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Description  |
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BACKGROUND OF THE INVENTION
1. Field of the Invention
The present invention relates to a robotic game apparatus. More
specifically, the present invention relates to a novel robotic game
apparatus wherein a robot is controlled by an image which is formed by a
displaying means.
2. Description of the Prior Art
Heretofore, robots of the kind disclosed by the present invention have not
existed.
SUMMARY OF THE INVENTION
Therefore, a principal object of the present invention is to provide a
novel robotic game apparatus.
In brief, the present invention is of a an amusement apparatus gaming
machine wherein a game robot is controlled by an image of a certain form
(brightness, color or shape) presented a displaying means such as a CRT
display. The game robot receives the image and performs a predetermined
operation in response to the form of the displayed image.
The displaying means displays a command or data for controlling motion of
the robot. The robot receives the image formed on the displaying means,
for example, using a photo detector or the like, and, for example,
converts the received image into a code in response to received brightness
information, color information or shape information of the image. A robot
controlling means drives motors or the like for moving each part of the
robot, for example, its arms, in response to the code.
In accordance with the present invention, such a robotic game device can be
utilized advantageously, for example, as a video game apparatus or the
like.
These objects and other objects, features, aspects and advantages of the
present invention will become more apparent from the following detailed
description of the embodiments of the present invention when taken in
conjunction with accompanying drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a perspective view showing the complete configuration of one
embodiment in accordance with the present invention.
FIG. 2 is a perspective view showing a robot.
FIG. 3 is a front view showing the robot.
FIG. 4 is a side view showing the robot.
FIG. 5 is a cross-sectional illustrative view showing the interior
construction of the robot.
FIG. 6 is an illustrative view showing one example of a gear construction
for rotating a robot main unit.
FIG. 7A through FIG. 7C are illustrative views showing arms of the robot,
in which FIG. 7A shows a state wherein the arms are opened, FIG. 7B shows
a state wherein the arms are closed, and FIG. 7C shows a state wherein a
pin is inserted through elongated holes on supporting pieces of the arms.
FIG. 8 is an illustrative view showing one example of a gear construction
for moving the arms upward or downward.
FIG. 9 is a schematic block diagram showing the configuration of the
electrical control system of this embodiment.
FIG. 10 is a flowchart showing a main routine of an image processing
operation of the electrical control system.
FIG. 11 is a flowchart showing a subroutine for code conversion in the
image processor.
FIG. 12 is a flowchart showing a subroutine for code display in the image
processor.
FIG. 13 is a waveform graph showing one example of an image signal
displayed according to FIG. 12.
FIG. 14 is a flowchart showing a main routine of a robot controlling
operation of the electrical system.
FIG. 15 is a flowchart showing a subroutine for code restoration or code
conversion in the robot controlling operation.
FIG. 16 is a flowchart showing a control subroutine of the robot
controlling operation.
FIG. 17 is an illustrative view showing another example of an image display
on a CRT display screen.
FIG. 18 is an illustrative view showing still another example of an image
display on a CRT display screen.
FIGS. 19, 19a and 19b are flowcharts showing another example of the
subroutine for code restoration or code conversion in the robot
controlling operation.
FIG. 20 is a flowchart showing a subroutine for identifying a code.
FIG. 21 is a flowchart showing a subroutine for setting the identified
code.
FIG. 22 is a flowchart showing another example of the control subroutine of
the robot controlling operation.
FIG. 23 is a cross-sectional illustrative view showing another example of
an image receiving device.
FIG. 24 is a schematic block diagram showing another example of an
operating controller coupled to an image processing control complete.
DESCRIPTION OF THE PREFERRED EMBODIMENT
FIG. 1 is a view showing one complete embodiment in accordance with the
present invention. A robot 100 is provided, and this robot 100 comprises a
robot main unit 104 which is installed on a base 102 so as to be rotatable
in the direction shown by an arrow A. A head 106 is installed on this
robot main unit 104. In the front of the head 106, an image receiving
device or part 108 is formed which protrudes forward and acts as an "eye".
On both side parts of the robot main unit 104, arms 110 are installed
respectively, and an object 200 can be clamped or released by these arms
110.
On the other hand, a CRT display 300 is installed which constitutes a
displaying means. In this embodiment, a television receiver is employed
for the CRT display 300. A specific area 304 is formed on nearly the
center of the screen 302 of this CRT display 300. The image receiving part
108 installed at the head 106 of the robot 100 receives the brightness
information, color information or shape information contained in an image
formed on this specific area 304, or a combination of such information.
Thereby, a driving means (not illustrated) installed in this robot 100
moves each part of the robot, particularly the arms 110 or the like, in
response to the received information.
An image processing part 400 is connected to the CRT display 300 to give an
image signal thereto. As an example of this image processing part 400, the
"Nintendo Entertainment System (trade mark)" manufactured by the assignee
of the present invention can be utilized. In the image processing part
400, a power switch 402 is provided for switching a power source 402 to ON
or OFF by sliding it in the direction as shown by an arrow B and a reset
switch 404 is provided for resetting a CPU (described later) contained in
this processing part 400. Also, a cassette 406 comprising a ROM described
later having a program written for image processing is loaded in this
image processing part main unit 400 in an insertable/removable manner.
An operating part 408 is connected to the image processing part main unit
400. A cross-shaped key switch 410 and two key switches 412 and 414 are
installed on the operating part 408. This cross-shaped key switch 410
comprises four press points 410U, 410D, 410R and 410L, and when each press
point is depressed, a different kind of key code signal is given to the
image processing part main unit 400. The press point 410U or 410D is
utilized when inputting a command for moving the arms 110 of the robot 100
upward or downward. The press point 410R or 410L is utilized for inputting
a command for rotating the robot main unit 104 clockwise or
counterclockwise in the direction as shown by the arrow A. The key switch
412 or 414 is utilized for inputting a command signal for closing or
opening the arms 110.
To be brief, in this embodiment, an image is displayed in a form that is
responsive to an operation of the operating part 408 on the specific area
304 of the screen 302 of the CRT display 300 based on an image signal from
the image processing part main unit 400. The image displayed on this
specific area 304 is received by the image receiving part 108 of the robot
100. The robot main unit 104 is rotated clockwise or counterclockwise and
the arms 110 are moved up or down, or opened or closed in response to a
signal from the image receiving part 108. Accordingly, the robot 100 can
hold and move the object 200.
Next, a detailed description is made of the robot 100 in reference to FIG.
2 through FIG. 8. The head 106 of the robot 100 is mounted on the robot
main unit 104 by a U-shaped bracket 112. More specifically, supporting
shafts 114 (FIG. 3) are formed at both sides of the head 106, and these
supporting shafts 114 are mounted by screws 116 penetrating through holes
(not illustrated) formed at both end parts of the bracket 112 so as to be
rotatable with these supporting shafts 114 centered. Accordingly, this
head 106 is constituted in a manner that can turn up or down as shown by
an arrow C in FIG. 4 by means of the shafts 114.
The image receiving part 108 is installed in the front of the head 106, and
this image receiving part 108 comprises a cylindrical protrusion 120. A
condensing lens 122 is installed at the tip of this protrusion 120 as
shown in FIG. 5. An image received by this condensing lens 122 is focused
into a photo detector 124 (for example, photo transistor) mounted on the
inner part of the protrusion 120. The light received by this photo
detector 124 is converted into an electric signal and is amplified by an
input amplifier 128 which is formed on a board 126 installed in the head
106, and is applied to a robot controlling part as described later. In
addition, a light emitting device 130, for example, LED is mounted on the
top surface of the head 106, and this light emitting device 130 is lit
when an image, that is light is received by the photo detector 124.
As is apparent from FIG. 5, a hollow-cylinder-shaped shaft 132 is installed
in the robot main unit 104 while penetrating through nearly the center
thereof. A lead or the like for inputting an electric signal from the head
106 to the robot controlling part as described later is inserted through
the hollow part of this shaft 132. Then, a sleeve 134 (FIG. 5) is formed
along the peripheral surface of this shaft 132. The robot main unit 104
itself is supported by this sleeve 134 in a manner so that it can rotate
as a unit. A follower gear 136 is fixed to the bottom end of the sleeve
134. A driving gear 138 is engaged with this follower gear 136 as shown in
FIG. 6. Accordingly, when the driving gear 138 is driven to rotate in the
direction as shown by an arrow D in FIG. 6, responsively, the follower
gear 136 is also rotated in the direction as shown by an arrow D'.
Therefore, the whole of the robot main unit 104 can rotate as a unit
independent of the base 102 in the direction as shown by the arrow A in
FIG. 1.
Meanwhile, the driving gear 138 is driven by a first motor 140 accommodated
in the inner part of the base 102.
As shown in FIG. 4, elongated holes 142 are formed on both side parts of
the robot main unit 104 along nearly a total length in the direction of
height thereof. Supporting pieces 144 bent at an obtuse angle and are
installed in a manner to pass through these holes 142 as shown in FIG. 7A
through FIG. 7C. One end of this supporting piece 144 is combined with the
other supporting piece in the robot main unit 104. Also, the arm 110 is
fixed to the end part of the supporting piece 144 located outside the
robot main unit 104, and an elongated hole 146 is formed at the free end
side of the supporting piece 114. Then, the two supporting pieces 144 for
the both arms 110 are superposed as shown in FIG. 7C, and a pin 150 fixed
to a rotary plate 148 is inserted through these holes 146 in common. The
rotary plate 148 can be coupled to an output shaft of a second motor 152.
As is obvious from FIG. 5, this second motor 152 is, for example,
accommodated in the robot main unit 104. When this motor 150 is driven,
the rotary plate 148 is rotated, and the pin 150 is brought to a position
as shown in FIG. 7A or FIG. 7B. In a state as shown in FIG. 7A, the tips
of the arms 110 are opened. In a state as shown in FIG. 7B, the tips of
the arms 110 are closed. Thus, the arms 110 can be controlled to be put in
"opened" state or "closed" state by driving the second motor 152. By such
motions of the arms 110, the object 200 can be clamped therebetween as
shown in FIG. 2.
Then, the object 200 can be carried to another position by rotating the
robot main unit 104 as described above in the state wherein the object 200
is clamped by the arms 110.
As shown in FIG. 8 gear, racks 154 are formed on both side faces of the
sleeve 134 of the robot main unit 104. Then, two pinions 156 are installed
so as to engage with these racks 154 of both sides, and these pinions 156
are driven by a third motor 158. Then, the above-described supporting
pieces 144 for the arms 110 and associated rotary plate 148 (FIG. 7A
through FIG. 7C) and the like are installed in a manner that enables these
parts to be moved as a unit together with this motor 158. Accordingly, if
the pinions 156 are rotated, for example, in the direction as shown by an
arrow E in FIG. 8 by driving the motor 158, responsively, the motor 158 is
displaced in the direction as shown by an arrow E'. Accompanying this
displacement of the motor 158, the positions of the supporting pieces 144
connected thereto, that is the arms 110 in the direction of height is
changed. In other words, the arms 110 can be displaced in the direction as
shown by an arrow F in FIG. 4 by the third motor 158.
The third motor 158 is also accommodated in the robot main unit 104
together with the second motor 152. On the other hand, this robot main
unit 104 is rotated by the first motor 140 as described previously.
Accordingly, a control circuit board 160 for controlling robot is
accommodated in the inside of the base 102 and cannot be connected
directly to the two motors 152 and 158. Therefore, in this embodiment, as
shown in FIG. 5, a rotary contact 162 which contacts slidably with a
conductive pattern formed on a fixed disc in response to a rotation of the
robot main unit 104 is installed in the lower part of the robot main unit
104. Accordingly, a driving signal or controlling signal is applied to the
two motors 152 and 158 from the board 160 through the rotary contact 162
and leads extending therefrom.
Meanwhile, a battery 164 for providing power to various electric components
as described above and a speaker 166 for producing a simulated sound are
accommodated in the base 102 of the robot 100.
Thus, the robot main unit 104 can be rotated in the direction as shown by
the arrow A in FIG. 1 by driving the first motor 140, the arms 110 can be
opened or closed as shown by an arrow G in FIG. 7B by driving the second
motor 152, and the arms 110 can be displaced in the direction as shown by
the arrow F in FIG. 4 by driving the third motor 158.
Meanwhile, the head 106 is supported by the fixed shaft 132 as shown in
FIG. 5, and therefore the image receiving part 108 thereof can be
maintained all the time in the state of facing the specific area 304 (FIG.
1) of the screen 302 of the CRT display 300 even if the robot main unit
104 is rotated as described above.
FIG. 9 is a schematic block diagram showing the configuration of the
electrical control for this embodiment. As described previously, the power
switch 402, the reset switch 404 and the operating part 408 are connected
to the image processing part 400. Then, a signal (key code) from the
operating part 408 is applied to a CPU 418 through an input/output control
416. For this CPU 418, for example, the microprocessor "RP2A03"
manufactured by Nintendo can be utilized. Then, a reset signal from the
reset switch 404 is given directly to this CPU 418 as an interrupt signal.
A PPU (picture processing unit) 420, a RAM 422 and the ROM 406 contained
in a cassette which is loaded in the main unit 400 in an
attachable/detachable fashion as shown in FIG. 1 are connected to the CPU
418. Then, for the PPU 420, the integrated circuit "2C03" manufactured by
Nintendo can be utilized. Also, the RAM 422 accommodates the number of
picture elements of the screen 302 of the CRT display 300. For this video
RAM 422, for example, the integrated circuit "6116" manufactured by
Hitachi or the like can be utilized. Although not illustrated, a character
generator is installed in the image processing controlling part 400, and a
character dot signal is given to the PPU 420 from this character generator
in response to a selection of the CPU 418. Then, the character dot signal,
namely, an image signal set by the CPU 418 is taken out from this PPU 420,
and this image signal is converted into a television signal of the NTSC
system, for example, by an RF circuit, namely, a modulating circuit 424.
Then, this television signal is given to a television receiver, namely,
the CRT display 300.
Alternatively, the image signal (video signal) may be applied to the CRT
display 300 in place of an RF signal, or a an RGB signal may be used.
A power source 426 for supplying respective electric components with
electric power is installed in the image processing part 400, and the
power switch 402 and a pilot lamp 428 are connected to this power source
426 (FIG. 9).
As described above, the condensing lens 128 and the photo detector 124 are
installed in the image receiving part 108 which receives the image formed
in the specific area 304 on the screen 302 of the CRT display 300. An
electric signal from this photo detector 124 is given to an input/output
control 170 contained in a robot controlling part 168 through an input
amplifier 128. This input/output control 170 gives a signal or data to a
CPU 172, and also gives driving signals or controlling signals to each
component such as motors based on a command from the CPU 172. Accordingly,
the above-described LED 130 (refer to FIG. 2), speaker 166 (refer to FIG.
6) and first, second and third motors 140, 152 and 158 are connected to
this input/output control 170. Meanwhile, the first motor 140 is connected
directly, and as described above, the second and third motors 152 and 158
are connected through the rotary contact 162. A ROM 174 and a RAM 176 are
connected to the CPU 172. Then, the power source 164 (refer to FIG. 5)
such as a battery is contained in the robot controlling part 168, and this
power source 164 is turned on or off by a power switch 178.
FIG. 10 through FIG. 12 are flowcharts for explaining operation of the
image processing part 400. The CPU 418 contained in the image processing
part 400 checks a signal from the input/output control 416 and detects
whether or not any signal from the operating part 408 has been inputted,
that is, whether or not a key input has been given. Then, if a key input
has been given, the key input is converted into a predetermined code in
the next step, and subsequently the code is displayed in the specific area
304 on the screen 302 of the CRT display 300.
In the subroutine for code conversion, as shown in FIG. 11, based on
signals from the cross-shaped key switch 410 and the key switches 412 and
414 of the operating part 408, codes corresponding respectively thereto
are set, for example, in an A-register or a working register (not
illustrated) contained in the CPU 418. As described previously, the
cross-shaped key switch 410 comprises the four press points 410U, 410D,
410R and 410 L.
The press point 410U is depressed when moving the arms 110 of the robot 100
upward, and when this press point 410U is depressed, the CPU 418 reads a
code "110" from a decoder (not illustrated) of the associated ROM 416
(which is attached as a cassette), setting it in the A-register or the
working register. The press point 410D is utilized for moving the arms 110
of the robot 100 downward, and when this press point 410D is depressed,
the CPU 418 reads a code "111" from the ROM 406, setting it. The press
point 410R is used for rotating the robot main unit 104 clockwise, and
when this press point 410R is depressed, the CPU 418 sets a code "101".
The press point 410L is utilized for rotating the robot main unit 104
counterclockwise, and when this press point 410L is depressed, a code
"101" is set.
The key switch 412 is utilized for opening the arms 110, that is, for
putting them in the state of FIG. 7A, and when this key switch 412 is
depressed, a code "010" is set. The key switch 414 is utilized for closing
the arms 110, that is, for putting them in the state of FIG. 7B, and when
this key switch 414 is depressed, a code "011" is set.
Meanwhile, in this subroutine for code conversion, when a key input other
than any one of the above-described key inputs is given, a code "000" is
set and processing returns to a main routine (FIG. 10).
Next, a subroutine for code display as shown in FIG. 12 is executed. In
this subroutine for code display, basically, a preceding digit of the code
is displayed for every frame of the television signal of the NTSC system.
In this subroutine, in the first step S1, since the code is of three
digits, a numeric value "2" is set in a counter of count-down system (not
illustrated) in the CPU 418. Then, in the next step S3, the CPU 418
decides whether or not the CRT display 300, that is, the television signal
is in the V(vertical) blanking period, and when the V blanking period is
reached, in the next step S5, the CPU 418 sets a character code for white
character as a trigger bit for the character generator (not illustrated),
and also in step S7, it sets an address of the specific area 304 (FIG. 1)
for the display for the video RAM 422. Thus, addition of the trigger bit
enhances the accuracy of transmitting a signal or data to the robot 100
from the specific area 304 (FIG. 1), and this trigger bit is inserted for
every digit of the code. Then, in step S9, an image signal of white
character is outputted from the PPU 420, being modulated into a television
signal by the RF circuit 424. Responsively, the white character as a
trigger bit is displayed on the specific area 304 of the CRT display 300.
This display persists for a predetermined time during the period of one
frame.
Then, in the next step S11, the CPU 418 decides again whether or not the
display is in the V blanking period, and when the V blanking period is
sensed, in step S13, the CPU 418 checks the code set in the A-register or
working register (not illustrated) contained therein, deciding whether or
not the N-th bit of the code is "1". If that digit of the code is "1", in
step S15, the white character is set in the PPU 420 as in the previous
case, and in reverse, if that digit is "0", in step S17, the black
character is set. Then, in either case, thereafter, in step S19, an
address of the video RAM 422 for displaying that character is set, and in
step S21, an image signal for that white character or black character is
outputted.
Thus, if 1-bit display is performed, in step S23, the CPU 418 decrements
the content of the above-described counter associated therewith. Then, at
that point, the CPU 418 decides whether or not to carry or borrow has
taken place in that counter. If a carry has taken place here, it means
that all of these three digits have been displayed, and in steps S27
through S31, the CPU 418 sets the black character and also sets the
display address, and an output is sent from the PPU 420.
If no carry has taken place in the counter, processing returns to the
second step S3 in FIG. 12, displaying the trigger bit and the code bits
following it in the same manner.
In accordance with this FIG. 12, for example, the code "101" in the case
where the press point 410R of the cross-shaped key switch 410 is depressed
is converted into an image signal as shown in FIG. 13 and is outputted
from the PPU 420. That is, after every V blanking, following the trigger
bit, a code "1" is displayed by white and a code "0" is displayed by
black, respectively.
Next, a description is made of the operation of the robot controlling part
in reference to FIG. 14 through FIG. 16.
In the robot controlling part 168 (FIG. 9), as shown in FIG. 14, mainly the
subroutine for code conversion and the subroutine for control are
executed.
In the first step S101 of the subroutine for code conversion as shown in
FIG. 15, the CPU 172 comprised in the robot controlling part 168 sets a
numeric value "2" in a counter contained therein (not illustrated). Then,
in step S103, the CPU 172 checks a signal from the input/output control
170, and decides whether or not a signal from the input amplifier 128 has
risen. That is, in this step S103, the CPU 172 decides whether or not an
image output (light output) from the CRT display 300 has been given. Then,
the CPU 172 detects a rise, and thereafter in step S105, the CPU 172 gives
a start signal to a timer associated therewith, in step S107, the CPU 172
detects a fall of the signal from the input amplifier 128 in the same
manner. The trigger bit is detected in these two steps S103 and S107.
Thereafter, in step S109, after deciding a lapse of 16 msec, the CPU 172
starts the timer again in step S111. The reason why the lapse time is
selected 16 msec is that it is necessary to detect a presence of data for
approximately 2 msec at the timing before the screen is rewritten for
every 16.6 msec (1V=16.6 msec) in the NTSC system. Then, in step S113, the
CPU 172 decides whether or not a rise of the signal from the input
amplifier 128, namely, the white character has been displayed on the
specific area 304 of the CRT display 300. Accordingly, this "16 msec"
means to read the code display, namely, the command data after a lapse of
16 msec from a detection of the trigger bit.
Then, if a rise of the signal is present after a lapse of 16 msec from a
rise of the previous trigger signal, it is decided that what is displayed
at that time is the white character, and in step S115, the CPU 172 sets
"1" at the N-th bit of the A-register associated therewith or of the code
register formed in a predetermined area of the RAM 176. When no rise of
the signal is present even after a lapse of 16 msec, the CPU 172 monitors
this state until 2 msec elapses by a timer set immediately before (step
S117), and when no rise of the signal is present even after a lapse of 2
msec, the CPU 172 decides that the code displayed at that time is of the
black character, and in step S119, it sets "0" at the N-th bit of the code
register.
Thereafter, in step S121, the CPU 172 decrements the associated counter,
and also in step S123, it decides whether or not a carry or borrow has
taken place in the decremented counter. When a carry has taken place,
processing returns again to the second step S103 in FIG. 15 and the
previous routine is executed, and if a carry has been outputted, this
means that all of the three-bit code has been received, and processing
returns to the main routine (FIG. 14).
Thus, in accordance with FIG. 15, the code of the same content as that of
the code which is set by the image processing controlling part 400 by
operating the operating part 408, that is, the code displayed by the CRT
display 300 is loaded in the code register (not illustrated) of the robot
controlling part 168. Then, in the control subroutine, predetermined
controls are performed respectively according to the code thus restored.
In the control subroutine as shown in FIG. 16, when the code "110" is
loaded, the CPU 172 gives a driving signal for forward rotation to the
third motor 158 through the input/output control 170. Responsively, this
motor 158 (FIG. 9) is rotated in the forward direction, and the arms 110
displaced by this motor 158 are moved upward. When the code "111" is
loaded, this third motor 158 is rotated in the reverse direction, and
responsively the arms 110 are moved downward.
When the code "101" is loaded, the CPU 172 gives a driving signal for
forward rotation to the first motor through the input/output control 170.
When this first motor 140 (FIG. 6) is rotated forward, the driving gear
138 coupled to the output shaft thereof is rotated, and responsively the
follower gear 136 is also rotated forward, and the robot main unit 104 is
rotated clockwise. If the code is "100", this first motor 140 is rotated
reversely, and the robot main unit 104 is rotated counterclockwise.
When the code "010" is received, the CPU 172 gives a driving signal for
forward rotation to the second motor 152 through the input/output control
170. When this second motor 152 is rotated forward, the arms 110 are
opened as shown in FIG. 7A. On the other hand, when the code "011" is
loaded, this second motor 152 is rotated in the reverse direction, and the
arms 110 are put in a closed state as shown in FIG. 7B.
Then, if the received code is a code other than this, the CPU 172
deenergizes all of the motors 140, 152 and 158, returning to the main
routine as shown in FIG. 14.
Thus, the image data from the image processing part 400 is displayed by the
CRT display 300, and in the robot side, the robot controlling part 168
controls each part of the robot 100, particularly the arms 110 and the
robot main unit based on the input from the image receiving part 108.
Accordingly, if, for example, as shown in FIG. 2, the press point 410L of
the cross-shaped key switch 410 contained in the operating part 408 is
depressed in a state wherein an object 200a is clamped by the arms 110 of
the robot 100, responsively, the code "100" as shown in FIG. 11 is
outputted, and "white, black, black" is displayed on the display 300
except for the trigger bit, and that code is received and the first motor
140 is rotated reversely. Then, the robot main unit 104 is rotated
counterclockwise, and the object 200a is brought to the position of an
object 200b as shown in FIG. 2. Then, when the press point 410D of the
cross-shaped key switch 410 is operated in this state, the code "111" is
outputted, and "white, white, white" is displayed on the display 300
except for the trigger bit. Then, in the robot side, this image signal is
received as the code "111", and the third motor 158 is rotated reversely.
Then, the arms 110 are moved downward. Furthermore, when the key switch
414 contained in the operating part 408 is operated, the code "010" is
outputted, and in the robot side, likewise, the second motor 152 is
rotated forward, the arms 110 are opened as shown in FIG. 7A, and the
clamped object 200a can be put on the object 200b. Thus, the robot 100 can
be remote-controlled when facing the screen 302 of the CRT display 300
without applying a signal from the operating controls directly to the
robot 100.
In the above-described embodiment, the robot 100 moves every time the
operator operates the operating part 408. On the other hand, a series of
operations can also be performed by storing same in advance in a register.
That is, when the operator operates the operating part 407 and depress the
register key (not illustrated) installed separately, this operation, that
is, the code is registered (stored) in the register, and by repeating the
operation sequentially a series of controlling codes are registered. By
operating a start key (not illustrated), the previously described code
display, is received and robot controls are executed. In this case, as
shown in FIG. 17, the command contents are displayed in sequence as a
message 306 on the screen 302 of the display 300 separately from the
specific area 304 for displaying signals. Then, when the control of the
robot 100 is executed, the currently executed step can be displayed
clearly, for example, by flashing that message 306 or the like.
Such a display of the message 306 by means of the display 300 can be
performed very easily in the case where the display for that signal is
performed only in the specific area 304 on the screen 302. Also, the
character generator can be utilized effectively also for displaying the
message.
Furthermore, a display as shown in FIG. 18 is considered as a specific
application example of the display as shown in FIG. 17 to the gaming
apparatus. In this case, in the operating part 408, a joy stick 430 as
shown in FIG. 9 is provided in association therewith. Then, the character
308 displayed on the screen 302 of the display 300 can be moved on the
screen by this joy stick 430. The method of moving such a character 308
(and a character as described later) on the screen is already well known,
and therefore the description whereon is omitted here.
Then, the messages 306, 306, --- are scattered at arbitrary places in a
maze partitioned by the wall character 310 on the screen 302 of the CRT
display 300 by operating the image processing part 400. A character 312 is
programmed so as to chase the character 308.
By operating the joy stick 430 (FIG. 9), the operator moves the character
308 on the screen 302 so that this character 308 will draw near the
position of the desired message 306. At this time, if the character 308 is
caught by the character 312, the robot becomes uncontrollable in that
state. If the character 308 can be made to draw near the message 306
successfully, the image processing controlling part 400 generates a code
responding to that message, forming an image responding to the code in the
specific area 304 on the screen 302. Then, the robot can perform a
predetermined operation following the message. If the operator can make
the robot execute a task, for example, disposition of the object 200 as
described previously in reference to FIG. 2 while attempting to prevent
character 308 from being caught by the character 312, a very interesting
game is provided which is scored by counting the points obtaine | | |
