WO2017166310A1 - 智能比赛场地、移动机器人、比赛***及控制方法 - Google Patents
智能比赛场地、移动机器人、比赛***及控制方法 Download PDFInfo
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- WO2017166310A1 WO2017166310A1 PCT/CN2016/078370 CN2016078370W WO2017166310A1 WO 2017166310 A1 WO2017166310 A1 WO 2017166310A1 CN 2016078370 W CN2016078370 W CN 2016078370W WO 2017166310 A1 WO2017166310 A1 WO 2017166310A1
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- Prior art keywords
- information
- mobile robot
- game
- read head
- venue
- Prior art date
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- 238000004891 communication Methods 0.000 claims abstract description 163
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Images
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F7/00—Indoor games using small moving playing bodies, e.g. balls, discs or blocks
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F7/00—Indoor games using small moving playing bodies, e.g. balls, discs or blocks
- A63F7/22—Accessories; Details
- A63F7/30—Details of the playing surface, e.g. obstacles; Goal posts; Targets; Scoring or pocketing devices; Playing-body-actuated sensors, e.g. switches; Tilt indicators; Means for detecting misuse or errors
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F7/00—Indoor games using small moving playing bodies, e.g. balls, discs or blocks
- A63F7/22—Accessories; Details
- A63F7/36—Constructional details not covered by groups A63F7/24 - A63F7/34, i.e. constructional details of rolling boards, rims or play tables, e.g. frame, game boards, guide tracks
- A63F7/40—Balls or other moving playing bodies, e.g. pinballs or discs used instead of balls
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H11/00—Self-movable toy figures
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
- G06K17/0029—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement being specially adapted for wireless interrogation of grouped or bundled articles tagged with wireless record carriers
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B5/00—Near-field transmission systems, e.g. inductive or capacitive transmission systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B5/00—Near-field transmission systems, e.g. inductive or capacitive transmission systems
- H04B5/70—Near-field transmission systems, e.g. inductive or capacitive transmission systems specially adapted for specific purposes
- H04B5/77—Near-field transmission systems, e.g. inductive or capacitive transmission systems specially adapted for specific purposes for interrogation
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F2250/00—Miscellaneous game characteristics
- A63F2250/52—Miscellaneous game characteristics with a remote control
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Definitions
- the invention relates to a mobile robot competition technology, in particular to an intelligent competition venue, a mobile robot, a competition system and a control method.
- the mobile robot integrates technologies such as computer, automation, mechatronics and artificial intelligence. Its core is artificial intelligence technology. The purpose is to make the mobile robot possess human characteristics such as walking, sense, thinking and judgment. In order to promote the research and development of mobile robots, various mobile robots have been organized to compete against the competition. How to improve the intelligence and interest of mobile robots in the confrontation competition has become an urgent problem to be solved.
- aspects of the present invention provide an intelligent playing field, a mobile robot, a game system, and a control method for improving the intelligence and interest of a mobile robot in combating a game.
- a first aspect of the present invention provides an intelligent playing field, comprising:
- At least one field-mounted read head is disposed on the platform, and the mobile robot on the platform performs information interaction with the field-mounted read head by short-range wireless communication.
- a second aspect of the present invention provides a mobile robot comprising:
- the on-board read head is disposed on the mobile robot body, and the on-board read head is used for information interaction with the field-mounted read head in the intelligent game venue by using short-range wireless communication.
- a third aspect of the present invention provides a mobile robot game system, including:
- An intelligent competition venue comprising a platform and at least one on-board read head, the field-mounted read head being disposed on a platform, the mobile robot on the platform adopting short-range wireless communication Means interacting with the field-mounted read head;
- a mobile robot comprising a mobile robot body and an onboard read head, the onboard read head being disposed on the mobile robot body, the onboard read head being used for a field-mounted read head in an intelligent playing field Information exchange is performed by short-range wireless communication.
- a fourth aspect of the present invention provides a mobile robot control method, including:
- Information interaction with the on-board read head of the mobile robot is performed by short-range wireless communication.
- a fifth aspect of the present invention provides a mobile robot control method, including:
- the short-range wireless communication method is used to exchange information with the field-mounted read head in the intelligent game venue.
- a sixth aspect of the present invention provides an intelligent competition venue, including:
- a first triggering module configured to trigger a mobile robot to start a game by using short-range wireless communication
- the first communication module is configured to perform information interaction with the on-board read head of the mobile robot by using short-range wireless communication.
- a seventh aspect of the present invention provides a mobile robot, including:
- a receiving module configured to receive a trigger instruction for starting a game by using short-range wireless communication
- An execution module configured to perform a game operation according to the triggering instruction
- the second communication module is configured to perform information interaction with the field-mounted read head in the intelligent game venue by using short-range wireless communication.
- the on-board read head can exchange information with the on-board read head through short-range wireless communication, thereby being able to receive the field-reading read.
- the information in the head or the information is sent to the field, so that the mobile robot can be intelligent and interesting in the game.
- the information is exchanged by short-distance wireless communication, the information transmission speed is fast, the anti-interference is strong, and the power consumption is low, and the situation of affecting the game due to information interaction can be avoided as much as possible.
- FIG. 1A is a schematic structural diagram of a mobile robot game system according to an embodiment of the present invention.
- FIG. 1B is a schematic structural diagram of an intelligent playing field according to still another embodiment of the present invention.
- FIG. 2 is a schematic structural view of a mobile robot according to still another embodiment of the present invention.
- 3A is a schematic structural diagram of a mobile robot game system according to another embodiment of the present invention.
- 3B is a schematic structural diagram of a mobile robot game system according to still another embodiment of the present invention.
- FIG. 4 is a schematic flow chart of a mobile robot control method according to another embodiment of the present invention.
- FIG. 5 is a schematic flow chart of a mobile robot control method according to still another embodiment of the present invention.
- FIG. 6A is a schematic structural diagram of an intelligent playing field according to still another embodiment of the present invention.
- 6B is a schematic structural diagram of an intelligent playing field according to another embodiment of the present invention.
- FIG. 7 is a schematic structural view of a mobile robot according to still another embodiment of the present invention.
- Read head includes a card reader and a controller.
- the read head is a communication system formed by encapsulating the chip of the card reader and communicating with the controller through a serial port or an Inter-Integrated Circuit (IIC). .
- IIC Inter-Integrated Circuit
- the read head can wirelessly communicate with other read heads, and can also read information in the electronic tag based on wireless communication.
- Short-range wireless communication In general, short-distance wireless communication can be called as long as the communication transceiver transmits information through radio waves and the transmission distance is limited to a short range (for example, less than or equal to 200 meters). There are many short-range wireless communication methods, such as RF communication and WiFi. Communication, UWB (Ultra Wideband) communication, Bluetooth communication, and the like.
- Electronic label It is the physical carrier of the product electronic code, which can be identified and read and written.
- the electronic tag of the present invention is, for example, a radio frequency identification (RFID) tag or an NFC (Near Field Communication) tag.
- RFID radio frequency identification
- NFC Near Field Communication
- the invention provides a mobile robot competition system.
- the system of the present embodiment includes a smart game venue 100 and a plurality of mobile robots 200, and may further include a server 300.
- the plurality of mobile robots 200 are divided into at least two teams for playing against each other.
- the battle venue is located at the smart game venue 100. .
- the intelligent game venue 100 is provided with a field-mounted read head 101, and may also be provided with an electronic tag 102 for storing game venue information.
- the mobile robot 200 is provided with an organic load-reading head 201, which can be combined with a field-mounted read head. 101 performs information interaction based on short-range wireless communication, and can also read game venue information from the electronic tag 102 to perform corresponding operations.
- the read head described in the present invention can receive information as well as send information.
- This embodiment provides an intelligent playing field for a game of a mobile robot.
- FIG. 1B it is a schematic structural diagram of an intelligent game venue according to the present embodiment.
- the intelligent playing field includes a platform 110 and at least one on-board read head 101 disposed on the platform 110, such as in the embedded platform 110 or disposed on other objects in the platform 110, and the mobile robot 200 is performed on the platform 110.
- Related preparations and competition operations are also possible.
- the field-mounted read head of this embodiment may be at least one of the following devices: a radio frequency read head, a WiFi read head, a UWB (Ultra Wideband) read head, and a Bluetooth read head.
- the platform 110 of this embodiment may be any platform for competition, and objects such as obstacles, obstructions, and the like may be disposed on the platform 110 to increase the interest of the game.
- the platform 110 of the present embodiment may include at least one of the following areas: a preparation area 111, a start area 112, and a competition area 113, wherein the field-mounted read head 101 of the preparation area 111 is used to acquire the team information of the mobile robot that conforms to the competition rule. And the identification information, and the team information and the identification information are sent to the server, and the field-mounted read head 101 of the start area 112 is used to simultaneously send a trigger instruction for starting the game to the mobile robot in the start area 111, and the battle area 113 is on the field.
- the read head 101 is used for interactive battle information with the mobile robot in the game.
- the preparation area 111, the start area 112, and the competition area 113 may be sequentially connected, as shown in FIG. 1B, so that it is convenient to enter from another area to another area.
- Preparation area 111 Before the robot game starts, it is first necessary to place the mobile robot in the preparation area 111 to check whether the mobile robot conforms to the competition rule, and the recorded items may include at least one of the following information: size, type, and size of the mobile robot.
- the hit point may be a physical device, such as a flat panel.
- the detecting device disposed under the hit point sends the struck force to the onboard read head 201 for reading by the airborne
- the header 201 sends the hit information to the server, and the hit information includes the hit time, the striking strength, and the identification information of the hit point.
- the field-mounted read head 111 can also exchange information with the mobile robot, and obtain information such as a preset size, type, weight, and installation position of the hit point directly from the memory in the mobile robot, and the information can be manually input to the mobile In the robot.
- a weighing device may be provided in the preparation area 111 for acquiring the weight of the mobile robot and transmitting the weight to the field-mounted read head 101 of the preparation area 111.
- a field-mounted read head 101 is disposed in the preparation area 111, and the mobile robot moves to the weighing apparatus, and the weight of the mobile robot is detected by the weighing apparatus, and the acquired weight is read to the field in the preparation area 111.
- Head 111 sends.
- an image recognition system 117 may be further disposed in the preparation area 111, and the image recognition system 117 is configured to acquire specification information of the mobile robot, and send the specification information to the field-mounted read head, the specification information including at least one of the following information.
- the image recognition system can acquire image information of the mobile robot, and obtain three-dimensional information of the mobile robot as the size of the mobile robot by using the image information, and further, the image information obtained by the analysis can be matched in a preset database to obtain The type of the mobile robot, the database has various types of pictures of the mobile robot, and the installation position of the hit point can also be obtained by analyzing the image information.
- the image recognition system 117 transmits all the acquired information to the on-board head 201, and can also directly interact with the server for information, and the server receives the information acquired by the image recognition system 117. In this way, the weighing device and the image recognition system 117 automatically recognize the relevant information of the mobile robot, thereby avoiding the situation where the input information is incorrect when manually manually. Make the inspection results of mobile robots more accurate.
- the field-mounted read head 101 is also used to acquire the game rules, and judge whether the mobile robot conforms to the game rules according to the weight and specification information of the mobile robot.
- a game rule may be pre-stored, or a request command may be sent to the server to receive a game rule returned by the server according to the request instruction, and the game rule may include a size, a weight, a type, and a
- the requirements of the point installation location are as follows, and then the mobile robots in the start area 111 are checked according to the competition rules to determine the mobile robots that meet the competition rules, and the team information and identification information of the mobile robots are acquired, the team information and The identification information may be pre-stored in the mobile robot, and is acquired by the on-board read head 101 by the on-board read head of the mobile robot.
- the mobile robot may also be manually moved by the mobile robot after determining the mobile robot that conforms to the game rules.
- the team information and identification information are entered into the field-mounted read head 101, which is then sent by the field-mounted read head 101 to the server.
- the on-board read head 101 can also send the information obtained from the mobile robot to the server, and finally the mobile robot that meets the rules of the game is determined by the server, and can be set according to actual needs, and details are not described herein again.
- the mobile robots that meet the rules of the game move to the start area 112, and may specifically move to the start area 102 according to the movement instruction, or may manually move the mobile robots to the start area 112.
- the mobile robot that meets the competition rules enters the competition area 113 to start the game after receiving the trigger command uniformly issued by the field-mounted read head 101 in the start area 112 in the start area 112.
- the field-mounted read head 111 in the battle zone 113 can interact with the on-board read head of the mobile robot in the game, such as interactive battle information.
- the battle zone 113 also includes at least one of the following: a sprayer for spraying, an illuminator for illuminating, a sprayer and an illuminator that are special effects in the game and can add interest to the game.
- the platform 110 can also be provided with an electronic tag 102.
- the electronic tag 102 is disposed at various places of the platform 110 according to actual needs, and the electronic tag 102 stores game venue information.
- the electronic tag 102 in the start area 111 may store site information indicating that the location is the start zone
- the electronic tag in the preparation area 112 may store site information indicating that the site is the preparation zone
- the battle zone 113 The electronic tag 102 in the middle may store site information indicating that the location is a competition area, so that the mobile robot can know which area it is located in, for example, it does not move to other areas during the competition.
- the electronic tag 102 in the competition area 112 may further include at least one of the following information: geographic location information, location information, special effect information, wherein the special effect information is used to trigger a nebulizer or an illuminator.
- the mobile robot needs to know the information of the companion or inform the companion of its location. Since the information of the electronic tag 102 needs to be relatively close to the on-board read head of the mobile robot, for example, 0-20 cm, the mobile robot can transmit the geographical location information acquired from the electronic tag 102 to the server. In the mobile robot that is sent to the same team through the server, the mobile robot of the same team is informed of the location of the mobile robot that transmits the geographical location information.
- the site information can be set to indicate that the site is a stronghold and needs to be occupied, if the mobile robot Recognizing the electronic tag 102 as the location information, the identification information of the electronic tag 102 may be sent to the server to indicate that the team in which the mobile robot is located occupies the site, or the mobile robot is acquiring the electronic tag 102.
- the server is asked whether it is possible to occupy the site, and according to the feedback information of the server, it is determined whether the site is occupied, and the server also knows which team is occupied by the site.
- the corresponding sprayer or illuminator can be triggered according to the special effect information to increase the interest of the game.
- the position of the nebulizer or illuminator can be set according to actual needs.
- a field-mounted read head is provided, and the field-mounted read head can perform information interaction with the mobile robot through short-range wireless communication, thereby acquiring relevant information in the mobile robot, and can also send the mobile robot to the mobile robot.
- the information enables the mobile robot to perform corresponding operations, thus improving the intelligence and interest of the mobile robot in combating the game.
- the information is exchanged by short-distance wireless communication, the information transmission speed is fast, the anti-interference is strong, and the power consumption is low, and the situation of affecting the game due to information interaction can be avoided as much as possible.
- the embodiment provides a mobile robot for robot racing.
- the mobile robot 200 includes a robot body 202 and an on-board read head 201.
- the on-board read head 201 is disposed on the mobile robot body 202, and the on-board read head 201 is used for field loading in the intelligent competition venue.
- the read head uses short-range wireless communication for information interaction.
- the exchanged information may include at least one of the following information: team information of the mobile robot, identification information, triggering instructions to start the game, and game information.
- the game information includes at least the information of the shooting device and The team information of the mobile robot is described in detail later.
- the mobile robot body 202 of the present embodiment may be of any shape, such as a human shape, or a tank shape as shown in FIG. 2, and may be specifically set according to actual needs.
- the on-board read head 201 can also perform information interaction with the on-board read head on other mobile robots, for example, receiving the target mobile robot to transmit the game information of the target mobile robot, and after receiving the game information of the target mobile robot, according to the game
- the information performs a preset operation.
- the target mobile robot at this point, that is, another mobile robot on the intelligent game field, uses the description of the "target mobile robot" to distinguish it from the mobile robot 200. For example, when the target mobile robot is another Moth robot of the same team, if the mobile robot 200 receives the information requested by the target mobile robot, it moves to the geographical location information carried in the information to support the target. moving robot.
- the on-board readhead 201 of the present embodiment can also perform information interaction with the server, and send the game information of the associated mobile robot 200 to the server for relevant statistics.
- the on-board read head 201 is also used to read information in an electronic tag in a smart playing field, and the playing field information is stored in the electronic tag.
- the information in the competition venue includes at least one of the following information: geographical location information, location information, and special effect information, wherein the special effect information is used to trigger a sprayer or an illuminator in the smart game venue information to increase the fun of the game. No longer.
- the game venue information can be obtained from the electronic tag, and the corresponding operation is performed according to the game venue information. It is specifically the same as that described in Embodiment 1, and details are not described herein again.
- the on-board read head of this embodiment is at least one of the following: a radio frequency read head, a WiFi read head, a wireless carrier UWB read head, and a Bluetooth read head.
- the on-board read head can perform information interaction with the on-board read head through short-range wireless communication, and can receive information in the field-mounted read head or The head sends information, which can improve the intelligence and interest of the mobile robot in the game.
- the information is exchanged by short-distance wireless communication, the information transmission speed is fast, the anti-interference is strong, and the power consumption is low, and the situation of affecting the game due to information interaction can be avoided as much as possible.
- This embodiment further supplements the description of the mobile robot of the second embodiment.
- the mobile robot 200 of the present embodiment further includes a shooting device 211, and the shooting device 211 is disposed on the mobile robot body 202.
- the shooting device 211 may be at least one of the following devices: a laser emitting device, a shooting device for launching a bullet, a shooting device for launching an arrow, or a mobile robot 200 having different types of shooting devices at the same time. Set according to actual needs.
- the on-board head 201 of the present embodiment is further configured to acquire game information of the mobile robot 200, and transmit the game information of the mobile robot 200 to the target mobile robot located in the same smart game venue to enable the target mobile robot to perform the pre-action according to the game information.
- the game information includes at least the information of the shooting device and the team information of the mobile robot. For example, if the mobile robot 200 acquires the target mobile robot as a robot of a different team through the on-board reader and it is within its own shooting process, a shooting operation can be performed on the target mobile robot. The target mobile robot recognizes that the movement is based on the information transmitted by the mobile robot 200, and when the robot 200 shoots at itself, the avoidance operation can be performed.
- the information of the shooting device includes at least one of the following: the orientation of the mobile robot body, the orientation of the shooting port of the shooting device relative to the mobile robot body, and the launch time of the shooting device.
- the mobile robot can determine the actual orientation of the shooting port of the shooting device according to the orientation of the mobile robot body and the orientation of the shooting port of the shooting device relative to the moving robot body, and the actual orientation can be received by the target mobile robot according to the target
- the information is determined by itself, or the target mobile robot sends the received game information to the server, and the determination result is fed back to the target mobile robot, so that the target mobile robot determines the time of the shooting port of the shooting device.
- the request support information is sent to the server, and the request information carries the location information.
- the other robots of the same team move to the geographic location indicated by the location information to support the target mobile robot.
- the target mobile robot within the range can send reminder information for prompting the target mobile robot to be hit, and the target mobile robot receives the After the reminder message, perform corresponding operations such as avoiding, hiding into the obstruction, and counterattack, and request support from other mobile robots of the same team.
- the target mobile robot can also send the game information to the mobile robot 200, and the mobile robot 200 can also perform corresponding operations according to the game information, as described above, and details are not described herein again.
- the mobile robot 200 can also send the game information to the server, the server counts the launch time of the shooting device of the mobile robot 200, and determines the actual orientation of the shooting port of the shooting device, and can also be reported according to other mobile robots.
- the hit time is used to determine which mobile robot the hit mobile robot was hit by.
- the killing hotspot area on the field and the hitting probability of each mobile robot can be determined, and then the information can be adjusted according to the information, for example, adjusting the installation position of the shooting device of the mobile robot, etc., to better perform game.
- the mobile robot 200 of the present embodiment may further include detection means disposed on the mobile robot body 202 for detecting the impact information received by the mobile robot body 202.
- the detecting device is disposed, for example, below the point to be struck.
- the hit information detected by the detecting device may include at least one of the following information: striking time, striking strength, and identification information of the hit point.
- the detecting device can send the above information to the on-board read head, and after acquiring the hit information, the on-board read head can send the hit information to the server, and the server performs statistics.
- the server sends an outbound command to the mobile robot 200, and the mobile robot 200 can receive the outgoing command of the server and move to the start area or the preparation area of the smart game venue to exit the game.
- the on-board readhead 201 of the embodiment is further configured to receive game information of the target mobile robot sent by the target mobile robot, and correspondingly, the mobile robot further includes a processing device, where the processing device is configured to move the robot according to the target.
- the game information performs a preset operation.
- the processing device can be disposed inside or outside of the mobile robot body 202, and the processing device can be connected to the onboard read head 201 and communicated by wire or wirelessly.
- the mobile robot 200 of the present embodiment can be moved by arranging the wheel 205 on the mobile robot body 202. As shown in FIG. 2, the shape of the mobile robot 200 is similar to that of a tank having four wheels 205.
- the on-board read head can perform information interaction with the on-board read head through short-range wireless communication, and can receive information in the field-mounted read head or The head sends information, which can improve the intelligence and interest of the mobile robot in the game.
- the information is exchanged by short-distance wireless communication, the information transmission speed is fast, the anti-interference is strong, and the power consumption is low, and the situation of affecting the game due to information interaction can be avoided as much as possible.
- the shooting device on the mobile robot the mobile robot can perform the shooting operation to the mobile robots of other teams, which further increases the interest of the robot against the game.
- the mobile robot game system includes the smart game venue and the mobile robot of any of the above embodiments, and may further include a server.
- the server of this embodiment can determine which team wins or which robot is out according to the preset game rules.
- a match rule in a mobile robot game may include at least one of the following:
- the striking force of the mobile robot is greater than or equal to the preset threshold, it is determined that the mobile robot is out, and the striking strength can be obtained by accumulating the striking force multiple times;
- the server may determine which mobile robot is out or which team's mobile robot wins or which team's mobile robot is out based on the collected game information of each mobile robot.
- the game rules can also include many other contents, such as the specification information of the mobile robot or other methods to determine the victory of the robot out or the team, which can be set according to actual needs.
- FIG. 3A it is a schematic structural diagram of a mobile robot game system according to the present embodiment.
- the mobile robot shown in FIG. 3A is two teams, namely, team A and team B.
- the four mobile robots After the recording of the start area 111, the four mobile robots determine that they all conform to the game rules and move to the preparation area 112. As shown in FIG. 3B, after receiving the same trigger command, the mobile object moves to the competition area 113 to start the game. It should be noted that the competition area 113 occupies a much larger area than the preparation area 111 and the start area 112, and can accommodate many mobile robots to move freely in a large space at the same time.
- the shooting operations can be performed on each other, and the received hit information is sent to the server. statistics. If the server recognizes that the number of hits received by one of the mobile robots 200A1 exceeds the preset number of times, it can be determined that the mobile robot 200A1 is out. If another mobile robot 200A2 is also out, it can be determined that the team B wins and the team A is out.
- the on-board read head can perform information interaction with the on-board read head through short-range wireless communication. Furthermore, it is possible to receive information in the field-mounted read head or to transmit information to the field-mounted read head, which can improve the intelligence and interest of the mobile robot in combating the game. Moreover, the information is exchanged by short-distance wireless communication, the information transmission speed is fast, the anti-interference is strong, and the power consumption is low, and the situation of affecting the game due to information interaction can be avoided as much as possible.
- the embodiment provides a mobile robot control method, and the execution subject is the intelligent game venue of the above embodiment.
- the mobile robot control method includes:
- step 401 the short-range wireless communication mode is used to trigger the mobile robot to start the game.
- This step can include:
- the mobile robot that matches the game rules is triggered to start the game according to the team information and the identification information of the mobile robot.
- the mobile robot that meets the competition rules is triggered to start the competition, including:
- the short-range wireless communication method is used to trigger the mobile robot to move to the start region of the platform
- the triggering instruction for starting the game is received, and the triggering command is simultaneously issued to each mobile robot in the starting area by short-range wireless communication to move the mobile robot to the competition area of the platform for playing.
- Step 402 Perform short-distance wireless communication with the on-board read head of the mobile robot for information interaction.
- the step includes using the short-range wireless communication method to interact with the airborne read head of the mobile robot in the competition area.
- the method before acquiring the team information and the identification information of the mobile robot in the preparation area on the platform, the method further includes:
- the specification information includes at least one of the following information: size, type, weight, installation location of the hit point.
- the short-range wireless communication mode includes at least one of the following communication modes: radio frequency communication, WiFi communication, wireless carrier UWB communication, and Bluetooth communication.
- the communication range of the short-range wireless communication mode is less than or equal to 200 meters.
- the related information in the mobile robot can be acquired, and the information can also be transmitted to the mobile robot to cause the mobile robot to perform the corresponding operation. It can improve the intelligence and interest of mobile robots in combating competitions. And by short-range wireless communication Inter-interaction, fast information transmission, strong anti-interference and low power consumption, can avoid the situation of the game due to information interaction.
- the embodiment provides a mobile robot control method, and the execution subject is the mobile robot of the above embodiment.
- the mobile robot control method includes:
- Step 501 Receive a trigger instruction for starting a game by using short-range wireless communication.
- Step 502 performing a game operation according to the trigger instruction.
- Step 503 using short-range wireless communication mode to perform information interaction with the field-mounted read head in the intelligent game venue.
- the method further includes:
- the game venue information includes at least one of the following information: geographic location information, location information, and special effect information, wherein the special effect information is used to trigger a sprayer or an illuminator in the smart game venue information.
- the short-range wireless communication method includes at least one of the following technologies:
- Radio frequency communication technology WiFi communication technology
- wireless carrier UWB communication technology wireless carrier UWB communication technology
- Bluetooth technology Bluetooth technology
- the method further includes:
- the information interacting with the on-board read head includes at least one of the following information:
- the team information of the mobile robot The team information of the mobile robot, the identification information, the trigger command to start the game, and the game information.
- the method further includes:
- the information of the shooting device includes: a direction of the mobile robot body, and a shooting device The orientation of the shooting port relative to the mobile robot body and the launch time of the shooting device.
- the method further includes:
- the hit information is acquired.
- the strike information includes at least one of the following information: strike time and strike strength.
- control method of this embodiment further includes:
- the game venue information is the location information, and performing preset operations according to the venue information includes:
- the game venue information is special effect information, and performing preset operations according to the site information includes:
- the sprayer and/or illuminator corresponding to the special effect information is triggered according to the special effect information.
- the game venue information is geographic location information
- performing preset operations according to the site information includes:
- control method of the embodiment further includes:
- the preset operation is performed according to the game information of the target mobile robot.
- control method of the embodiment further includes:
- the information is exchanged with the on-board read head by the short-range wireless communication method, and the information in the field-mounted read head can be received or transmitted to the field-mounted read head, thereby improving the mobile robot in confrontation. Intelligent and fun in the game.
- the information is exchanged by short-distance wireless communication, the information transmission speed is fast, the anti-interference is strong, and the power consumption is low, and the situation of affecting the game due to information interaction can be avoided as much as possible.
- the embodiment provides an intelligent playing field for performing the control method of the fifth embodiment.
- the smart game venue includes a trigger module 601 and a first communication module 602.
- the triggering module 601 is configured to trigger the mobile robot to start the game by using the short-range wireless communication mode; the first communication module 602 is configured to perform information interaction with the on-board read head of the mobile robot by using short-range wireless communication.
- the triggering module 601 includes: an obtaining sub-module 6011 and a triggering sub-module 6012, wherein the obtaining sub-module 6011 is configured to acquire the team information of the mobile robot in accordance with the game rules in the preparation area on the platform.
- the identification information module is configured to trigger the mobile robot that meets the competition rule to start the game according to the team information and the identification information of the mobile robot.
- the triggering submodule 6011 is specifically configured to:
- the short-range wireless communication method is used to trigger the mobile robot to move to the start region of the platform
- the triggering instruction for starting the game is received, and the triggering command is simultaneously issued to each mobile robot in the starting area by short-range wireless communication to move the mobile robot to the competition area of the platform for playing.
- the first communications module 602 is specifically configured to:
- the short-range wireless communication method is used to interact with the airborne read head of the mobile robot in the competition area.
- the smart game venue of the embodiment further includes an obtaining module 603, where the acquiring module 603 is configured to:
- the specification information includes at least one of the following information: size, type, weight, installation location of the hit point.
- the short-range wireless communication mode includes at least one of the following communication modes: radio frequency communication, WiFi communication, wireless carrier UWB communication, and Bluetooth communication.
- the communication range of the short-range wireless communication mode is less than or equal to 200 meters.
- the related information in the mobile robot can be acquired, and the information can also be transmitted to the mobile robot to cause the mobile robot to perform the corresponding operation, thereby improving the movement.
- the robot is intelligent and interesting in the game.
- the information is exchanged by short-distance wireless communication, the information transmission speed is fast, the anti-interference is strong, and the power consumption is low, and the situation of affecting the game due to information interaction can be avoided as much as possible.
- the embodiment provides a mobile robot for performing the control method of the sixth embodiment.
- the mobile robot includes a receiving module 701, an executing module 702, and a second communication module 703.
- the receiving module 701 is configured to receive a triggering instruction for starting a game by using a short-range wireless communication manner; the executing module 702 is configured to perform a game operation according to the triggering instruction; and the second communication module 703 is configured to use a short-range wireless communication method and a smart game.
- the field midfielder reads the information for information exchange.
- the second communication module 703 is further configured to:
- the game venue information includes at least one of the following information: geographic location information, location information, and special effect information, wherein the special effect information is used to trigger a sprayer or an illuminator in the smart game venue information.
- the short-range wireless communication method includes at least one of the following technologies:
- Radio frequency communication technology WiFi communication technology
- wireless carrier UWB communication technology wireless carrier UWB communication technology
- Bluetooth technology Bluetooth technology
- the second communication module 703 is further configured to:
- the information interacting with the on-board read head includes at least one of the following information:
- the team information of the mobile robot The team information of the mobile robot, the identification information, the trigger command to start the game, and the game information.
- the second communication module 703 is further configured to send the game information to the server.
- the information of the shooting device includes: an orientation of the mobile robot body, an orientation of the shooting port of the shooting device relative to the mobile robot body, and a launching time of the shooting device.
- the second communication module 703 is further configured to acquire the hit information if it is recognized that the mobile robot is hit.
- the strike information includes at least one of the following information: strike time and strike strength.
- the second communication module 703 is further configured to send the hit information to the server.
- the game venue information is the location information
- the second communication module is specifically configured to:
- the game venue information is special effect information
- the second communication module is specifically configured to:
- the sprayer and/or illuminator corresponding to the special effect information is triggered according to the special effect information.
- the game venue information is geographic location information
- the second communication module is specifically configured to:
- the second communication module 703 is further configured to:
- the preset operation is performed according to the game information of the target mobile robot.
- the second communication module is further configured to:
- the information is exchanged with the on-board read head by the short-range wireless communication method, and the information in the field-mounted read head can be received or transmitted to the field-mounted read head, thereby improving the mobile robot in confrontation. Intelligent and fun in the game.
- the information is exchanged by short-distance wireless communication, the information transmission speed is fast, the anti-interference is strong, and the power consumption is low, and the situation of affecting the game due to information interaction can be avoided as much as possible.
- the readable storage medium when executed, executes the steps including the above-described method embodiments; and the foregoing storage medium includes: a medium that can store program codes, such as a ROM, a RAM, a magnetic disk, or an optical disk.
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Abstract
一种智能比赛场地(100),包括:平台(110);至少一个场载读头(101),设置在平台(110)上,平台(110)上的移动机器人(200)采用短距离无线通信方式与场载读头(101)进行信息交互。通过为移动机器人(200)设置机载读头(201),为智能比赛场地(100)设置场载读头(101),机载读头(201)能够通过短距离无线通信方式与场载读头(101)进行信息交互,进而能够接收场载读头(101)中的信息或者向场载读头(101)发送信息,这样,能够提高移动机器人(200)在对抗比赛中的智能化和趣味化。而且通过短距离无线通信方式进行信息交互,信息传输速度快、抗干扰性强且耗电量低,能够尽量避免由于信息交互而影响比赛的情况。
Description
本发明涉及移动机器人比赛技术,尤其涉及一种智能比赛场地、移动机器人、比赛***及控制方法。
近年来,随着科技的进步,各种智能设备层出不穷。其中,移动机器人也逐渐走进了人们的视野。
移动机器人综合采用了计算机、自动化、机电一体化、人工智能等技术,其核心为人工智能技术,目的是使移动机器人具备人类特征,如行走、感官、思维、判断等能力。为了促进移动机器人的研究发展,国际上组织了各种移动机器人对抗比赛,如何提高移动机器人在对抗比赛中的智能化和趣味化成为亟需解决的问题。
发明内容
本发明的多个方面提供一种智能比赛场地、移动机器人、比赛***及控制方法,用于提高移动机器人在对抗比赛中的智能化和趣味化。
本发明第一方面提供一种智能比赛场地,包括:
平台;
至少一个场载读头,设置在平台上,所述平台上的移动机器人采用短距离无线通信方式与所述场载读头进行信息交互。
本发明第二方面提供一种移动机器人,包括:
移动机器人本体;
机载读头,设置在所述移动机器人本体上,所述机载读头用于与智能比赛场地中的场载读头采用短距离无线通信方式进行信息交互。
本发明第三方面提供一种移动机器人比赛***,包括:
智能比赛场地,所述智能比赛场地包括平台和至少一个场载读头,所述场载读头设置在平台上,所述平台上的移动机器人采用短距离无线通信
方式与所述场载读头进行信息交互;
移动机器人,所述移动机器人包括移动机器人本体和机载读头,所述机载读头设置在所述移动机器人本体上,所述机载读头用于与智能比赛场地中的场载读头采用短距离无线通信方式进行信息交互。
本发明第四方面提供一种移动机器人控制方法,包括:
采用短距离无线通信方式触发移动机器人开始比赛;
采用短距离无线通信方式与所述移动机器人的机载读头进行信息交互。
本发明第五方面提供一种移动机器人控制方法,包括:
采用短距离无线通信方式接收用于开始比赛的触发指令;
根据所述触发指令执行比赛操作;
采用短距离无线通信方式与智能比赛场地中场载读头进行信息交互。
本发明第六方面提供一种智能比赛场地,包括:
第一触发模块,用于采用短距离无线通信方式触发移动机器人开始比赛;
第一通信模块,用于采用短距离无线通信方式与所述移动机器人的机载读头进行信息交互。
本发明第七方面提供一种移动机器人,包括:
接收模块,用于采用短距离无线通信方式接收用于开始比赛的触发指令;
执行模块,用于根据所述触发指令执行比赛操作;
第二通信模块,用于采用短距离无线通信方式与智能比赛场地中场载读头进行信息交互。
根据本发明,通过为移动机器人设置机载读头,为智能比赛场地设置场载读头,机载读头能够通过短距离无线通信方式与场载读头进行信息交互,进而能够接收场载读头中的信息或者向场载读头发送信息,这样,能够提高移动机器人在对抗比赛中的智能化和趣味化。而且通过短距离无线通信方式进行信息交互,信息传输速度快、抗干扰性强且耗电量低,能够尽量避免由于信息交互而影响比赛的情况。
为了更清楚地说明本发明实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍,显而易见地,下面描述中的附图是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动性的前提下,还可以根据这些附图获得其他的附图。
图1A为根据本发明一实施例的移动机器人比赛***的结构示意图;
图1B为根据本发明又一实施例的智能比赛场地的结构示意图;
图2为根据本发明再一实施例的移动机器人的结构示意图;
图3A为根据本发明另一实施例的移动机器人比赛***的结构示意图;
图3B为根据本发明又一实施例的移动机器人比赛***的结构示意图;
图4为根据本发明另一实施例的移动机器人控制方法的流程示意图;
图5为根据本发明又一实施例的移动机器人控制方法的流程示意图;
图6A为根据本发明再一实施例的智能比赛场地的结构示意图;
图6B为根据本发明另一实施例的智能比赛场地的结构示意图;
图7为根据本发明又一实施例的移动机器人的结构示意图。
为使本发明实施例的目的、技术方案和优点更加清楚,下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。
为了清楚起见,首先说明本发明使用的特定词或短语的定义:
读头:包括读卡器和控制器,读头是将读卡器的芯片封装起来,通过串口或IIC(Inter-Integrated Circuit,集成电路总线)等方式与控制器进行通信,所形成的通信***。该读头可以与其它读头进行无线通信,也能够基于无线通信方式读取电子标签中的信息。
短距离无线通信:一般意义上,只要通信收发双方通过无线电波传输信息且传输距离限制在较短范围(例如小于或等于200米)以内,就可称为短距离无线通信。短距离无线通信方式有很多,例如射频通信、WiFi
通信、UWB(Ultra Wideband,无线载波)通信、蓝牙通信等等。
电子标签:是产品电子代码的物理载体,可对其进行识别和读写。本发明的电子标签例如是射频(Radio Frequency Identification,RFID)标签或者NFC(Near Field Communication,近场通信)标签。当读头靠近电子标签时,就可以读取电子标签中的相关信息。
本发明提供一种移动机器人比赛***。如图1A所示,本实施例的***包括智能比赛场地100和多个移动机器人200,还可以包括服务器300,多个移动机器人200分成至少两个队伍以进行对战,对战场地位于智能比赛场地100。该智能比赛场地100上设置场载读头101,还可以设置有存储比赛场地信息的电子标签102,移动机器人200上设置有机载读头201,该机载读头201可以与场载读头101基于短距离无线通信方式进行信息交互,也可以从电子标签102中读取比赛场地信息进而执行相应操作。
本发明所描述的读头可以接收信息,也可以发送信息。
实施例一
本实施例提供一种智能比赛场地,用于移动机器人的比赛。
如图1B所示,为根据本实施例的智能比赛场地的结构示意图。该智能比赛场地包括平台110和至少一个场载读头101,场载读头101设置在平台110上,例如嵌入平台110中或者设置在平台110中其它物体上,移动机器人200在平台110上进行相关的准备工作以及比赛操作。
本实施例的场载读头可以为以下装置的至少一种:射频读头、WiFi读头、UWB(Ultra Wideband,无线载波)读头、蓝牙读头。
本实施例的平台110可以是任何一种用于比赛的平台,该平台110上可以设置障碍物、遮挡物等物体,以增加比赛的趣味性。
本实施例的平台110可以包括以下区域中的至少一个:准备区域111、开始区域112和对战区域113,其中,准备区域111的场载读头101用于获取符合比赛规则的移动机器人的队伍信息和标识信息,并向服务器发送队伍信息和标识信息,开始区域112的场载读头101用于向开始区域111中的移动机器人同时下发用于开始比赛的触发指令,对战区域113的场载
读头101用于与比赛中的移动机器人的交互对战信息。
本实施例中,准备区域111、开始区域112和对战区域113可以依次连接,如图1B所示,这样方便从一个区域进入到另外一个区域。
下面对上述几个区域的做进一步具体说明:
准备区域111:在机器人比赛开始之前,首先需要将移动机器人放置在准备区域111,以检录移动机器人是否符合比赛规则,检录的项目可以包括以下信息中的至少一种:移动机器人的尺寸、类型、重量和被打击点的安装位置。该被打击点可以为一实体装置,例如一平板,当该被打击点受到打击时,设置在打击点下方的检测装置将受到的打击力度发送至机载读头201中,以通过机载读头201向服务器发送打击信息,该打击信息中包括打击时间、打击力度、被打击点的标识信息。
场载读头111也可以与移动机器人进行信息交互,直接从移动机器人中的存储器处获取预设的尺寸、类型、重量和被打击点的安装位置等信息,这些信息可以由人工预先输入至移动机器人中。
此外,在准备区域111中可以设置有称重装置,用于获取移动机器人的重量,并将重量发送至准备区域111的场载读头101。例如,在准备区域111中设置一个场载读头101,移动机器人移动至称重装置上,由称重装置检测出移动机器人的重量,进而将所获取的重量向准备区域111中的场载读头111发送。
此外,在准备区域111中还可以设置有图像识别***117,图像识别***117用于获取移动机器人的规格信息,并将规格信息发送至场载读头,该规格信息包括以下信息中的至少一种:尺寸、类型、被打击点的安装位置。该图像识别***可以获取移动机器人的图像信息,通过该图像信息得到移动机器人的三维信息作为该移动机器人的尺寸,此外,还可以将分析所得到的图像信息在预设的数据库中进行匹配,得到该移动机器人的类型,该数据库中有各种类型的移动机器人的图片,被打击点的安装位置也可以通过分析图像信息获取。图像识别***117将所获取的所有信息发送至机载读头201处,也可以直接与服务器进行信息交互,由服务器来接收图像识别***117所获取到的信息。这样,由称重装置和图像识别***117自动识别移动机器人的相关信息,可以避免人工手动时输入信息错误的情况,
使得对移动机器人的检录结果更加精确。
场载读头101还用于获取比赛规则,并根据移动机器人的重量和规格信息判断移动机器人是否符合比赛规则。具体地,场载读头101中可以预先存储有比赛规则,也可以向服务器发送请求指令,接收由服务器根据请求指令返回的比赛规则,该比赛规则中可以包含对机器人尺寸、重量、类型、被打击点安装位置的要求,接下来根据比赛规则对开始区域111中的各移动机器人进行检录,以确定符合比赛规则的移动机器人,并获取到这些移动机器人的队伍信息和标识信息,该队伍信息和标识信息可以是预先存储在移动机器人中的,由场载读头101通过移动机器人的机载读头获取,当然,也可以是在确定出符合比赛规则的移动机器人之后由人工将这些移动机器人的队伍信息和标识信息输入至场载读头101中,然后由场载读头101将这些信息发送至服务器处。当然,场载读头101也可以将从移动机器人处获取信息发送至服务器,最终由服务器来确定出符合比赛规则的移动机器人,具体可以根据实际需要设定,在此不再赘述。
符合比赛规则的移动机器人移动至开始区域112,具体可以根据移动指令移动至开始区域102,也可以由人工将这些移动机器人移动至开始区域112。符合比赛规则的移动机器人在开始区域112中接收开始区域112中的场载读头101统一下发的触发指令之后,进入对战区域113中开始比赛。
对战区域113中的场载读头111可以与比赛中的移动机器人的机载读头进行信息交互,例如交互对战信息。该对战区域113还包括以下装置中的至少一种:用于喷雾的喷雾器、用于发光的发光器,喷雾器和发光器属于比赛中的特效,可以给比赛增加趣味性。
该平台110上还可以设置有电子标签102,该电子标签102根据实际需要设置在平台110的各处,电子标签102中存储有比赛场地信息。举例来说,开始区域111中的电子标签102中可以存储有表示该处为开始区域的场地信息,准备区域112中的电子标签中可以存储有表示该处为准备区域的场地信息,对战区域113中的电子标签102中可以存储有表示该处为对战区域的场地信息,这样移动机器人可以知道自己位于哪个区域,例如不会在对战时移动至其它区域。
此外,对于对战区域112中的电子标签102还可以包括以下信息中的至少一种:地理位置信息、据点信息、特效信息,其中特效信息用于触发喷雾器或发光器。举例来说,在平台110非常大的情况下,移动机器人就需要获知同伴的信息,或者向同伴告知自己的位置。由于电子标签102的信息需要移动机器人的机载读头靠的较近,例如0-20cm的情况下才能够获取,因此移动机器人可以将从电子标签102中所获取的地理位置信息发送至服务器,以通过服务器发送至同队伍的移动机器人处,告知同队伍的移动机器人该发送地理位置信息的移动机器人的位置。假设,比赛规则中有一条为若占据预设数量的据点则可以确定该队伍胜利,那么在某些电子标签102中可以设置据点信息,以表示该地是一处据点,需要占据,移动机器人若识别出该处为包括据点信息的电子标签102,则可以向服务器发送该电子标签102的标识信息,以表示该移动机器人所在的队伍占据该据点,或者是移动机器人在获取到电子标签102中的信息后,向服务器询问是否可以占据该据点,并根据服务器的反馈信息确定是否占据该据点,此时服务器也会获知该据点被哪个队伍占据。若移动机器人200读取到电子标签102中有特效信息,则可以根据特效信息触发相应的喷雾器或发光器,以增加比赛的趣味性。该喷雾器或发光器的位置可以根据实际需要设定。
根据本实施例的智能比赛场地中设置场载读头,该场载读头能够通过短距离无线通信方式与移动机器人进行信息交互,进而能够获取移动机器人中的相关信息,也能够向移动机器人发送信息以使移动机器人执行相应的操作,这样,能够提高移动机器人在对抗比赛中的智能化和趣味化。而且通过短距离无线通信方式进行信息交互,信息传输速度快、抗干扰性强且耗电量低,能够尽量避免由于信息交互而影响比赛的情况。
实施例二
本实施例提供一种移动机器人,该移动机器人用于机器人对抗赛。
如图2所示,该移动机器人200包括机器人本体202和机载读头201,该机载读头201设置在移动机器人本体202上,机载读头201用于与智能比赛场地中的场载读头采用短距离无线通信方式进行信息交互。交换的信息可以包括以下信息中的至少一种:移动机器人的队伍信息、标识信息、开始比赛的触发指令、比赛信息。比赛信息至少包括射击装置的信息以及
移动机器人所在的队伍信息,具体在后面进行详细描述。
本实施例的移动机器人本体202可以是任意形状,例如人形形状,或者是如图2所示的坦克形状,具体可以根据实际需要设定。
该机载读头201还可以与其它移动机器人上的机载读头进行信息交互,例如接收目标移动机器人发送目标移动机器人的比赛信息,并在接收到目标移动机器人的比赛信息之后,根据该比赛信息执行预设操作。该处的目标移动机器人即智能比赛场地上的另外一个移动机器人,采用“目标移动机器人”的描述是为了与移动机器人200进行区分。举例来说,当目标移动机器人为同队伍的另外衣蛾机器人时,若移动机器人200接收到该目标移动机器人请求支援的信息时,就向该信息中所携带的地理位置信息处移动以支援目标移动机器人。
本实施例的机载读头201还可以与服务器进行信息交互,将所属的移动机器人200的比赛信息发送至服务器处进行相关统计。
此外,该机载读头201还用于读取智能比赛场地中的电子标签中的信息,电子标签中存储有比赛场地信息。该比赛场地中信息至少包括以下信息中的一种:地理位置信息、据点信息、特效信息,其中特效信息用于触发智能比赛场地信息中的喷雾器或发光器,以增加比赛的趣味性,在此不再赘述。当机载读头201靠近电子标签至预设距离时,就能够从电子标签中获取比赛场地信息,并根据该比赛场地信息执行相应的操作。具体与实施例一描述的一致,在此不再赘述。
本实施例的机载读头为以下装置中的至少一种:射频读头、WiFi读头、无线载波UWB读头、蓝牙读头。
根据本实施例的移动机器人,通过设置机载读头,该机载读头能够通过短距离无线通信方式与场载读头进行信息交互,进而能够接收场载读头中的信息或者向场载读头发送信息,这样,能够提高移动机器人在对抗比赛中的智能化和趣味化。而且通过短距离无线通信方式进行信息交互,信息传输速度快、抗干扰性强且耗电量低,能够尽量避免由于信息交互而影响比赛的情况。
实施例三
本实施例对实施例二的移动机器人做进一步补充说明。
如图2所示,本实施例的移动机器人200还包括射击装置211,射击装置211设置在移动机器人本体202上。该射击装置211可以是以下装置中的至少一种:发射激光的射击装置、发射子弹的射击装置、发射箭的射击装置,或者比赛时同时采用具有不同类型的射击装置的移动机器人200,具体可以根据实际需要进行设定。
本实施例的机载读头201还用于获取移动机器人200的比赛信息,并将移动机器人200的比赛信息发送至位于同一智能比赛场地中的目标移动机器人以使目标移动机器人根据比赛信息执行预设操作,比赛信息至少包括射击装置的信息以及移动机器人所在的队伍信息。例如,若移动机器人200通过机载读头获取到目标移动机器人为不同队伍的机器人,且其在自己的射击进程内,则可以对该目标移动机器人执行射击操作。目标移动机器人根据移动机器人200发送的信息识别出该移动给机器人200向自己射击时,可以执行躲避操作。
该射击装置的信息包括以下信息中的至少一种:移动机器人本体的朝向、射击装置的射击口相对于移动机器人本体的朝向、射击装置的发射时间。
举例来说,移动机器人可以根据移动机器人本体的朝向、以及射击装置的射击口相对于移动机器人本体的朝向来确定射击装置的射击口的实际朝向,该实际朝向可以由目标移动机器人根据所接收到的信息自行确定,也可以是目标移动机器人向服务器发送所接收到的比赛信息由服务器进行确定,并将确定结果反馈至目标移动机器人处,这样,目标移动机器人确定出射击装置的射击口的时间朝向之后就可以执行相应的躲避、躲进遮挡物等操作,并可以进行反击,还可以向同队伍的其它移动机器人请求支援,例如向服务器发送请求支援信息,请求支援信息中携带有位置信息,同队伍的其它机器人接收到该请求支援信息后,向位置信息所表明的地理位置移动,以支援目标移动机器人。当然,还可以是由移动机器人确认出自己的射击装置的射击口的实际朝向之后,向射程范围内的目标移动机器人发送用于提示目标移动机器人即将受到打击的提醒信息,目标移动机器人接收到该提醒信息之后,执行相应的躲避、躲进遮挡物等操作,并可以进行反击,还可以向同队伍的其它移动机器人请求支援。
当然,目标移动机器人也可以向该移动机器人200发送比赛信息,移动机器人200也可以根据比赛信息执行相应的操作,具体如上,在此不再赘述。
此外,移动机器人200还可以将比赛信息发送至服务器处,由服务器统计移动机器人200的射击装置的发射时间,并确定出射击装置的射击口的实际朝向,而且还可以根据其他移动机器人上报的受打击时间来确定被打击的移动机器人是被哪个移动机器人击中的。此外,还可以根据比赛信息确定出场上的击杀热点区域,以及各移动机器人的命中几率,进而可以根据这些信息进行调整,例如调整移动机器人的射击装置的安装位置等等,以更好地进行比赛。
本实施例的移动机器人200还可以包括检测装置,该检测装置设置在移动机器人本体202上,用于检测移动机器人本体202受到的打击信息。该检测装置例如设置在被打击点下方。
举例来说,若移动机器人200受到打击,检测装置所检测到的打击信息可以包括以下信息中的至少一种:打击时间、打击力度、被打击点的标识信息。检测装置可以将以上信息发送至机载读头,机载读头在获取到打击信息之后,可以将该打击信息发送至服务器,由服务器进行统计。例如若识别出该移动机器人200受到的打击力度超过预设阈值,则可以判定该移动机器人200出局,或者根据被打击点的标识信息识别出该移动机器人200最薄弱的打击点受到打击,则可以判定该移动机器人200出局,进而服务器向移动机器人200发送出局指令,该移动机器人200可以接收服务器的出局指令,并移动至智能比赛场地的开始区域或准备区域,退出比赛。
可选地,本实施例的机载读头201还用于接收目标移动机器人发送的目标移动机器人的比赛信息,相应地,该移动机器人还包括处理装置,该处理装置用于根据目标移动机器人的比赛信息执行预设操作。该处理装置可以设置在移动机器人本体202的内部或外部,该处理装置可以与机载读头201连接,并通过有线方式或无线方式进行通信。
本实施例移动机器人200可以通过在移动机器人本体202上设置车轮205来移动,如图2所示,移动机器人200的外形类似于坦克的形状,其有四个车轮205。
根据本实施例的移动机器人,通过设置机载读头,该机载读头能够通过短距离无线通信方式与场载读头进行信息交互,进而能够接收场载读头中的信息或者向场载读头发送信息,这样,能够提高移动机器人在对抗比赛中的智能化和趣味化。而且通过短距离无线通信方式进行信息交互,信息传输速度快、抗干扰性强且耗电量低,能够尽量避免由于信息交互而影响比赛的情况。此外,通过在移动机器人上设置射击装置,使得移动机器人能够向其它的队伍的移动机器人执行射击操作,更增加了机器人对抗赛的趣味性。
实施例四
本实施例提供一种移动机器人比赛***。该移动机器人比赛***包括上述任意实施例的智能比赛场地和移动机器人,还可以包括服务器。
本实施例的服务器可以根据预先设置的比赛规则判断哪个队伍获胜或者哪个机器人出局
举例来说,移动机器人比赛中的比赛规则可以包括以下内容的至少一种:
一、当移动机器人受到的打击次数大于或等于预设次数时,确定该移动机器人出局;
二、当移动机器人受到的打击力度大于或等于预设阈值时,确定该移动机器人出局,该打击力度可以通过多次打击力度累加获取;
三、当移动机器人的薄弱的被打击点受到打击时,确定该移动机器人出局;
四、当智能比赛场地中的据点被同一队伍占据的个数达到预设门限值时,确定该队伍获胜;
五、当某一队伍的移动机器人的剩余个数小于或等于预设个数值时,确定该队伍出局。
接下来,服务器可以根据所采集到的各移动机器人的比赛信息确定哪个移动机器人出局或哪个队伍的移动机器人获胜或哪个队伍的移动机器人出局。当然,比赛规则还可以包括其他许多内容,例如移动机器人的规格信息或者采用其它方式确定机器人出局或者队伍的胜败,具体可以根据实际需要设定。
如图3A所示,为根据本实施例的移动机器人比赛***的结构示意图。图3A所示的移动机器人为两个队伍,分别是队伍A和队伍B,队伍A的移动机器人有两个,为移动机器人200A1和移动机器人200A2,队伍B的移动机器人也有两个,为移动机器人200B1和移动机器人200B2。
该四个移动机器人在开始区域111检录之后,确定均符合比赛规则,移动至准备区域112中,如图3B所示,接收到同一的触发指令之后移动至对战区域113中开始比赛。需指出的是,对战区域113相比于准备区域111和开始区域112所占的面积要大很多,能够同时容纳很多移动机器人在较大的空间中自由移动。
举例来说,若移动机器人200A1在行走过程中遇到移动机器人200B1,通过信息交互发现对方是另一队伍的移动机器人,则可以互相进行射击操作,并将所受到的打击信息发送至服务器处进行统计。若服务器识别出某一个移动机器人200A1受到的打击次数超过预设次数,则可以判定该移动机器人200A1出局,假设另一个移动机器人200A2也出局,则可以确定队伍B获胜,队伍A出局。
具体各移动机器人的机载读头如何与场载读头进行信息交互并执行相应的操作,以及如何读取电子标签中的信息并执行相应的操作,与前述实施例一致,在此不再赘述。
根据本实施例的移动机器人比赛***,通过为移动机器人设置机载读头,为智能比赛场地设置场载读头,机载读头能够通过短距离无线通信方式与场载读头进行信息交互,进而能够接收场载读头中的信息或者向场载读头发送信息,这样,能够提高移动机器人在对抗比赛中的智能化和趣味化。而且通过短距离无线通信方式进行信息交互,信息传输速度快、抗干扰性强且耗电量低,能够尽量避免由于信息交互而影响比赛的情况。
实施例五
本实施例提供一种移动机器人控制方法,执行主体为上述实施例的智能比赛场地。
如图4所示,为根据本实施例的移动机器人控制方法的流程示意图。该移动机器人控制方法包括:
步骤401,采用短距离无线通信方式触发移动机器人开始比赛。
该步骤可以包括:
获取平台上准备区域中的符合比赛规则的移动机器人的队伍信息和标识信息;
根据移动机器人的队伍信息和标识信息触发符合比赛规则的移动机器人开始比赛。
其中,根据移动机器人的队伍信息和标识信息触发符合比赛规则的移动机器人开始比赛包括:
根据移动机器人的队伍信息和标识信息,采用短距离无线通信方式触发移动机器人移动至平台的开始区域;
接收用于开始比赛的触发指令,并采用短距离无线通信方式向开始区域中的各移动机器人同时下发触发指令,以使移动机器人移动至平台的对战区域进行比赛。
步骤402,采用短距离无线通信方式与移动机器人的机载读头进行信息交互。
具体地,该步骤包括采用短距离无线通信方式与对战区域的移动机器人的机载读头交互对战信息。
可选地,在获取平台上准备区域中的符合比赛规则的移动机器人的队伍信息和标识信息之前,还包括:
获取移动机器人的规格信息和比赛规则;
根据规格信息判断移动机器人是否符合比赛规则。
可选地,规格信息包括以下信息中的至少一种:尺寸、类型、重量、被打击点的安装位置。
可选地,短距离无线通信方式包括以下通信方式中的至少一种:射频通信、WiFi通信、无线载波UWB通信、蓝牙通信。
可选地,短距离无线通信方式的通信范围小于或等于200米。
本实施例的具体操作方法与前述实施例一致,在此不再赘述。
根据本实施例的控制方法,通过与短距离无线通信方式与移动机器人进行信息交互,进而能够获取移动机器人中的相关信息,也能够向移动机器人发送信息以使移动机器人执行相应的操作,这样,能够提高移动机器人在对抗比赛中的智能化和趣味化。而且通过短距离无线通信方式进行信
息交互,信息传输速度快、抗干扰性强且耗电量低,能够尽量避免由于信息交互而影响比赛的情况。
实施例六
本实施例提供一种移动机器人控制方法,执行主体为上述实施例的移动机器人。
如图5所示,为根据本实施例的移动机器人控制方法的流程示意图。该移动机器人控制方法包括:
步骤501,采用短距离无线通信方式接收用于开始比赛的触发指令。
步骤502,根据触发指令执行比赛操作。
步骤503,采用短距离无线通信方式与智能比赛场地中场载读头进行信息交互。
可选地,在步骤503之后,还包括:
读取智能比赛场地中的电子标签中的信息,电子标签中存储有比赛场地信息;
根据比赛场地信息执行预设操作。
可选地,比赛比赛场地信息至少包括以下信息中的一种:地理位置信息、据点信息、特效信息,其中特效信息用于触发智能比赛场地信息中的喷雾器或发光器。
可选地,短距离无线通信方式包括以下技术中的至少一种:
射频通信技术、WiFi通信技术、无线载波UWB通信技术、蓝牙技术。
可选地,在步骤503之后,还包括:
根据触发指令将移动机器人的比赛信息发送至位于同一比赛平台中的目标移动机器人,以使目标移动机器人根据移动机器人的比赛信息执行预设操作,移动机器人的比赛信息至少包括射击装置的信息以及移动机器人所在的队伍信息。
可选地,与场载读头交互的信息包括以下信息中的至少一种:
移动机器人的队伍信息、标识信息、开始比赛的触发指令、比赛信息。
可选地,在根据触发指令开始比赛之后,还包括:
向服务器发送比赛信息。
可选地,射击装置的信息包括:移动机器人本体的朝向、射击装置的
射击口相对于移动机器人本体的朝向、射击装置的发射时间。
可选地,在根据触发指令开始比赛之后,还包括:
若识别出移动机器人受到打击,则获取打击信息。
可选地,打击信息包括以下信息的至少一种:打击时间和打击力度。
相应地,本实施例的控制方法还包括:
向服务器发送打击信息。
可选地,比赛场地信息为据点信息,根据比赛场地信息执行预设操作包括:
根据据点信息和移动机器人所在的队伍信息判断是否占据据点信息对应的据点区域。
可选地,比赛场地信息为特效信息,根据场地信息执行预设操作包括:
根据特效信息触发特效信息对应的喷雾器和/或发光器。
可选地,比赛场地信息为地理位置信息,根据场地信息执行预设操作包括:
向服务器发送地理位置信息。
可选地,在根据触发指令执行比赛操作之后,本实施例的控制方法还包括:
接收目标移动机器人发送的目标移动机器人的比赛信息;
根据目标移动机器人的比赛信息执行预设操作。
可选地,在根据触发指令执行比赛操作之后,本实施例的控制方法还包括:
接收服务器发送的结束信息;
根据结束信息停止比赛。
本实施例的具体操作方法与前述实施例一致,在此不再赘述。
根据本实施例的移动机器人,通过短距离无线通信方式与场载读头进行信息交互,进而能够接收场载读头中的信息或者向场载读头发送信息,这样,能够提高移动机器人在对抗比赛中的智能化和趣味化。而且通过短距离无线通信方式进行信息交互,信息传输速度快、抗干扰性强且耗电量低,能够尽量避免由于信息交互而影响比赛的情况。
实施例七
本实施例提供一种智能比赛场地,用于执行实施例五的控制方法。
如图6A所示,为根据本实施例的智能比赛场地的结构示意图。该智能比赛场地包括触发模块601和第一通信模块602。
其中,触发模块601用于采用短距离无线通信方式触发移动机器人开始比赛;第一通信模块602用于采用短距离无线通信方式与移动机器人的机载读头进行信息交互。
可选地,如图6B所示,触发模块601包括:获取子模块6011和触发子模块6012,其中,获取子模块6011用于获取平台上准备区域中的符合比赛规则的移动机器人的队伍信息和标识信息;触发子模块6012用于根据移动机器人的队伍信息和标识信息触发符合比赛规则的移动机器人开始比赛。
可选地,触发子模块6011具体用于:
根据移动机器人的队伍信息和标识信息,采用短距离无线通信方式触发移动机器人移动至平台的开始区域;
接收用于开始比赛的触发指令,并采用短距离无线通信方式向开始区域中的各移动机器人同时下发触发指令,以使移动机器人移动至平台的对战区域进行比赛。
可选地,第一通信模块602具体用于:
采用短距离无线通信方式与对战区域的移动机器人的机载读头交互对战信息。
可选地,如图6B所示,本实施例的智能比赛场地还包括获取模块603,该获取模块603用于:
获取移动机器人的规格信息和比赛规则;
根据规格信息判断移动机器人是否符合比赛规则。
可选地,规格信息包括以下信息中的至少一种:尺寸、类型、重量、被打击点的安装位置。
可选地,短距离无线通信方式包括以下通信方式中的至少一种:射频通信、WiFi通信、无线载波UWB通信、蓝牙通信。
可选地,短距离无线通信方式的通信范围小于或等于200米。
关于本实施例中的装置,其中各个模块执行操作的具体方式已经在有
关该方法的实施例中进行了详细描述,此处将不做详细阐述说明。
根据本实施例,通过与短距离无线通信方式与移动机器人进行信息交互,进而能够获取移动机器人中的相关信息,也能够向移动机器人发送信息以使移动机器人执行相应的操作,这样,能够提高移动机器人在对抗比赛中的智能化和趣味化。而且通过短距离无线通信方式进行信息交互,信息传输速度快、抗干扰性强且耗电量低,能够尽量避免由于信息交互而影响比赛的情况。
实施例八
本实施例提供一种移动机器人,用于执行实施例六的控制方法。
如图7所示,为根据本实施例的移动机器人的结构示意图。该移动机器人包括接收模块701、执行模块702和第二通信模块703。
其中,接收模块701用于采用短距离无线通信方式接收用于开始比赛的触发指令;执行模块702用于根据触发指令执行比赛操作;第二通信模块703用于采用短距离无线通信方式与智能比赛场地中场载读头进行信息交互。
可选地,第二通信模块703还用于:
读取智能比赛场地中的电子标签中的信息,电子标签中存储有比赛场地信息;
根据比赛场地信息执行预设操作。
可选地,比赛比赛场地信息至少包括以下信息中的一种:地理位置信息、据点信息、特效信息,其中特效信息用于触发智能比赛场地信息中的喷雾器或发光器。
可选地,短距离无线通信方式包括以下技术中的至少一种:
射频通信技术、WiFi通信技术、无线载波UWB通信技术、蓝牙技术。
可选地,第二通信模块703还用于:
根据触发指令将移动机器人的比赛信息发送至位于同一比赛平台中的目标移动机器人,以使目标移动机器人根据移动机器人的比赛信息执行预设操作,移动机器人的比赛信息至少包括射击装置的信息以及移动机器人所在的队伍信息。
可选地,与场载读头交互的信息包括以下信息中的至少一种:
移动机器人的队伍信息、标识信息、开始比赛的触发指令、比赛信息。
可选地,第二通信模块703还用于向服务器发送比赛信息。
可选地,射击装置的信息包括:移动机器人本体的朝向、射击装置的射击口的相对于移动机器人本体的朝向、射击装置的发射时间。
可选地,第二通信模块703还用于若识别出移动机器人受到打击,则获取打击信息。
可选地,打击信息包括以下信息的至少一种:打击时间和打击力度。
可选地,第二通信模块703还用于向服务器发送打击信息。
可选地,比赛场地信息为据点信息,第二通信模块具体用于:
根据据点信息和移动机器人所在的队伍信息判断是否占据据点信息对应的据点区域。
可选地,比赛场地信息为特效信息,第二通信模块具体用于:
根据特效信息触发特效信息对应的喷雾器和/或发光器。
可选地,比赛场地信息为地理位置信息,第二通信模块具体用于:
向服务器发送地理位置信息。
可选地,第二通信模块703还用于:
接收目标移动机器人发送的目标移动机器人的比赛信息;
根据目标移动机器人的比赛信息执行预设操作。
可选地,第二通信模块还用于:
接收服务器发送的结束信息;
根据结束信息停止比赛。
关于本实施例中的装置,其中各个模块执行操作的具体方式已经在有关该方法的实施例中进行了详细描述,此处将不做详细阐述说明。
根据本实施例的移动机器人,通过短距离无线通信方式与场载读头进行信息交互,进而能够接收场载读头中的信息或者向场载读头发送信息,这样,能够提高移动机器人在对抗比赛中的智能化和趣味化。而且通过短距离无线通信方式进行信息交互,信息传输速度快、抗干扰性强且耗电量低,能够尽量避免由于信息交互而影响比赛的情况。
本领域普通技术人员可以理解:实现上述方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成,前述的程序可以存储于一计算机
可读取存储介质中,该程序在执行时,执行包括上述方法实施例的步骤;而前述的存储介质包括:ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
最后应说明的是:以上实施例仅用以说明本发明的技术方案,而非对其限制;尽管参照前述实施例对本发明进行了详细的说明,本领域的普通技术人员应当理解:其依然可以对前述各实施例所记载的技术方案进行修改,或者对其中部分技术特征进行等同替换;而这些修改或者替换,并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。
Claims (100)
- 一种智能比赛场地,其特征在于,包括:平台;至少一个场载读头,设置在平台上,所述平台上的移动机器人采用短距离无线通信方式与所述场载读头进行信息交互。
- 根据权利要求1所述的智能比赛场地,其特征在于,所述平台上还设置有电子标签,所述电子标签中存储有比赛场地信息。
- 根据权利要求1所述的智能比赛场地,其特征在于,所述平台包括以下区域中的至少一个:准备区域、开始区域和对战区域,其中,所述准备区域的场载读头用于获取符合比赛规则的移动机器人的队伍信息和标识信息,并向服务器发送所述队伍信息和所述标识信息,所述开始区域的场载读头用于向所述开始区域中的移动机器人同时下发用于开始比赛的触发指令,所述对战区域的场载读头用于与比赛中的移动机器人的交互对战信息。
- 根据权利要求3所述的智能比赛场地,其特征在于,所述准备区域的平台上设置有称重装置,用于获取移动机器人的重量,并将所述重量发送至所述准备区域的场载读头。
- 根据权利要求4所述的智能比赛场地,其特征在于,所述准备区域中还设置有图像识别***,所述图像识别***用于获取移动机器人的规格信息,并将所述规格信息发送至所述场载读头。
- 根据权利要求5所述的智能比赛场地,其特征在于,所述场载读头还用于获取比赛规则,并根据所述移动机器人的重量和所述规格信息判断移动机器人是否符合比赛规则。
- 根据权利要求5所述的智能比赛场地,其特征在于,所述规格信息包括以下信息中的至少一种:尺寸、类型、被打击点的安装位置。
- 根据权利要求3所述的智能比赛场地,其特征在于,所述对战区域还包括以下装置中的至少一种:用于喷雾的喷雾器、用于发光的发光器。
- 根据权利要求8所述的智能比赛场地,其特征在于,所述对战区域中的电子标签中包括以下信息中的至少一种:地理位置信息、据点信息、特效信息,其中所述特效信息用于触发所述喷雾器或发光器。
- 根据权利要求1-9中任一项所述的智能比赛场地,其特征在于,所述场载读头为以下装置的至少一种:射频读头、WiFi读头、无线载波UWB读头、蓝牙读头。
- 根据权利要求10所述的智能比赛场地,其特征在于,所述短距离无线通信方式的通信范围小于或等于200米。
- 一种移动机器人,其特征在于,包括:移动机器人本体;机载读头,设置在所述移动机器人本体上,所述机载读头用于与智能比赛场地中的场载读头采用短距离无线通信方式进行信息交互。
- 根据权利要求12所述的移动机器人,其特征在于,所述机载读头还用于读取所述智能比赛场地中的电子标签中的信息,所述电子标签中存储有比赛场地信息。
- 根据权利要求13所述的移动机器人,其特征在于,所述比赛场地信息至少包括以下信息中的一种:地理位置信息、据点信息、特效信息,其中所述特效信息用于触发所述智能比赛场地信息中的所述喷雾器或发光器。
- 根据权利要求12所述的移动机器人,其特征在于,所述移动机器人还包括射击装置,所述射击装置设置在所述移动机器人本体上。
- 根据权利要求15所述的移动机器人,其特征在于,所述机载读头还用于获取所述移动机器人的比赛信息,并将所述移动机器人的比赛信息发送至位于同一智能比赛场地中的目标移动机器人以使所述目标移动机器人根据所述比赛信息执行预设操作,所述比赛信息至少包括所述射击装置的信息以及所述移动机器人所在的队伍信息。
- 根据权利要求16所述的移动机器人,其特征在于,所述机载读头与智能比赛场地中的场载读头采用短距离无线通信方式进行交互的信息包括以下信息中的至少一种:移动机器人的队伍信息、标识信息、开始比赛的触发指令、所述比赛信息。
- 根据权利要求16所述的移动机器人,其特征在于,所述机载读头还用于向服务器发送所述比赛信息。
- 根据权利要求12所述的移动机器人,其特征在于,所述机载读头为以下装置的至少一种:射频读头、WiFi读头、无线载波UWB读头、蓝牙读头。
- 根据权利要求15所述的移动机器人,其特征在于,所述射击装置的信息包括以下信息中的至少一种:移动机器人本体的朝向、射击装置的射击口相对于移动机器人本体的朝向、射击装置的发射时间。
- 根据权利要求15所述的移动机器人,其特征在于,还包括:检测装置,设置在所述移动机器人本体上,用于检测所述移动机器人本体受到的打击信息。
- 根据权利要求21所述的移动机器人,其特征在于,所述打击信息包括以下信息的至少一种:打击时间、打击力度、被打击点的标识信息。
- 根据权利要求22所述的移动机器人,其特征在于,所述机载读头还用于获取所述打击信息,并将所述打击信息发送至服务器。
- 根据权利要求12-23中任一项所述的移动机器人,其特征在于,所述移动机器人本体上设置有车轮。
- 根据权利要求12-23中任一项所述的移动机器人,其特征在于,所述机载读头还用于接收所述目标移动机器人发送的所述目标移动机器人的比赛信息。
- 根据权利要求25所述的移动机器人,其特征在于,还包括:处理装置,用于根据所述目标移动机器人的比赛信息执行预设操作。
- 一种移动机器人比赛***,其特征在于,包括:智能比赛场地,所述智能比赛场地包括平台和至少一个场载读头,所述场载读头设置在平台上,所述平台上的移动机器人采用短距离无线通信方式与所述场载读头进行信息交互;移动机器人,所述移动机器人包括移动机器人本体和机载读头,所述机载读头设置在所述移动机器人本体上,所述机载读头用于与智能比赛场地中的场载读头采用短距离无线通信方式进行信息交互。
- 根据权利要求27所述的移动机器人比赛***,其特征在于,所述平台上还设置有电子标签,所述电子标签中存储有比赛场地信息。
- 根据权利要求27所述的移动机器人比赛***,其特征在于,所 述平台包括以下区域中的至少一个:准备区域、开始区域和对战区域,其中,所述准备区域的场载读头用于获取符合比赛规则的移动机器人的队伍信息和标识信息,并向服务器发送所述队伍信息和所述标识信息,所述开始区域的场载读头用于向所述开始区域中的移动机器人同时下发用于开始比赛的触发指令,所述对战区域的场载读头用于与比赛中的移动机器人的交互对战信息。
- 根据权利要求29所述的移动机器人比赛***,其特征在于,所述准备区域的平台上设置有称重装置,用于获取移动机器人的重量,并将所述重量发送至所述准备区域的场载读头。
- 根据权利要求30所述的移动机器人比赛***,其特征在于,所述准备区域中还设置有图像识别***,所述图像识别***用于获取移动机器人的规格信息,并将所述规格信息发送至所述场载读头。
- 根据权利要求31所述的移动机器人比赛***,其特征在于,所述场载读头还用于获取比赛规则,并根据所述移动机器人的重量和所述规格信息判断移动机器人是否符合比赛规则。
- 根据权利要求31所述的移动机器人比赛***,其特征在于,所述规格信息包括以下信息中的至少一种:尺寸、类型、被打击点的安装位置。
- 根据权利要求29所述的移动机器人比赛***,其特征在于,所述对战区域还包括以下装置中的至少一种:用于喷雾的喷雾器、用于发光的发光器。
- 根据权利要求34所述的移动机器人比赛***,其特征在于,所述对战区域中的电子标签中包括以下信息中的至少一种:地理位置信息、据点信息、特效信息,其中所述特效信息用于触发所述喷雾器或发光器。
- 根据权利要求27-35中任一项所述的移动机器人比赛***,其特征在于,所述场载读头为以下装置的至少一种:射频读头、WiFi读头、无线载波UWB读头、蓝牙读头。
- 根据权利要求36所述的移动机器人比赛***,其特征在于,所述短距离无线通信方式的通信范围小于或等于200米。
- 根据权利要求27所述的移动机器人比赛***,其特征在于,所 述机载读头还用于读取所述智能比赛场地中的电子标签中的信息,所述电子标签中存储有比赛场地信息。
- 根据权利要求38所述的移动机器人比赛***,其特征在于,所述比赛比赛场地信息至少包括以下信息中的一种:地理位置信息、据点信息、特效信息,其中所述特效信息用于触发所述智能比赛场地信息中的所述喷雾器或发光器。
- 根据权利要求27所述的移动机器人比赛***,其特征在于,所述移动机器人还包括射击装置,所述射击装置设置在所述移动机器人本体上。
- 根据权利要求40所述的移动机器人比赛***,其特征在于,所述机载读头还用于获取所述移动机器人的比赛信息,并将所述移动机器人的比赛信息发送至位于同一智能比赛场地中的目标移动机器人以使所述目标移动机器人根据所述比赛信息执行预设操作,所述比赛信息至少包括所述射击装置的信息以及所述移动机器人所在的队伍信息。
- 根据权利要求41所述的移动机器人比赛***,其特征在于,所述机载读头与智能比赛场地中的场载读头采用短距离无线通信方式进行交互的信息包括以下信息中的至少一种:移动机器人的队伍信息、标识信息、开始比赛的触发指令、所述比赛信息。
- 根据权利要求41所述的移动机器人比赛***,其特征在于,所述机载读头还用于向服务器发送所述比赛信息。
- 根据权利要求27所述的移动机器人比赛***,其特征在于,所述机载读头为以下装置的至少一种:射频读头、WiFi读头、无线载波UWB读头、蓝牙读头。
- 根据权利要求40所述的移动机器人比赛***,其特征在于,所述射击装置的信息包括以下信息中的至少一种:移动机器人本体的朝向、射击装置的射击口相对于移动机器人本体的朝向、射击装置的发射时间。
- 根据权利要求40所述的移动机器人比赛***,其特征在于,还包括:检测装置,设置在所述移动机器人本体上,用于检测所述移动机器人 本体受到的打击信息。
- 根据权利要求46所述的移动机器人比赛***,其特征在于,所述打击信息包括以下信息的至少一种:打击时间、打击力度、被打击点的标识信息。
- 根据权利要求47所述的移动机器人比赛***,其特征在于,所述机载读头还用于获取所述打击信息,并将所述打击信息发送至服务器。
- 根据权利要求27所述的移动机器人比赛***,其特征在于,所述移动机器人本体上设置有车轮。
- 根据权利要求27所述的移动机器人比赛***,其特征在于,所述机载读头还用于接收所述目标移动机器人发送所述目标移动机器人的比赛信息。
- 根据权利要求45所述的移动机器人比赛***,其特征在于,还包括:处理装置,用于根据所述目标移动机器人的比赛信息执行预设操作。
- 根据权利要求27所述的移动机器人比赛***,其特征在于,还包括服务器,所述服务器用于接收移动机器人或者智能比赛场地发送的信息。
- 一种移动机器人控制方法,其特征在于,包括:采用短距离无线通信方式触发移动机器人开始比赛;采用短距离无线通信方式与所述移动机器人的机载读头进行信息交互。
- 根据权利要求53所述的移动机器人控制方法,其特征在于,所述采用短距离无线通信方式触发移动机器人开始比赛包括:获取平台上准备区域中的符合比赛规则的移动机器人的队伍信息和标识信息;根据所述移动机器人的队伍信息和标识信息触发所述符合比赛规则的移动机器人开始比赛。
- 根据权利要求54所述的移动机器人控制方法,其特征在于,根据所述移动机器人的队伍信息和标识信息触发所述符合比赛规则的移动机器人开始比赛包括:根据所述移动机器人的队伍信息和标识信息,采用短距离无线通信方式触发所述移动机器人移动至所述平台的开始区域;接收用于开始比赛的触发指令,并采用短距离无线通信方式向所述开始区域中的各移动机器人同时下发触发指令,以使所述移动机器人移动至所述平台的对战区域进行比赛。
- 根据权利要求54所述的移动机器人控制方法,其特征在于,所述采用短距离无线通信方式与所述移动机器人的机载读头进行信息交互包括:采用短距离无线通信方式与所述对战区域的移动机器人的机载读头交互对战信息。
- 根据权利要求54所述的方法,其特征在于,在获取平台上准备区域中的符合比赛规则的移动机器人的队伍信息和标识信息之前,还包括:获取所述移动机器人的规格信息和比赛规则;根据所述规格信息判断所述移动机器人是否符合比赛规则。
- 根据权利要求57所述的方法,其特征在于,所述规格信息包括以下信息中的至少一种:尺寸、类型、重量、被打击点的安装位置。
- 根据权利要求53-58中任一项所述的方法,其特征在于,所述短距离无线通信方式包括以下通信方式中的至少一种:射频通信、WiFi通信、无线载波UWB通信、蓝牙通信。
- 根据权利要求59所述的方法,其特征在于,所述短距离无线通信方式的通信范围小于或等于200米。
- 一种移动机器人控制方法,其特征在于,包括:采用短距离无线通信方式接收用于开始比赛的触发指令;根据所述触发指令执行比赛操作;采用短距离无线通信方式与智能比赛场地中场载读头进行信息交互。
- 根据权利要求61所述的方法,其特征在于,在根据所述触发指令开始比赛之后,还包括:读取所述智能比赛场地中的电子标签中的信息,所述电子标签中存储有比赛场地信息;根据所述比赛场地信息执行预设操作。
- 根据权利要求62所述的方法,其特征在于,所述比赛比赛场地信息至少包括以下信息中的一种:地理位置信息、据点信息、特效信息,其中所述特效信息用于触发所述智能比赛场地信息中的所述喷雾器或发光器。
- 根据权利要求61所述的方法,其特征在于,所述短距离无线通信方式包括以下技术中的至少一种:射频通信技术、WiFi通信技术、无线载波UWB通信技术、蓝牙技术。
- 根据权利要求61所述的方法,其特征在于,在根据所述触发指令开始比赛之后,还包括:根据所述触发指令将所述移动机器人的比赛信息发送至位于同一比赛平台中的目标移动机器人,以使所述目标移动机器人根据所述移动机器人的比赛信息执行预设操作,所述移动机器人的比赛信息至少包括所述射击装置的信息以及所述移动机器人所在的队伍信息。
- 根据权利要求65所述的方法,其特征在于,与所述场载读头交互的信息包括以下信息中的至少一种:移动机器人的队伍信息、标识信息、开始比赛的触发指令、所述比赛信息。
- 根据权利要求65所述的方法,其特征在于,在根据所述触发指令开始比赛之后,还包括:向服务器发送所述比赛信息。
- 根据权利要求65中所述的方法,其特征在于,所述射击装置的信息包括:移动机器人本体的朝向、射击装置的射击口相对于移动机器人本体的朝向、射击装置的发射时间。
- 根据权利要求68中所述的方法,其特征在于,在根据所述触发指令开始比赛之后,还包括:若识别出所述移动机器人受到打击,则获取打击信息。
- 根据权利要求69所述的方法,其特征在于,所述打击信息包括以下信息的至少一种:打击时间和打击力度。
- 根据权利要求70所述的控制方法,其特征在于,还包括:向服务器发送所述打击信息。
- 根据权利要求63所述的控制方法,其特征在于,所述比赛场地信息为据点信息,所述根据所述比赛场地信息执行预设操作包括:根据所述据点信息和所述移动机器人所在的队伍信息判断是否占据据点信息对应的据点区域。
- 根据权利要求63所述的控制方法,其特征在于,所述比赛场地信息为特效信息,所述根据所述场地信息执行预设操作包括:根据所述特效信息触发所述特效信息对应的喷雾器和/或发光器。
- 根据权利要求63所述的控制方法,其特征在于,所述比赛场地信息为地理位置信息,所述根据所述场地信息执行预设操作包括:向服务器发送所述地理位置信息。
- 根据权利要求61-74中任一项所述的控制方法,其特征在于,在根据所述触发指令执行比赛操作之后,还包括:接收所述目标移动机器人发送的所述目标移动机器人的比赛信息;根据所述目标移动机器人的比赛信息执行预设操作。
- 根据权利要求61-74中任一项所述的控制方法,其特征在于,在根据所述触发指令执行比赛操作之后,还包括:接收服务器发送的结束信息;根据所述结束信息停止比赛。
- 一种智能比赛场地,其特征在于,包括:第一触发模块,用于采用短距离无线通信方式触发移动机器人开始比赛;第一通信模块,用于采用短距离无线通信方式与所述移动机器人的机载读头进行信息交互。
- 根据权利要求77所述的智能比赛场地,其特征在于,所述触发模块包括:获取子模块,用于获取平台上准备区域中的符合比赛规则的移动机器人的队伍信息和标识信息;触发子模块,用于根据所述移动机器人的队伍信息和标识信息触发所述符合比赛规则的移动机器人开始比赛。
- 根据权利要求78所述的智能比赛场地,其特征在于,所述触发 子模块具体用于:根据所述移动机器人的队伍信息和标识信息,采用短距离无线通信方式触发所述移动机器人移动至所述平台的开始区域;接收用于开始比赛的触发指令,并采用短距离无线通信方式向所述开始区域中的各移动机器人同时下发触发指令,以使所述移动机器人移动至所述平台的对战区域进行比赛。
- 根据权利要求77所述的智能比赛场地,其特征在于,所述第一通信模块具体用于:采用短距离无线通信方式与所述对战区域的移动机器人的机载读头交互对战信息。
- 根据权利要求77所述的智能比赛场地,其特征在于,还包括获取模块,所述获取模块用于:获取所述移动机器人的规格信息和比赛规则;根据所述规格信息判断所述移动机器人是否符合比赛规则。
- 根据权利要求81所述的智能比赛场地,其特征在于,所述规格信息包括以下信息中的至少一种:尺寸、类型、重量、被打击点的安装位置。
- 根据权利要求77-82中任一项所述的智能比赛场地,其特征在于,所述短距离无线通信方式包括以下通信方式中的至少一种:射频通信、WiFi通信、无线载波UWB通信、蓝牙通信。
- 根据权利要求83所述的智能比赛场地,其特征在于,所述短距离无线通信方式的通信范围小于或等于200米。
- 一种移动机器人,其特征在于,包括:接收模块,用于采用短距离无线通信方式接收用于开始比赛的触发指令;执行模块,用于根据所述触发指令执行比赛操作;第二通信模块,用于采用短距离无线通信方式与智能比赛场地中场载读头进行信息交互。
- 根据权利要求85所述的移动机器人,其特征在于,所述第二通信模块还用于:读取所述智能比赛场地中的电子标签中的信息,所述电子标签中存储有比赛场地信息;根据所述比赛场地信息执行预设操作。
- 根据权利要求86所述的移动机器人,其特征在于,所述比赛比赛场地信息至少包括以下信息中的一种:地理位置信息、据点信息、特效信息,其中所述特效信息用于触发所述智能比赛场地信息中的所述喷雾器或发光器。
- 根据权利要求85所述的移动机器人,其特征在于,所述短距离无线通信方式包括以下技术中的至少一种:射频通信技术、WiFi通信技术、无线载波UWB通信技术、蓝牙技术。
- 根据权利要求85所述的移动机器人,其特征在于,所述第二通信模块还用于:根据所述触发指令将所述移动机器人的比赛信息发送至位于同一比赛平台中的目标移动机器人,以使所述目标移动机器人根据所述移动机器人的比赛信息执行预设操作,所述移动机器人的比赛信息至少包括所述射击装置的信息以及所述移动机器人所在的队伍信息。
- 根据权利要求89所述的移动机器人,其特征在于,与所述场载读头交互的信息包括以下信息中的至少一种:移动机器人的队伍信息、标识信息、开始比赛的触发指令、所述比赛信息。
- 根据权利要求89所述的移动机器人,其特征在于,所述第二通信模块还用于向服务器发送所述比赛信息。
- 根据权利要求89所述的移动机器人,其特征在于,所述射击装置的信息包括:移动机器人本体的朝向、射击装置的射击口的相对于移动机器人本体的朝向、射击装置的发射时间。
- 根据权利要求92所述的移动机器人,其特征在于,所述第二通信模块还用于若识别出所述移动机器人受到打击,则获取打击信息。
- 根据权利要求93所述的移动机器人,其特征在于,所述打击信息包括以下信息的至少一种:打击时间和打击力度。
- 根据权利要求94所述的移动机器人,其特征在于,所述第二通 信模块还用于向服务器发送所述打击信息。
- 根据权利要求86所述的移动机器人,其特征在于,所述比赛场地信息为据点信息,所述第二通信模块具体用于:根据所述据点信息和所述移动机器人所在的队伍信息判断是否占据据点信息对应的据点区域。
- 根据权利要求86所述的移动机器人,其特征在于,所述比赛场地信息为特效信息,所述第二通信模块具体用于:根据所述特效信息触发所述特效信息对应的喷雾器和/或发光器。
- 根据权利要求86所述的移动机器人,其特征在于,所述比赛场地信息为地理位置信息,所述第二通信模块具体用于:向服务器发送所述地理位置信息。
- 根据权利要求85-98中任一项所述的移动机器人,其特征在于,所述第二通信模块还用于:接收所述目标移动机器人发送的所述目标移动机器人的比赛信息;根据所述目标移动机器人的比赛信息执行预设操作。
- 根据权利要求85-98中任一项所述的移动机器人,其特征在于,所述第二通信模块还用于:接收服务器发送的结束信息;根据所述结束信息停止比赛。
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CN108513642B (zh) * | 2017-07-31 | 2021-08-27 | 深圳市大疆创新科技有限公司 | 一种图像处理方法、无人机、地面控制台及其图像处理*** |
WO2019205035A1 (zh) * | 2018-04-25 | 2019-10-31 | 深圳市大疆创新科技有限公司 | 智能比赛场地及***、***服务器、机器人、控制方法 |
CN111683721A (zh) * | 2019-05-30 | 2020-09-18 | 深圳市大疆创新科技有限公司 | 标签的处理及位置确定方法、移动平台、比赛裁判*** |
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