JP2002233659A - Game unit with self-travelling body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a game unit with a self-travelling body whose mechanism structure and travelling control mechanism are deviced to enable a model body to smoothly and securely travel along a prescribed path and to quickly change the facing direction controlling travelling of the traveling body without being based on position detection information by radically changing the traveling drive device and the traveling control system of the travelling body in the game unit by travelling body. SOLUTION: Supposing a game unit by a self-travelling body carrying a model body, platen dots for plane linear motor are equipped on a whole travelling track and an X-direction movable york and a Y-direction movable york of the plane linear motor are equipped under the travelling body. The lower face of the travelling body is supported by bearings to enable to self-travelling body to travel on the travelling track by the bearings. A rotary motor to rotate the model body on the travelling body is equipped on the self-travelling body to control the facing direction of the model body by the rotary motor and to control the rotation angle of the model body by the rotary motor matching the travelling direction of the self-travelling body. The bearings mean the plane bearings to support the self-travelling body in all directions so as to travel freely.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a game device using a self-propelled body, which simplifies the running control of the self-propelled body, greatly simplifies the mechanism structure and control system of the game device, and greatly reduces the production cost. Can be reduced.

[0002]

2. Description of the Related Art A driving mechanism for a self-propelled body in a self-propelled game device basically drives a wheel by a rotary drive motor and performs a turning operation by controlling a difference in rotational speed between left and right drive wheels. Things. As such a game device, for example, a racing game device is disclosed in Japanese Patent No. 2650.
There is a game device described in Japanese Patent Application Laid-Open No. 7-68056. The former is a two-story type running truck, in which a non-self-propelled model body races on an upper running track, and a self-propelled body runs on a lower running track. Thus, the model body is pulled through the magnetic force of the magnet. In the latter case, a model body is mounted on a self-propelled body, and the self-propelled body is caused to run and the model body plays a game. These are for making the self-propelled body run on a free track, and wires are densely wired in the X and Y directions on the running surface of the self-propelled body to be used as position detection wires, which are used to detect the running position of the self-propelled body. Then, the self-propelled body is feedback-controlled based on the position detection information so that the self-propelled body travels in trackless. As for this position detection method, a self-propelled body is captured by a CCD camera,
There is also one that performs image processing and arithmetic processing to detect the running position of the model body on the virtual running surface. In today's world, where the information processing speed of microcomputers has dramatically increased and the information storage capacity of the memory has dramatically increased, the traveling position of the self-propelled body is detected sequentially, and based on this position detection information, It is technically relatively easy to perform feedback control of the running, but in an actual game machine, since the self-propelled body runs on the driving wheels, the wheels slip and slip off the running track. , Or turn around greatly or roll over. For this reason, there is a problem in the control accuracy of the traveling route by the feedback control, the correction of the traveling direction of the self-propelled body, and the responsiveness of the trajectory correction. Therefore, an unexpected race is often performed in practice. This makes it difficult to race on schedule.

On the other hand, as described above, on the premise that the self-propelled body slips and goes off the trajectory, feedback control is performed based on the position detection information while correcting the self-propelled body so that a large number of self-propelled bodies are simultaneously controlled. In this case, the control system and the control program are complicated. It is theoretically conceivable that feed-forward control is performed without feedback control based on position detection information even if the vehicle is driven by frictional force with the running surface of the wheel and performs a turning operation. It is easily expected that the design is simple. However, it is extremely difficult to feed-forward control a large number of self-propelled bodies of a game device based on position information and to accurately travel a predetermined traveling route. It is impossible to race on the street.

[0004] Among the above-mentioned prior arts in which the traveling control is performed by feedback control, the traveling position of the traveling body is sequentially detected, an arithmetic process based on the traveling position is performed, and the traveling is controlled by a predetermined program. The position detection device, the information processing system, and the travel control system are complicated, and the production cost is extremely high. Further, in the above-described prior art, since the movement of the model body is integrated with the movement of the self-propelled body, it is not possible to quickly change the orientation of the model body.
Therefore, it is not possible to realize a game device such as a soccer game device or a game game device performing a dance with spin, in which the direction of the model body is quickly changed.

[0005]

SUMMARY OF THE INVENTION Accordingly, the present invention fundamentally changes the traveling drive device and traveling control system of a self-propelled body of a game device, and controls the traveling of the self-propelled body without being based on position detection information. In order to allow the model body to run smoothly and accurately along a predetermined traveling route, the mechanism structure and the travel control mechanism of the self-propelled body should be changed so that the direction of the model body can be changed quickly. The idea is to devise it.

[0006]

Means taken to solve the problem (corresponding to claim 1) The means taken to solve the above problem are based on the following (a) to (a) to assume that the game device is a self-propelled body equipped with a model body.
(D). (A) platen dots of a planar linear motor are provided on the entire running track, and an X-direction movable yoke and a Y-direction movable yoke of the planar linear motor are provided below a self-propelled body;
(B) The lower surface of the self-propelled body is supported by bearings, and the self-propelled body is caused to run on a traveling track by the bearings. (C) A turning drive motor for turning a model mounted on the self-propelled body Is provided on the self-propelled body, and the direction of the model body is controlled by the turning drive motor. (D) The turning angle of the model body is controlled by the turning drive motor in accordance with the traveling direction of the self-propelled body. Note that the bearing means a planar bearing that supports the self-propelled body so as to be able to run in all directions.

[0007]

[Function] A planar linear motor is well known in the art.
By controlling the current supplied to the coils of the directional movable yoke and the Y-directional movable yoke, the self-propelled body travels in the XY plane at an arbitrary speed in an arbitrary direction by combining the X-direction movement and the Y-direction movement. Can be. That is, an X-direction movable yoke and a Y-direction movable yoke are provided below the self-propelled body, and platen dots of a planar linear motor are provided over the entire lower traveling track, and the lower surface of the self-propelled body is supported by bearings. The self-propelled body can travel in any direction by controlling the current supplied to the coils of the X-direction movable yoke and the Y-direction movable yoke. The self-propelled body running by the planar linear motor turns in the running direction without changing its posture, and thus does not run the model body in the game device. However, since the model body can be turned by the turning motor provided on the self-propelled body and the direction of the model body is controlled according to the running direction of the self-propelled body, the direction of the model body is controlled by the running of the self-propelled body. Can be changed according to the direction. Therefore, the model body travels in the traveling direction of the self-propelled body while facing the traveling direction of the self-propelled body.
In addition, since the model body can be quickly turned regardless of the traveling direction of the traveling body, the direction of the model body can be quickly turned to an arbitrary direction regardless of the traveling direction of the traveling body.

The self-propelled body slides on the XY coordinates in a fixed direction because it travels by the planar linear motor. However, since the self-propelled body is supported by bearings so as to be able to travel in all directions, The self-propelled body can smoothly slide in all directions on the XY plane with the bearing.
In addition, since the self-propelled body travels by a planar linear motor, it travels in a polygonal line in principle,
Actually, one step in the X direction and the Y direction when traveling diagonally can be made extremely small, so that the vehicle travels almost linearly visually. The same applies to the case where the traveling direction is changed. Therefore, the model body travels obliquely in a straight line, and smoothly travels along a predetermined route while changing its direction smoothly in a curved manner. In addition, since the self-propelled body is driven by the plane linear motor, the self-propelled body runs accurately and reliably along a predetermined route.
Therefore, the self-propelled body can travel accurately along a predetermined route by the feed-for control that is not based on the travel position detection information. An external power supply is preferable as the power supply for the self-propelled body. However, an external power supply should be provided in a game device such as a game device that runs in a trackless manner and in which a game is developed in an open space. Because it is not easy, there is nothing other than a battery.

[0009]

Embodiment 1 (corresponding to claim 2) Embodiment 1 is that the bearing in the above-mentioned solving means is a plurality of ball bearings provided on a self-propelled body.

Since the rolling direction of the ball bearing has no direction, the self-propelled body can smoothly slide in all directions on the XY plane by the ball bearing.

[0010]

Embodiment 2 (corresponding to claim 3) In Embodiment 2, the movable yoke in the X-direction and the movable yoke in the Y-direction in the solving means are three in length.
With three legs and three-phase AC coils on these legs,
The linear motor is a three-phase planar linear motor.

The plane linear motor according to the present invention is a single-phase plane linear motor in which two legs are provided on an X-direction movable yoke and a Y-direction movable yoke and a single-phase AC coil is provided on these legs. Can drive the self-propelled body without any trouble, but by using the three-phase planar linear motor as the linear motor, the self-propelled body can travel smoothly along a predetermined route without pulsation without step-out. Therefore, the model body can run more smoothly.

[0011]

Embodiment 3 (corresponding to claim 4) Embodiment 3 is that the lower end of each leg of the X-direction movable yoke and the Y-direction movable yoke in Embodiment 2 is divided into three.

The driving force of the X-direction movable yoke and the Y-direction movable yoke can be increased, and the traveling control accuracy can be further improved.

[0012]

Embodiment 4 (corresponding to claim 5) Embodiment 4 is that the ball bearing of Embodiment 1 is a single ball, and three or more ball bearings are provided below the self-propelled body.

[0013]

Embodiment 5 (corresponding to claim 6) Embodiment 5 is that the ball bearing of Embodiment 1 is a thrust bearing in which a ring-shaped retainer holds a large number of balls.

[0014]

Embodiment 6 (corresponding to claim 7) Embodiment 6 is that the turning drive motor provided on the self-propelled body is a pulse motor.

When the turning drive motor is a pulse motor, the turning control of the model body can be performed as feed-for control, whereby the direction of the model body can be controlled quickly, easily and accurately. Further, the travel control is feed-fore-controlled, and the turning control of the model body is feed-fore-controlled, so that the travel control device and the control program of the self-propelled body become extremely simple.

[0015]

Embodiment 7 (corresponding to claim 9) In Embodiment 7, fine air blowing holes are densely provided on the running surface, and the air flow blown from the air blowing holes is blown to the lower surface of the self-propelled body. Thus, an air bearing with an air layer is configured.

The air layer formed by the air blown out from the fine air blowing holes in the running surface is formed between the lower surface of the self-propelled body and the running surface, and the self-propelled body is supported by this air layer and floats slightly. It travels on the traveling surface in the state. Therefore,
The running resistance of the running body is reduced, the running can be performed quickly and smoothly by the running drive force of the relatively small planar linear motor, and the turning operation can be performed extremely smoothly because the running resistance is small.

[0016]

Embodiment 8 (corresponding to claim 10) Embodiment 8 is the embodiment 7 in which a skirt is provided on the periphery of the lower surface of the self-propelled body.

[Function] By the skirt provided on the lower edge of the self-propelled body,
Since the airflow blown out from the fine air outlets on the running surface is effectively captured, the self-propelled body can be minutely levitated from the running surface by the relatively weak airflow from the air outlets.

[0017]

Embodiment 9 (corresponding to claim 11) In Embodiment 9, a compressor is mounted on the self-propelled body in the above-mentioned solving means, and the compressed air from the compressor is blown out from an opening on the lower surface of the self-propelled body. An air bearing formed of a thin air layer is formed between the lower surface of the running body and the running surface, and the running body is supported and traveled by the air bearing.

Since the compressor is mounted on the self-propelled body and the compressed air by the compressor is blown out to the lower surface of the self-propelled body, an air bearing for supporting each self-propelled body so that it can run freely is formed. Therefore, the required amount of compressed air is minimized, and the influence of the blown compressed air on the others is minimized.

[0018]

DESCRIPTION OF THE PREFERRED EMBODIMENTS A traveling drive device for a self-propelled body is based on a conventionally known planar linear motor. The basic mechanism and operating principle of this planar linear motor are as follows. Figure 1
As shown in FIG. 3 and FIG. 3, the three-phase planar linear motor 10 includes a platen 11 having a platen dot 11a, and a case 14 (see FIG. 3) movably disposed on the platen 11; Two X-direction movable yokes 12 for driving in the X direction and 2 for driving in the Y direction
And three Y-direction movable yokes 13 are incorporated. Here, FIG. 2 shows a case in which the case 14 is removed from the three-phase planar linear motor 10 and one X-direction movable yoke 1 is provided.
2 and the y-direction movable yoke 13 are shown. Figure 1
As shown in FIG. 1, the X-direction movable yoke 12 and the Y-direction movable yoke 13 have substantially the same structure, each of which has a permanent magnet 15 and a pair of yoke portions 16, 17 disposed on both sides of the permanent magnet 15. And Each of the yoke portions 16 and 17 has three legs 18, 19, 20 and 21, 22, 23 extending toward the platen 11. These legs 18, 19, 20, 21, 22, 23
Is substantially the same as the width of the platen dot 11a. A U-phase coil 24, a V-phase coil 25, and a W-phase coil 26 are wound around the legs 18, 19, and 20, respectively. A three-phase current flows through these U-phase coil 24, V-phase coil 25, and W-phase coil 26. It is being washed away. Leg 21,
The U′-phase coil 27, the V′-phase coil 28,
The W′-phase coil 29 is wound around the U′-phase coil 27, the V′-phase coil 28, and the W′-phase coil 29.
A phase current flows.

The legs 18, 19, 2 of the yoke portion 16
The arrangement pitch of 0 is shifted in phase by 120 degrees from the arrangement pitch of the platen dots 11a. Similarly, the arrangement pitch of the legs 21, 22, and 23 of the yoke portion 17 is shifted by 120 degrees with respect to the pitch of the platen dots 11a, and the positional relationship of the legs 21, 22, and 23 with respect to the platen dots 11a is as follows. , 19, and 20 are shifted by 180 degrees from the positional relationship with respect to the platen dots.

In the above, the plane linear motor is driven by inputting a pulse train proportional to the amount of movement to the drive control device 40. (1) That is, first, in the drive control device 40 (FIG. 1), a pulse train and a moving direction are input to an up-down counter to know an absolute position. (2) Next, position information to be moved is created by the amount of the counter. (3) Further, speed information is obtained according to the changing speed of the counter. (4) Next, a three-phase moving waveform corresponding to the two quantities is created. (5) The current having this waveform may be passed through the three-phase coils 24 to 29. However, in this case, the power loss on the drive control device 40 side is too large. Pulse width modulation (PWM) proportional to power current
do. (6) The switch circuit is controlled by the pulse width modulated on / off signal to obtain three-phase power. (7) Detect current to shut down if an overcurrent occurs due to an accident or the like, and to make pulse width modulation proportional to output current. In the case of control by a command, a promise (command) for operating the linear motor is determined, and control is performed based on the determined command. A pulse train is created from the command by the command analysis circuit of (1), and the rest is the same as above.

Next, the three-phase current is supplied from the drive controller 40 to the U-phase coil 24, the V-phase coil 25,
And the W′-phase coil 2
A three-phase current having a similar current waveform is applied to the 7, V′-phase coil 28 and the W′-phase coil 29. In this case, three of the U-phase coil 24, the V-phase coil 25 and the W-phase coil 26
The direction of the phase current is reversed with respect to the three-phase currents of the U′-phase coil 27, the V′-phase coil 28, and the W-phase coil 29. Coil 24, V-phase coil 25, W-phase coil 26, U '
A current can be passed simultaneously to the phase coil 27, the V 'phase coil 28, and the W' phase coil 29. At this time, the X-direction movable yoke 12 receives a horizontal driving force in the X-direction from the platen 11 side. During this time, air is blown to the platen 11 side by an air outlet (not shown) provided in the case 14, whereby the case 14 slightly floats with respect to the platen 11, and the case 14 moves in the X direction as a whole. Driven. To reverse the movement of the case 14 in the X direction, the U-phase coil 24, the V-phase coil 25, and the W-phase coil 26
Of the two coils, the U 'phase coil 27, the V' phase coil 28,
The deviation angle of the current of the W′-phase coil 29 is
Reverse rotation is performed in correspondence with the V-phase coil 25 and the W-phase coil 26. Thus, the case 14 can be reciprocated in the X direction. In addition, X with respect to the Y-direction movable yoke 13
The case 14 can be reciprocated along the Y direction by supplying an electric current in the same manner as the yang of the directional movable yoke 12. The traveling direction and traveling speed of the case 14 can be appropriately controlled by controlling the current flowing through the Y-direction movable yoke 13 and the X-direction movable yoke 12.

The three-phase planar linear motor shown in FIGS. 4 and 5 has an X-direction movable yoke 12 and a Y-direction movable yoke 1.
3, the legs 18, 19, 20, 21, 22, 2
3 is divided into three parts, and the divided parts are divided into legs 18, 19,
Projections 18a, 19a, 20 of 20, 21, 22, 23
a, 21a, 22a, and 23a, and are otherwise the same as the three-phase planar linear motor shown in FIGS.
In this case, for example, the lower end of the leg 18 is divided into three parts,
The leg 18 has three projections 18a at the lower end.
The platen dots 11a of the platen 11 are formed to have the same width as the width of the projection 18a that has been divided and narrowed. Legs 18,19,20,21,2
The lower ends of the projections 18a, 19a,
Since it has 20a, 21a, 22a and 23a, the driving force of the X-direction movable yoke 12 and the Y-direction movable yoke 13 can be increased.

The above is the basic mechanism and operating principle of the traveling drive device of the planar linear motor. The traveling drive device of the self-propelled body 70 according to the embodiment of the present invention is the same as the above-mentioned planar linear motor. The body travels on the lower traveling track 90 by four ball bearings 71 (see FIG. 8).
The traveling track 90 is provided with a platen 72 having platen dots similar to those shown in FIG. Self-propelled body 7
0, a planar linear motor (same as the X-direction movable yoke 12 and the Y-direction movable yoke 13 in FIGS. 4 and 5) 75 is provided.
The control unit 77 transmits and receives control signals to and from the central control device of the game device via the communication unit 78, and controls the driver 76 according to the control signals of the central control device. Self-propelled body 7
A turning pulse motor 80 is provided at the upper center of the center 0, and the turning motor 80 controls the turning angle of the column 81. A model body 82 is fixed to the upper end of the column 81. The model body 82 is provided with an operation unit 83 for driving a part of the hand of the model, and an operation control unit 84. Then, the model body 82 is turned via the support column 81 by the pulse motor 80 in accordance with the change (turning) of the operation direction of the self-propelled body. The turning angle of the pulse motor 80 is defined by a predetermined change angle of the traveling direction of the self-propelled body (a direction change angle planned by a program according to a traveling path of each model body),
The X-direction movement amount and the Y-direction movement amount of the self-propelled body are determined by the scheduled change angle of the running direction. As a result, the turning angle of the model body by the pulse motor 80 and the running direction of the self-propelled body 70 are matched. How to calculate the turning angle of the pulse motor 80 and the amount of movement of the self-propelled body 70 in the X and Y directions is appropriately determined depending on the game device so as to simplify the control program and the information processing. It is good. Further, the control unit 77 may rotate the pulse motor by a predetermined angle in accordance with a command from the central control device. However, based on an X-direction drive command signal and a Y-direction drive command signal for traveling control of the self-propelled body, The turning angle of the pulse motor 80 may be calculated, and the pulse motor 80 may be driven based on the calculation result. The self-propelled body travels in any direction on the XY plane without changing its direction,
The model body 82 is directed in the running direction by the pulse motor 80. Therefore, the model body 82 is oriented in the traveling direction of the self-propelled body 70 and travels in that direction. When the self-propelled body is, for example, a self-propelled body of a game machine, the model body 82 needs to move a part thereof such as a hand or a foot.
The hand or the like is operated by a control signal from the control device 77 of the above. In addition, these operating devices may be provided on the self-propelled body to drive a part of the hand of the model body via a link, a belt, or the like, but in this case, the model body cannot be spun. Therefore, if it is necessary to spin the model body, this mode cannot be adopted.

The ball bearing of the self-propelled body 70 is made of metal, and the ball is held in the holding portion by line contact or point contact in order to reduce the rotational resistance with respect to the inner surface of the holding portion. Further, as shown in FIG. 9, a so-called thrust bearing 110 in which a large number of balls 112 are held by a ring-shaped retainer 111 may be provided on the lower surface of the self-propelled body. When the ball bearing is made of metal, it is not impossible to configure a conventional power feeding mechanism (currently known current collecting mechanism for a trackless traveling body) by using the current as a current collector.

FIG. 10 shows an example in which a bearing that supports the self-propelled body so as to run freely is an air bearing. In this example, a small compressor (compressor) 120 is mounted on the self-propelled body 70, and compressed air is blown out from the compressor 120 through an opening provided substantially at the center of the lower surface of the self-propelled body. Drain along the lower surface of the container. At this time, a thin air layer (for example, a thickness of several tens of microns) is formed between the self-propelled body 70 and the running surface (the surface of the platen 72),
The self-propelled body is supported by this air layer. The sliding resistance between the self-propelled body and the running surface is extremely small.
A value of 0 allows the vehicle to travel extremely smoothly and freely in all directions. When a plurality of openings are provided, the openings may be arranged so as to be balanced with respect to the position of the center of gravity of the self-propelled body.

Although the traveling control system of the self-propelled body varies depending on the type of the game machine, the basis of the traveling control of each self-propelled body is the same as that of the above-described conventionally known plane linear motor. However, when controlling a plurality of self-propelled bodies as a group, the running path and the running speed of all the self-propelled bodies are simultaneously controlled by one control means, and the turning angles of all the model bodies are controlled. Are controlled simultaneously and in parallel. Since the self-propelled body is driven by the plane linear motor, the self-propelled body travels exactly as instructed in both the traveling direction and the traveling speed. Then, the self-propelled body does not deviate from the planned route due to a slip or the like unlike that caused by the driving wheels. Therefore, the self-propelled bodies do not interfere with each other, and even if they do interfere for any reason, the self-propelled bodies do not deviate from the planned traveling route so that control becomes impossible due to the interference.

For example, when developing the game by applying the present invention to a game device using 10 model bodies,
It is necessary to control the running of the ten self-propelled bodies in a complicated manner so that the ten model bodies run realistically. In order to realize such control, travel control data of each self-propelled body is set in the RAM of the control device in advance, and based on this, all self-propelled bodies are controlled simultaneously and in parallel. Since the control system and the control program for controlling a group of many self-propelled bodies simultaneously and in parallel are not the gist of the present invention, the description is omitted.

The means for supplying power to the planar linear motor 73 and the pulse motor 80 of the self-propelled body may be of an internal power supply type (battery type) or an external power supply type as long as the self-propelled body does not hinder free track running. Either one may be used, but at this stage, it is extremely difficult to construct a power supply means using an external power supply. Therefore, there is no alternative but to mount the battery 79 on the self-propelled body and use this as a power supply.

[0029]

The traveling direction is changed in a two-dimensional space while being oriented in a certain direction, and the self-propelled body is driven by a plane linear motor capable of arbitrarily changing its speed, and the direction of the model body is turned. By controlling the turning angle of the model body according to the direction of traction by the self-propelled body by controlling it with the drive motor, and turning the direction of the model body in the running direction (the direction of traction by the self-propelled body), the planar linear motor can be used. You can use it to make the model body race in a natural posture. Further, since the traveling drive mechanism of the self-propelled body is based on a planar linear motor, the traveling direction and traveling speed of the self-propelled body are accurately controlled by the traveling control signal. Therefore, there is no need for precise running position detection means for sequentially detecting the running position of the self-propelled body,
Since the traveling control system can be simplified, the production cost of the self-propelled game device can be reduced.

[Brief description of the drawings]

FIG. 1 is a schematic sectional view of an X-direction movable yoke and a Y-direction movable yoke of a three-phase planar linear motor.

FIG. 2 is a schematic perspective view of a platen, an X-direction movable yoke, and a Y-direction movable yoke.

FIG. 3 is a perspective view of a case of a three-phase planar linear motor.

FIG. 4 is a schematic cross-sectional view of an X-direction movable yoke and a Y-direction movable yoke of another example of the three-phase planar linear motor.

FIG. 5 is a schematic sectional view of an X-direction movable yoke and a Y-direction movable yoke of the three-phase planar linear motor of FIG.

FIG. 6 is a block diagram of an operation of a drive control device for driving a three-phase planar linear motor.

FIG. 7 is a schematic sectional view of an embodiment of the present invention.

FIG. 8 is a plan view showing the arrangement of ball bearings of the self-propelled body in the embodiment of FIG.

FIG. 9 is a plan view of another example of a self-propelled ball bearing.

FIG. 10 is a schematic cross-sectional view of an example of the self-propelled body when the bearing of the self-propelled body is an air bearing.

[Explanation of symbols]

 10: Three-phase planar linear motor 11: Platen 11a: Platen dot 12: X-direction movable yoke 13: Y-direction movable yoke 14: Case 15: Permanent magnet 16, 17: Yoke portion 18 to 23: Leg 18a to 23a: Projection portion 24 to 29: coil 40: drive control device 70: self-propelled body 71: ball bearing 72: platen of the embodiment 75: planar linear motor of the embodiment 76: driver 77: control unit 78: communication unit 79: battery 80: pulse Motor 81: prop 82: model body 90: running track 110: thrust bearing 111: retainer 112: ball 120: compressor

Claims (12)

[Claims] 1. A self-propelled game machine equipped with a model body, wherein a platen dot of a planar linear motor is provided on the entire running track, and an X-direction movable yoke and a Y-direction movable yoke of the planar linear motor are provided below the self-propelled body. The lower surface of the self-propelled body is supported by bearings, and the self-propelled body is caused to run on a traveling track by the bearings. A turning drive motor for turning the model body mounted on the self-propelled body is provided on the self-propelled body. A game device that controls the direction of the model body by the turning drive motor and controls the turning angle of the model body by the turning drive motor in accordance with the traveling direction of the self-propelled body. 2. The game device according to claim 1, wherein said bearing is a plurality of ball bearings provided on a self-propelled body. 3. The three-phase linear motor according to claim 1, wherein three legs are provided on the X-direction movable yoke and the Y-direction movable yoke, and three-phase AC coils are provided on these legs. Game equipment. 4. The game device according to claim 2, wherein the lower ends of the legs of the X-direction movable yoke and the Y-direction movable yoke are divided into three parts. 5. The game device according to claim 1, wherein said ball bearing is a single ball, and three or more ball bearings are provided at a lower portion of the self-propelled body. 6. The game machine according to claim 1, wherein said ball bearing is a thrust bearing having a ring-shaped retainer holding a large number of balls. 7. The game device according to claim 1, wherein the turning drive motor provided on the self-propelled body is a pulse motor. 8. An X-direction movable yoke and a Y-direction movable yoke of a planar linear motor are provided below the self-propelled body, and ball bearings are provided on a lower surface of the self-propelled body, and the self-propelled body travels on a traveling track by the ball bearings. The turning drive motor for turning the model mounted on the self-propelled body is provided on the self-propelled body, and the direction of the model body is controlled by the turning drive motor, and the turning is performed in accordance with the traveling direction of the self-propelled body. A self-propelled body for a game device, in which a turning angle of a model body by a drive motor is controlled. 9. An air bearing by an air layer, wherein fine air blowing holes are densely provided on a running surface, and an air flow blown from the air blowing holes is blown to a lower surface of the self-propelled body. 1 game device. 10. The game device according to claim 8, wherein a skirt is provided on a peripheral edge of a lower surface of the self-propelled body. 11. An air bearing having a thin air layer between a lower surface of a self-propelled body and a running surface by mounting a compressor on the self-propelled body and blowing compressed air from the compressor through an opening on a lower surface of the self-propelled body. The game device according to claim 1, wherein the air bearing is used to support the running body to run. 12. A compressor is mounted, and compressed air from the compressor is blown out from an opening on a lower surface, and is supported by an air bearing formed by a thin air layer formed between the lower surface and the running surface. 8 Self-propelled body for game device.