters that send out a radiator as a detection medium to each of the small areas, and the receiver is each of the small areas. Including one or more receivers that receive the radiators reflected by the objects present in the object, and further comprising a characterization process to enable identification of which of the subregions each reflected radiator has come from It may be a thing.

  According to such a configuration, it is possible to reliably prevent erroneous detection of an object position due to one receiver receiving the radiator reflected from two or more small regions.

  At this time, the transmitter may be attached so that the angle can be adjusted so that the delivery direction of the radiator can be adjusted.

  According to such a configuration, one receiver receives the radiator reflected from two or more small areas by adjusting the delivery direction of the radiator to reliably eliminate interference between the small areas. Thus, erroneous detection of the object position can be prevented more reliably.

  As an example of the characterization process, in order to be able to identify which small area each reflected radiator has come from, the sending timing of the radiator from each of the plurality of transmitters is different from each other. There may be.

  According to such a configuration, the cost of the object sensor can be reduced by reducing the number of transmitters as long as the transmission interval of the radiator is set appropriately.

  As another example of the characterization process, the characterization process may be applied to radiators sent from each of the plurality of transmitters in order to be able to identify which subregion each reflected radiator has come from. A unique identification code may be incorporated.

  According to such a configuration, although the time required for the encoding process and the decoding process is necessary, it is possible to reliably detect the object position erroneously when one receiver receives the radiator reflected from two or more small areas. Can be prevented.

  In the above-described example, the radiator serving as the detection medium may be light including infrared rays as an example, sound waves including ultrasonic waves as an example, or electromagnetic waves including microwaves as an example.

<Fifth Embodiment>
In a fifth embodiment of the present invention, the robot body is a humanoid robot capable of one or more attacking operations, a beast robot such as a lion, a tiger, or a buffalo, or a tyrannosaurus, triceratops, or the like. It may be a dinosaur type robot.

  As described above, the type of the robot main body applied to the present invention is not limited to the humanoid robot, and extends to all types of robot toys as long as one or more attack operations can be performed. Is.

  The one or more attack operations that can be executed by the humanoid robot include a punch attack operation such as a left and right straight, a hook, and an upper, or an attack operation using a weapon such as a sword. May be.

  In this way, attack actions include not only those caused by parts of the body, such as hands and feet, but also those that have weapons in hand, so this type of battle play should be made even more interesting. Can do.

  The one or more attack actions that can be executed by the beast robot include an attack action using left and right forefoot claws, an attack action using horns, or an attack action using fangs. May be.

  In this way, even in the case of a beast-type robot, this type of battle play can be made even more interesting by performing all of the attacking actions assumed for the beast.

  Even if one or more of the attack actions that can be executed by the dinosaur robot include an attack action using the left and right forefoot claws, or an attack action using a fang or horn with the neck extended Good.

  In this way, even with a dinosaur-type robot, this type of battle play can be made even more interesting by performing all of the attacking actions assumed for the dinosaur.

<Sixth Embodiment>
In the sixth embodiment of the present invention, the robot body may be capable of traveling or walking.

  According to such a configuration, unlike a stationary robot toy, not only performs an attacking action, but also approaches the enemy robot body position, escapes from the enemy robot body, and conversely the enemy robot This kind of battle play can be made even more interesting by performing various actions, such as pursuing the body.

  The robot toy has a manual movement mode and an automatic movement mode, and the manual movement mode executes a traveling movement or a walking movement in response to a body action of a player, and the automatic movement mode is It may include a preset movement mode that moves according to a preset movement locus, or a programmable movement mode that moves according to an arbitrarily programmed movement locus.

  According to such a configuration, the robot body can be selectively moved in the manual movement mode and the automatic movement mode with respect to the movement along an arbitrary route. In addition, in the manual movement mode, while watching the movement of the enemy robot body, while changing the course sequentially, it is possible to take a strategy action that guides the robot body to the optimal attack posture, while automatically In the movement mode, by predicting the opponent's movement and setting the optimal movement route in advance, it is possible to provide enjoyment of watching over the outcome of the prediction result, making this kind of battle play more interesting. can do.

  At this time, including a process for forcibly switching the operation mode from the automatic mode to the manual mode when any body action is detected through the object sensor while the automatic mode is set. There may be.

  According to such a configuration, if the enemy robot body is encountered while moving with the automatic movement mode set, or if the movement locus deviates from the direction of the enemy robot body, the automatic movement mode is immediately By switching from the manual movement mode to the manual movement mode, an appropriate response can be taken.

  Further, the robot toy recognizes the direction of the other party by relying on the sound emitted from the enemy robot body by the left and right microphones for the traveling movement or walking movement, and spontaneously taking a course. It may have a search movement mode to be performed.

  According to such a configuration, even if the enemy and the ally robot main body are arranged apart from each other, the two robot main bodies approach each other in search of the other party, so that only the battle operation for performing the attack operation with each other is performed. Not only that, you can also enjoy the action in the previous stage leading to the battle, so this kind of battle play can be made more interesting.

<Control Method of Attack Action in Robot Toy According to the Present Invention>
The method according to the present invention is a method for controlling an attack operation in a robot toy having a robot main body capable of executing one or two or more attack operations, the output from an object sensor having an object sensing area in the vicinity of the robot main body. And a step of controlling execution of one or more of the attack operations selected according to the state of the object in the object sensing area based on the output of the captured object sensor. , That is.

  According to such a configuration, any object (for example, fingertip, fist, palm, etc.) is intentionally present in the vicinity of the robot body, and the object can be attacked only by bringing the object into a predetermined state. Since one or two or more can be selected and executed, there is an advantage that an accessory such as a dedicated operation unit is not required to execute one of the attack operations.

<Computer Program for Attack Action Control in Robot Toy According to the Present Invention>
A computer program according to the present invention is a computer program for controlling an attack operation in a robot toy having a robot body capable of executing one or more attack operations, and has an object sensing area in the vicinity of the robot body. And the step of controlling execution of one or more of the attack operations selected according to the state of the object in the object sensing area based on the captured output of the object sensor. To do.

  According to such a configuration, when executed by the computer, some object (eg, fingertip, fist, palm, etc.) is intentionally present in the vicinity of the robot body, and the object is brought into a predetermined state. Only one or more of those attack actions can be selected and executed, so there is an advantage that no additional accessories such as a dedicated operation unit are required to execute one of the attack actions. .

<Recording medium storing computer program for controlling attacking action in robot toy according to the present invention>
A recording medium according to the present invention is a recording medium storing a computer program for controlling attacking motion in a robot toy having a robot body capable of executing one or more attacking operations, wherein the computer program is stored in the robot body. Capturing the output from an object sensor having an object sensing area in the vicinity of the object, and one or more of the attacks selected according to the state of the object in the object sensing area based on the captured output of the object sensor And controlling the execution of the operation.

  According to such a configuration, by reading from the computer, any object (for example, fingertip, fist, palm, etc.) is intentionally present in the vicinity of the robot body, and the object is only in a predetermined state. Since one or more of these attack operations can be selected and executed, there is an advantage that an accessory such as a dedicated operation unit is not required in order to execute one of the attack operations.

  According to the present invention, any object (for example, fingertip, fist, palm, etc.) is intentionally present in the vicinity of the robot body, and only one of those attacking actions can be performed by simply bringing the object into a predetermined state. Since two or more can be selected and executed, it is possible to provide a robot toy that does not require an additional accessory such as a dedicated remote control unit in order to execute one of the attack operations.

FIG. 1 is an external perspective view (No. 1) of an example of a robot toy according to the present invention viewed obliquely from the rear. FIG. 2 is an explanatory diagram (part 1) illustrating the relationship between object detection and attack operation. FIG. 3 is an explanatory diagram (part 1) of a battle play using two robot toys. FIG. 4 is an external perspective view (part 2) of an example of the robot toy according to the present invention as viewed obliquely from the rear. FIG. 5 is an explanatory diagram (part 2) of a battle play using two robot toys. FIG. 6 is an explanatory diagram (2-1) showing the relationship between object detection and attack operation. FIG. 7 is an explanatory diagram (Part 2-2) illustrating the relationship between object detection and attack operation. FIG. 8 is an external perspective view (No. 3) of an example of the robot toy according to the present invention viewed obliquely from the rear. FIG. 9 is an explanatory diagram (part 3) illustrating the relationship between object detection and attack operation. FIG. 10 is an explanatory diagram (part 3) of a battle play using two robot toys. FIG. 11 is an explanatory diagram showing the relationship between object detection and attack action in another example of the robot toy according to the present invention. FIG. 12 is a circuit diagram (No. 1) showing an electrical hardware configuration in an example of the robot toy according to the present invention. FIG. 13 is a circuit diagram (No. 2) showing an electrical hardware configuration in an example of the robot toy according to the present invention. FIG. 14 is a partial circuit diagram illustrating a configuration of a light receiving unit for detecting an approaching speed of an object. FIG. 15 is a general flowchart schematically showing the entire software configuration of the robot toy. FIG. 16 is a detailed flowchart of the sensing area code setting process. FIG. 17 is a detailed flowchart of the manual operation process. FIG. 18 is a detailed flowchart (left system) of the robot operation according to the state of the detected object. FIG. 19 is a detailed flowchart of the automatic driving process. FIG. 20 is a detailed flowchart of the preset walking process. FIG. 21 is an explanatory diagram of the preset walking operation. FIG. 22 is a detailed flowchart of the programmable walking process. FIG. 23 is a detailed flowchart of search direction processing. FIG. 24 is a flowchart of the forcible return processing to the manual operation mode. FIG. 25 is a detailed flowchart (part 2) of the manual operation process. FIG. 26 is a detailed flowchart (part 3) of the manual operation process. FIG. 27 is a graph showing the directivity characteristics of an infrared light emitting element (LED).

  Several preferred embodiments of a robot toy according to the present invention will be described below in detail with reference to the accompanying drawings.

<< Relationship Between Each Embodiment and Drawing >>
First embodiment of robot toy Mechanical configuration: see FIGS. 1 and 27 Electrical hardware configuration: see FIG. 12 Electrical software configuration: see FIGS. 15-25 Action description: see FIGS. 1-3 First modification of the first embodiment Mechanical configuration: see FIG. 4 Electrical hardware configuration: the same as in the first embodiment Electrical software configuration: the same as in the first embodiment Action description: see FIG. Second Modification of First Embodiment Mechanical configuration: see FIG. 8 Electrical hardware configuration: the same as the first embodiment Electrical software configuration: the same as the first embodiment Action description: FIGS. 9 and 10 Reference-Third modification of the first embodiment Mechanical configuration: the same as the first embodiment Electrical hardware configuration: see FIGS. 12 and 14 Electrical software configuration: see FIG. 25 Description of operation: First embodiment Same as form Second embodiment of bot toy Mechanical structure: see FIGS. 6 and 7 Electrical hardware structure: see FIG. 13 Electrical software structure: see FIG. 26 Description of operation: see FIG. 6 and FIG. Other embodiments Mechanical configuration: see FIG.

<< Description of First Embodiment >>
-Mechanical structure-
A schematic external view of the robot toy according to the first embodiment is shown in FIG. As shown in the figure, this robot toy has a robot body 1 configured as a human-type biped robot. In addition to the head 11, the trunk 12, and the back 13, the robot body 1 includes left and right arm members and left and right leg members, details of which will be described later.

  In this example, the right arm member constituting the left and right arm members is formed by sequentially connecting the right shoulder portion 14a, the upper right arm portion 15a, the lower right arm portion 16a, and the right fist portion 17a. In this example, the left arm member constituting the left and right arm members is configured by sequentially connecting the left shoulder portion 14b, the left upper arm portion 15b, the left lower arm portion 16b, and the left fist portion 17b.

  The right leg member constituting the left and right leg members is formed by connecting the right leg portion 18a and the right foot portion 19a, and on the lower surface side of the foot portion 19a, smooth one-way floor movement is possible. A small-diameter wheel 10a is provided to enable this. Similarly, the left leg member constituting the left and right leg members is formed by connecting the left leg portion 18b and the left foot portion 19b, and a smooth one is provided on the lower surface side of the foot portion 19b. A small-diameter wheel 10b is provided to enable directional floor movement.

  The robot main body 1 is configured to be able to execute two types of attack operations consisting of an attack operation by a right punch and an attack operation by a left punch at an arbitrary timing.

  Here, the attacking action by the right punch means that the upper arm portion 15a and the lower arm portion 16a shown in FIG. 1 are bent from the standby state around the rotation axis A1 with the upper arm portion 15a as a fulcrum. This is an operation of projecting the right fist portion 17a forward by extending the bent upper arm portion 15a and lower arm portion 16a while rotating counterclockwise (see FIG. 2).

  At this time, the left leg 18a kicks the floor backward while the right leg is fed out, while the right leg 18a steps forward to move leftward and move forward one step. Is called. Thereafter, the upper arm portion 15a and the lower arm portion 16a are immediately returned to the bent standby state, and the left leg portion 18b is drawn forward to return to the standby state in which the left and right leg portions are aligned. To do.

  Similarly, the attacking action by the left punch refers to the state of the rotation axis A1 from the standby state in which the upper arm 15b and the lower arm 16b shown in FIG. 1 are bent, with the upper arm 15b as the fulcrum. This is an operation of projecting the left fist portion 17b forward by extending the bent upper arm portion 15b and lower arm portion 16b while rotating clockwise.

  At this time, the left leg 18b kicks the floor surface backward while the left punch is fed out, while the left leg 18b steps forward to perform a step forward while turning right. Is called. Thereafter, the upper arm portion 15b and the lower arm portion 16b are immediately returned to the bent standby state, and the right leg portion 18a is drawn forward and returned to the standby state in which the left and right leg portions are aligned. To do.

  The above-described punch feeding operation and the stepping operation linked thereto are operations that are often used in this type of fighting robot toy, and as is well known to those skilled in the art, as disclosed in Japanese Patent No. 5426775. It can be realized by a single motor type upper and lower limb drive mechanism represented by No. Gazette. In brief, the body 12 of the robot body 1 supports a single motor with its rotating shaft in a vertical posture, and a pair of left and right presses via a gear train connected to the drive shaft of the motor. Depending on the direction of rotation of the motor, the lever rotates clockwise or counterclockwise around the vertical axis, and these levers cause the left and right upper arms 15a. A force is applied to the member associated with the rotation axis A1 of 15b and the member associated with the rotation axis A3 of the left and right legs 18a, 18b, thereby realizing the target punch feeding operation and stepping operation. .

  Next, the main part of the robot toy according to the present invention will be described. The robot body described above executes an object sensor having an object sensing area in the vicinity of the robot body, and executes one or more attack operations selected according to the state of the object in the object sensing area based on the output of the object sensor. A control unit for controlling is provided.

  In this example, a reflective object sensor composed of two infrared light projecting units 2a and 2b and two infrared light receiving units 3a and 3b is employed as the object sensor. That is, as shown in FIG. 1, the light projecting portions 2 a and 2 b and the light receiving portions 3 a and 3 b are arranged in a horizontal row on the surface of the back portion 13 of the robot body 1. That is, the infrared projector 2a is arranged on the right side near the center in the left-right direction, and the infrared projector 2b is arranged on the left side near the center in the left-right direction. The infrared light receiving unit 3a is arranged on the right side near the outside in the left-right direction, and the infrared light receiving unit 73b is arranged on the left side near the outside in the left-right direction.

  As the infrared light emitting elements constituting the infrared light projecting portions 2a and 2b, as shown in FIG. 27, a surface mount type element 25 having a certain degree of directivity is employed. As shown in an enlarged view in FIG. 1, in this example, the infrared light projecting portion 2 b is in a rectangular thin dish upper frame 26 and in the thin dish shaped frame 26, and the left and right fulcrums P 1, A window frame-shaped frame 27 that is rotatably supported by P2 and is adjustable in angle in the vertical direction, and is rotatably supported by upper and lower fulcrums P3 and P4 in the window frame-shaped frame 27. The element part 25 is adjustable in angle in the horizontal direction. Therefore, the infrared light receiving units 2a and 2b can adjust the angle of the irradiation optical axis in the horizontal and vertical directions, and using this makes it easy to set the sensing small areas 4a and 4b described later. Is considered.

  The irradiation optical axis of the infrared light projecting unit 2a is directed diagonally to the left, and the irradiation optical axis of the infrared light projecting unit 2b is directed diagonally to the left. Therefore, the infrared light emitted from the infrared projector 2a and the infrared light emitted from the infrared projector 2b are set so as not to interfere at least within the sensing distance. As will be described later, the infrared light emitted from the infrared light projecting units 2a and 2b is modulated at a predetermined carrier frequency and modulated (encoded) with an area code unique to each of the small areas 4a and 4b. Has been.

  The infrared light receiving unit 3a is directed so as to mainly receive reflected infrared light reflected by some object after being emitted from the infrared light projecting unit 2a, and the infrared light receiving unit 3b is emitted from the infrared light projecting unit 2b. After that, it is directed to mainly receive reflected infrared light reflected by some object. Of course, in each of the infrared light receiving portions 3a and 3b, it is impossible to completely block the reflected light caused by the unintended infrared light projecting elements 2b and 2a, but decoding is performed on the output side of the light receiving portion. By performing the processing and the code matching determination processing, it is possible to prevent interference interference that misidentifies the object position.

  By appropriately setting the light projection intensity of the infrared light projecting units 2a and 2b and the light receiving sensitivity of the infrared light receiving units 3a and 3b, the right object sensing small area 4a and the left side of the robot body 1 are relatively close to each other. The object sensing small area 4b can be set. In the figure, 5a and 5b indicated by hatching schematically show a cross section of the detection limit distance of the right object detection subregion 4a and a cross section of the detection limit distance of the left object detection subregion 4b, respectively. It is.

  As described above, in the illustrated robot body 1, the infrared light projecting units 2a and 2b and the infrared light receiving units 3a and 3b constitute an object sensor having object sensing areas 4a and 4b in the vicinity of the back of the robot body 1. .

-Electrical hardware configuration-
The electrical hardware configuration of the robot toy according to the first embodiment is shown in the circuit diagram of FIG. As shown in the figure, the entire circuit is incorporated on the robot body 1 side, and includes a power supply circuit unit, a light projecting circuit unit, a light receiving circuit unit, a robot driving unit, and a sound transmission / reception circuit. Unit, various setting operation units, and a central processing unit functioning as a control unit.

  The power supply processing unit includes two batteries 101a and 101b, and is configured to be able to energize the entire circuit when the power switch 102 is turned on.

  The light projecting circuit unit includes an infrared light emitting diode 103a included in the infrared light projecting unit 2a, an infrared light emitting diode 103b included in the infrared light projecting unit 2b, an infrared encoding transistor 104a using a right region code, and an infrared using a left region code. An encoding transistor 104b and a carrier generation transistor 105 are included.

  The light receiving circuit unit includes a light receiving unit IC 106a corresponding to the infrared light receiving unit 3a and a light receiving unit IC 106b corresponding to the infrared light receiving unit 3b. The light receiving parts IC 106a and 106b have a function of demodulating the region code by performing photoelectric conversion of the received infrared reflected light and then performing extraction of carrier frequency components and demodulation processing.

  The robot drive unit includes a motor 114 for performing a punching operation and a stepping operation of the robot body, and an H-type transistor bridge circuit IC 113 for increasing and decreasing the energization direction and energization current to the motor 114. . When the port P23 of the one-chip microcomputer 108 has a first logic value (for example, High) and the port P24 has a second logic value (for example, Low), a current in the first direction flows to the motor 114. The motor 114 rotates in the first direction, and the above-described right punching operation and right leg stepping operation are executed in the robot body. At this time, the current value of the motor 114 can be PWM-controlled by outputting a PWM pulse train having a predetermined duty ratio from the port P23.

  Conversely, when the port P23 is at the second logic value (eg, Low) and the port P24 is at the first logic value (eg, High), a current in the second direction flows to the motor 114, and the motor 114 Rotates in the second direction, and the robot body performs the left punching operation and the left leg stepping motion described above. At this time, the current value of the motor 114 can be PWM-controlled by outputting a PWM pulse train having a predetermined duty ratio from the port P24.

  The sound transmission / reception circuit unit amplifies the output of the speaker 112 that emits a sound unique to the robot body, the left microphone 109a and the right microphone 109b that listen to the sound emitted from the enemy robot body, and the output of the left microphone 109a. An A / D converter 110a that performs / D conversion and an A / D converter 110b that amplifies and A / D converts the output of the right microphone 109b.

  Here, as the left microphone 109a and the right microphone 109b, those having a certain degree of directivity are employed, so that the left microphone 109a mainly listens to the sound from the left front, and so on. The right microphone 109b is mainly set to listen mainly to the sound from the right front.

  The various setting operation units include a DIP switch 111 for setting area codes and other information necessary for various processes.

  The central processing unit is constituted by a one-chip microcomputer (one-chip microcomputer) 108 formed by integrating a microprocessor, a ROM, a RAM, various peripheral circuits (for example, a sound synthesis LSI), etc. into one chip. By executing the computer program (FIGS. 15 to 26), various functions required as a robot toy are realized.

  In the configuration shown in the figure, the two infrared light receiving portions 3a and 3b are used to construct the object sensor having the two object sensing small areas 4a and 4b. However, each of the sensing small areas 4a and 4b is used. However, if there is no possibility of interference of light projection, the light receiving portions 3a and 3b can be replaced by a common light receiving portion placed between the two light projecting portions 2a and 2b. .

-Electrical software configuration-
A general flowchart showing the entire software configuration of the robot toy is shown in FIG. As shown in FIG. 5A, when the processing is started by turning on the power, first, initialization processing (step 101) is performed to initialize various flags and registers for calculation, and the present invention. The sensing area code setting process is executed.

  Details of the sensing area code setting process are shown in FIG. In this example, it is assumed that four players will participate in the battle game using a maximum of four robot bodies, and interference will not occur even if any two of them are used for battle. In consideration of the setting of the machine number of the DIP switch 111, consideration is given so that the robot codes do not overlap in the area code.

  That is, when the process is started, the setting of the DIP switch 111 is read (step 201), and after the machine number is read (step 202), the right and left areas optimum for each machine number are read. The code is set. That is, when it is determined that the vehicle is No. 1 (step 203 YES), the left area code is set to “A” and the right area code is “B” (step 204). The area code is set to “C” and the right area code is set to “D” (step 206). When it is determined that the third machine is No. 3 (step 207 YES), the left area code is set to “E” and the right area code is set to “F”. If it is set (step 208) and it is further determined that it is No. 4 (step 209 YES), the left area code is set to “G” and the right area code is set to “H” (step 210).

  Returning to FIG. 15 (a), when the initialization process (step 101) is completed, a shift to a routine process is performed. First, the operation mode setting is read from the DIP switch 111 (step 102). Next, the operation mode is determined (step 103). When the operation mode is determined to be “manual” (step 103 “manual”), the manual operation process (step 104) is executed. On the other hand, when it is determined that the operation mode is “automatic” (step 103 “automatic”), an automatic operation process (step 105) is executed. Thereafter, the above operation (steps 102 to 106) is repeated until a predetermined end process (for example, reset of the DIP switch 111) is performed.

  In the meantime, a series of processes (steps 107 to 109) are repeatedly executed by a timer interrupt every minute fixed time.

  Here, in the carrier modulation process (step 107), a pulse train having a carrier frequency is output from the port P13 of the microcomputer 108, and the transistor 105 is switched to generate infrared light emitted from the left and right infrared light emitting diodes 103a and 103b. Modulate with carrier frequency.

  In the right side light emitting unit modulation processing (step 108), a pulse train corresponding to the right region code is output from the port P21 of the microcomputer 108, whereby the transistor 104a is switched in synchronization therewith and emitted from the right infrared light emitting diode 104a. The light is modulated (encoded) with the right region code.

  In the left side light emitting unit modulation processing (step 109), a pulse train corresponding to the left region code is output from the port P22 of the microcomputer 108, whereby the transistor 104b is switched in synchronization therewith and emitted from the left infrared light emitting diode 104b. The light is modulated (encoded) with the left region code.

  Returning to FIG. 15A, details of the manual operation process (step 104) are shown in FIG. As shown in the figure, when the process is started, first, by reading the output of the light receiving unit IC 106b from the port P14 of the microcomputer 108 (step 301), the presence or absence of reflected light is determined (step 302). Here, when it is determined that there is reflected light (step 302 YES), the read code is decoded (step 303), and only when a match with the preset left region code is confirmed (step 304 YES), A process (step 305) corresponding to the state of the detected object relating to the left system is executed.

  The details of the processing (step 305) corresponding to the state of the detected object relating to the left system are shown in FIG. As shown in the figure, when the process is started, it is first determined whether or not the match with the left region code is the first match (step 401). Here, when the player performs the body action corresponding to the left punch and the left fist enters the left sensing small area 4b, the first match determination is performed at that moment. If it is determined as the first match (YES in step 401), the left punching operation and the left foot stepping operation are executed in a single operation (step 402), and the robot body 1 extends the left punch and turns slightly to the right. Take one step forward. On the other hand, if it is determined that it is not the first match (NO in step 401), it is subsequently determined whether the number of consecutive matches exceeds N (step 403). Here, if the player performs a body action corresponding to the left punch, and the left fist stays in the left sensing small area 4b for a certain time or more, it is determined that the number of consecutive matches has exceeded N times. Done. If it is determined that the number of consecutive matches exceeds N (step 403 YES), the left and right alternating punching operation and the left and right foot alternating stepping operation are maintained for a certain period of time, a certain number of times, or the left fist is kept in that state. As long as it is done, it is executed repeatedly (step 404).

  If it is not the first match (NO in step 401) and it is determined that the number of consecutive matches does not exceed N (NO in step 403), both the one-shot process (step 402) and the iterative process (step 404) are performed. The process ends without being executed.

  Returning to FIG. 17, when it is determined that there is no reflected light based on the left light reception output (NO in step 302), the output of the light receiving unit IC 106a is read from the port P12 of the microcomputer 108 (step 306). The presence or absence is determined (step 307). Here, if it is determined that there is reflected light (step 307 YES), the read code is decoded (step 308), and only when a match with the preset right region code is confirmed (step 309 YES), Processing according to the state of the detected object related to the right system (step 305) is executed.

  The details of the process according to the state of the detected object relating to the right system (step 305) are merely shown in FIG. 18 where the left and the right are interchanged. When the right fist enters the right sensitive small area 4a by performing the body action corresponding to, the first match determination is performed at that moment. When it is determined as the first match, the right punching operation and the right foot stepping operation are executed in a single shot, and the robot body 1 advances the right punch and moves forward one step while turning slightly to the left. On the other hand, if the player has performed a body action equivalent to a right punch and the right fist stays in the right sensing small area 4a for a certain period of time, it is determined that the number of consecutive matches has exceeded N times. Is called. And if it is determined that the number of consecutive matches exceeds N times, as long as the left and right alternating punching operation and the left and right foot alternating stepping operation are maintained for a certain period of time, a certain number of times, It is executed repeatedly.

  If it is not the first match and it is determined that the number of continuous matches does not exceed N times, neither the single process nor the repetitive process is executed, and the process ends.

  Therefore, according to this manual operation mode, for example, the player repeats the body action corresponding to the left and right alternating punching operations on the right sensing small area 4a and the left sensing small area 4b, thereby the robot body. Step forward, increase the frequency of body action equivalent to right punch, or turn the robot body while turning left, or conversely increase the frequency of body action equivalent to right punch The robot body can be stepped while turning left, so if this is used, the robot body can be stepped along an arbitrary route while observing the movement of the enemy robot body. , You can approach the enemy robot body.

  Once approached, the body action corresponding to the right punch or the left punch is executed at an appropriate timing on the right sensing small area 4a and the left sensing small area 4b. By performing an attack action with the right or left punch from the robot body, or holding the right or left fist protruding state following the body action corresponding to the right or left punch, It is possible to execute an attack by repeated punches.

  Returning to FIG. 15, the details of the automatic driving process (step 105) are shown in FIG. As shown in the figure, when the process is started, the walking mode setting is first read from a setting device (not shown) (step 501), and then the walking mode is set to “preset”, “programmable”, or “search”. Which one is determined (step 502).

  Here, when it is determined as “preset” (step 502 “preset”), when the preset walking process (step 503) is determined as “programmable” (step 502 “programmable”), programmable walking is performed. When the process (step 504) is determined as “search” (step 502 “search”), a search walking process (step 505) is executed.

  Details of the preset walking process (step 503) are shown in FIG. As shown in the figure, when the processing is started, after the walking pattern setting is read from a setting device (not shown) (step 601), the walking pattern is “8”, “straight”, or “rectangular”. A determination is made as to which. Here, as shown in FIG. 21A, in the walking pattern storage unit provided in the ROM of the one-chip microcomputer 108, a step number and step data are paired in advance in a plurality of patterns. It is remembered. The stored contents of each pattern correspond to the straight progress pattern, the figure 8 walking pattern, and the rectangular walking pattern shown in FIG. That is, if the step data is sequentially read out while updating the step number and the specified stepping operation is performed, the robot body can execute straight advancement, figure-walking, and rectangular walking alone. Has been made.

  Therefore, by referring to the contents of the walking pattern storage unit, if it is determined that the character is “8” (step 602 “8”), stepping control is performed so as to walk while drawing an 8 character. (Step 603) If it is determined to be “straight forward” (step 602 “straight forward”), walking control is performed so as to go straight ahead (step 605), and if it is determined to be “rectangular” (step 602). “Rectangle”), stepping control is performed so as to step in a rectangle (step 604).

  Therefore, if this preset walking mode is used, the robot body can be automatically walked in a prescribed walking pattern.

  Returning to FIG. 19, details of the programmable step control (step 504) are shown in FIG. As shown in the figure, when the process is started, the operation mode setting is read from a setting device (not shown) (step 701), and then it is determined whether the operation mode is “teach” or “reproduction” (step 701). Step 702).

  If it is determined that the operation mode is “teach” (step 702 “teach”), then the step counter n value is updated by “+1” from “1”, and step data (“ The process of storing “right step” or “left step” in association with the step counter value (step 705) is repeated. In the figure, the contents of the process (step 704) during manual operation are as described above with reference to FIGS.

  Therefore, by repeating a series of processes (steps 704 to 707), the walking pattern data similar to the contents of FIG. 21A is stored in the walking pattern storage unit of the writable memory of the one-chip microcomputer 108. Thus, any walking pattern can be taught.

  Thereafter, when the setting mode (not shown) is switched from “teach” to “reproduction” and the operation mode is determined to be “reproduction” (step 702 “reproduction”), the value of the step counter n is thereafter set to “1”. The process of executing the preset walking process (step 709) is repeated while updating from +1. In the figure, the contents of the preset walking process (step 709) are as described above with reference to FIGS.

  Therefore, a series of processes (steps 709 to 711) are repeated, and step control is performed so as to walk with the taught walking pattern.

  Therefore, if this programmable stepping mode is used, the robot body can be automatically walked in an arbitrarily programmed walking pattern.

  Returning to FIG. 19, the details of the search walking process (step 505) are shown in FIG. As shown in the figure, when the process is started, a process of reading data corresponding to the reception volume of the left microphone 109b from the ports P61 to 64 of the one-chip microcomputer 108 (step 801), and a port of the microcomputer 108 A process of reading data corresponding to the reception volume of the right microphone 109a from P51 to P54 (step 802) is executed.

  Subsequently, the two read sound volumes are compared (step 803). Here, when it is determined that the right volume is larger than the left volume (step 803 “left> right”), walking control is performed so as to proceed diagonally left forward (step 804), and the left volume is determined. Is determined to be lower than the right volume (step 803 “left <right”), walking control is performed so as to move forward diagonally to the right (step 806), and the left volume and the right volume are If it is determined that they are equal (step 803 “left = right”), walking control is performed so as to proceed forward (step 805).

  As a result of the repetition of the above processing (steps 801 to 805), the robot body gradually turns closer to the enemy robot body while turning its direction alone, relying on the sound emitted from the enemy robot body. Will go.

  Therefore, if this search walking mode is used, the robot body is automatically relied on by the sound emitted by the enemy robot body without selecting a prepared walking pattern or programming a specific walking pattern. The enemy robot can be approached while searching for it.

  By the way, the automatic driving mode performed in the preset walking mode (step 503), the programmable walking mode (step 504), or the search walking mode (step 505) is intended to approach the enemy robot, When encountering an enemy robot, you must immediately switch these modes to the manual operation mode and take action.

  Therefore, in this example, as shown in the flowchart of FIG. 24, when an enemy robot body is encountered during automatic driving, some attacking action is performed to return from the automatic driving mode to the manual driving mode. Is forced to be done.

  That is, as shown in the figure, when processing is started by detecting a punch operation, after walking mode is read (step 901), whether it is during preset walking (step 902) or programmable walking (step 903) Whether or not the search walking is being performed (step 904) is determined.

  Here, if it is determined that one of the above three walks is being performed (step 902 YES, 903 YES, or 904 YES), the forced return to the manual operation mode is immediately performed (step 905).

  Therefore, the forced return process (step 905) allows the player to smoothly switch from the automatic operation mode to the manual operation mode, and the player can immediately shift to the battle action.

-Description of action-
The main actions of the robot toy according to the first embodiment will be described. In the robot toy according to the first embodiment, as shown in FIG. 1, the robot body 1 includes an attack operation by the right punch mechanism (14a to 17a) starting from the right side and a left punch starting from the left side. It has two attack operations consisting of an attack operation by the mechanism (14b-17b).

  In order to activate the attacking action by the right punch mechanism (14a to 17a) starting from the right side, the right object detection small area 4a is provided at the right rear of the back portion 13. Similarly, a left object sensing small area 4b is provided on the left rear side of the back portion 13 in order to activate an attacking action by the left punch mechanism (14b to 17b) starting from the left side.

  As shown in FIG. 2, the player performs a body action corresponding to, for example, a right punch operation, and projects the right fist 7a toward the right object detection subregion 4a as indicated by an arrow A4. In response to the right fist 7a entering the sensing limit distance Lmax, the object sensing action of the infrared light reflection type object sensors (2a, 2b, 3a, 3b) and the one-chip microcomputer 108 are Through the action of the main control unit (see FIGS. 12, 15 to 18), the attack operation by the right punch of the robot body 1 is activated, and the right fist 17a of the robot body 1 is also indicated by an arrow A5. So that it sticks out forward.

  Similarly, when the player performs a body action corresponding to, for example, a left punching operation and projects the left fist 7b toward the left object detection subregion 4b, the left fist 7b enters the detection limit distance Lmax. In response to the above, through the object sensing action of the infrared light reflection type object sensor (2a, 2b, 3a, 3b) and the action of the control unit mainly composed of the one-chip microcomputer 108 (FIG. 12, 15 to 18), the attack operation by the left punch of the robot main body 1 is activated, and the left fist 17 b of the robot main body 1 is also protruded forward.

  Therefore, as shown in FIG. 3, when two robot main bodies 1 and 1 face each other and play a battle, the players of each robot main body are located behind their own robot main body, Since it is only necessary to perform body actions corresponding to left and right punching operations at appropriate timing (see arrows A6 and A7 in the figure), the remote control unit is moved left and right like a conventional robot toy. Therefore, it is advantageous in terms of cost, and it is easy to transfer emotions to the robot main body, which can make excitement more exciting in this kind of battle play.

  In the robot main body according to this embodiment, the punching operation on the robot main body side is switched between single hit and continuous hit according to the fist protrusion mode (object detection state) to each object detection small area Aa, 4b. (See FIG. 18), the attacking action in this type of robot toy can be made more diverse.

  Furthermore, in the robot toy according to this embodiment, by setting to the automatic operation mode (step 103), the pre-reset walking mode (step 503), the programmable walking mode (step 504), and the search walking mode (step 505). ), It is possible to realize various walking patterns, so this kind of battle play is more useful for the player not only in the battle motion but also in the walk motion before the battle motion. Can be interesting.

  Although these automatic driving mode walking patterns are meaningful in the process of approaching the opponent robot body, once they encounter the opponent robot body, it is necessary to immediately switch to attacking action. In this embodiment, since it is configured to automatically return from the automatic operation mode to the manual operation mode suitable for the attack operation with some attack operation as a trigger (see FIG. 24), the automatic operation mode is switched to the manual operation mode. There is an advantage of smooth transition.

  Further, in this embodiment, since a reflective infrared object sensor is employed, a state in which irradiated infrared light from different infrared light emitting units is mixed within the same small sensing area must be excluded. However, since each of the infrared light projecting sections can adjust the angle of the light projecting axis (see an enlarged view of the main part in FIG. 1), this is used to interfere with the irradiated infrared light. By preventing this, erroneous detection of an object can be reliably prevented.

  Further, needless to say, the gist of the present invention is that the activation is performed without using a remote control unit on the premise of the presence of one or two or more attack operations, and the attack operation itself is known, Whether it is new or not is not a problem. In the example shown in the figure, a so-called boxing-like attack operation was given for a humanoid robot. However, in the humanoid robot, other attack operations are mainly performed by a hand such as a sumo thrusting operation or a tentacle operation. In addition, an attack operation mainly using a foot, such as a butt kick operation and a rotation kick operation, can be given.

<< First Modification of First Embodiment >>
-Mechanical structure-
A schematic external view of a robot toy according to a first modification of the first embodiment is shown in FIG. As shown in the figure, the feature of this robot toy is that two infrared light projecting parts 2c, 2d and two infrared light receiving parts 3c, 3d are arranged in a vertical line on the right side surface of the back part 13, The robot body 1 can be operated by a body action from the right side surface.

  That is, the infrared light emitted from the upper infrared light emitting unit 2c is radiated to the right side of the robot body 1 so as to form the right sensing small region 4c at an appropriate height. A circular portion 5c shown by hatching schematically shows a cross section of the right sensing small region 4c at the sensing limit distance. Infrared light emitted from the lower infrared light emitting unit 2d is radiated to the right side of the robot body 1 so as to form the left sensing small region 4d at the same height. A circular portion 5d indicated by hatching schematically shows a cross section of the left detection small region 4d at the detection limit distance. As a result, the right sensing small region 4c and the left sensing small region 4d are formed on the right side of the robot body 1 at the same height on the left and right.

  Here, the right sensing small area 4c located on the right side is for starting an attack operation by the right punch mechanism (14a to 17a) starting from the right side, and the left sensing small area 4d located on the left side is This is for starting an attack operation by the left punch mechanism (14b to 17b) starting from the left side.

  Therefore, the player of the robot main body 1 is located on the right side of the robot main body 1 and performs a body action corresponding to the left and right punching operations, and protrudes the right fist 6a toward the right sensing small area 4c or left By projecting the fist 6b toward the left sensing small area 4d, an attack action by the right punch mechanism (14a to 17a) starting from the right side is started, or the left sensing small area 4d is left starting from the left side. It is comprised so that the attack operation | movement by a punch mechanism (14b-17b) can be started.

-Electrical hardware configuration-
Since it is the same as that of 1st Embodiment, description is abbreviate | omitted.

-Electrical software configuration-
Since it is the same as that of 1st Embodiment, description is abbreviate | omitted.

-Description of action-
According to the robot toy according to this modified example, as shown in FIG. 14, after two robot bodies 1 and 1 are arranged facing each other in the left-right direction on the table, two players are placed in front of the table. 6 and 6 sit side by side. Then, the right sensing small area 4c and the left sensing small area 4d of the left robot body 1 are positioned almost in front of the left player 6. Similarly, the right sensing small area 4c ′ and the left sensing small area 4d ′ of the right robot body 1 are positioned almost in front of the right player 6.

  In this state, if the left and right players 1 and 1 perform body actions corresponding to the left and right punching operations and project the right fist 6a and the left fist 6b forward, the first embodiment will be described first. The robot main bodies 1 and 1 can be made to fight with each other through the same operation as described above. Specifically, in the illustrated example, the right player 6 protrudes the right fist 6a into the right sensing subregion 4c ′ as indicated by the arrow A8, so that the right player 6 In the robot body 1, an attack operation by right punch is performed, and the right fist 17 a protrudes forward as indicated by an arrow A <b> 9.

  As described above, according to this modification, it is possible to enjoy the battle play by being positioned not on the back of each of the opposed robot bodies but on the side, and this type of play can be made more interesting. .

  The arrangement of the infrared light projecting part and the infrared light receiving part is provided in advance on both side surfaces of the back part 13 so that either one of them can be switched or used, or the light projecting part and the light receiving part are paired. Are mounted on a common board, and can be attached to both sides via appropriate connectors (for example, pins and jacks, plugs and receptacles), and attached according to the position of the player. Also good.

<< Second Modification of First Embodiment >>
-Mechanical structure-
FIG. 8 shows a schematic external view of a robot toy according to a second modification of the first embodiment. As shown in the figure, the feature of this robot toy is that two infrared light projecting parts 2c, 2d and two infrared light receiving parts 3c, 3d are arranged in a row on the back of the back part 13 and the robot body By causing the right hand 17a of 1A to hold the sword 17c, the robot body can perform an attacking action by swinging down the sword 17c by a body action corresponding to, for example, swinging down with a finger sword behind the robot body 1A. Is.

  That is, the infrared light emitted from the upper infrared light emitting unit 4a is radiated to the rear of the robot body 1 so as to form the upper sensing small region 4a at an appropriate height. A circular portion 5a indicated by hatching schematically shows a cross section of the upper sensing small region 4a at the sensing limit distance. Infrared light emitted from the lower infrared light emitting section 2b is radiated to the rear of the robot body 1 so as to form the lower sensing small area 4b at an appropriate height. A circular portion 5b indicated by hatching schematically shows a cross section of the lower sensing small region 4b at the sensing limit distance. As a result, an upper sensing small area 4a and a lower sensing small area 4b are formed vertically near the rear of the robot body 1.

  Here, the upper sensing small area 4a located on the upper side is for activating a sword swinging attack starting from the upper side, and the lower sensing small area 4b is located on the lower side. Or is used to activate an attacking action by the left punch mechanism (14b to 17b) starting from the left side.

-Electrical hardware configuration-
Since it is the same as that of 1st Embodiment, description is abbreviate | omitted.

-Electrical software configuration-
Since it is the same as that of 1st Embodiment, description is abbreviate | omitted.

-Description of action-
According to the robot toy according to the second modified example, as shown in FIG. 10, after two robot bodies 1A and 1A are arranged face to face, a body action equivalent to swinging down a sword is performed, As shown by A12, the right finger sword 6b protrudes or swings down toward the upper sensing small area 4a, and as shown by the arrow A13, the robot body 1A attacks the sword 17a by swinging down. Activate the action and enjoy the battle game using weapons.

  In this way, according to this modification, even a humanoid robot can perform an attacking action not only with a part of the body but also with a weapon, so a battle using this type of robot toy is possible. Play can be more interesting.

  It should be noted that weapons are not limited to swords but can be applied to spears and other arbitrary weapons, and if a shield is used as armor, this kind of battle play can be made more interesting. Needless to say.

<< Third Modification of First Embodiment >>
-Mechanical structure-
Except for the addition of two new low-sensitivity light receiving parts, the description is omitted because it is the same as in the first embodiment.

-Electrical hardware configuration-
In order to realize the third modification, it is necessary to change a part of the electric circuit shown in FIG. 12 (mainly, the configuration of the light receiving unit). Only this change is shown in FIG.

  As shown in the figure, in the third modified example, in addition to the existing two light receiving units IC 106a and 106b, two light receiving units IC 122a and 122b are further provided. The newly provided right light receiving part IC122a is preferably arranged adjacent to the existing right light receiving part IC106a, and the distance from the existing right light receiving part IC106a to the assumed detection object is the right side of the new right light receiving part IC106a. It is set to be equal to the distance from the light receiving unit IC 122a to the assumed detection object.

  The existing light receiving unit IC 106a and the newly installed light receiving unit IC 122a have the same performance. However, an optical filter (hereinafter referred to as “infrared light reducing filter”) 123a for reducing the transmission of infrared light is interposed on the front side of the newly installed light receiving unit IC 122a.

  For this reason, when an object approaches toward the right-side object sensing subregion 4a of the robot body, the approach distance L1 at which the existing light receiving unit IC 106a senses this and the approach at which the new light receiving unit IC 122a senses this. A certain distance difference ΔL (= L1−L2: L1> L2) exists between the distance L2.

  Therefore, when any object approaches toward the object sensing small area 4a on the right side of the robot body, the time t1 when the existing light receiving unit IC 106a senses this and the time t2 when the new light receiving unit IC 122a senses this. Since there is a time difference Δt that is almost inversely proportional to the approaching speed of the object, by measuring this time difference Δt, the object (for example, the right fist) is detected in the right object sensing subregion 4a. The approach distance can be estimated.

  Similarly, the newly provided right light receiving unit IC122b is preferably disposed adjacent to the existing left light receiving unit IC106b, and the distance from the existing left light receiving unit IC106b to the assumed detection object is: It is set to be equal to the distance from the newly installed left light receiving unit IC122b to the assumed detection object.

  The existing light receiving unit IC 106b and the newly installed light receiving unit IC 122b have the same performance. However, an optical filter (hereinafter referred to as “infrared light reducing filter”) 123b for reducing the transmission of infrared light is interposed on the front side of the new light receiving unit IC 122b.

  Therefore, when an object approaches toward the object sensing small area 4b on the left side of the robot body, the approach distance L1 at which the existing light receiving unit IC 106b senses this and the approach at which the new light receiving unit IC 122b senses this. A certain distance difference ΔL (= L1−L2: L1> L2) exists between the distance L2.

  Therefore, when some object approaches toward the object sensing subregion 4b on the left side of the robot body, the time t1 when the existing light receiving unit IC 106b senses this and the time t2 when the new light receiving unit IC 122b senses this. Since there is a time difference Δt that is almost inversely proportional to the approach speed of the object, by measuring this time difference Δt, the object (for example, the right fist) is detected in the object detection subregion 4b on the left side. The approach distance can be estimated.

-Electrical software configuration-
The main part of the software configuration of the robot toy according to the third modification is shown in the flowchart of FIG. As shown in the figure, when the processing is started, first, the left high sensitivity light receiving output which is the output of the left high sensitivity light receiving unit IC 106b is read (step 1001), and then the presence / absence of reflected light is determined (step 1001). 1002) is performed. Here, if it is determined that there is reflected light (YES in step 1002), then, after decoding the read code (step 1003), only when the decoded code matches the preset left area code (step 1003). 1004 YES), storage processing (step 1005) at time t1 is performed.

  Thereafter, while the reading of the low-sensitivity light receiving output, which is the output of the left-side low-sensitivity light receiving unit IC123b, is repeated, it waits for the presence of reflected light (NO in step 1007). Then, after waiting for the presence of reflected light to be confirmed (step 1007 YES), after decoding the read code (step 1008), only when the decoded code matches the preset left area code (step 1009 YES) ) And the storage process (step 1005) at time t2.

  Thereafter, a time difference Δt between time t1 and time t2 is obtained (step 1011), and the time difference Δt is compared with a reference value ΔTref (step 1012). Here, if it is determined that the time difference Δt is larger than the reference value Δtref (NO in step 1012), it is estimated that the approach speed of the object toward the left sensing small region 4b is relatively slow, and the robot with normal power When it is determined that the time difference Δt is smaller than the reference value Δtref (step 1012 YES) while the operation process (step 1014) is performed, the approaching speed of the object coming to the left sensing small area 4b is relatively high. The robot operation process (step 1013) with high power is performed.

  Here, as described above, the robot operation process is performed by fixing the output logic value of any one of the ports P23 and P24 of the one-chip microcomputer 108 to the first logic value, thereby causing the motor 114 to operate. After setting the direction of the flowing current in the direction in which the left punching operation is activated, the duty ratio of the PWM pulse train output to the other port is set to a predetermined value, so that the value of the current flowing to the motor 114 is It is a process to set.

  At this time, in the robot operation processing with normal power (step 1014), PWM processing is performed with a predetermined low duty ratio for normal power, whereas with robot operation processing with high power (step 1014), PWM processing is performed with a predetermined high duty ratio for high power.

  Returning to step 1002, if it is determined that there is no reflected light (NO in step 1002), then, the process shifts from the left system process to the right system process, and the same process (steps 1001 to 1014) is executed. .

  That is, after reading the right high-sensitivity light receiving output that is the output of the right high-sensitivity light receiving unit IC 106a, the storage process at time t1 is performed only when the decoded code matches the preset left region code. . Thereafter, while repeating reading of the low-sensitivity light receiving output, which is the output of the right-side low-sensitivity light receiving unit IC123a, waiting for the presence of reflected light to be confirmed, the read code is decoded, and the decoded code is preset. Only when it matches the right area code, the storage process at time t2 is executed.

  Thereafter, the time difference Δt between the time t1 and the time t2 is obtained, and if it is determined that the time difference Δt is larger than the reference value Δtref, the approach speed of the object coming to the right sensing small region 4a is relatively slow. Assuming that the robot motion process is performed with the normal power, when it is determined that the time difference Δt is smaller than the reference value Δtref, the approach speed of the object coming to the right sensing small area 4a is compared. Therefore, the robot operation process is performed with high power.

  Here, the right-hand robot operation processing means that the current flowing through the motor 114 is fixed by fixing the output logical value of one of the ports P23 and P24 of the one-chip microcomputer 108 to the first logical value. A process of setting the value of the current flowing through the motor 114 by setting the direction to the direction in which the right punching operation is activated and then setting the duty ratio of the PWM pulse train output to the other port to a predetermined value It is.

  At this time, in the robot operation process using normal power (step 1014), a predetermined low duty ratio for normal power is set, whereas in the robot operation process using high power (step 1014), a predetermined value is set in advance. The higher duty ratio for the high power is set.

-Description of action-
According to the robot toy according to the third modified example, in the configuration shown in FIGS. 1 to 3, the player performs a body action corresponding to the left and right punching operation, for example, the right fist 7 a is moved to the right object. When projecting into the small sensing area 4a, the strength of the right punch fed out from the robot body 1 changes according to the speed of the projecting speed, so the response relationship between the player's body action and the attacking action of the robot body is more It becomes even more sensitive and can make this kind of play more exciting.

  In the above description, the reference value Δtref to be compared with the time difference Δt is assumed to be one, but a plurality of values such as Δtref1, Δtref2, Δtref3,... Of course, if the duty ratio is prepared in multiple stages according to each result, it is possible to achieve more sensitive power control.

<< Second Embodiment >>
-Mechanism description-
In the first embodiment and the modification thereof, the number of small object sensing subregions is two, but it is needless to say that the number may be one or three or more. In this example, four object sensing subregions are provided, which are assigned one to one for activation of separate attack actions.

  That is, the robot body 7 appearing in the robot toy according to the second embodiment includes an attack operation by the right upper cut punch at the lower right starting point and an attack operation by the left upper cut punch at the lower left starting point shown in FIG. The four attack operations shown in FIG. 7, that is, the attack operation by the right hook punch starting from the upper right and the attack operation by the left hook punch starting from the upper left are configured to be executable.

  In the figure, 71 is the head, 72 is the torso, 73 is the back, 74a is the right shoulder, 74b is the left shoulder, 75a is the upper right arm, 75b is the upper left arm, 76a is the lower right arm, and 76b. Is the left lower arm part, 77a is the right fist part, 77b is the left fist part, and the configuration of the left and right leg parts is omitted from the relationship of the space.

  The basic punch feeding mechanism and walking mechanism of the robot body 7 are almost the same as those of the first embodiment, but in this example, the type of punch is switched between the upper cut punch and the hook punch. Has a tilt mechanism (not shown) so that the axis A1 of the rotation shaft positioned at the base of the right and left upper arm portions 75a and 75b can be switched between a tilt posture for hook punch and a horizontal posture for upper cut punch. Built into the robot body. This tilting mechanism is driven by a dedicated actuator 112 (see FIG. 13) such as a ball screw thrust motor or a solenoid plunger.

  As shown in FIG. 6 and FIG. 7, four infrared light projecting units 21 a, 21 b. 22a, 22b and two infrared light receivers 31, 32 are arranged. The infrared light receiving unit 31 positioned at the upper center of the center is for receiving the infrared rays that are emitted from the two infrared light projecting units 21a and 21b positioned at the left and right of the upper level and then reflected by some object. The infrared light receiving unit 32 located at is for receiving infrared rays reflected by some object after being emitted from the two infrared posting units 22a and 22b located on the left and right sides of the lower stage.

  The light projecting optical axis of the infrared light projecting unit 21a located on the upper right side of the rear surface projects infrared rays toward the upper left obliquely upward, and thereby the small sensing area 41a is located at the upper right position when viewed from the player. Is formed. In the figure, 51a indicated by hatching is an ellipse schematically showing a cross section of the detection limit distance.

  The light projecting optical axis of the infrared light projecting unit 21b located on the upper left side of the rear surface projects infrared light obliquely upward and to the upper right, so that the sensing small area 41b is located in the upper left position when viewed from the player. Is formed. In the figure, 51b indicated by hatching is an ellipse schematically showing a detection limit distance section.

  The light projecting optical axis of the infrared light projecting unit 22a located at the lower right side of the back surface projects infrared rays toward the front lower left, and thus, the sensing small area is located at the lower right position when viewed from the player. 42a is formed. In addition, in the figure, 52a shown by hatching is an ellipse schematically showing a detection limit distance section.

  The light projecting optical axis of the infrared light projecting unit 22b located on the lower left side of the back surface projects infrared light toward the front diagonally lower right, and as a result, the small sensing area 42b is located at the lower left position when viewed from the player. Is formed. In the drawing, 52b indicated by hatching is an ellipse schematically showing a detection limit distance section.

-Electrical hardware configuration-
A circuit diagram corresponding to the electrical hardware configuration of the robot toy according to the second embodiment is shown in FIG. In the circuit diagram shown in FIG. 13, the difference from the circuit diagram of the first embodiment shown in FIG. 12 is that it includes an actuator 121 for driving the tilting mechanism, and the infrared light emitting diode constituting the light projecting circuit unit. There are four points and two light receiving units IC corresponding to the four light emitting units.

  That is, the actuator 121 is composed of a ball screw thrust motor, a solenoid plunger, or the like, and the axis A1 of the rotating shaft located at the base of the right and left upper arm portions 75a and 75b is inclined to the hook punch (in the drawing). A tilt mechanism for switching between a horizontal posture (indicated by A1 ′) and an upper cut punch horizontal posture (indicated by A1 in the drawing) is switched and driven. The actuator 121f is activated by a signal output from the ports P31 and P32 of the one-chip microcomputer 108.

  The light projecting circuit unit includes an infrared light emitting diode 115a included in the infrared light projecting unit 21a, an infrared light emitting diode 115b included in the infrared light projecting unit 21b, an infrared light emitting diode 116a included in the infrared light projecting unit 22a, and an infrared light projecting unit. Infrared light emitting diode 116b included in the optical section 22b, an infrared encoding transistor 117a using an upper right region code, an infrared encoding transistor 117b using an upper left region code, an infrared encoding transistor 118a using a lower right region code, and a lower left region code And an infrared encoding transistor 118b and a carrier generation transistor 105.

  The light receiving circuit unit includes a light receiving unit IC 119 corresponding to the infrared light receiving unit 31 and a light receiving unit IC 120 corresponding to the infrared light receiving unit 32. The light receiving units IC 119 and 120 have a function of demodulating the region code by performing photoelectric conversion of the received infrared reflected light and then performing extraction of carrier frequency components and demodulation processing.

  In the configuration shown in the figure, the two infrared light receiving portions 31 and 32 are used to construct the object sensor having the four object sensing small areas 41a, 41b, 42a, and 42b. , 41b, 42a, and 42b, if there is no possibility of interference of light projection, the light receiving portions 31 and 32 are placed between the four light projection portions 21a, 21b, 22a, and 22b. A common light receiving unit can be substituted.

-Electrical software configuration-
A flowchart corresponding to the electrical software configuration of the robot toy according to the second embodiment is shown in FIG. As shown in the figure, when the process is started, first, the upper light receiving output is read from the light receiving unit IC 119 constituting the infrared light receiving unit 31 located at the upper center of the back surface of the robot body 7 (step 1101). The presence / absence of reflected light is determined (step 1102). If it is determined that reflected light is present (YES in step 1102), then a series of upper system processes (steps 1103 to 1107) are executed.

  That is, first, after decoding the read code (step 1103), it is determined whether the decoded code is an area code assigned to the upper left area 41b or an area code assigned to the upper right area 41a (step 1104, 1106). If it is determined that the upper left area code coincides (YES in step 1104), the robot operation (step 1105) corresponding to the state of the detected object in the upper left system is immediately executed, whereas the upper right area code. If it is determined that the person matches (step 1106 YES), the robot operation (step 1107) corresponding to the state of the detected object in the upper right system is immediately executed.

  In the robot operation corresponding to the detection object of the upper left system (step 1105), the actuator 121 is operated via the ports P31 and P32 of the microcomputer 108, and a tilt mechanism (not shown) incorporated in the trunk portion 72 of the roborot body 7 is used. By actuating, the rotation axis A1 at the base of the left upper arm 75b is tilted from A1 (horizontal posture) to A1 ′ (tilted posture) as shown in FIG. At the same time, one of the ports P23 and P24 of the microcomputer 108 (for example, the port P23) is fixed to the first logical value, and a PWM pulse train having a predetermined duty ratio is output to the other port, whereby the robot body 7 is rotated at a predetermined current value in the first rotation direction to rotate the left upper arm portion 75b, thereby realizing an attack operation by the left hook punch.

  In the robot operation (step 1106) corresponding to the detection object in the upper right system, the actuator 121 is operated via the ports P31 and P32 of the microcomputer 108, and a tilt mechanism (not shown) incorporated in the body 72 of the robot body 7 is used. By actuating, the rotation axis A1 at the base of the left upper arm 75b is tilted from A1 (horizontal posture) to A1 ′ (tilted posture) as shown in FIG. At the same time, either one of the ports P23 and P24 of the microcomputer 108 (for example, P24) is fixed to the first logical value, and a PWM pulse train having a predetermined duty ratio is output to the other port, whereby the robot body 7 The attacking action by the right hook punch is realized by rotating the motor 114 built in the motor in the second rotation direction at a predetermined current value and rotating the upper right arm 75a.

  On the other hand, if it is determined that there is no reflected light in the output of the upper light receiving unit IC119 (NO in step 1102), the output of the lower light receiving unit IC120 is read (step 1108), and there is reflected light. Only when it is determined (YES in step 1109), a series of lower system processing (steps 1108 to 1114) is executed.

  That is, first, after the read code is decoded (step 1110), it is determined whether the decoded code is an area code assigned to the lower left area 42b or an area code assigned to the lower right area 42a (step 1111). 1113). If it is determined that the code matches the lower left area code (YES in step 1111), the robot operation (step 1112) corresponding to the state of the lower left detection object is immediately executed, whereas the lower right area If it is determined that it matches the code (YES in step 1113), the robot operation (step 1114) corresponding to the state of the lower right detection object is immediately executed.

  In the robot operation (step 1112) corresponding to the detection object in the lower left system, the actuator 121 is deactivated via the ports P31 and P32 of the microcomputer 108, whereby the tilting (not shown) incorporated in the body 72 of the robot body 7 is performed. By deactivating the mechanism, the rotation axis A1 of the base of the left upper arm 75b is maintained at A1 (horizontal posture) as shown in FIG. At the same time, one of the ports P23 and P24 of the microcomputer 108 (for example, the port P23) is fixed to the first logical value, and a PWM pulse train having a predetermined duty ratio is output to the other port, whereby the robot body 7 is rotated by a predetermined current value in the first rotation direction to rotate the left upper arm portion 75b, thereby realizing an attacking action by the left upper cut punch.

  In the robot operation (step 1114) corresponding to the detection object in the lower right system, the actuator 121 is deactivated via the ports P31 and P32 of the microcomputer 108, and a tilt mechanism (not shown) incorporated in the body 72 of the roborot body 7 is used. Is deactivated, the rotation axis A1 at the base of the upper right arm 75b is maintained at A1 (horizontal posture) as shown in FIG. At the same time, either one of the ports P23 and P24 of the microcomputer 108 (for example, P24) is fixed to the first logical value, and a PWM pulse train having a predetermined duty ratio is output to the other port, whereby the robot body 7 By rotating the motor 114 built in the motor in the second rotation direction with a predetermined current value and rotating the upper right arm 75a, an attacking action by the right upper cut punch is realized.

-Description of action-
The robot toy according to the second embodiment includes an attack operation by a right upper cut punch with a lower right starting point shown in FIG. 6, an attack operation by a left upper cut punch with a lower left starting point, and an upper right start point shown in FIG. The attack operation by the right hook punch and the attack operation by the left hook punch at the upper left starting point can be executed.

  As shown in FIG. 7, behind the robot body 1, there is an upper right object detection small area 41 a assigned to start the attack operation by the hook punch at the upper right starting point, and the attack operation by the hook punch at the upper left starting point. The upper left object sensing small area 41b, the lower right object sensing small area 42a assigned to the attack action by the upper-cut punch at the lower right starting point, and the lower right object assigned to the upper cut punching action at the lower left starting point. Four object detection subregions including the object detection subregion 42b are arranged.

  Then, as shown in FIG. 7, when a body action corresponding to the left and right hook punches is performed, for example, as shown in the figure, the right fist 6a is projected toward the upper right object sensing subregion 41a, the object sensor ( 21a, 21b, 22a, 22b, 31, 32), and the action of the control unit (108), the attack action by the right hook punch is executed. Similarly, for example, if the left fist 6b is protruded into the upper left object sensing small area 41b, an attack operation by the left hook punch is executed.

  On the other hand, as shown in FIG. 6, when a body action corresponding to the left and right upper cut punches is performed, for example, as shown in the figure, the right fist 6a is projected toward the lower right object sensing small area 42a, the object The attack operation by the right upper cut punch is executed by the sensing action of the sensors (21a, 21b, 22a, 22b, 31, 32) and the action of the control unit (108). Similarly, for example, if the left fist 6b is protruded into the lower left object sensing small area 42b, an attack operation by the left upper cut punch is executed.

  According to the second embodiment, although the four attack actions are activated through the body action, the spatial layout of the starting points of the four attack actions and the space of the four object sensing subregions for activating it. This means that the player can naturally understand the relationship between each attack action and the small object sensing area to activate it, and the operability is better. Become.

<< Other Embodiments >>
Needless to say, the robot toy form applicable to the present invention is not limited to a human type robot, but also to beast type robots such as lions, tigers and buffalos, or dinosaur type robots such as tyrannosaurus and triceratops. The present invention is applicable. Examples of one or more attack actions that can be performed by a beast robot include attack actions using left and right forefoot claws, attack actions using horns, or attack actions using fangs. Examples of one or more attack operations that can be executed by the dinosaur robot include an attack operation using the left and right forefoot claws, and an attack operation using a fang or horn with the neck extended.

  An example applied to a fictional monster dragon is shown in FIG. In the figure, 81 is a tail part, 82 is a leg part, 83 is a front leg having claws, 84 is a head part having an openable / closable mouth, 85 is a mouth part facing a fang, and 86 is an openable / closable wing.

  An object sensor composed of one infrared light projecting unit 2 and one infrared light receiving unit 3 is incorporated in the base of the tail, so that a single object is located near the rear of the dragon-type robot body 8. A sensing area 4 is formed.

  When the player projects the right fist 6a toward the object sensing area 4 as indicated by the arrow A14, the infrared light 9a emitted backward from the infrared light projecting unit 2 is applied to the right fist 6a. When the reflected light 9a generated by hitting the infrared light receiving unit 3 reaches the infrared light receiving unit 3, the control unit as described above causes the dragon-type robot body 8 to have a neck as shown by an arrow A15. And the head 84 protrudes forward, the mouth 85 opens and the fangs face as shown by the arrow A16, and the wing 86 opens as shown by the arrow 17 and still jumps. Such a form appears.

  Thus, the present invention can be applied to various forms of robot toys capable of executing one or more attack operations.

  According to the present invention, if any object (for example, fingertip, fist, palm, etc.) is intentionally present in the vicinity of the robot body and the object is in a predetermined state, one or two of these attacking actions can be performed. Since the above can be selected and executed, it is possible to provide a robot toy that does not require an additional accessory such as a dedicated operation unit in order to execute one of the attacking operations.

1 Humanoid biped robot body 1A Humanoid biped robot body capable of sword down motion 2a Infrared light projecting unit 2b Infrared light projecting unit 3a Infrared light receiving unit 3b Infrared light receiving unit 4a Right sensing small area 4b Left sensitive small area 5a Sensing limit cross section of right sensitive small area 6 Player 6a Player's right fist 6b Player's left fist 6c Player's right finger sword 7 Human type capable of performing left and right hook actions and upper actions Robot body 7a Right fist of player 7b Left fist of player 8 Dragon type robot main body 9a Infrared irradiation light 9b Infrared reflected light 10a Wheel 11 Head 12 Body 13 Back 14a Right shoulder 14b Left shoulder 15a Upper right arm 15b Left upper arm portion 16a Right lower arm portion 17a Right fist portion 17a 'Right hand holding a sword 17b Left fist portion 18a Right leg portion 18b Left leg portion 19a Right foot portion 19b Left foot 21a Infrared projector 21b Infrared projector 22a Infrared projector 22b Infrared projector 31 Infrared receiver 32 Infrared receiver 41a Upper right sensing subregion 41b Upper left sensing subregion 42a Lower right sensing subregion 42b Lower left sensing subregion 51a Sensing limit section of upper right sensing small area 51b Sensing limit section of upper left sensing small area 52a Sensing limit section of lower right sensing small area 52b Sensing limit section of lower left sensing small area 71 Head 72 Body 73 Back part 74a Right shoulder 74b Left shoulder Part 75a Upper right arm part 75b Left upper arm part 76a Right lower arm part 76b Left lower arm part 77a Right fist part 77b Left fist part 81 Tail part 82 Leg part 83 Forefoot part 84 Head part with openable mouth 85 Mouth part with fangs 86 Wings A1 Rotating axis of right shoulder A2 Rotating axis of right elbow A3 Rotating axis of leg base A4 Protruding direction of player's right fist A5 Arrow indicating the protruding direction of the right fist of the robot body A6 Arrow indicating the protruding direction of the right fist of the player A7 Arrow indicating the protruding direction of the right fist of the robot body A8 Arrow indicating the protruding direction of the right fist of the player A9 Arrow indicating the protruding direction of the right fist of the robot main body A10 Arrow indicating the swing trajectory of the right upper of the robot main body A11 Arrow indicating the swing trajectory of the right hook of the robot main body A12 Indicates the swing trajectory of the player's finger sword Arrow A13 Arrow indicating the swing trajectory of the robot body swinging down the sword A14 Arrow indicating the direction in which the player's right fist is projected A15 Arrow indicating the direction of the dragon robot's neck extension A16 Arrow indicating the direction of the dragon robot's mouth opening A17 Dragon Arrow indicating the direction of lifting of the robot wing FL Floor 101a, 101b Battery 102 Power switch 103a Infrared light emitting diode included in infrared light projecting unit 2a 103b Infrared light emitting diode included in infrared light projecting unit 2b 104a Infrared encoding transistor based on right region code 104b Infrared encoding transistor based on left region code 105 Carrier generating transistor 106a Light receiving portion IC corresponding to infrared light receiving portion 3a
106b Light receiving portion IC corresponding to the infrared light receiving portion 3b
107 red light emitting diode constituting operation indicator 108 one-chip microcomputer 109a right microphone 109b left microphone 110a right A / D converter 110b left A / D converter 111 DIP switch for various settings 112 speaker 113 H-type transistor bridge circuit IC
114 Driving motor 115a Infrared light emitting diode included in the infrared light projecting unit 21a 115b Infrared light emitting diode included in the infrared light projecting unit 21b 116a Infrared light emitting diode included in the infrared light projecting unit 22a 116b Infrared light included in the infrared light projecting unit 22b Light emitting diode 117a Infrared encoding transistor by upper right region code 117b Infrared encoding transistor by upper left region code 118a Infrared encoding transistor by lower right region code 118b Infrared encoding transistor by lower left region code 119 Corresponding to infrared light receiving unit 31 Receiver IC
120 Light-receiving unit IC corresponding to the infrared light-receiving unit 32
121 Actuator 122a for Driving Shoulder Tilting Mechanism 122a Light Receiving Unit IC Constructing Right Low Sensitivity Photosensitive Unit
122b Light receiving part IC constituting left low sensitivity light receiving part
123a Infrared light reduction filter 123b Infrared light reduction filter

Claims (30)

A robot toy having a robot main body capable of executing one or more attack operations,
An object sensor having an object sensing area in the vicinity of the robot body;
A robot toy including a control unit that controls execution of one or more of the attacking operations selected according to the state of the object in the object sensing area based on the output of the object sensor.   The robot toy according to claim 1, wherein execution of one or more of the attacking operations selected according to the state of the object is performed in an execution mode determined by the state of the object.   3. The robot toy according to claim 2, wherein when an object appears in the object detection area, an execution mode of the attack operation is determined as a single execution of the attack operation.   When the state of the object is that an object has stayed in the object sensing area for a predetermined time or longer, the execution mode of the attack operation may be the predetermined number of times, during a certain time, or during the stay. The robot toy according to claim 2, which is determined to be executed cyclically.   When the state of the object is that an object is approaching the object detection area at a predetermined speed or higher, the execution mode of the attack operation is determined as the attack operation to be executed with a stronger power than usual. The robot toy according to claim 2.   2. The robot toy according to claim 1, wherein the object sensing area is set in the vicinity of a surface facing an assumed player among the peripheral surfaces of the robot body.   The robot toy according to claim 6, wherein the surface facing the assumed player is a back surface of the robot body.   The robot toy according to claim 6, wherein the surface facing the assumed player is a left side surface and / or a right side surface of the robot body. The object sensing area is composed of a plurality of small areas distributed along a surface facing the assumed player of the robot body, and each of the plurality of small areas is one or more of the attacking actions. The association is performed in advance, and the control unit controls execution of one or more of the attack operations associated with the small area for each of the plurality of small areas. Robot toy.   The robot toy according to claim 9, wherein a spatial layout when each of the plurality of small regions is observed from a side facing the robot main body matches a spatial layout of each of the starting points of the plurality of attack operations. .   11. The robot toy according to claim 10, wherein each of the plurality of small regions is distributed along a back side or a left side and / or a right side of the robot body. The robot body has left-handed attack actions such as various punch attacks using the left fist and weapons held in the left hand, and various punch attacks using the right fist and various attacks using the weapon held in the right hand. A humanoid robot having a starting attack action,
The object sensing area includes two small areas laid out to the left and right along the back surface or both the left and right side surfaces of the robot body, and the control unit includes a control unit for each of the two small areas. Analyzing the state of the object in the small area, controlling the execution of the attack operation of the left origin based on the analysis result of the left small area, and based on the analysis result of the right small area, The robot toy according to claim 11, which controls execution of an attacking action. The robot body uses an upper left starting attack operation such as a straight punch or hook punch attack using a left fist, an upper right starting attack operation such as a straight punch or hook punch attack using a right fist, and a left fist. It is a humanoid robot having an attack action of the lower left starting point such as an upper punch attack and an attack action of the lower right starting point such as an upper punch attack using the right fist,
The object sensing area includes four small areas laid out vertically and horizontally along the back surface or both left and right side surfaces of the robot body, and the command generation unit is provided for each of the four small areas. , Analyzing the state of the object in the small area, controlling the execution of the attack action of the upper left starting point based on the analysis result of the upper left small area, and based on the analysis result of the upper right small area Controls the execution of the attack action at the starting point, controls the execution of the control action at the lower left starting point based on the analysis result of the lower left small area, and controls the lower right based on the analysis result of the lower right small area. The robot toy according to claim 11, which controls execution of a starting attack operation.   The object sensor is on the robot body side and is reflected by the transmitter that sends a radiator serving as a detection medium to the object sensing area and the object that is on the robot body side and exists in the object sensing area. A receiver for receiving the radiator, and sensitivity adjusted to match an object detection distance range to the sensing area, and generating a signal indicating the presence or absence of an object in the sensing area based on an output from the receiver The robot toy according to claim 1, wherein the robot toy is a reflective object sensor.   The sensing area is composed of a plurality of small areas, and the transmitter is composed of a plurality of transmitters for sending a radiator serving as a detection medium to each of the small areas, and the receiver is present in each of the small areas. A characterization process comprising one or more receivers that receive the radiators reflected by an object, and further comprising a characterization process to enable identification of which subregion each reflected radiator came from. 14. The robot toy according to 14.   The robot toy according to claim 15, wherein the transmitter is attached so as to be adjustable in angle so that a delivery direction of the radiator can be adjusted.   The characterization process is such that the emission timing of the radiators from each of the plurality of transmitters is different from each other in order to be able to identify which small region each reflected radiator has come from. Item 15. The robot toy according to Item 14.   The characterization process incorporates an identification code that is unique to the radiators sent from each of the plurality of transmitters in order to be able to identify which subregion each reflected radiator came from. The robot toy according to claim 14.   The robot toy according to claim 15, wherein the radiator serving as the detection medium is light including infrared rays as an example, sound waves including ultrasonic waves as an example, or electromagnetic waves including microwaves as an example.   2. The robot body according to claim 1, wherein each of the robot bodies is a humanoid robot capable of performing one or more attack operations, a beast robot such as a lion, a tiger, and a buffalo, or a dinosaur robot such as tyrannosaurus and triceratops. Robot toys.   21. The one or more attack operations that can be executed by the humanoid robot include a punch attack operation such as a left and right straight, a hook, and an upper, or an attack operation using a weapon such as a sword. The robot toy described in 1.   The one or more attack operations that can be executed by the beast robot include an attack operation using left and right forefoot claws, an attack operation using horns, or an attack operation using fangs. The robot toy described in 1.   The one or more attack operations that can be executed by the dinosaur-type robot include an attack operation using left and right forefoot claws, or an attack operation using a fang or a horn with a stretched neck. Robot toys.   The robot toy according to claim 1, wherein the robot body is capable of traveling or walking. It has a manual movement mode and an automatic movement mode,
The manual movement mode is for executing a traveling movement or a walking movement in response to a player's body action, and the automatic movement mode is a preset movement mode for moving according to a preset movement locus, or arbitrarily The robot toy according to claim 24, comprising a programmable movement mode that moves according to a programmed movement trajectory.   26. The method according to claim 25, further comprising: forcibly switching the operation mode from the automatic mode to the manual mode when any body action is detected through an object sensor while the automatic mode is set. Robot toys.   It has a search movement mode in which the traveling movement or walking movement is performed by recognizing the direction of the opponent by relying on the sound emitted from the enemy robot body by two right and left microphones, and spontaneously taking a course. The robot toy according to claim 24. A method for controlling an attacking action in a robot toy having a robot body capable of executing one or more attacking actions,
Capturing the output from an object sensor having an object sensing area in the vicinity of the robot body;
An attack on the robot toy, wherein the step of controlling execution of one or more of the attacking operations selected by the state of the object in the object sensing area is executed by a computer based on the captured output of the object sensor How to control the operation. A computer program for attack action control in a robot toy having a robot main body capable of executing one or more attack actions,
Capturing the output from an object sensor having an object sensing area in the vicinity of the robot body;
Controlling the execution of one or more of the attack actions selected according to the state of the object in the object sensing area based on the captured output of the object sensor. Computer program. A recording medium storing a computer program for controlling attacking actions in a robot toy having a robot main body capable of executing one or more attacking actions,
The computer program is
Capturing the output from an object sensor having an object sensing area in the vicinity of the robot body;
A step of controlling execution of one or more of the attack operations selected according to the state of the object in the object sensing area based on the captured output of the object sensor.

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