U.S. patent application number 11/795931 was filed with the patent office on 2008-05-15 for game with remotely controlled game vehicles.
This patent application is currently assigned to ROBOTIC AMUSEMENTS, INC.. Invention is credited to Michael A. Ciavaglia, Joseph M. Johnson, Maurice Tedder, Thomas J. Timpf Jr..
Application Number | 20080113800 11/795931 |
Document ID | / |
Family ID | 37115853 |
Filed Date | 2008-05-15 |
United States Patent
Application |
20080113800 |
Kind Code |
A1 |
Ciavaglia; Michael A. ; et
al. |
May 15, 2008 |
Game With Remotely Controlled Game Vehicles
Abstract
A game has one or more remotely controlled game vehicles that
are each controlled by an operator interface. The game includes a
visually controlled computer that senses the remotely controlled
game vehicle or vehicles visually and controls each remotely
controlled game vehicle using visually sensed input and input from
its operator interface.
Inventors: |
Ciavaglia; Michael A.;
(Dearborn, MI) ; Johnson; Joseph M.; (Huntington
Woods, MI) ; Tedder; Maurice; (Detroit, MI) ;
Timpf Jr.; Thomas J.; (Detroit, MI) |
Correspondence
Address: |
REISING, ETHINGTON, BARNES, KISSELLE, P.C.
P O BOX 4390
TROY
MI
48099-4390
US
|
Assignee: |
ROBOTIC AMUSEMENTS, INC.
Huntington Woods
MI
|
Family ID: |
37115853 |
Appl. No.: |
11/795931 |
Filed: |
April 18, 2006 |
PCT Filed: |
April 18, 2006 |
PCT NO: |
PCT/US06/14512 |
371 Date: |
July 23, 2007 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
60673290 |
Apr 20, 2005 |
|
|
|
Current U.S.
Class: |
463/39 ; 273/108;
446/456 |
Current CPC
Class: |
A63H 30/04 20130101;
A63H 17/004 20130101; A63H 2200/00 20130101 |
Class at
Publication: |
463/39 ; 446/456;
273/108 |
International
Class: |
A63H 30/04 20060101
A63H030/04; A63F 9/24 20060101 A63F009/24 |
Claims
1. A game having at least one remotely controlled game vehicle that
is controlled by an operator interface characterized in that the
game includes a control computer that senses the remotely
controlled game vehicle visually and controls the remotely
controlled game vehicle using visually sensed input and input from
the operator interface.
2. The game as defined in claim 1 wherein the control computer
senses the position and orientation of the remotely controlled game
vehicle.
3. The game as defined in claim 2 having a plurality of remotely
controlled vehicles each of which are controlled by a respective
input device and wherein the control computer senses each of the
remotely controlled game vehicles visually and controls each of the
remotely controlled vehicles using visually sensed input and input
from its operator interface.
4. The game as defined in claim 3 wherein the control computer
senses the position, orientation and identify of each of the
remotely controlled vehicles.
5. The game as defined in claim 1, 2, 3 or 4 having a playing field
for the remotely controlled vehicle or vehicles.
6. The game as defined in claim 5 wherein the remotely controlled
vehicle or vehicles have active lighting to facilitate the control
computer sensing the remotely controlled vehicle or vehicles
visually.
7. The game as defined in claim 5 wherein the control computer
includes a vision system having a camera, wherein the game includes
a light source near the camera and wherein the remotely controlled
vehicle or vehicles have retro-reflective surfaces to facilitate
the camera of the control computer sensing the remotely controlled
vehicle or vehicles.
8. The game as defined in claim 5 wherein the control computer
includes a vision system having a camera, wherein the game includes
a special light source below the camera and wherein the game
includes a filter between the special light source and the camera
to facilitate the camera of the control computer sensing the
remotely controlled vehicle or vehicles.
9. The game as defined in claim 5 wherein the playing field in on a
platform that raises and lowers.
10. The game as defined in claim 9 wherein the game includes a
storage area for the remotely controlled vehicle or vehicles that
is beneath the platform.
11. The game as defined in claim 10 wherein the remotely controlled
vehicle or vehicles have on-board batteries and the game has
battery recharging means in the storage area.
12. A game vehicle that is generally round with a low center of
gravity and that has a pair of driving wheels.
13. The game vehicle of claim 12 wherein the game vehicle has two
arms that pivot.
14. The game vehicle of claim 14 wherein the two arms are of
sufficient length to right the game vehicle when it is overturned
by more than ninety degrees.
15. The game vehicle of claim 13 or 14 wherein each arm has an
upper arm that pivots about two axes.
16. The game vehicle of claim 13 or 14 wherein each upper arm has a
longitudinal axis, a first joint for pivoting the upper arm about a
first axis in a first plane containing the longitudinal axis of the
upper arm, and a second joint for pivoting the upper arm about the
longitudinal axis of the upper arm.
17. The game vehicle of claim 16 wherein each arm has a forearm
that is at an angle with respect to the upper arm.
18. The game vehicle of claim 16 wherein each arm has a forearm
that is fixed at an angle with respect to the upper arm.
19. A game booth for the game of claim 1 comprising a cabinet, an
upper area supported on the cabinet, and a viewing area between the
cabinet and the upper area.
20. A method for playing a game having a remotely controlled
vehicle that is controlled by a operator interface and a control
computer that senses the remotely controlled vehicle visually and
controls the remotely controlled vehicle using visually sensed
input and input from the operator interface comprising: operating
the operator interface to provide the input from the operator
interface to the control computer.
Description
REFERENCE TO RELATED APPLICATIONS
[0001] This application claims the benefit of U.S. Provisional Ser.
No. 60/673,290 filed on Apr. 20, 2005.
FIELD OF INVENTION
[0002] This invention relates generally to games and more
particularly to games with remotely controlled vehicles, to
vehicles for such games, to recharging systems for such vehicles
and to an arcade booth for such games.
BACKGROUND OF THE INVENTION
[0003] Games with remotely controlled vehicles, such as the
televised Battle Botts, are already known. These known games,
however, do not include a central computer control that supervises
the game process.
SUMMARY OF THE INVENTION
[0004] In one aspect, this invention provides a game with remotely
controlled game vehicles that includes a central computer control
for supervising the game process.
[0005] In another aspect, this invention provides a remotely
controlled game vehicle.
[0006] In still another aspect this invention provides a game with
remotely controlled vehicles that have on-board batteries and with
recharging stations for the on-board batteries.
[0007] In still another aspect, this invention provides a game
booth for a game having remotely controlled game vehicles and a
central computer control for supervising the game process.
[0008] In still yet another aspect this invention provides a method
for playing a game having remotely controlled vehicles and a
central computer control for supervising the game process.
BRIEF DESCRIPTION OF THE DRAWINGS
[0009] FIGS. 1 and 2 are front and side views, respectively of an
arcade booth for a game embodying the invention.
[0010] FIGS. 3a, 3b, 3c and 3d are front, top, side and isometric
views, respectively, of a remotely controlled vehicle for the game
associated with the arcade booth shown in FIGS. 1 and 2.
[0011] FIGS. 4a and 4b are front and side views of the remotely
controlled vehicle shown in FIGS. 3a, 3b, 3c and 3d showing the
range of arm motion.
[0012] FIGS. 5a and 5b are isometric and top views of the remotely
controlled vehicle shown in FIGS. 3a, 3b, 3c, 3d, 4a and 4b with an
upper shell removed to shown internal detail.
[0013] FIG. 5c is a diagram showing joint saver torque versus
angle.
[0014] FIG. 6 is an elevation schematic illustrating a game with
remote control vehicles embodying the invention.
[0015] FIG. 7 is a top schematic of the game shown in FIG. 6.
[0016] FIG. 8 is a top schematic of the game shown in FIG. 6 with
an example of patterns for the remotely controlled vehicles.
[0017] FIG. 9a is a legend for the pattern examples shown in FIG.
8.
[0018] FIG. 9b is a vehicle identification table for the range of
pattern examples shown in FIG. 8.
[0019] FIG. 10 is a top schematic of the game shown in FIG. 6 with
another example of patterns for the remotely controlled
vehicles.
[0020] FIG. 11 is a partial elevation schematic of the game
illustrated in FIG. 6 showing possible external light sources.
[0021] FIG. 12 is a partial elevation schematic of the game
illustrated in FIG. 6 showing remotely controlled vehicles with
optional active lighting.
[0022] FIG. 13 is a partial elevation schematic of the game
illustrated in FIG. 6 with an optional special stationary light
source.
[0023] FIG. 14 is a partial elevation schematic of the game
illustrated in FIG. 6 with optional retro-reflective surfaces on
the remotely controlled vehicles and an optional stationary light
source near a camera for sensing the remotely controlled vehicles
visually.
[0024] FIG. 15 is a top schematic of the game illustrated in FIG. 6
with optional charging stations.
[0025] FIG. 16 is a schematic of a simplified charging circuit for
the charging stations shown in FIG. 15.
[0026] FIG. 17 is a schematic of a more complex charging circuit
for the charging stations shown in FIG. 15.
[0027] FIGS. 18 and 19 are elevation schematics of a game of the
invention having an optional lifting platform.
[0028] FIGS. 20 and 21 are top and elevation schematics of the game
shown in FIGS. 18 and 19.
[0029] FIGS. 22 and 23 are top and elevation schematics of the game
shown in FIGS. 18 and 19 with the optional lifting platform in a
storage position.
DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS
Arcade Booth for Game
[0030] A typical arcade booth 10 for a game of the invention is
shown in FIGS. 1 and 2. The arcade booth comprises a cabinet 12, an
elevated signage area 14 and a viewing area 16 between the cabinet
and the signage area. The cabinet typically houses the controls for
the arcade. It also provides space for a coin door or doors 18 that
accept money or credits or tokens. A playing surface 20 for game
vehicles 22 is on an upper surface of the cabinet. The cabinet 12
has operator interfaces 24 (game pads, joysticks, buttons) that
allow the players of the game to provide inputs that allow the
players to control the game vehicles remotely. The game vehicles
drive on the playing surface 20 of the cabinet during the game. The
playing surface 20 is sometimes referred to as the game field.
[0031] The viewing area 16 is preferably covered by glass or clear
plastic panels on several sides which prevent the game vehicles
from leaving the playing surface of the cabinet and also prevent
the game vehicles from being removed. There are typically doors or
access panels in the side panels of the viewing area that allow for
the vehicles to be serviced.
[0032] The upper signage area 14 provides a place to have signs but
also allows for a convenient place to mount lighting for the arcade
booth as well as for mounting cameras, projectors, etc. that are
needed for the game. The signage area is often backlit to attract
users.
Game Vehicles
[0033] The game typically has two remotely controlled game vehicles
22 but may include more or less than two remotely controlled game
vehicles. FIGS. 3a, 3b, 3c and 3d show four views of a typical game
vehicle 22, more specifically the front, top, side and isometric
views of the typical game vehicle, respectively. The particular
game vehicle shown is specialized for the purposes of playing a
pushing game where the intent is to push an opponent vehicle or
vehicles off the game field 20 in a "Sumo Wrestling" or "King of
the Hill" style game.
[0034] The typical vehicle 22 preferably has two non-marking drive
wheels 26 generally near the center of the vehicle when viewed from
the side and on the left and right of the center when viewed from
the front. The drive wheels 26 have separate drive axles which are
preferably collinear, however, the drive axles can be offset. The
drive wheels 26 are powered by respective motors which allow the
vehicles to be driven around the field. The steering is "tank
style," meaning the vehicle is turned to the left by driving the
right drive wheel faster than the left drive wheel or to the right
by driving the left drive wheel faster than the right one. This
drive method is both simple and effective. It allows for good
control of the vehicle. It also enables "zero turning radius" turns
which enhances the drivability of the vehicle as well as the
interest of the game.
[0035] The typical game vehicle 22 also preferably has two undriven
caster wheels 28 that reduce sliding friction. The caster wheels 28
can be replaced with a sliding pad if higher friction is
acceptable. It is also possible to use four drive wheels or tracks
similar to a tank. Both of these alternatives have the advantage of
increasing drive force under certain conditions. However, these
alternative may be more expensive and may make turning more
difficult.
[0036] The typical game vehicle 22 preferably has a generally round
shape with a center of gravity below the "belt line" to provide a
self righting feature. If the vehicle is not tipped beyond 90
degrees from upright, the vehicle will right itself automatically.
The drive vehicle 22 is preferably equipped with two arms 30 that
accommodate situations where the vehicle may get tipped far enough
so that it will not automatically right itself. Arms 30 need only
be long enough to get the vehicle partially upright, that is, close
to the self righting angle of about 90 degrees.
[0037] Each of the two arms 30 of the vehicle preferably has two
joints that have two degrees of freedom, typically pivotal motion
about two orthogonally related axes. FIGS. 4a and 4b show the range
of arm motion while FIGS. 5a and 5b show the internal parts for the
arm motion. The first typical joint range of pivotal motion of each
arm 30 is about a lateral or X-axis as best shown in FIGS. 4b and
5b while the second typical joint range of pivotal motion of each
arm about a longitudinal or Z-axis, as best shown in FIG. 4a and
5b. Each of the two joints of each arm is powered by a
motor/gearbox. The first joint motor/gearboxes 32 are stationary
with respect to the chassis of the vehicle 22 while second joint
motor/gearboxes 34 are mounted on the output of the first joint
motor/gearboxes. The configuration of the joints and associated
motor/gearboxes are cleverly arranged to hide the drives from the
outside of the game vehicle 22 for both damage avoidance and for
aesthetic appearance while still enabling the limited range of the
motor/gearboxes 32, 34 to allow the arms 30 to be useful during a
pushing contest and to help right the vehicle should self righting
assistance be necessary.
[0038] FIGS. 5a and 5b show the upper outer shell 36 of the game
vehicle 22 removed so that it is clear that the first joint
motor/gearboxes 32 are stationary with respect to the chassis of
the vehicle and pivot the arms 30 about their respective lateral or
X-axes. It is also clear that the second joint motor/gearboxes 34
are mounted on the output of the first joint motor/gearboxes 32 and
pivot the arms 30 about their respective longitudinal or
Z-axes.
[0039] As shown in FIGS. 3a, 3b, 3c, 3d, 4a, 4b, 5a and 5b, arms 30
have upper arm parts 30a that pivot about their respective X-axes
to move in respective planes that are perpendicular to their
respective X-Axes. Arms 30 also have forearm parts 30b that are
fixed at an angle with respect to their respective upper arm parts
30a so that the forearms 30b move in paths outside of these
respective perpendicular planes when upper arm parts 30 pivot about
their respective z-axis.
[0040] Also, because small gear teeth are subject to damage via
impact loads, each joint of each arm 30 is preferably protected via
a "saver" joint. These savers are spring loaded self centering
devices 38 (that are clearly shown in FIGS. 5a and 5b) with joint
saver torque versus angle, that is the torque transferred versus
the relative angle shown in FIG. 5c. During normal operation, the
torque output of the motor/gearbox is such that the torque is less
than the torque needed to wind up the spring inside the coupling.
But, when an impact load exceeds the "knee" of the Angle/Torque
curve, the spring winds up, limiting the load that is transferred
to the gear teeth inside the gearbox, thereby saving the gear teeth
from damage.
[0041] The typical game vehicle 22 preferably has a digital
microprocessor 49 inside to manage control tasks and a
communication link 40 with a main control computer 42 as
schematically illustrated in FIG. 6. The communication link is
preferably a radio link but other links are possible.
[0042] The typical game vehicle 22 preferably has lights on its top
side that cooperate with a vision system 46 to track its position
and orientation as explained below.
[0043] The typical game vehicle 22 also preferably has a "tilt
sensor" inside (not shown). The tilt sensor may comprise two
accelerometers mounted in the horizontal plane. By using well know
methods, the two accelerometer readings can be used to calculate
tilt angle. One alternative to sense tilt comprises a single
accelerometer mounted vertically but this method is less sensitive
to measuring tilt angle than the method using two horizontal
accelerometer measurements). Another alternative is to use three
acceleration measurements which is more expensive but can be
effective. Additional method to sense tilt include mechanical g
switches/sensors with 1D or 2D pendulums, "Standing Man", Steel
ball held in place by a magnet, and others.
[0044] The motors of the game vehicle 22 are controlled by the main
control computer 42. These motors are controlled via well know
techniques, for instance, using H-bridges and/or relays depending
on the level of control needed. The first and second arm joints
each have feedback circuits that allow the arms 30 to be accurately
positioned.
[0045] The typical game vehicle 22 draws power from an onboard
battery or batteries 48 and thus have a connector or pad that
enables the batteries to be charged.
[0046] The battery circuit to engage zero, one or more batteries is
explained below. Alternatively, a game vehicle could draw power via
the floor as is well know from bumper cars or in a method similar
to that shown in U.S. Pat. No. 6,044,767 entitled "Slotless
electric track for vehicles".
[0047] The typical game vehicle 22 preferably has lights for "eyes"
that can be turned under program control (for example the eye could
"watch" opponent vehicle). These eyes help to aid in the fun of the
game. The eyes also help to give the vehicles an anthropomorphic
appeal, helping the drivers to associate personalities to the
vehicles they are driving.
Game with Remote Control Vehicles
[0048] The game comprises one, two or more remote control game
vehicles 22 that are driven by players that operate one of the game
vehicles. FIGS. 6 and 7 show a game with three game vehicles 22
labeled A, B and C. There could be more or less game vehicles 22
depending on the particulars of the game being played.
[0049] Players input their desired control inputs to their
respective game vehicles 22 labeled A, B and C via operator
interfaces 24 such as joysticks, switches, buttons, etc., that are
also labeled A, B and C in FIG. 6 to correspond to their respective
game vehicles. The inputs from the operators are monitored by the
main or central control computer 42.
[0050] A camera 50 is mounted generally above the game field 20.
For example, camera 50 can be mounted in the elevated signage
portion 14 of an arcade booth 10 shown in FIGS. 1 and 2. Returning
to FIGS. 6 and 7, camera 50 is part of a vision system 46 that
provides the main control computer with images of the game field 20
and game vehicles 22. The computer processes the image data to
determine the positions (X and Y coordinates) and orientations
(.THETA.s) of the game vehicles and any additional game pieces (not
shown) that might be used, such as balls, moveable goals, etc.) at
each point in time.
[0051] The vision system 46 provides the positions, (X and Y
coordinates) and orientations (.THETA.s) of the game vehicles 22 to
the control computer 42. This information is desirable because it
allows the control computer 42 to make the game function more
smoothly and more autonomously and ultimately more profitably.
[0052] The information also allows for automatic scoring of games
that require position detection (for example variations on games
"King of the Hill" or "Musical Chairs").
[0053] The information also allows for "referee calls" like "three
second lane violations" in basketball, "clipping" in football, and
"off sides" as in soccer/hockey.
[0054] Furthermore, the information allows for the control computer
42 to drive the game vehicles 22 from point to point which enables
(among other things): automatic driving to charging stations,
"Attract Mode" demonstration games to increase paid playing,
playing against the computer when not enough paying players are
available, and automatic field reset.
[0055] This information also enables "Virtual Fences" (areas where
vehicles are forbidden to drive) which can enhance play and protect
game vehicles from damage. Among other things this enables damaged
game vehicles to be protected from future hits or attacks, prevents
malicious operators from driving vehicles into a "brick wall" or
"off a cliff" with the intent of damaging vehicles, prevents
"Demolition Derby" type behavior by operators, and allows computer
42 to aid novice operators by preventing them from driving too far
astray.
[0056] Computer 42 analyzes the operator inputs and the data from
the vision system 46 to decide what commands to give the game
vehicles 22.
[0057] Computer 42 may modify an operator's inputs based on the
situation. For example, an operator may be requesting an input that
will cause a game vehicle to run into a wall or other obstacle. In
this case, the computer would perhaps modify the request to avoid
the crash.
[0058] Computer 42 has a communication link 52 with the game
vehicles 22. This communication link 52 is preferably a radio
system, but it could be implemented in a number of ways, infrared
light, ultraviolet light, sound waves, even potentially via a
ground link through the floor as is done in U.S. Pat. No. 6,044,767
entitled "Slotless electric track for vehicles".
[0059] Communications link 52 could be one way, that is from a
stationary computer transmitter to remote controlled vehicle
receivers. However, a two way communications link with transceivers
at each end is preferable so that the stationary computer 42 can
have diagnostic information from the game vehicles, such as battery
voltage, tilt information, motor currents, fault information,
etc.
[0060] The game vehicles 22 preferably each have an onboard
computer 49. The onboard computer helps to manage the local control
tasks required for each vehicle (communications, motor control,
battery monitoring/management, fault diagnostics, etc.).
Alternatively all control tasks could be managed via the stationary
main computer 42.
[0061] FIG. 7 shows a top schematic of the playing field 20. The
game vehicles 22 are playing on the field 20 on the left. Three
game vehicles 22, labeled A, B and C are shown but there could be
more or less game vehicles. A storage area 54 is located to the
right of the playing field 20. It is desirable for the computer 42
to know the positions (X and Y coordinates) and orientations
(.THETA.s) of the game vehicles shown in this FIG. 7.
[0062] FIG. 8 illustrates one example of a scheme for a vision
system to determine the position and orientation of each of the
game vehicles 22. This scheme is based on a pattern of dots as
shown in FIG. 9a which is a legend for a possible pattern example.
As shown in FIG. 9a there are six dots with two shades of dots. The
darker shade dot 56 is used to determine the position (coordinates
X and Y) of each game vehicle. The other "near by" dots 58, 60, 62,
64 and 66 that are a lighter shade are used to determine each
particular vehicle and the orientation of that particular vehicle.
The "farthest away" nearby lighter shade dot 62 is used to
determine orientation (.THETA.)). The four remaining nearby lighter
shade dots are optional and used to identify the particular
vehicle. For instance, game vehicles A, B and C in FIG. 8, each
have a distinctive pattern of optional lighter shade dots. Vehicle
A has only one lighter shade optional dot 58 while vehicle B has
one optional lighter shade dot 60 in a different position. Vehicle
C on the other hand has both lighter shade optional dots 58 and 60.
FIG. 9b is a table showing how four optional lighter shade dots can
be used to identify 16 different game vehicles or objects. It is to
be understood that colors can be used in place of shades if a color
camera is used.
[0063] FIG. 10 illustrates another example of a scheme for a
machine vision system to determine the position and orientation of
each of the game vehicles. This scheme is based on combinations of
shapes and sizes that can be used to provide position and
orientation information rather that than the preferred method shown
in FIGS. 8, 9a and 9b. In this example "house" shape indicia 68
provides location and orientation information while the shade of
the "house" provides the particular vehicle identification
information.
[0064] There are a number of other possible characteristics that
can be used by themselves or in combination to provide the
position, orientation, and identification information including
color/shade, size, perimeter, "Moments" (for example Ixx, Iyy, Ixy,
Jzz, etc.) and other so called "hu invariant" properties (see any
text on machine vision systems).
[0065] FIG. 11 demonstrates the problem with uncontrolled external
light sources. External light from the sun 71, nearby lights 73 or
other sources can reflect off the game field 20 and game vehicles
22 and reach the camera 50 of the vision system as indicated by
arrows 75. This uncontrolled light can cause great difficulty with
machine vision algorithms used to track objects. Most machine
vision applications require measures to prevent unwanted light
sources from affecting the image seen by the camera. Uncontrollable
light pollution from outside sources cause machine vision system
problems. The problem in industrial machine vision systems requires
controlled lighting conditions in order to robustly determine the
location and orientation of objects.
[0066] Games with remote controlled vehicles are likely to be
played at different locations and in a variety of lighting
conditions even for a single location, for example, sunlight
entering from nearby windows may cover the entire game field 20 at
times and different parts of the field at other times. Lighting
variations from location to location may be significant, for
example, a home recreation room setting vs. a neighborhood bar
setting vs. a well lit entryway of a grocery store. These lighting
variations require a unique solution for well know algorithms used
in machine vision applications to be utilized in a machine vision
controlled game with remote control vehicles that is used in many
variable environments.
[0067] FIG. 12 shows a unique solution in which active lighting is
used to improve the performance of the vision system. Using active
light sources 70 on the game vehicles 22, for instance in the dot
pattern explained above in connection with FIGS. 8, 9a and 9b
improves vision system performance. Thus, the image viewed by the
computer can be simplified greatly. For instance the image exposure
can be set so that only the brightest parts of the image are seen
at all. This filtering can be done in many ways including iris
control of the lens or by programmable exposure in the camera or by
software filters during image processing.
[0068] When active lighting is used, the exposure can be reduced to
the point that essentially only the active lights remain in the
image with all other light being filtered out, even light from
strong nearby sources.
[0069] This makes the tracking algorithm much more robust and it
makes ambient lighting control unnecessary. The pattern example
shown in FIGS. 8, 9aand 9b is easily implemented using active
lighting.
[0070] Another unique solution to deal with ambient light causing
problems with the vision system is shown in FIG. 13. In this unique
solution, a special light 72 is used to illuminate the game field
20 and game vehicles 22. A filter 74 mounted in front of the lens
of camera 50 blocks the reflected light from the sun 71 and light
source 73 as indicated by the arrows 75 while allowing passage of
the reflected light from the special light 72 as indicated by the
arrows 77.
[0071] The features of the "special light" that make them useful in
games of this type is that the "special light" is not present in
large quantities in the ambient lighting that is the source of the
pollution and that a filter is available to allow passage of this
special light but not other light. Examples of possible special
light sources include ultraviolet light, infrared light, and
polarized light.
[0072] The game vehicles 22 still need to have unique shapes and or
patterns as already described in order for the computer determine
the position, orientation and identification of each one of the
multiple game vehicles.
[0073] Another unique solution to deal with ambient light causing
problems with the vision system is shown in FIG. 14. In this
solution, a stationary light source 76 located near the lens of
camera 50 is used to illuminate the playing field 20 and game
vehicles 22 and "retro-reflective" surfaces 78 are mounted on the
game vehicles 22. Retro-reflective surfaces have the property that
they reflect light back toward the source of the light. In this
case, since the light source 76 is near the camera lens, the light
will be reflected back toward the camera lens as indicated by arrow
77. Light from any outside source, such as sun 71 or light source
73 will be reflected away from the camera lens as indicated by
arrows 75. In this way, this solution works very much like the
active lighting solution. Due to the light source 76 near the lens
of the camera 50, the retro-reflective surfaces 78 appear very
bright regardless of the ambient lighting conditions. Just as in
the active lighting case described in the early preferred solution
shown in FIG. 12, this relative brightness provides the opportunity
to allow for filtering to remove the light from outside sources.
The game vehicles 22 still need to have unique shapes and or
patterns as already described in order for the computer determine
the position, orientation and identification of each of the
multiple game vehicles.
[0074] Remote controlled vehicles require power to operate. The
game vehicles may get power from the floor as in U.S. Pat. No.
6,044,767 entitled "Slotless electric track for vehicles" which
requires a special floor surface and special features on the
vehicles. Alternatively, the game vehicles 22 may get power from
the air waves which is difficult to make both safe and powerful
enough.
[0075] However, the preferred method to provide power is an
on-board battery or batteries 48 as shown in FIG. 6. Batteries,
however, need to be re-charged or replaced periodically. This
invention has optional special charging stations for that
purpose.
[0076] The game vehicles 22 are parked in the charging stations
automatically. The preferred method is to use the vision system 46
to inform the main control computer 42 (or another central
computer) of the locations of the various game vehicles 22 which
then determines a path for a particular game vehicle to one of the
charging stations and pilot the particular game vehicles to a
particular charging station. Alternatively, there are methods where
a beacon (IR, visible light, radio waves, etc.) provides the
vehicles with information that allow them to pilot themselves into
the charging station. Yet another alternative is to program the
vehicles with "maze behaviors" that allow the vehicle to eventually
wander into the charge station.
[0077] FIG. 15 shows storage area 54 to the right of the playing
field 20 which also serves as a plurality of charging stations
where charging can take place. These charging stations provide a
place where game vehicles 22 can be charged between competitions or
when only a subset of the arcade's full number of vehicles are be
used. For example in a game with three game vehicles, the 3.sup.rd
vehicle can spend the entire match charging when only two game
vehicles are being used in a match.
[0078] While the storage/charging area 54 is illustrated as next to
the playing field 20 in FIG. 15, the storage and charging stations
can be "below deck" by using an elevator system to get the game
vehicles 22 in place for charging. This has the benefit of allowing
for the field to be as large as possible.
[0079] A simplified charging circuit 80 is shown in FIG. 16. The
charging circuit consists of a DC Voltage source that is higher
than the battery that are being charged, a relay to start/stop
charging, a current limiting resistor, a current sense resistor,
the battery being charged, a thermister for sensing battery
temperature, a computer to control the process, a drive transistor
to activate the relay coil and a diode to protect the transistor
from the voltage spike produced when the relay coils is turned
off.
[0080] The computer monitors battery voltage by means of an Analog
to Digital Converter (ADC). The computer monitors battery charge
current by measuring voltage drop across the sense resistor using
its ADC and Ohm's Law (the known V=IR equation). Battery
temperature is measured by using a reference voltage, a thermister
(a resistor that changes its resistance with temperature) and a
voltage divider resistor, R.
[0081] The transistor, diode, and relay are used in very typical
ways to allow the computer to start/stop the charging process by
turning on/off the relay.
[0082] Note, relays fail open circuit--fail safe with recovery
method when on charging station.
[0083] The current limiting resistor is used to keep the current an
acceptable level for the battery being charged given the DC voltage
and the characteristics of the batteries. It is possible that the
current limiting resistor and the current sensing resistors can be
combined into one unit.
[0084] The Computer monitors current, voltage and, most
importantly, battery temperature to charge the batteries safety and
efficiently. By monitoring these three parameters, the best battery
performance can be obtained in terms of longer battery life and in
terms of maximum battery charging.
[0085] There are other less sophisticated methods, in comparison to
the method described above in connection with FIG. 16, for safely
and effectively charging the game vehicle batteries as outlined
below:
[0086] Alternative: Variable Voltage Input (slightly above nominal
battery voltage) Monitor Current, Voltage, Temp; Adjust input
voltage to have appropriate current flow during charge; Stop
charging when battery temp starts to increase above threshold temp
over ambient temp. Safe, reliable maximize performance and life of
batteries. Advantage: can charge different batteries types,
voltages, etc. where inline resistor is more tied to specifics of
battery. Disadvantage: cost
[0087] Alternative: Do not monitor temp, have ability to remove
charge voltage but measure battery voltage, stop when battery
voltage peaks. Not as safe, not as good at maximizing life and
performance of battery.
[0088] Alternative: Use time only, no voltage, no current, no temp.
Limit current by inline resistor. Cheap, but not good for battery
life, full charging, not as safe.
[0089] Alternative: Using combinations of time, current, temp and
voltage measurements to charge the battery.
[0090] Alternative Current Measurement: Hall Effect based current
sensors (e.g. Allegro Micro ASC750 device) Inductive sensors
[0091] Alternatively Battery Measurements: Temperature could be
monitored in a number of ways including thermocouples,
semiconductor based sensors, thermal switches (bi-metal, solid
state, etc.) and many other well known methods.
[0092] A more complicated system 82 of charging batteries in a
remotely controlled vehicle is shown in FIG. 17. The system is very
like what is shown in FIG. 16 with some notable improvements. The
system now shows the remote vehicles with a connector. This
connection is made when the game vehicle arrives in the charging
station. The system of FIG. 17 shows is a remote computer and a
stationary computer. The stationary and remote computers
communicate via a communication link (preferably radio, but it
could be IR, acoustic, etc.). Together they split many of the
functions of the system shown in FIG. 16.
[0093] A key feature of the system shown in FIG. 17 is that it has
the capacity to charge multiple batteries safely and effectively.
It is shown with two batteries but it could easily be extended to
many batteries. The system "wakes up" with no batteries engaged.
The remote computer receives power via the charging system. After
some preliminary checks, the remote and stationary computers can
agree to engage one battery. If this battery is behaving well, the
second battery can be engaged. At any point in the "power up"
procedure, the stationary computer can deactivate the relay on its
side of the connector to pull power to the remote computer. In this
way, bad batteries can be isolated in a safe manner and many
diagnostics can be implemented.
[0094] FIG. 18 shows a game in which the playing field 20 is on a
lifting platform 84 in which the object is to push opponent's
vehicles off the platform. FIG. 18 is a side view of the game
vehicles 22 on the lifting platform 84 before a match. The platform
84 is raised to a mid-level position. Note, the signage portion 14
of the arcade booth 10 has been removed in FIG. 18 to improve
clarity.
[0095] There are many possible methods to provide the lifting
platform mechanism. It is important for the platform 84 to be
stable (i.e. not tilt). One method comprises ball bearing drawer
glides for the platform 84 and a typical electrically driven
automotive window lift mechanism to raise and lower the platform.
Switches are preferably used to indicate the position of the
platform while the computer 42 controls the motor to position the
platform appropriately (full up, full down or mid-level).
[0096] FIG. 19 shows a side view of the game vehicles 22 on the
lifting platform 84 after a match is over and vehicle 22A has
pushed vehicle 22B off platform 84. The platform is raised to the
mid-level position. The raised platform adds excitement to the game
as well as providing a very clear visual indication of the winning
game vehicle. As before, the top of the arcade booth has been
removed in FIG. 18 to improve clarity.
[0097] FIG. 20 shows a top view of the game vehicles 22 in
positions outwardly of the lifting platform 84 where the game
vehicles are ready to be driven into a storage and charging area 86
beneath platform 84. The platform is then raised to a higher level
position from the mid-level position so that the game vehicles can
drive under the playing field of the platform 84 as shown in FIG.
21. FIG. 21 shows a view from the corner of the arcade with the
platform 84 raised and with game vehicles 22 in a position where
they are ready to be drive into the storage and charging area 86.
Note also, the signage portion 14 of the arcade booth 10 has been
removed in FIGS. 20 and 21 to improve clarity.
[0098] The game vehicles 22 are then driven under the raised
platform 84 as shown in FIGS. 22 and 23 which are top and side
views, respectively, of the game vehicles 22 in positions in the
storage and charging area 86 beneath the raised platform. FIG. 23
shows a view from the corner of the arcade with the platform raised
and with vehicles 22 in the storage and charging area 86. Note, the
signage portion 14 of the arcade booth 10 has been removed in FIGS.
22 and 23 to improve clarity. The platform surface and/or the sides
of the platform 84 are preferably transparent in order to show the
game vehicles 22 in storage positions.
[0099] It will be readily understood by those persons skilled in
the art that the present invention is susceptible of broad utility
and application. Many embodiments and adaptations of the present
invention other than those described above, as well as many
variations, modifications and equivalent arrangements, will be
apparent from or reasonably suggested by the present invention and
the foregoing description, without departing from the substance or
scope of the present invention. Accordingly, while the present
invention has been described herein in detail in relation to its
preferred embodiment, it is to be understood that this disclosure
is only illustrative and exemplary of the present invention and is
made merely for purposes of providing a full and enabling
disclosure of the invention. The foregoing disclosure is not
intended or to be construed to limit the present invention or
otherwise to exclude any such other embodiments, adaptations,
variations, modifications and equivalent arrangements, the present
invention being limited only by the following claims and the
equivalents thereof.
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