Abstract:
A hunting sport game is played in an interactive arena. The game is played by two or more sides of any size, one side having at least one human player in the arena, and the other side(s) having at least one electromechanical player. The players are provided with projection shooting weapons with which to attack opponents, which may include paintball discharging means, laser targeting means, low-voltage taser means, combinations thereof, and the like. Players, both human and electromechanical, that have been struck by a shot from an opponent&#39;s weapon are made known to the human players and are immediately disqualified from further participation in the game for at least a predetermined time.

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
       [0001]    This application claims the benefit of U.S. Provisional Application No. 60/621,908 filed Oct. 25, 2004 and U.S. Provisional Application No. 60/640,556, filed Dec. 30, 2004, both of which are hereby incorporated by reference. 
     
    
     TECHNICAL FIELD 
       [0002]    The present invention relates to hunting sport games; more particularly, to non-virtual hunting sport games wherein a human player physically participates; and most particularly, to a hunting sport game wherein at least one human player is physically pitted against or allied with at least one electromechanical player. 
       BACKGROUND OF THE INVENTION 
       [0003]    So-called “paintballs” are integral elements of a well known mock hunting sport wherein players attempt to deliver paintballs into rupturing contact with other players. See, for example, U.S. Pat. Nos. 5,001,880; 5,018,450; 5,393,054; 5,353,712; 5,448,951; 5,640,945; 5,762,058; 5,823,173; 5,936,190; 6,082,439; 6,145,441; 6,230,630; 6,375,981; 6,530,962; 6,574,945; and 6,615,739, the relevant disclosures of which are hereby incorporated by reference. 
         [0004]    The prior art sport or recreational activity known as “War Games” is currently one of the fastest growing sports in North America. Typically, players are arranged into two or more teams and shoot paintballs at members of the opposing teams in a hide-and-seek or capture-the-flag setting. A paintball typically is fired from a hand-held gun employing a compressed-gas charge which can accelerate the paintball without causing it to rupture within the gun. When a paintball strikes a player of an opposing team, the paintball ruptures and releases the fill material or “paint” onto that player. Any player thus marked by a ruptured paintball is disqualified from continuing in the game. 
         [0005]    Such games are referred to herein as “real” games as opposed to “virtual” games. Such real hunting games generally require a dedicated venue, either an outdoors area having natural obstacles and shields or an indoor arena having fabricated obstacles and shields. 
         [0006]    A limitation of all such prior art real games is that more than one player is required in order to have a game. Typically, a substantial number of players must be assembled to form teams or sides. Although a game may be played with as few as two players, most commonly each side comprises a plurality of players. This makes the game more interesting in that opposing fire may come from any of several directions at once. Further, play is commonly organized into regular leagues of teams, similar to softball or bowling leagues, making it difficult for an individual to participate with a team on the spur of the moment or when visiting a different city, for example. 
         [0007]    What is needed in the art of real hunting sport games is a game that can be played by as few as a single human player. 
         [0008]    Another class of prior art hunting games is the so-called video game, referred to herein as a virtual game, in which a human hunter operates a device such as a mouse or joystick to control one or more protagonists in virtual combat with one or more opponents on a CRT monitor or arcade screen. The opponents may take fantastic shapes and powers, and players may perform fantastic or cruel acts, limited only by the imaginations of the game&#39;s designer. The virtual setting or arena itself may be highly interactive, providing beneficial or harmful responses to a player&#39;s actions. All aspects of the game are generated by software programs, and all hunting situations into which the human player&#39;s mind is engaged are virtual; that is, there are no real opponents or situations or settings, and there is no physical danger to the human player. Virtual games have an advantage over real games in that typically they may be played by a single player, or by two opposing players having individual controls. Large teams and special arenas are not required. 
         [0009]    A limitation of virtual hunting sport games is that no physical prowess is required, and consequently such games give no advantage to persons skilled in the arts of stealth, agility, reconnaissance, speed, and physical quickness. Virtual games offer no meaningful level of physical involvement and provide no healthful exercise or conditioning to the player. 
         [0010]    What is needed in the art of virtual hunting sport games is a game involving human players physically in a semi-virtual arena. 
         [0011]    It is a principal object of the present invention to provide an improved hunting sport game comprising one or more human players and one or more electromechanical players in an electromechanical arena. 
       SUMMARY OF THE INVENTION 
       [0012]    Briefly described, a hunting sport game in accordance with the invention comprises an interactive arena for conduct of the game. The game is played by two or more sides of any size, one side having at least one human player in the arena, and the other side(s) having at least one electromechanical player. The players are provided with projection shooting weapons with which to attack opponents, which may include paintball discharging means, laser targeting means, low-voltage taser means, combinations thereof, and the like. Optionally, the players, both human and electromechanical, that have been struck by a shot from an opponent&#39;s weapon are made known to the human players and are immediately disqualified from further participation in the game for at least a predetermined time. 
         [0013]    Objectives for the human player or players of the game may be, for example, capturing an object in enemy territory; defending an object from capture; scoring points by any of various prescribed means; solving puzzles that require overcoming opponents; or simply shooting opponents with the weapons. An electromechanical player may play on a human team side as well as the arena side. 
         [0014]    An electromechanical player may be a substantially self-contained robot or it may be more broadly a robotic weapon system capable of motion through several degrees of freedom, optionally including translation, and remotely controlled by a central processing unit (CPU). 
         [0015]    The CPU may control several such players, either in coordination with each other or for independent action, as well as other interactive elements of the arena such as a scoreboard, for example. Variables of the arena may be adjusted by the CPU as desired by the human players to vary the difficulty of play, including light level, sound levels and distractions, visibility, temperature, and humidity, speed of response of the robotic weapons, range and accuracy of fire, number of robotic weapons, patterns of fire, weapon loads, sensitivity of the arena to human motion, et cetera. Arena variables may be adjusted to permit play and enjoyment by humans who are physically or mentally impaired, and who are otherwise incapable of competing with or against humans of normal capabilities in prior art facilities. 
         [0016]    The arena and/or the human players may be provided with means, electronic or otherwise, such that the positions and rates/directions of travel of the human players may be tracked by the robots/CPU and may be used in either open-loop or closed-loop mode to assist in directing fire from the electromechanical players. 
         [0017]    A significant advantage of an arena hunting sport game in accordance with the invention is that a single human player may play as an individual at any time without requiring additional human players as either teammates or opponents. 
         [0018]    Another significant advantage is that a human player can be made to feel as though he/she has been physically inserted into a video game; that the experience is real but the feeling is virtual. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0019]    The accompanying drawings, which are incorporated into and form a part of the specification, illustrate several embodiments of the present invention and together with the description, serve to explain the principles of the invention. The drawings are only for the purpose of illustrating a preferred embodiment of the invention and are not to be construed as limiting the invention. In the drawings: 
           [0020]      FIG. 1  shows an automated paintball playing apparatus and environment; 
           [0021]      FIG. 2  shows a remotely operated paintball gun and a remote trigger; 
           [0022]      FIGS. 3A and 3B  show various embodiments of a remote trigger that may be used to actuate remotely operated paintball guns; 
           [0023]      FIG. 4  shows a human player with physical disabilities, sitting in an assistive device, having a remotely operated paintball gun attached to the assistive device and participating in the game of paintball; 
           [0024]      FIG. 5A  shows a human player hiding behind an obstacle and operating a paintball gun from a protected location; 
           [0025]      FIG. 5B  shows a human player participating in paintball game while retreating from play, and still operating a paintball gun; 
           [0026]      FIG. 6  shows an electrical signal transmitted from a remotely operated trigger to a remotely operated paintball gun via a wired or wireless communication to activate a firing sequence of a gun; 
           [0027]      FIG. 7  shows a plurality of remotely operated paintball guns under automated control of a local command and control center, which may also communicate with a central command and control center, in a hierarchical or other network topology or structure; 
           [0028]      FIG. 8  shows one type of a sensor that can be used to sense the presence of a human player; 
           [0029]      FIG. 9  shows an open loop controller for operating a paintball gun from a remote location; 
           [0030]      FIG. 10  shows a block diagram of an open loop control system; 
           [0031]      FIG. 11  shows a human player opposing an automated player using a closed loop control system; 
           [0032]      FIG. 12  shows a plurality of human players and automated players in an arena, competing against one another in a scenario game; 
           [0033]      FIGS. 13A and 13B  show a plan view and an elevation view of an automated remotely operated paintball gun player and an opposing player, with the opposing player being targeted by the automated player. 
           [0034]      FIG. 14  shows a timing diagram of typical events occurring during the course of a game in the automated playing environment, illustrating the processes and control algorithms required for the environment; 
           [0035]      FIGS. 15A and 15B  show one embodiment of an automated position and orientation control system for an automated, remotely operated paintball gun; 
           [0036]      FIG. 16  shows an alternative embodiment of an automated position control system for an automated, remotely operated paintball gun; 
           [0037]      FIGS. 17A and 17B  show one embodiment of a target/scoring unit; 
           [0038]      FIG. 18  shows one embodiment of a transmitter/receiver sensor system for detecting paintball hits; 
           [0039]      FIG. 19  shows a feedback control system for a remotely operated paintball gun; and 
           [0040]      FIG. 20  shows a mobile platform for a remotely operated paintball gun. 
       
    
    
     DESCRIPTION OF THE PREFERRED EMBODIMENTS 
       [0041]    Referring to  FIG. 1 , within an arena or playing area having a boundary  22  a first human player  1  with a paintball gun  2  for firing paintballs  29  at a target/scoring unit  20  has as one of his or her objectives to capture a flag  25  in a storage unit  27  and take the flag to the storage unit  26  of the first human player  1  which is the home position of the first human player  1 . The signals  28  allow the command and control unit  9  to monitor the status of multiple storage units  27  and for the presence of flags  25 . The first human player  1  is matched against an automated or electromechanical player having several components including an automated player control unit  12  that is connected by a wire  19  to a command and control unit  9  that is in charge of the overall arena control including the control of multiple display units  24  providing information, video, data, time, and game statistics to support a scenario game to the first human player  1  and to spectators. Also connected to the control unit  9  by a wire  18  is a data transceiver (transmitter and receiver pair)  17  for providing information to, and receiving information from, the first human player  1 . To detect the position of the first human player  1  a transmitter  3  and receiver  4  typically provide analog data on wire  11  to a signal processing unit  10  which, in turn, converts the analog data into position data that is provided to the control unit  9  on a wire  6 . 
         [0042]    The automated player has a remotely operated paintball gun  8  connected to the automated player control unit  12  on a wire  13  for firing paintballs  30  at the first human player  1 . The barrel of the paintball gun  8  is positioned by an actuator  7 , also connected to the automated player control unit  12  on a wire  14 . An automated player status indicator  16  is connected to the automated player control unit  12  on a wire  15 . 
         [0043]    Also the arena contains an obstacle  31  and a target/scoring unit  20 . The target/scoring unit  20  is connected to the control unit  9  by a wire  21 . Sources of power for the field elements including the elements  3 ,  4 ,  7 ,  9 ,  12 ,  20 , and  24 , which can be AC or DC electric, air, water, etc., are shown in  FIG. 1  as standard wall plugs  5 . 
         [0044]    A second human player  33 , like the first human player  1 , can roam throughout the arena defined by the boundary  22  and pass near to the position of the automated player  8  for the purpose of attacking the target  20 , capturing the flag  25  or moving into a tactical position for the aid of the first human player  1 . Also, the first and second human player  1  and  33  and the automated player  8  may each be competing against the other two players. 
         [0045]      FIG. 2  shows a remotely controllable paintball gun  49  having a barrel  50 , an on-board trigger  51 , a grip or mounting point  52 , and a paintball hopper  53 . A paint ball  54  that has been fired from the paintball gun  49  is also shown. First and second ports  55  and  56 , respectively, are built into the paintball gun  49  for receiving connections that interrupt the on-board trigger  51  and enable the use of a remote trigger  57  connected to the second port  56  by a wire connection  58 . 
         [0046]    A basic concept quite common to many electronic paintball guns is that the firing sequence is initiated by a trigger pull, causing an electronic signal to initiate firing. For example, an electronic gun circuit board may be included in the gun which controls the valves to actuate the paintball gun. A trigger circuit may be included which is initiated by a micro-switch or finger touch. The trigger pulse initiates a single round, a triplet, or even a fully automatic firing mode. The port  56  on the side of the gun may optionally exist for receiving an alternate firing trigger. The port  55  allows the gun  49  to be switched between on-board triggering using the trigger  51  and remote triggering using the port  56   
         [0047]      FIG. 3A  shows a type of hand held remote trigger  60  containing a switch  61  operated by the thumb of a user. The switch can be either normally open (push to fire) or normally closed (analogous to a “dead man&#39;s switch”). 
         [0048]      FIG. 3B  shows a mouth actuated “bite to fire” switch  82 . This type of switch may be embodied to accommodate a wide range of disabilities of a human player. 
         [0049]      FIG. 4  shows a handicapped human player  92  in an assistive device, specifically a wheel chair  91 , that has a remotely operated paintball gun  94  attached to the wheel chair  91 . The paintball gun  94  is controlled via the wire  58  by a remote trigger  95 . The paintball gun  94  is mounted to the wheel chair  91  by a mounting bracket  90 . 
         [0050]      FIG. 5A  shows a protected player  96  in a protected position behind a barrier  97  holding the paintball gun  49  above the barrier and shooting paintballs  54 . The player  96  is firing the paintball gun  49  with the remote trigger  57  via the wire  58 . 
         [0051]      FIG. 5B  shows the player  96  on the move with the paintball gun  49  left unattended. The player  96  triggers the paintball gun  49  with the trigger  57 . The trigger  57  is connected to the paintball gun  49  by the wire connection  58 , although a wireless connection may be preferred to give the player  96  a larger area in which to move. 
         [0052]      FIG. 6  is a plot of a typical trigger voltage applied to port  56  on the paintball gun  49 . Although the trigger voltage is shown as a negative transition, positive transitions may be required by other paintball guns. 
         [0053]    The firing of the paintball gun  49  can readily be accomplished with a remote signal. For example, the communication link  58  (shown in  FIG. 2 ) could be easily implemented via radio-frequency, or infra-red such as the remote control used in a garage door opener, keylock door opener for a vehicle, TV remote, etc. Even a cell phone could be used to control the firing of the paintball gun  49 . Also, a plurality of remotely operated paintball guns can be connected in a network either using wireless or wired connection. 
         [0054]      FIG. 7  is a diagram of a plurality of paintball guns  100 ,  101 ,  102 , and  103  controlled by a computer or microprocessor  104  which, in turn, are connected to a computer system  105 . The computer  104  is connected using a USB port in this embodiment to an I/O card  106  which provides trigger signals to paintball guns  100 ,  101 , and  102 . The I/O card  106  also provides control signals to a positioning mechanism  107  attached to the paintball gun  102  to move the paintball gun  102  with respect to elevation and horizontal rotation. The paintball gun  103  is connected to the computer  104  using a wireless connection with a wireless transmitter  108  and a wireless receiver  109 . The connection between the computer  104  and the computer  105  could be wired or wireless and can be over a local area network. In operation, the computer  105  is used for fire control to control the paintball guns  100 - 103  and the positioning mechanism  107  via the computer  104 . The computer  105  can also be used for logistics, safety, timing, etc. 
         [0055]      FIG. 8  shows one type of player detector used by the automated system. This detector uses one or more transmitted wireless signals  110 , such as light rays, RF signals, or ultrasonic beams that impinge upon a receiver sensor panel  111 . When a human player  112  interrupts the passage of at least some of the signals  110  from reaching the sensor panel  111 , the sensor panel provides a signal on a wired or wireless data link  113  to the automated system&#39;s computer. 
         [0056]    Modular components could be used to reduce the unit cost. For example, a wireless communications link to control relays and motor speed controllers via an R.F. link may be used, and a micro-processor may be used to activate pneumatic devices, drive motor controllers, and perform other logical functions. The trigger pulses could be driven by serial line (USB, serial port, etc.), BASIC stamp, PIC micro-controllers, D/A, digital output card, etc., or even I/O cards that are USB connectable and software addressable. The paintball gun does not have to look like a traditional paintball gun, as long as it is functional. This basic concept allows a combined hardware and software system that can provide a complete automated playing environment. 
         [0057]    The modular approach shown and described is readily scalable to an arbitrary number of components. For example, if a new paintball gun model comes on the market, it is only necessary to modify a component to interface between a received signal from a communications link and the new paintball gun to provide the type of input needed to drive the fire controller in the paintball gun. 
         [0058]      FIG. 9  is a block diagram of an open loop control system for a paintball gun  120 . A command signal from a human player sensor, controller, computer, etc. on a communication link  121  is received by an interface card  122  that converts the signal on the communication link  121  to a format that can be used by a command and signal conditioning unit  123 . This reformatted signal from the interface card  122  is transferred over a communication link  124  to one or more command and signal processing units  123 . The command and signal conditioning unit  123  receives the commands and issues trigger signals to the paintball gun  120 . Where there are multiple command and signal conditioning units  123  receiving the same signals from the interface card  122 , the command and signal conditioning unit  123  would decode an address associated with each command to determine the particular command and signal conditioning unit  123  that should respond to the command. 
         [0059]      FIG. 10  is a block diagram of a more general open loop control system wherein an input signal R(t) on input line  130  to an I/O unit  131  that provides a transfer function G 1  to generate a transmitted signal S(t) on line  132 . This signal can be of any communication protocol such as pulse width modulation as shown in  FIG. 10 . The S(t) signal is input to a receiver unit  133  having a transfer function G 2  to provide a command signal V(t), such as a paintball gun command, on line  134  to an actuator  135  having a transfer function G 3 . In  FIG. 10  this command signal V(t) is shown as a pulsed signal appropriate to input to a paintball gun. The transfer function G 3  provides a response Y(t) on line  136  which, in the case of a paintball gun, would be the mechanical firing mechanism producing the flight of the paintball. 
         [0060]      FIG. 11  is a schematic diagram of a closed loop control system. A human player  140  is moving in order to capture a flag  141 . A sensor  142  detects the human player  140  and sends the detection information to a loop controller  143 . The controller  143  interprets the data from sensor  142  and commands a positioning system  144  and an automated paintball gun  145  to fire a paintball  146  at the human player  140 . Whether the human player  140  was hit by the paintball  146  or changed his or her direction, speed, etc. would be input to the controller  143 , and the controller  143  would revise the commands sent to the positioning system  144  and the automated paintball gun  145  for the next time the sensor  142  detects a human player. With a plurality of sensors and/or a plurality of automated paintball guns the command revisions would involve more complicated algorithms for the controller  143 . 
         [0061]    A closed loop control system may be either in the time domain or the frequency domain, depending upon the application. Considering a feedback loop in the large scale “big picture,” such as the player  140  attacking a position against an automatic defender, the human player  140  moves toward an opponent, or to capture the flag  141 , or to compete against an objective determined by any variety of scenarios. The controller  143  such as a computer, microprocessor, programmable logic controller (PLC), etc. interprets data from one or more sensors  142  to determine position, strategy, trajectory, opportunity, threat, lethality, etc. of the human player. The controller  143  may use simple control logic of advanced game playing theory and optimization algorithms. 
         [0062]    Scenario games are becoming increasingly popular in the paintball sport. In these settings, teams often play against one another in a simulation of various settings. In a system in accordance with the invention, either an individual, or indeed a team of human players could play against an automated system. The automated system can be programmed to respond with a wide range of difficulties—almost like a participatory video game. Players, or teams of players, could compete to improve their score, proficiency level, etc. Automated player systems could be deployed for indoor or outdoor play. Systems can be designed for easy reconfiguration (especially wireless systems) or permanent, wired installations. The system can easily be designed for use in an arena, to compete against any number of human players. 
         [0063]    The automated players can be stationery or may be able to direct their fire, and, in advanced systems, also be able to move around in the playing arena. 
         [0064]      FIG. 12  is a diagram representing a playing area  150  where three offensive players X 1 , X 2 , and X 3  are trying to capture the flag  151 , and six defensive players O 1 , O 2 , O 3 , O 4 , O 5 , and O 6  are trying to impede or prohibit the three offensive players X 1 -X 3  from capturing the flag  151 . The offensive players X 1 -X 3  and the defensive players O 1 -O 6  may be human, automated, or a mixture of automated and human players. In the following discussion it is assumed that the offensive players X 1 -X 3  are human players and that the defensive players O 1 -O 6  are automated players. The movement of the human players X 1 -X 3  is detected by a plurality of sensors which, in  FIG. 12 , are arranged to sense north-south movement by sensors S 1 , S 2 , and S 3  aligned with north-south lines  152 , and to sense east-west movement by sensors S 4 , S 5 , S 6 , and S 7  aligned with east-west lines  153 . The sensors shown in  FIG. 12  are in a 2-d grid, but a 3-d grid of sensors could also be used. At a time t 1 , player X 1  is at a position N 1 (t 1 ), E 1 (t 1 ), a short time later the system measures the opponent X 1  being at positions N 2 (t 2 ) and E 2 (t 2 ). Using a first (or higher) order approximation the velocity of the player X 1  can be estimated. 
         [0065]    With higher resolution and accuracy, it may be possible to better track player X 1 &#39;s position, velocity, and acceleration, etc. Traditional and state of the art war-gaming algorithms and rules of engagement may be coded to control the response of the automated players O 1 -O 3 . Using simple equations of motion known in the art, the motion of any player, X 1  for example, can be projected. Statistical algorithms can be applied, if it is necessary, to track individual players X 1  and X 2 , for example when they converge at a point and subsequently diverge from that point. 
         [0066]      FIG. 13A  is a plan view of a portion of the playing area  150  shown in  FIG. 12  wherein an automated paintball gun O 1  is positioned at the origin of a graph having north as the positive abscissa  155  and east as the positive ordinate  156 . The X 1  player at time t 1  is located at a position  157  corresponding to N 1 (t 1 ), E 1 (t 1 ), and at time t 2  is located at a position  158  corresponding to N 2 (t 2 ), E 2 (t 2 ). The sensors covering the playing field  150  detect the position  157  and the direction, speed, and acceleration of the player X 1 , and using the simple equations of motion known in the art the position of X 1  at time t 2  is calculated to be the position  158 . The automated paintball gun O 1  is aimed at position  158  and commanded to fire a paintball such that the paintball will arrive at the position  158  at time t 2 . 
         [0067]      FIG. 13B  is an elevation view of the portion of the playing area  150  shown in  FIG. 13A . The automated paintball gun O 1  is again positioned at the origin of the graph which has a positive abscissa  160  of the vertical distance above the plane of the playing area  150 , and the ordinate  161  is the plane of the playing area  150 . Line  162  is the height of the center of gravity of the player X 1 . Using the calculated horizontal distance from the automated paint O 1  to the position  158 , the height of line  162 , and the trajectory characteristics of a paintball (including the muzzle velocity of the paintball gun) fired from the automated paintball gun O 1 , the proper angle of elevation and firing time of the automated paintball gun O 1  can be calculated using simple equations of motion known in the art to hit the center of gravity of the player X 1  at time t 2 . 
         [0068]      FIG. 14  shows two parallel time lines  165  and  166  showing the timing of some of the paintballs fired by the human paintball player X 1  and the automated paintball player O 1 , and the responses made by the automated system to a hit on a target by the human paintball player X 1  in one embodiment of the invention. In the first part of the time period the automated paintball player O 1  fires a plurality of paintballs indicated by arrows  167 . Later the human player X 1  fires a paintball that hits a target at a time represented by arrow  168 . In response to this hit, the automated system controller disables the automated paintball player O 1  for a predetermined time period  170 . At the beginning of this predetermined time period the automated status indicator  16  shown in  FIG. 1  becomes red to indicate to the human player that the automated paintball player O 1  is disabled. The automated status indicator  16  becomes yellow at a time indicated by arrow  171 , which is a predetermined time period  172  before the automated paintball player O 1  is reenabled as indicated by arrow  173 . The automated paintball player O 1  then resumes shooting paintballs as indicated by arrows  174  either immediately or after a predetermined delay time  175  according to the operating characteristics of the automated paintball player O 1 . The time period  170  can be adjusted depending on whether the human player X 1  is a novice or expert, and the information provided by the automated status indicator  16  can also be varied depending on the experience and ability of the human player X 1 . Audio cues could be used to assist visually impaired players in participating in the game. 
         [0069]      FIGS. 15A and 15B  are end and side views, respectively, of a paintball gun  180  mounted on an axle  181  which is supported by side brackets  182  which, in turn, are mounted on a base  183 . The axle  181  can be rotated by an elevation control motor  184  to control the vertical angle of the barrel  185  of the gun  180 . The base  183  can be rotated and the rotation of the base  183  is by an azimuth control motor  186 . The elevation control motor  184  and the azimuth control motor  186  are driven by a local controller  187 . Although two degrees of freedom of motion are shown in  FIG. 14 , even six degrees (or more) of freedom of motion (x, y, z, tx, ty, tz, etc) can be used to maneuver the paintball gun  180 . The motors  184  and  186  are servo or stepper motors in the embodiment shown in  FIGS. 15A and 15B . A sight  193  mounted on the barrel  185  can be either optical or laser and is used to orient the paintball gun  180  prior to a paintball game. The paintball gun  180  receives pressurized gas on a gas connection  186 . A large paintball hopper  187  supplies paintballs through a flexible coupling  188  to the paintball gun  180 . The paintball gun  180  is powered by the connection  195  which may provide compressed gas and electrical power to the gun  180  from a building supply system, thus reducing the need for maintaining filled compressed gas cylinders and batteries on each automated gun installation  180 . 
         [0070]    A communication link  194  transmits data between the local controller  187  and a regional controller. The local controller  187  generates the fire signal to the paintball gun  180  on a wire  189 , and receives signals on a connection  190  from a target  191 . The local controller  187  receives power on a line  192 . 
         [0071]    In operation the local controller  187  operates the motors  184  and  186  and generates a firing pulse on wire  189  in response to data received from the regional controller on the communication link  190 . Paintballs from a human player which hit the target  191  generate a signal which is carried to the local controller  187  from the target  191  on connection  190 , and the local controller  187  passes the hit information to the regional controller on the communication link  190 . 
         [0072]    However, it may be preferable to use a linear actuator, such as an air cylinder on shop air, to provide the motion control as shown in  FIG. 16 . This can be achieved by attaching a linear actuator  200 , between a mounting point  202  and a paintball gun  203  using a clevis pin  201 . The attachment to the paintball gun  203  by the clevis pin  201  is located some distance from an axis of rotation  204 . This may have a lower range of motion than the paintball gun  180  shown in  FIGS. 15A and 15B , but the mechanism would be more economical, faster, and/or require less distributed power on the playing field. 
         [0073]      FIGS. 17A and 17B  are front and side views, respectively, of a circular target  210  in which the face of the target  210  is a diaphragm  211  supported by an outer ring  212 . Attached to the diaphragm  21  is at least one strain gage  213  which has a connection  214  to a signal conditioning unit  215  such as a Wheatstone bridge. The signal conditioning unit  215  provides a calibrated signal to a controller on a connector  216 . 
         [0074]    The diaphragm  211 , strain gage(s)  213 , and signal conditioning unit  215  would facilitate not only an absolute on-off score, but also could assign increasing points for accuracy or speed. The target  210  could be affixed to a silhouette of a human, monster, object, etc. as appropriate to the game scenario. It could be used with or without the visual cues for the circles. 
         [0075]      FIG. 18  shows a paintball detector which provides an X, Y indication of paintball hits, along with repeated successful paintball hits. The detector shown in  FIG. 18  has two types of paintball detector mechanisms. The first mechanism has an emitter array  220  such as a light curtain, an acoustic curtain, etc., the emissions of which are detected by a receiver array  221  so that a paintball which interrupts one of the emissions of one of the emitters to its respective receiver is detected. The second mechanism, which is orthogonal to the first mechanism, has a emitter and array receiver  222  which emits light beams, acoustic beams, directed RF signals, etc. to a retro-reflector  223  which, in turn reflects back the emissions to the receivers in the emitter and array receiver  222 . A signal conditioning unit  224  detects changes in the signals from the receivers in the receiver array  221  and the emitter and array receiver  222  and generates digital data that is passed to a computer on a communication line  225 . This detector shown in  FIG. 18  not only provides accurate hit position information but, with the addition of a third axis, would enable a reverse trajectory tracking of where the shot came from. 
         [0076]    As an option, which can be enabled or disabled under software control, the player O 1  (shown in  FIG. 12 ) may have some type of target affixed to it to allow human players to mark, take out, disarm, or kill an automated opponent. While a mechanical bulls-eye type of target  210  is shown in  FIGS. 17A and 17B , it could in actuality be any target or sensor that would detect being hit by the opposing team. Both teams could be comprised of a combination of both human and automated players, and there may be any number of teams on the playing field, depending upon the game scenario. This could allow the formation of alliances, for example, under software controlled observation. The target, or bulls-eye, on player O 1  can be used to grant points based on the accuracy of the opponent, or to disable the player O 1  for the duration of the game, a pre-set interval, or a software-determined interval. The target could be a disk, a diaphragm, a photo-sensor array, a light curtain, or any other convenient means, preferably low-cost and reliable, to measure a paintball “mark” or “kill”. 
         [0077]      FIG. 19  is a schematic diagram containing an automatic paintball gun  230 , the target  210 , a status/intent indicator  232 , three electronic modules, a gun interface module  233 , an I/O module  234 , and a motor control module  235 . The paintball gun  230  includes a primary paintball hopper  236  and a larger capacity paintball hopper  237  for holding a large supply of paintballs. The primary paintball hopper  236  and the larger capacity paintball hopper  237  are connected with a flexible coupling  238  to allow for the motion of the paintball gun  230 . The paintball gun  230  is mounted on an axle that is transverse to the longitudinal axis of the paintball gun  230  and is located at the center of gravity  240  of the paintball gun  230  to minimize the motion control power requirements. The axle through the center of gravity  240  is driven by an elevation motor  241  and belt  242 . A pair of bracket  243  (only one of which is shown in  FIG. 20 ) supports the axle through the center of gravity  240  and, in turn, is mounted on a circular platform  244 . The circular platform revolves around a stationary support  245  through an angle of at least 135 degrees and is rotated by an azimuth motor  246  and belt  247 . The paintball gun  230  has a pressurized gas coupling  248  for receiving pressurized gas from a conduit  249 . A port  250  is connected to the gun interface module  233  by a signal-carrying connection  251 . The “G3” shown on the paintball gun  230  represents the mechanism inside the paintball gun  230  which fires a paintball in response to a fire command at the port  250  and corresponds to the “G3” shown in  FIG. 10 . 
         [0078]    The gun interface module  233  performs several functions. One function, as indicated by the “G2,” is to receive fire commands from the I/O unit  234 , and convert the command signals to a format compatible with the paintball gun  230 . The “G2” corresponds to the “G2” shown in  FIG. 10 . The target  210  provides analog electrical signals on a wired or wireless connection  252  indicative of whether the target has been hit by a paintball. The analog electrical signals from the target  210  are converted into digital signals by an A/D converter inside the gun interface module  233  and sent to the I/O module  234 . Status or intent information received from the I/O module  234  by the gun interface module  233  is converted to relay driver signals to control three relays, a green light relay  253 , a yellow light relay  254 , and a red light relay  255 . The three relays  253 ,  254 , and  255  are used to turn on and off a green light  256 , a yellow light  257 , and a red light  258  in the status/intent indictor  232 . The gun interface module  233  is connected to the I/O module  234  by a bus  260 . 
         [0079]    The motor control unit  235  receives target coordinates from the I/O unit  234  on connection  261 , calculates the proper elevation and azimuth for the paintball gun  230 , and drives the elevation and azimuth motors  241  and  246 , respectively, to align the paintball gun  230  accordingly in one embodiment of the invention. 
         [0080]    In another embodiment of the invention, the gun interface module  233  receives the coordinates of the target and the time that the target will be at the coordinates, calculates the direction and number of revolutions necessary for the motors  241  and  247  to move the paintball gun  230  from its present position to the position to hit the target and passes this data back to the I/O unit  234  which passes the data to the motor control unit  235 . Since the correct calculated position of the paintball gun  230  depends on the muzzle velocity and other characteristics of the paintball gun  230 , the gun interface module  233  is configured for a particular paintball gun  230 . The other modules, the I/O module  234  and the motor control module  235  would be the same for all paintball guns. 
         [0081]    The I/O module  234  interfaces with a controller by a wired or wireless connection  262 . 
         [0082]    The status/intent indicator  232  can have many embodiments such as a sequence of lights to indicate its status, for example, red to indicate that the paintball gun  230  is disabled, blue for not participating in this game, green for enabled and ready to shoot, and yellow to indicate that the status/intent indicator  232  will show green soon. For a novice level of play, the visual cues to the opposing team can be quite strong. For advanced, more challenging play, the visual plays may be less obvious (e.g. yellow, warning time could be shorter) or the indicator lights/visual/audio cues could be disabled. Audio cues could be used to assist visually impaired players in participating in the game. 
         [0083]    Other signals or cues can be used to indicate the status, lethality, and intent, etc. of each automated player. Indicators of an audio, visual, or even tactile nature might include 
         [0084]    (1) status—if player O 1  is alive, dead, waking up, not participating, or off; 
         [0085]    (2) intent—a color could be used to indicate that player O 1  is the member of a team or alliance and additionally, with novice players, a rotating red or blue light can be used to indicate such alliance; 
         [0086]    (3) lethality—a status indicator that might tell opponents how many rounds (paintballs) player O 1  has remaining and available to shoot; and 
         [0087]    (4) opportunity—indicating if the opposing player XN is within range and targeting capability of player O 1 . For example, the playing field could notify player XN that he or she has been locked on-to, and that a firing opportunity has been identified by the system. In a low level playing scenario, the human player might be given a warning time to take cover or action prior to being fired upon by player O 1 . In advanced play, the player XN may be given little or no warning. This would further allow the playing environment to be adapted to the skill level or the preference of the human players. The number of skills can be adapted to fit market conditions and evolve as the games become popular. 
         [0088]      FIG. 20  shows a mobile platform  400  upon which the device shown in  FIG. 19  may be attached. The mobile platform  400  consists of frame elements  402 , a lower body  404 , and an upper body  406  which is removably attached to the frame elements  402  with connectors  440 . Wheels  407  are idler wheels rotating freely about an axle  405 . Wheels  408  are driven wheels attached to drive axles  409  mounted via gear boxes  411  to the frame  402 . The motors  410  receive power and control signals on multi-pair wires  412  from motor controllers  414  which include overload protection circuitry. While a wheeled mobile platform is illustrated as the preferred embodiment in  FIG. 20 , a tracked vehicle or articulated leg vehicle may also be employed. The motor controllers  414  optionally receives shaft encoder data from a sensor mounted to the axles  409  which may be transmitted via multi-pair wires  412 , the motor controllers  414 , and the multi-pair wires  416  to a micro-controller  424 . The micro-controller  424  may record cumulative shaft encoder data to provide dead reckoning position information for navigation and control of the mobile platform  400  when operating in autonomous mode. Alternatively, when the mobile platform  400  is operated under human control, such navigation information may be unnecessary. Optionally, a position indicator  444  may be attached to the mobile platform  400  and provide position information on a wire  446  to the micro-controller  424 . The position indicator  444  may be selected from a variety of standard sensors including but not limited to GPS (Global Positioning Satellite) receivers, inertial navigation sensors, or radio-frequency based triangulation sensors. The motor controllers  414  receive power and command signals via wires  416  from the micro-controller  424 . The micro-controller  424  may have on-board software to control its actions, or may receive commands remotely via a wire  436  from a transceiver  420 . In the embodiment shown in  FIG. 20  motion control of the mobile platform  400  is achieved with simple skid-steering commands to differentially power the left and right motors  410 . Numerous alternative steering systems will be obvious to one skilled in the art. Commands from an antenna  442  may be received by an antenna  418  and passed to the transceiver  420 . The commands from the antenna  442  may be initiated by the master electronic control system for the arena, or by a human player. A battery  432  is removably mounted on the base  404  and provides electrical power via multi-pair wires  438  to the rest of the mobile platform electronics and motors  210 . A compressed gas tank  422  is removably attached to the base  404 . A manual valve  434  may be used to recharge the compressed gas tank  422  between games, or for attachment to an optional on-board compressor. The outlet pressure supply of the tank  422  is controlled by a solenoid valve  430  under control of the micro-controller  424  via a wire  428 . The exit port of valve  430  provides pneumatic power through a gas conduit  249  to the device shown in  FIG. 19 . The stationary support  245  is common to  FIG. 19  and  FIG. 20 . Similarly, the target  210 , and associated devices such as the status/intent indicator  232 , may be mounted to platform  406  using convenient mounting brackets  442 . A wire  252  is removably attached to the micro-controller  424 . Removable attachment points  250  and  251  provide a convenient means to employ the device shown in  FIG. 19  for a wide variety of purposes, and to provide convenient access for maintenance of mobile platform  400 . 
         [0089]    In the embodiments shown in  FIGS. 1 ,  2 ,  3 ,  4 ,  5 ,  7 ,  8 ,  9 ,  15 ,  17 ,  18 , and  19  connections between the various elements are shown as wire connections. However, wireless and well as wired connections can also be used for communication between the elements. 
         [0090]    The embodiments described are chosen to provide an illustration of principles of the invention and its practical application to enable thereby one of ordinary skill in the art to utilize the invention in various embodiments and with various modifications as are suited to the particular use contemplated. Therefore, the foregoing description is to be considered exemplary, rather than limiting, and the true scope of the invention is that described in the following claims.