Patent Publication Number: US-2018043243-A1

Title: Games played with robots

Description:
RELATED APPLICATIONS 
     This application is a continuation-in-part of U.S. Ser. No. 15/490,763, filed Apr. 18, 2017, now U.S. Pat. No. 9,795,868; that in turn is a continuation-in-part of U.S. Ser. No. 14/051,309, filed Oct. 10, 2013, now U.S. Pat. No. 9,623,319; which claims priority benefit of U.S. Provisional Application Ser. No. 61/870,480 filed Aug. 27, 2013; and U.S. Provisional Application Ser. No. 61/712,083 filed Oct. 10, 2012; the contents of the aforementioned applications are hereby incorporated by reference. 
    
    
     FIELD OF THE INVENTION 
     The present invention in general relates to entertainment and games, and in particular to walls for an arena for robotic games for the general public. 
     BACKGROUND OF THE INVENTION 
     Most robot games are intended for the robots to push each other around (sumo), destroy each other (e.g., BattleBots, RoboWars, etc.), or play some form of soccer (push/roll/kick a ball into a goal). In addition, some robot games are designed for a specific purpose for hobbyists and educational competitions (e.g., First, etc.). In a particular game played on a pool or billiard table surface, competing robots are used to score points by pushing or knocking pool balls into the table pockets. A traditional billiard or pool table has six pockets for aiming at and targeting pool balls, with four pockets positioned at the corners of the table, and two pockets positioned at each of the midpoints of the table lengthwise sides. However, there are currently no automated methods for identifying when and which balls fall into which pockets of a billiard table. 
     Thus, there exists a need for mass-produced robotic games for the general public. There also exists a need for an automated method and system for identifying when and which balls fall into which pockets. 
     SUMMARY OF THE INVENTION 
     A robotic gaming system a playing surface with a subfloor spaced to allow a robot to engage both the playing surface and the subfloor. At least one robot controlled by a player with a smart phone for navigating on the playing surface, and for navigating along, the playing surface, the subfloor, or both. A plurality of scoring elements are present with which the at least one robot interacts, and a plurality of sensors operative for identifying when the at least one robot successfully interacts with an element of the plurality of elements, where a successful interaction scores at least one point for the at least one robot. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a top down view of a billiard table with identification and tracking sensors positioned in the table pockets according to embodiments of the invention; 
         FIG. 2  is a side perspective drawing showing a billiard table with an identification and tracking sensor suspended above the table according to embodiments of the invention; 
         FIG. 3A  is a side perspective view of a pool ball with an identification barcode according to embodiments of the invention; and 
         FIG. 3B  is a side perspective view of a pool ball with a unique machine readable or recognizable electronics/component (RFID, magnets, etc.) embedded inside according to embodiments of the invention. 
         FIG. 4  is an elevated perspective view of playing table for inventive games; 
         FIG. 5  is an alternative construct of a playing area for an inventive game; 
         FIGS. 6A-6E  are perspective images of a wall section ( FIG. 6A ), various gate sections ( FIGS. 6B-6D ) and a pin ( FIG. 6E ) for joining the aforementioned sections together; 
         FIG. 7  is a bottom view of an embodiment of a robot operative in the present invention; 
         FIG. 8  is a side view of the robot shown in  FIG. 7 ; 
         FIG. 9  is a perspective view of another embodiment of robot operative in the present invention and depicted in the context of a playing field and various targets of a ball and cylinders; 
         FIG. 10  is a bottom view of the robot shown in  FIG. 9 ; 
         FIG. 11  is a view of the drive system for a wheel of a robot of  FIG. 9 ; 
         FIG. 12  is a front perspective view of a modular wall section joined with a modular playing surface mat, the modular wall section shown includes a number of various scoring elements; 
         FIG. 13  is a rear perspective view of the modular wall section of  FIG. 12 ; 
         FIGS. 14A-14G  are a series of perspective views of modular subfloor sections in accordance with embodiments of the invention; 
         FIGS. 15A-15E  are a series of perspective views of a modular ceiling with upper chambers in accordance with embodiments of the invention; and 
         FIGS. 16A-16F  are a series of perspective views of wall modules with flippers in accordance with embodiments of the invention. 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     The present invention has utility as a robotic game that integrates the functions of robots with portable electronics, such as smart phones. Embodiments of the robotic game provide matched sets of a single “master” robot and multiple “slave” targets to play a game that is similar to last combatant standing games such as “Cut Throat” (three person pool game). In an embodiment of the robotic game, when the targets of a master robot are eliminated from the game, the master robot is caused to have reduced functionality (such as motion stop), and the winner is the last one to have functioning (living) slave targets. 
     In another embodiment, the present invention has utility as an automated method and system for identifying when and which pool balls fall into which pockets of a billiard table. The identification of a pool ball in a pocket may be used for scoring traditional games of pocket billiards, or for scoring robotic based games played on the surface of the billiard table. For example, the numeric values printed on the face of the pool balls may be added to determine a winner of a game based on a total score of values of those balls knocked in by a player by themselves or by controlling a robot. 
     As seen in  FIG. 1 , a system is shown generally at  10 , defined by a wall  12  and having sidewall gate  14  and a corner gate  16 , each having a sensor. The sensors in each instance are independently a camera, an electric eye, and RFID antennae, a force sensor, or an inductive sensor, or a combination thereof. For the purposes of explaining various embodiments of the present invention a “pocket” of a billiards-like playing surface and a “gate” of an opening above the plane of the playing surface for receiving a “target” are used synonymously. Similarly, a ball is defined herein as a subset of various targets that are moved in the present invention game by a robot. It is appreciated a single robot can be used to play a timed game relative to a competitor, or multiple robots simultaneously compete to move targets on the playing surface. 
     In  FIG. 2  a system is shown generally at  20 , an overhead sensor  26  observes targets on the playing surface  12 ′. It is appreciated that the playing surface  12 ′ is like that of  FIG. 1 , or has alternative shapes, non-planar topography, obstacles, or combinations thereof. 
     By way of example, a video camera is present as a sensor  26  and mounted above the playing surface for implementing: vision system software to track spherical (pool ball) targets going into pockets of pool table, and for broadcasting video of the game so the game can be played remotely and for instant replay. A laser system in some embodiments is mounted above the playing surface for indicating lines on the playing surface for play of cues and balls. 
     In some embodiments, a sensor  14 S,  16 S, or  26  tracks and identifies individual targets with character recognition of the number printed on the balls surface (e.g. numbered  1  through  15  with no change to the existing pool balls appearances) when they go into any of the pockets (assigned numbers  1  through  6 ). Alternatively, each of the pool balls have unique machine readable (vision) markings  28  (in addition to the standard markings of numbers, colors and stripes) for each ball  18  ( 1  through  15 ) that are operative with the identification vision system as shown in  FIG. 3A . Markings  28  may include barcodes, quick response (QR) codes, or other coded representations of numbers. 
     In an alternative embodiment of the inventive pool ball identification system, each of pool balls  18 ′ may have a unique machine readable or recognizable electronics/components (RFID, magnets, etc.) embedded inside each ball ( 1  through  15 )  30 , as shown in  FIG. 3B . Sensors operative to read and determine the type (number value) based on the radio frequency identification (RFID), magnet, or other electronic embedded components, may be positioned at each of the pockets. Alternatively, a sensor system may be placed on, around, under, or above the table that can track and identify individual balls ( 1  through  15 ) when they go into any pocket ( 1  through  6 ). 
     In an embodiment of the inventive gaming system, a playing surface mat embedded with tracking and identification sensors  14 S or  16 S with such sensors mounted on gate-like goals  23 , as shown in  FIG. 4 , where like numerals correspond to the meanings assigned thereto with respect to previously detailed drawings. The mat  25  in some embodiments retrofits onto a conventional billiards table and may be used to track the balls. The mat  25  may have a plain felt like finish, as found on billiard tables, without any markings, or may have markings related to a game, such as a robotic game with graphics and indicators for positioning game pieces before play begins (and to protect pool table felt). In some inventive embodiments, the mat  25  may have Intelligence to monitor game pieces, and/or electronic graphics for visual stimulation of the players and audience. The mat  25  may also be rolled up in some embodiments to promote transport and storage. 
     A de novo playing surface is also constructed in user selected configurations based on modular components and is shown generally at  50  in  FIG. 5 . The playing surface  50  is readily bounded with wall sections ( FIG. 6A ), gate sections ( FIGS. 6B-6D ) and pins ( FIG. 6E ). Sensors  14 S or  16 S per  FIG. 1  are present in gate sections (( FIGS. 6B-6D ). It is appreciated that a gate section is used in certain inventive embodiments as having a thresholding function to, for example, replenish munitions in those variants of the invention in which a weapon is present on a robot, or as a battery recharge station for a robot. 
     An exemplary robot of operation in an inventive game is shown generally at  70  in  FIGS. 7 and 8 . The robot  70  is characterized by at least one drive wheel  72  and an ability to steer the robot  70 . In a preferred embodiment an application program operating on a smart phone or tablet device controls the movement of the robot  70 . A weapon  74  is provided in some embodiments to impede the activities of a competitive robot from moving targets  18 . As noted above the sensor used in the robots would be operative to recognize targets  18  with unique machine readable or recognizable electronics/components (RFID, magnets, etc.) inside each ball ( 1  through  15 ), or machine readable (vision) unique marks (in addition to the standard markings of numbers, colors and stripes) for each ball ( 1  through  15 ), or the markings and colors (stripes and solids and numbers  1  through  15 ) on a typical set of pool balls. 
     An alternative shape of a robot operative on a playing surface  12 ,  12 ′, or  50  is shown generally at  90  in  FIGS. 9-11 , where like numerals have the meaning associated with the aforementioned drawings. Rollers  76  are provided on the exterior in some embodiments to allow for robots to slide relative to other robots or targets  18 . A drive system for a wheel  72  is shown in  FIG. 11 , where a remotely controlled motor  93 , operating in both forward and reverse rotational directions is mechanically coupled to the wheel  72  by gearing  95 . 
     In certain embodiments of the present invention, a target identification system may be communication with a central controller or computing device by wireless or wired connection. In other embodiments of the present invention, a display for showing scoring, current status of the pool balls, and other gaming parameters are in communication with a target identification system. 
     In another embodiment, the robots push targets around and/or release weapons  74 , which require targets and robots being confined to a defined play space, with a scoring technique for the targets and weapon&#39;s munitions used during play or other scoring technique for assessing a success for a given player. 
     Game components for a weapons based game include at least one robot—one per person/team. The at least one robot having locomotion and a weapons platform. In some specific embodiments, the robot is a tracked vehicle that functions similar to a military tank. In some embodiments, targets  18  as provided illustratively include a ball, a puck, a can, or a combination thereof. It is further appreciated that games can be played with multiple targets, of like or different size and shape relative to one another to be manipulated as a basis for scoring. A weapon with munitions mounted on at least one of the robot illustratively includes a projectile launcher, a visible light beam, a laser beam, an IR beam, a water cannon, a gas gun, a flame-thrower, a missile, an aircraft, a rocket, an obstacle launcher, fireworks, or combinations thereof. A robot in some embodiments has as a controller a smart phone or tablet device with one player per robot or a second team player acting as a gunner or tactician. The game controller ties the playing surface  12  as defined by the sections, robots and controllers together to score and control the game. In some embodiments, the controller is installed in a section or mat as defined above. 
     It is appreciated that various games are readily developed based on the robots, targets and playing surfaces as defined herein. These games include:
         1. Multiple robots play a simultaneous pushing game with targets—when the targets associated with a robot are pushed out of the game (thru a target gate in a stadium wall module), that robot is disabled from playing the game (shuts down movement) while the other robots continue to play. Play continues until there is only one robot with live targets left (the winner!).   2. Multiple robots play a simultaneous pushing game with targets—the first robot to push all of its associated targets out of the game (thru a target gate in a stadium wall module), is the winner.   3. Single robot plays a timed pushing game with targets—when the targets are pushed out of the game (thru a target gate in a stadium wall module), time is recorded—fastest time is the winner.   4. Single or multiple robots play a timed game in the stadium touching/hitting/approaching/shooting features (buttons, bumpers, sensors, opening, target gates, munition gates, etc.) on/in the stadium wall modules using the robots, targets and munitions.   5. Limit munitions/battery power for a robot, with resupply coming at the cost of objective completion opportunities.   6. Single or multiple robots play a scoring game in the stadium touching/hitting/approaching/shooting features (buttons, bumpers, sensors, openings, target gates, munition gates, etc.) on/in the stadium wall modules using the robots, targets and munitions—high score is the winner   7. Single or multiple robots play a video-like game of sequential challenges.   8. Combinations of the above.       

     Variations on a bounded playing surface  50  illustratively include:
         1. Which, when assembled, enclose the robots and targets in a defined space for playing games   2. That rest primarily on a horizontal playing surface (billiards table, craps cable, ping-pong table, floor, driveway, table, etc.)   3. With target gates that allow the targets to pass thru a gate section to be scored   4. With target gates that allow the targets to pass thru, the gate section having means to identify targets as they pass through (see target reading device below) out of the game (or to be collected and re-used during game)   5. With target gate sections which have means to automatically close/open (gates, doors, windows, bars, etc.)   6. With target gate sections which have means to indicate (lights, flags, etc.) if the gates are open or closed (a closed gate could score negative points)   7. With target gate sections which are different sizes (smaller size scores more points)   8. With target gate sections that physically align to pockets on a billiard table (targets could be pool balls)   9. With target gate sections that collect/control the targets for other purposes   10. With means to re-introduce the targets to the game/stadium for continued play   11. With buttons and/or sensors that can be activated by pushing/touching/approaching/shooting with robots, targets and/or munitions.   12. Which incorporate munition gates, for the weapons to fire munitions at and score points   13. With munition gates that can distinguish munitions from different robots   14. With dedicated munition gates that are capable to detect one type of munition (projectile, visible light beam, laser beam, infra-red (IR) beam, water, gas, flame, missile, airplane, rocket, firework, etc.)   15. With munition gates that are capable to detect multiple types of munition (projectile, visible light beam, laser beam, IR beam, water, gas, flame, missile, airplane, rocket, or firework, etc.)   16. With munition gates at various (adjustable?) angles and sizes to vary difficulty of hitting   17. With blocks of various size, shape, and location to vary difficulty of hitting munition gates   18. With back-boards (mirror, angled wall, etc.) of various size, shape and location to vary difficulty of hitting munition gates   19. With capability to install other munition gates   20. With garage feature to store and re-charge robot(s)   21. With garage feature including a door, with door opening to start game   22. With garage feature that acts as a sizing gage for robots—if it does not fit in the garage, it is too big to play   23. Which contains a game brain (game controller) that is linked to the robot controllers (smart phones) and other stadium wall modules for scoring and game control   24. That communicate the status of the target gates, buttons, sensors, munition gates, etc. to the game brain   25. With lights for various visual effects   26. With a scoreboard/display   27. With speakers for various sound effects   28. With microphones for other applications   29. With cameras (pan, tilt, zoom) for remote viewing by fans   30. With batteries   31. With connector for power input   32. With connector for wire to communicate and/or power with other wall modules   33. With wireless connection   34. With link feature on each end to enable physically joining a series of wall modules   35. With hinge feature on each end to enable linking wall modules together with a hinge pin   36. With features (holes) to enable installation of support beams for a canopy/tent   37. With pads on the bottom for anti-skid and mating surface protection   38. With cosmetic features to mimic buildings, arcade games and boardwalk rides (garage, fun house, shooting gallery, haunted house, basketball, baseball, etc.)   39. With stands/seats to display avatar “Fans” (interface same as in/on the robots)   40. Which contain no electronics for in-expensively increasing stadium size   41. Which incorporate standard lumber sizes (1×4, 2×4, etc.)   42. That contain features from all of the above       

     Various methods of target reading are contemplated relative to the position of a gate are provided. These methods illustratively include:
         Provide a vision system (video camera) at each target gate that can view individual targets (balls) when they pass thru that gate.   Provide a system whereby the video from each camera can be viewed on a display (locally or remotely) by people (judges) and the people/judges can determine which targets pass through which target gate and at what time during the game.   Provide controls for the judges that give feedback to the game brain (diminishing or enhancing robots, scoring points, timing, etc.) based on the circumstances of the game.   Provide a system to record and play back the video from each target gate for “instant replay” determination of who scores/wins the game. The video playback could be made available to the players on their smart-phones or to remote judges.   Provide a time stamp on each video which will enable judges to determine the order of finish.   The system could use various technologies for the transmission of information about the target gates/targets to the game controller such as wire, cell phone, radio, Internet, Skype, computer network, Wi-Fi, Bluetooth etc.       

     A munitions reading device for scoring is also provided in some inventive embodiments. Such devices illustratively include: 
     Projectile:
         1. Provide projectiles (balls, cylinders, bullets, missiles, etc.) on the robots with machine readable (vision) unique marks or colors for each projectile   2. Provide a means on each robot to fire the projectile   3. Provide a vision/electronic system at each projectile munition gate that can identify individual projectiles (marks or colors) when they pass thru that gate.   4. Provide a vision/electronic system placed on, around, under or above the stadium that can track and identify individual projectiles when they pass thru any munition gate   5. The system could use various technologies to identify the marks or colors on the projectiles such as vision, optical character recognition (OCR), bar code reader, laser, color recognition etc.   6. Provide means to transmit the information about the projectiles to the game brain such as wire, cell phone, radio, internet, Skype, computer network, Wi-Fi, Bluetooth etc.   7. Score the munition       

     Light Beam:
         1. Provide light beams on the robots with different frequencies/colors/pulse-rates for each robot/weapon   2. Provide means on each robot to fire the light beam   3. Provide an electronic system at each light beam munition gate that can sense and differentiate the different frequencies/colors/pulse-rates of the light beam when they hit or pass thru that gate   4. Provide means to transmit the information about the light beams to the game brain such as wire, cell phone, radio, internet, Skype, computer network, Wi-Fi, bluetooth etc.   5. Score the munition       

     Laser Beam:
         1. Provide laser beams on the robots with different frequencies/pulse-rates for each robot/weapon   2. Provide means on each robot to fire the laser beam   3. Provide an electronic system at each laser beam munition gate that can sense and differentiate the different frequencies/pulse-rates of the laser beam when they hit or pass thru that gate   4. Provide means to transmit the information about the laser beams to the game brain such as wire, cell phone, radio, Internet, Skype, computer network, Wi-Fi, Bluetooth etc.   5. Score the munition       

     IR Beam:
         1. Provide IR Beams on the robots with different frequencies/pulse-rates for each robot/weapon   2. Provide means on each robot to fire the IR beam   3. Provide an electronic system at each IR beam munition gate that can sense and differentiate the different frequencies/pulse-rates of the IR beam when they hit or pass thru that gate   4. Provide means to transmit the information about the IR beams to the game brain such as wire, cell phone, radio, Internet, Skype, computer network, Wi-Fi, Bluetooth etc.   5. Score the munition       

     Water:
         1. Provide or produce water on the robots with different colors/chemistry for each robot/weapon   2. Provide means on each robot to shoot the water   3. Provide an electronic system at each water munition gate that can sense and differentiate the different colors/chemistry of the water when it hits or passes thru that gate   4. Provide means to transmit the information about the water to the game brain such as wire, cell phone, radio, Internet, Skype, computer network, Wi-Fi, bluetooth etc.   5. Score the munition       

     Gas Gun:
         1. Provide or produce compressed gas on the robots with different colors/chemistry for each robot/weapon   2. Provide a means on each robot to shoot the gas   3. Provide an electronic system at each gas munition gate that can sense and differentiate the different colors/chemistry of the gas when it hits or passes thru that gate   4. Provide means to transmit the information about the gas to the game brain such as wire, cell phone, radio, Internet, Skype, computer network, Wi-Fi, Bluetooth etc.   5. Score the munition.       

     Obstacle Layer:
         1. Provide obstacles that are dropped onto the playing surface to impede competitive robot   2. Provide a means on each robot to drop the obstacle   3. Provide an electronic system to indicate when a robot contacts an obstacle   4. Provide means to transmit the information about the obstacle contact such as wire, cell phone, radio, Internet, Skype, computer network, Wi-Fi, Bluetooth etc.   5. Score the munition       

     Flame:
         1. Provide or produce combustible fuel for making a flame on the robots that produces different colors/chemistry for each robot/weapon   2. Provide means on each robot to ignite and shoot the fuel/flame   3. Provide an electronic system at each flame munition gate that can sense and differentiate the different colors/chemistry of the fuel/flame when it hits or passes thru that gate   4. Provide means to transmit the information about the fuel/flame to the game brain such as wire, cell phone, radio, Internet, Skype, computer network, Wi-Fi, Bluetooth etc.   5. Score the munition       

     Missile:
         1. Provide missiles on the robots that produces different colors/chemistry/electronic signals for each robot/weapon   2. Provide means on each robot to launch the missile   3. Provide an electronic system at each missile munition gate that can sense and differentiate the different colors/chemistry/electronic signals of the missile when it hits or passes thru that gate   4. Provide means to transmit the information about the missile to the game brain such as wire, cell phone, radio, Internet, Skype, computer network, Wi-Fi, Bluetooth etc.   5. Score the munition       

     Airplane:
         1. Provide airplanes on the robots that produces different colors/electronic signals for each robot/weapon   2. Provide means on each robot to launch the airplanes   3. Provide an electronic system at each airplane munition gate that can sense and differentiate the different colors/electronic signals of the airplane when it hits or passes thru that gate   4. Provide means to transmit the information about the airplane to the game brain such as wire, cell phone, radio, Internet, Skype, computer network, Wi-Fi, Bluetooth etc.   5. Score the munition       

     Rocket:
         1. Provide rockets on the robots that produces different colors/chemistry/electronic signals for each robot/weapon   2. Provide means on each robot to launch the rockets   3. Provide an electronic system at each rocket munition gate that can sense and differentiate the different colors/chemistry/electronic signals of the rocket when it hits or passes thru that gate   4. Provide means to transmit the information about the rocket to the game brain such as wire, cell phone, radio, internet, Skype, computer network, Wi-Fi, Bluetooth etc.   5. Score the munition       

     Firework:
         1. Provide fireworks on the robots that produce different colors/chemistry for each robot/weapon   2. Provide means on each robot to launch the fireworks   3. Provide an electronic system at each firework munition gate that can sense and differentiate the different colors/chemistry of the fireworks when it hits or passes thru that gate   4. Provide means to transmit the information about the firework to the game brain such as wire, cell phone, radio, internet, Skype, computer network, Wi-Fi, Bluetooth etc.   5. Score the munition       

     In embodiments of the inventive game, the slave targets are electronically intelligent and coupled/matched (owned) to each master robot of each competitor. Furthermore, there can be any number of slaves matched with a single master robot (but the number should be the same for all competing master robots in a single game). When a master robot&#39;s slave target is eliminated (or impaired) from the playing field, reduced functionality of the slave owner&#39;s master robot can be initiated. Various stages of impaired functionality can be implemented for each slave eliminated. Master robots could display an indication of the number of slaves still “alive” in the game. In embodiments, the game ends when only one master robot has functioning slaves. 
     Embodiments of the inventive robotic game may be played on a table, pool table, floor or other suitable indoor or outdoor surface (with tape or lines to define the playing field), etc. The object of the game is to push (using the master robot) the opponent&#39;s slave targets off the table, into a pocket of a pool table, or out of the demarcated playing field surface. Each player controls one master robot. Each robot can have any number of slave targets. 
     Embodiments of the master robots in the inventive game may be controlled with a portable electronic device (controller), such as a smart phone, with communication and imaging capabilities, such as a camera. The master robot and slave targets may sync (and link with each other) with the portable electronic device via a bar code, quick response (QR) code, radio frequency identification (RFID), near field communication, Bluetooth, and other identification methods. In an embodiment the barcode may be positioned on the bottom of the robot for scanning or image capture with the portable electronic device. The master robot also may be configured with the ability to sync with the slave targets. The portable electronic device or controller may be configured with software, such as a downloadable application (App) for playing the inventive game. The controller may have inertial sensors to provide a tilt to drive for the robot being controlled i.e., —more tilt, more speed—horizontal is no speed in any direction. Additional movement control may include “Push to Pass” feature to enable short bursts of speed for the robot. The controlling device may also provide indicators such as a for example a timer to show when the last target was killed—used to decide who wins in close decisions, controls to set the number of targets in a game, a way to connect all controllers in a game so that they can all start the game at the same time. The controller may have display aspects to provide simulated game play to practice the physical game, as well as the ability to control a physical game remotely. 
     Embodiments of the master robots may be configured with software to keep the robot on the playing field (table), or be user programmable to map the playing field (surface). In addition, the master robots may be equipped with sensors to identify the boundaries or edges of the playing field surface. Embodiments of the software for controlling the master robots may also be configured with a victory “dance” and an introductory “dance” routine program. Embodiments of the robot may have omni-wheel drive so that it can move in any direction at any time (no steering). 
     Embodiments of the master robot may have a power source such as a battery, lights, vision capability with one or more cameras, and audio capability through a speaker. In an embodiment, the vision system may enable viewing (controlling) the game from the robot&#39;s perspective. The robot may be configured with a removable crown which can be illuminated from the bottom with multi-colored light(s) from the Robot. Each crown can be unique by using rapid manufacturing. The robot may have an Indicator to show how many targets are still alive, such as multiple lights to indicate how many targets are left. 
     Embodiments of the slave targets may have electronic intelligence and two-way communication capability with any master robot, and have an ability to “lock” with one individual master robot. Embodiments of the slave target may have a power source such as a battery, lights, vision capability with one or more cameras, and audio capability through a speaker. An example of audio may be a scream when killed. The slave targets may be equipped with sensors to identify the boundaries or edges of the playing field surface. The slave targets may assume a spherical shape (ball) for rolling on playing field surface (pool table). 
     Embodiments of the slave targets may be configured with a removable “Head” that can fall off during game, thereby initiating some response from the master robot. In an embodiment, the head that pops off (spring loaded) when eliminated from game (as it goes off a table, into a pocket, over the line). Furthermore, the head may be configured like the back end of a throwing dart (post) to accommodate the “flights” for identification of the targets 
     Embodiments of the slave targets may sync with the portable electronic device via a bar code, quick response (QR) code, radio frequency identification (RFID), near field communication, Bluetooth, and other identification methods. In an embodiment, the barcode may be positioned on the bottom of the slave target for scanning with the portable electronic device. 
     The game field (table, pool table, floor, etc.) may have lines/tape to identify boundaries. In an embodiment, the playing surface may be a mat with graphics and indicators for positioning game pieces before play begins (and to protect pool table felt). In embodiments, the mat may have Intelligence to monitor game pieces, and/or electronic graphics for visual stimulation of the players and audience. The mat may also be rolled up for easy transport and storage. A video camera may be mounted above the playing surface for implementing: vision system software to track spherical (pool ball) targets going into pockets of pool table; shutting down a master robot when targets are off the playing field; and for broadcasting video of the game so the game can be played remotely and for instant replay. A laser system may be mounted above the pool table for providing indicating lines on pool table for play of cues and balls. 
     Embodiments of a robotic gaming system may include a plurality of modular wall sections  97 . The modular structures may be made by laser cutting  280 , injection molding  36 , or any other suitable means.  FIG. 12  is a front perspective view of a modular wall section  97 . While  FIG. 13  is a rear perspective view of the modular wall section  97 . The plurality of modular wall sections such as that shown with respect to reference numeral  97  or any of the aforementioned types depicted in  FIGS. 6A-6D  are placed on a de novo playing surface such as a table or floor or other suitable surface and joined together by fasteners such as bolts or by interlocking elements such as tongues and grooves, pegs and holes, corresponding slots and notches, and the like. The wall sections may include corner braces  31  at various angles illustratively including 15, 30, 45, and 60 degrees. The modular wall sections may be constructed in user selected configurations that are reconfigurable based on the modular wall section laterally joined to define the playing surface. In this way, the playing surface may be designed to fit on a table or within a confined space. Also, the playing area may be expanded as a user obtains more and more modular wall sections, which provides versatility for the robotic gaming system. The modular wall sections include a plurality of scoring elements with which a robot controlled by a player and navigating on the playing surface may interact. Each wall section of the plurality of modular wall sections may have from one or many scoring elements. The gaming system may also include sections of modular wall that do not have any scoring elements. The modular wall sections  97  may include cosmetic panels  35  attached to the walls. Each of the scoring elements has a sensor associated with it that operates to identify when a robot successfully interacts with a given scoring element. A successful interaction with a scoring element results in at least one game point scored for the robot that successfully interacted with the particular scoring element. 
     As shown in  FIGS. 12 and 13  where  FIG. 13  is a rear view, the modular wall section  97  locks into a playing surface mat  37 . The playing surface mat  37  is configured to be modular in that it includes interlocking elements that connect with other sections of playing surface mat to create a configurable playing surface. However, in specific embodiments the playing surface mat  37  may also be rolled up or a continuous mat. In some embodiments, the playing surface mat  37  is embedded with tracking and identification sensors. In embodiments that include a target or ball on the playing surface, the target or ball may be configured with radio frequency identification, a magnet, or other electronic embedded component to interact with the embedded tracking and identification sensors of the mat  37 . 
     A modular wall section  97  in some inventive embodiments includes a plurality of indicator lights  140  that signal when scoring opportunities are available or when scoring occurs. Alternatively, or additionally, these indicator lights  140  are used as part of a gaming mode in which scoring element targets are to be interacted with in various sequential patterns. The modular walls  97  may also include at least one speaker of indicating that a point has been scored and/or that is capable of providing additional sound effects as the game is underway. The modular wall sections  97  may also include an elevated track surface  33  for the at least one robot to navigate, for defensive or target robots  34  to travel upon, or for a train to travel upon. A modular wall section  97  in some inventive embodiments includes at least one display  22  for indicating a present score of the game, when scoring is possible, or when a new point is scored, and other visual effects that can distract players and/or add visual interest to the gaming experience. Additionally, a wall section  97  in some inventive embodiments includes a moving component  200  or a fog generator  21  for player distraction and/or visual effect. 
     The plurality of scoring elements may include bumpers  4  for a robot to hit to score points, buttons  5  for a robot to push to score points, knobs  6  for a robot to turn to score points, and/or toggle switches  7  for a robot to flip to score points. The robot may include an actuator for interacting with the scoring elements, similar to the weapon  74  per  FIG. 8 . Other scoring elements that may be included in various embodiments of the present gaming system include openings in the walls such as shutters/doors  120  or windows  13  through which the robot can shoot a projectile, light beam, laser beam, infrared beam, water jet, missile, rocket, or other weapon  74  to score points. Other scoring elements include stationary or moving projectile targets  19 , and/or stationary or moving laser infrared, or light targets  180  that the robot can shoot with a projectile, light beam, laser beam, infrared beam, water jet, missile, rocket, or other weapon  74  to score points. Sensors  1  or  2  associated with each scoring element signal when a point is scored and communicate with a central processor  250  for programming and scoring. The central processor can then communicate the score to the display, lights, and/or speakers. It is appreciated that the central processor  250  has a wired or wireless link to a remote computer or smart phone controller, the remote computer or smart phone controller including software to allow for programming of the central processor  250  to vary factors such as the type of game being played, scoring, handicapping certain players to account for ability, and exchange of scoring therebetween. 
     In some inventive embodiments that include at least one target or ball on the playing surface, at least one modular wall section may include an opening  8  through which a robot can pass the target or ball and a sensor  1  associated with that opening can identify when the target passes through the opening  8  to score a point. The sensor associated with the opening or another sensor  2  associated with the opening can identify the targets when the pass through the opening in the walls. Additionally, sensors  3  or cameras  17  can also view the area in front of the wall looking for targets or balls and/or robots. The openings for targets or balls in the wall sections may include a kicker  9  or a flipper  12 , or a gate  11  that opens and closes to make passing the target or ball through the opening more difficult. The modular wall sections  97  in some inventive embodiments includes a target return system for returning targets or balls to the playing surface after the targets pass through an opening  8  in the wall sections  97 . 
     In some inventive embodiments, the modular wall section  97  includes an access door  230  for accessing the components sensors, or scoring elements that are contained within the wall section. The wall section also includes a CPU  24  for programming and controlling the various elements of the game system. The wall section  97  in some inventive embodiments includes a power distribution bus  32  for powering the various components of the game system and there are means  260  to connect to the power distribution bus  32  and/or a communications bus. 
       FIGS. 14A-14G  are a series of perspective views of modular subfloor sections  300  that raise the playing surface mat  37  above a subfloor  301  and form a “basement” below the playing surface mat  37 . The subfloor sections  300  support and lock into the playing surface mat  37 , and may contain elements for the robots and targets (balls, pucks, other robots, etc.) to interact with and score with. The structure of a subfloor section  300  is best shown in  FIG. 14A , where floor supports  310  form the walls of a subfloor section  300 . The floor supports  310  may snap together without fasteners with snap features  306 . It is appreciated that in specific embodiments the floor supports may bolt together with fasteners, or may be tied together with cables. The floor supports  310  are covered by a base plate  308 . The base plate  308  may have locking features  302  to connect to the floor supports  310 , as well as additional floor/mat locking features  304  to connect to the underside of the playing surface mat  37 . The floor supports  310  have various openings including access doors  312 . It is appreciated that the floor supports  310  and base plates  308  may be made of various materials illustratively including plastic, cardboard, composites, and metals. It is appreciated that the structure of the subfloor sections  300  may be made by laser cutting flat panels of the various materials. 
       FIG. 14B  illustrates a series of sensors in the playing surface mat  37 . Sensors  314  and sensors  316  indicate the location of robots and targets. Sensors  318  may be used for scoring targets and robots. Sensors  320  may be used to identify targets (balls) when they pass through openings/gates in the base plates  308 . Sensors  322  may be used to view the area on the playing surface mat  37  for targets (balls) and/or robots. In addition to the sensors,  FIG. 14B  illustrates smoke/fog generators  324  and an elevator  326  for lifting and lowering targets and robots between the subfloor section  300  to the playing surface mat  37 . It is further appreciated that neither the subfloor nor the playing surface must be a complete level and for example, a playing surface in some embodiments is a balcony extending over only a portion of a subfloor, or vice versa. A balcony structure in some embodiments is ballustruded. It is further appreciated that a combined playing surface and subfloor, regardless of whether being monolithic or modular, can be inverted to create additional play configurations. Also visible in  FIG. 14B  is a central processing unit (CPU)  334  for programming and control of gaming elements and for coordinating the sensors. Coupled to the CPU  334  is a communication interface  336  for programming and scoring, as well as to interface with the gaming elements including the robots and targets. A distribution bus  340  distributes power and other signals to and from the sensors and gaming elements to the CPU  334  via a bus interface  338 . It is appreciated that there may be multiple CPU  334  distributed throughout the subfloor sections  300  supporting the playing surface mat  37 , where the CPUs  334  are connected via the distribution bus  340 . 
       FIG. 14C  illustrates inductive charging stations  328  on the surface of the playing surface mat  37 . A robot or target positions itself on the inductive charging station  328  to receive a charge to reload their battery. Also shown if  FIG. 14C  is a robot  332  on the subfloor surface  301 , and the interlocking connection of adjacent subfloor sections  300  and the playing surface mat  37  supported above the subfloor sections  300 . 
       FIG. 14D  illustrates a tower  341  that rises and lowers from the subfloor sections  300  above the playing surface mat  37 . The tower  341  is equipped with the following features to enhance and contribute to game play on the playing surface mat  37  including cameras  342 , indicators (lights)  344  that signal competitors when scoring opportunities are available, lights  346  for cosmetic purposes, and weapons targets  348 . Weapon(s) on robot(s) include: weapon(s) that emit laser, IR, light, projectiles, or sound to score points when the weapons hit the weapons targets  348 . The tower  341  further includes flippers  350  to push targets (balls), bumpers  352  to hit with a robots body, or robot attachments to score points, kickers  354  to push targets (balls), toggle switches  356  to flip with actuator(s) on a robot to score points, knobs  358  to turn with actuator(s) on a robot to score points, and buttons  360  to be pushed by robots, targets and/or actuator(s) on a robot to score points. 
       FIG. 14E  illustrates a pedestal  362  that rises and lowers from the subfloor sections  300  above the playing surface mat  37 . The pedestal  362  is equipped with the following features to enhance and contribute to game play on the playing surface mat  37  including speakers  364  for indicating scoring and/or sound effects, gates  366  that open/close to make scoring more difficult, and displays  368  for indicating the score, scoring, or visual effects. A deflector mirror  370  may reflect a laser beam from a robot to another target. 
       FIG. 14F  illustrates a trap door  380  in the playing surface mat  37  through which targets fall through to the subfloor section  300 . The trap doors  380  may be doors that slide, pivot, diaphragm, or leaf for targets to pass through. A target/ball collection and return system  330  supplies targets/balls back to the playing surface mat  37 . 
       FIG. 14G  is a partial perspective view of the subfloor sections  300  supporting the playing surface mat  37  with some of the modular wall sections  97  shown. 
       FIGS. 15A-15E  are a series of perspective views of a modular ceiling  400  with upper chambers  401  that form an “attic” above the playing surface mat  37 . In specific embodiments the modular ceiling  400  may be supported by the modular wall sections  97  positioned about the perimeter of the playing surface mat  37  as best shown in  FIG. 14G . The modular ceiling sections  400  support/suspend ceiling tiles  437 , and may contain elements for the robots and targets (balls, pucks, other robots, etc.) to interact and score points with. The structure of a modular ceiling section  400  is best shown in  FIG. 15A , where ceiling supports  410  form the walls of a modular ceiling section  400 . The ceiling supports  410  may snap together without fasteners with snap features  406 . It is appreciated that in specific embodiments the ceiling supports  410  may bolt together with fasteners, or may be tied together with cables. The ceiling supports  410  attach to ceiling plate  408 . The ceiling plate  408  may have locking features  402  to connect to the ceiling supports  410 , as well as additional ceiling tile locking features  404  to connect to the underside of the ceiling tiles  437 . The ceiling plates  408  may have various openings/gates  409 . It is appreciated that the ceiling supports  410  and ceiling plates  408  may be made of various materials illustratively including plastic, cardboard, composites, and metals. It is appreciated that the structure of the ceiling modules  400  may be made by laser cutting flat panels of the various materials. While these figures depict an embodiment of the invention in which the playing surface is defined by modular wall sections, the subfloor is defined by modular subfloor sections, and the ceiling, if present is defined by modular sections, it is appreciated that each of these structures is independently formed as a singular component. It is appreciated that a ceiling and/or walls include robot elevating components operative to allow a robot to be retained on a wall or suspended from a ceiling or inverted subfloor or playing surface. Robot elevating components operative herein illustratively include a magnet-ferromagnetic pairing, hook and loop fastener pairing, vacuum draw onto the robot, or suction cups on the robot. It is appreciated that either member of a paired component is readily mounted on the robot, while the other is secured to the surrounding environmental surface of a wall, subfloor, ceiling, of playing surface. 
       FIG. 15B  illustrates a series of sensors in the ceiling tile  437 . Sensors  314  and sensors  316  indicate the location of robots and targets. Sensors  318  may be used for scoring targets and robots. Sensors  320  may be used that identify targets (balls) when they pass under features in the ceiling tiles  437 . Sensors  322  may be used to view the area on the playing surface mat  37  for targets (balls) and/or robots. In addition to the sensors,  FIG. 15B  illustrates a smoke/fog generator  324 . Also visible in  FIGS. 15A and 15B  is a central processing unit (CPU)  334  for programming and control of gaming elements and for coordinating the sensors. Coupled to the CPU  334  is a communication interface  336  for programming and scoring, as well as to interface with the gaming elements including the robots and targets. A distribution bus  340  distributes power and other signals to and from the sensors and gaming elements to the CPU  334  via a bus interface  338 . It is appreciated that there may be multiple CPUs  334  distributed throughout the ceiling sections  400  supporting and suspending the ceiling tiles  437 , where the CPUs  334  are connected via the distribution bus  340 . Also visible in  FIGS. 15A and 15B  is an upper target/ball collection and return system  330  that supplies targets/balls back to the playing surface mat  37 . 
       FIG. 15C  is a partial perspective view of the ceiling sections  400  supporting/suspending the ceiling tiles  437 . Visible above the ceiling tile within a ceiling sections  400  is a robot  332 . A crane  412  may be used to lift and lower robots and targets up to or above the ceiling sections  400 . 
       FIG. 15D  illustrates a tower  341  that lowers and rises from the ceiling sections  400  above the playing surface mat  37 . The tower  341  is equipped with the following features to enhance and contribute to game play on the playing surface mat  37  including cameras  342 , indicators (lights)  344  that signal competitors when scoring opportunities are available, lights  346  for cosmetic purposes, and weapons targets  348 . Weapon(s) on robot(s) include: weapon(s) that emit laser, IR, light, projectiles, or sound to score points when the weapons hit the weapons targets  348 . The tower  341  further includes flippers  350  that lower from the tower  341  to push targets (balls), bumpers  352  that lower from the tower  341  to hit with a robot&#39;s body, robot attachments, or targets to score points, kickers  354  that lower from the tower  341  to push targets (balls), toggle switches  356  that lower from the tower  341  to flip with actuator(s) on a robot to score points, knobs  358  to turn with actuator(s) on a robot to score points, and buttons  360  to be pushed by robots, targets and/or actuator(s) on a robot to score points. 
       FIG. 15E  illustrates a pedestal  462  that rises and lowers from the ceiling sections  400  above the playing surface mat  37 . The pedestal  462  is equipped with the following features to enhance and contribute to game play on the playing surface mat  37  including speakers  364  for indicating scoring and/or sound effects, gates  366  that open/close to make scoring more difficult, and displays  368  for indicating the score, scoring, or visual effects. In some embodiments, a deflector mirror  370  is provided to reflect a laser or light beam from a robot to another target. 
       FIGS. 16A-16F  are a series of perspective views of wall modules  597  with flippers ( 608 ,  610 ) in accordance with embodiments of the invention. The wall modules have a face  600 , a top member  602 , a back face  603 , and side members  605 . The one or more flippers ( 608 ,  610 ) in wall modules  597  of a robotic gaming arena are capable of: opening and closing a gate in a wall module  597 , pushing a ball/target  18  into the arena and the area of the playing surface  37 , removing a ball/target  18  out of the arena, moving a ball/target parallel to the inside or outside of the perimeter walls of the arena formed by the wall modules  597  and  97 , and stopping a ball/target  18  from moving along the inside or outside of walls of the arena. A pair of motor encoder/wheel orientation sensors  606  control the movement in both clockwise and counter-clockwise directions of a pair of motor gearboxes  604  that each separately operate the right flipper  608  and left flipper  610 . The motor encoder/wheel orientation sensors  606  receive commands from a controller/microprocessor  612 . A power source  614  that may illustratively be a direct current (DC) source from a battery, or an alternating current (AC) source with a DC transformer that may be plugged into AC outlet.  FIG. 16A  illustrates the right flipper  608  and left flipper  610  in a closed position.  FIG. 16B  illustrates the right flipper  608  and left flipper  610  both in a partially retracted position.  FIG. 16C  illustrates the right flipper  608  and left flipper  610  both in a fully retracted position.  FIG. 16D  illustrates the right flipper  608  in a fully retracted position, and the left flipper  610  in a partially retracted position to allow the target ball  18  to move to the right on the inside of the wall module  597 .  FIG. 16E  illustrates the right flipper  608  and the left flipper  610  in a partially forward position to hold the target ball  18 . Alternatively, in  FIG. 16E , if both the right flipper  608  and the left flipper  610  are moving simultaneously in an outward direction the target ball  18  would be pushed directly away with a perpendicular motion from the wall module  597 .  FIG. 16F  illustrates the right flipper  608  blocking the motion of the target ball  18  to the right along the wall perimeter, while the left flipper  610  is blocking the target ball  18  from entering the wall module  597 . The flippers ( 608 ,  610 ) are configured to inter-leaf with each other to provide maximum length to each of the flippers ( 608 ,  610 ) to maximize their reach. 
     In specific embodiments a deflector mirror  370  may be mounted on the perimeter walls ( 97 ,  597 ) and/or the ceiling tiles  437  to reflect a laser beam from a robot to another target. It is appreciated that the scale of an arena may be suited for people to directly interact on the playing surface  37 , to travel below the playing surface  37  to the subfloor sections  300 , and to enter the upper chambers  401  of the modular ceiling  400 . It is further appreciated that the robots ( 18 ,  70 ,  332 ) may be scaled to allow for human participants to ride on the robots. 
     Each of the components, sensors, electronics, and/or scoring elements may be individual modules that plug into the power bus and communicate via the Internet, bluetooth, WiFi, wire, or a combination thereof to a control device (PC, tablet, phone, etc.), or they could all be part of one complete assembly that is self-powered or connects to the power bus and communicates via the Internet, bluetooth, WiFi, wire, etc. to a control device (PC, tablet, phone, etc.). 
     In some inventive embodiments a carrying/shipping/storage/retail/packaging case include at least one of: built-in charging station for the robot(s) and targets; a large battery to support charging; solar panels to support charging; and an electronic tracking device. 
     Any patents or publications mentioned in this specification are herein incorporated by reference to the same extent as if each individual publication was specifically and individually indicated to be incorporated by reference. 
     The foregoing description is illustrative of particular embodiments of the invention, but is not meant to be a limitation upon the practice thereof.