JP2002292109A - Racing game apparatus using self-running body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To design a degree of advance detection mechanism which realizes racing patterns in the actual horse racing by making the altering of running courses and the positioning of self-running bodies match situations of racing hoses in real time while ensuring that the individual self running bodies run in a more actual fashion and smoothly and enables accurate detection of the degrees of advance of the individual self-running bodies even when they cause running troubles such as retracting or reversing. SOLUTION: An N pole line of magnetism and an S pole line of magnetism are arranged alternately on running courses of racing horses at the right angle to induction lines to make magnetic degree of advance lines 15. Two magnetic sensors are arranged being shifted longitudinally on the undersurface of each of the individual self-running bodies 3 facing the magnetic degree of advance lines and pulse signals from the magnetic sensors generated by the crossing of the magnetic degree of advance lines to detect the degrees of advance. A central controller determines the situations of racing horses while racing based on the degree of advance signals of the self-running bodies and transmits commands for transferring and altering speeds to the self-running bodies according to the situations of racing horses.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a racing game apparatus, and more particularly to a running control method for a self-propelled body, which can realize an extremely smooth and natural racing pattern. By applying the present invention to a game device such as a device, a car racing device, and an auto race, it is possible to perform a running very similar to an actual race.

[0002]

2. Description of the Related Art Various types of racing game machines that allow users to enjoy various games include various types of game modes (what kind of game is to be performed) and race modes (what kind of race is to be executed). There are two types, which are roughly classified according to the shape of the model body, such as those that race image models and those that race real models. Regardless of whether they are based on image models or real models, and regardless of what kind of “race” you enjoy, these racing game machines provide the realistic realism of racing with model bodies. It has been developed while pursuing. These racing game machines are basically based on a model body, and the racing game machines have been developed mainly based on model bodies. On the other hand, the running control of the model body in the racing game device using the image model, the race control (one is sequentially selected according to a predetermined rule from various prepared race patterns,
The route of each model according to the selected race pattern,
It is relatively easy to determine the running speed, etc.) using a microcomputer. For this reason, diversification of combinations of running horses, diversification of race patterns to be executed,
Game control technologies, such as realization of race control, have preceded those based on image models (see, for example, Japanese Utility Model Laid-Open No. 57-12).
No. 3191).

[0003] On the other hand, a self-propelled body running on a self-propelled body running surface below the model body running surface, and the model bodies are individually guided through magnetic force to race, so to speak, a two-story racing game machine. At first, due to restrictions on travel control technology, a self-propelled body had to run along a rail, and only the traveling speed of the self-propelled body was controlled to race (for example, US Pat. No. 2,188,619). However, with the dramatic increase in the processing speed of microcomputers, the dramatic increase in memory capacity, and the lowering of these prices, diversification of combinations of runners, diversification of races, and realization of race control can be achieved. Various attempts have been made to realize the race control of the racing game device using the image model with a game device using a real model body, and the realization has been achieved. An example is the self-propelled body running in trackless running by feedback control based on a control program based on the recognition that the interest of the player is reduced by half in the guide system based on the track (for example, Japanese Patent No. 2650643). The main technical problem in this case is the control of the running control of the model to ensure that the real model runs according to the game program (running path of each self-propelled body, sequential running speed, arrival order, etc.). This includes development, miniaturization of the self-propelled body, and development of a control program for making the self-propelled body run smoothly along a straight line or a curve.

On the other hand, with the development of computer technology,
Instead of guiding by mechanical tracks (rails, grooves, etc.)
A traveling control technique for controlling traveling while guiding the vehicle by a guidance line and regulating a traveling path is known, and this regulates a traveling course by a guidance line. Therefore, the tracking traveling of the guide line has an advantage that traveling control is simple, and has an advantage that it can be separated from the guide line at an arbitrary point, unlike the case of using a rail. For example, Japanese Unexamined Patent Publication No. 59-22106 discloses a technique for controlling the traveling of a vehicle using the guidance line. In these known guidance control techniques, the guidance line is tracked while electromagnetically, magnetically, and optically detected.

[0005]

By the way, the traveling of the self-propelled body, such as that described in the above-mentioned Japanese Patent No. 2506643, is controlled based on a control program in which a route, a traveling speed, an arrival order and the like are determined in advance. There is a method of detecting a position on a two-dimensional plane one by one and performing feedback control based on the position data. However, this method has the following practical problems. In other words, the running of the self-propelled body in the actual race game is not always stable due to slipping of the wheels, does not go as planned, and the responsiveness of the self-propelled body to feedback control is not quick, etc. The running of the self-propelled body lacks smoothness and stability, and it is undeniable that it is unnatural. Therefore, it is not easy to realize a race with a natural running appearance. On the other hand, in an actual horse race, a racehorse runs on a relatively smooth route such as a combination of a straight line and a gentle curve, and does not frequently change courses. As for the body, it is rather natural to run a relatively smooth route by a combination of a straight line and a gentle curve, and it can be seen that it is more realistic and closer to an actual horse race pattern. In addition, as for the traveling of the self-propelled body, there is an advantage that guiding by a trajectory is smoother, more stable, more natural, and easier to control. Furthermore, in actual horse racing, the direction of each racehorse is not changed according to the scheduled program, but is determined by the instantaneous and instantaneous determination of the jockey's situation according to the position at the corner and the situation of the horse group. The route (including course change)
The race, which is pre-programmed, is not always realistic, as it is not necessarily performed according to the program. Even if we devise a program that regulates the running speed every moment, we cannot completely escape from that feeling. Further, according to the running control that tracks a single guide line from start to finish, the running route is monotonous, the race is simple and unnatural, and the race pattern cannot be devoid of realism.

Therefore, the present invention presupposes a race game system based on a conventionally known track-type running, and makes the traveling of each self-propelled body more practical by utilizing the advantages of the conventionally known guided traveling control technology. While being smooth and
By changing the running course and positioning according to the situation of the horse group every moment, the race pattern in actual horse racing is realized, and the running control of the self-propelled body is guided. Based on traveling control, it is important to accurately detect the degree of progress of the self-propelled body. Therefore, even when a traveling trouble such as retreating of the self-propelled body occurs, the progress of the self-propelled body can be accurately detected. It is an object to devise a progress detection mechanism.

[0007]

[Means taken to solve the problem] (Corresponding to claim 2) A solution to the above-mentioned problem is that a model body traveling on an upper model body running surface is replaced with a self-propelled body traveling on a lower stage self-propelled body running surface. The self-propelled body tracks and follows the guidance line of the self-propelled body running surface, and the running speed is controlled based on a control signal from a central control device, Assuming a racing game machine where the steering operation of the self-propelled body is performed by the rotation speed difference between the left and right drive wheels of the self-propelled body,
It comprises the following (a) to (g). (B) providing a guide line on the running surface of the self-propelled body, and providing a reflection type optical sensor on the lower surface of the self-propelled body, and detecting the guide line by the reflection type light sensor;
N-pole magnetic lines and S-pole magnetic lines perpendicular to the guide line are alternately arranged on the running surface of the self-propelled body to provide magnetic progress lines, and two magnets facing the magnetic progress lines are provided on the lower surface of the self-propelled body. Providing sensors shifted back and forth, detecting that the self-propelled body has passed the progress line with the magnetic sensors,
(C) The self-propelled body control device performs feedback control based on the line detection signal of the reflection type optical sensor,
(D) counting the pulse signal from the magnetic sensor by crossing the magnetic progress line to detect the progress, and (e) running speed characteristics according to the characteristics of the individual model bodies. From the central control device to the self-propelled body, controlling the running speed of each self-propelled body by the control device according to the running speed characteristic, and performing deceleration control by a deceleration signal from the central control device; The control device gives a predetermined rotation speed difference between the left and right driving wheels of the self-propelled body in accordance with the transfer signal from the control device to change the guide line, and (g) the central control device transmits the progress information. And sequentially transmit the guidance line transfer signal and the deceleration signal in accordance with the judgment based on the predetermined condition. Note that the above horse group situation means the situation of a horse group assuming a horse racing game device. However, in the case of a car race or an auto race, the situation of the model body group of each model body is the above horse group situation. Hit the group situation.

[0008]

[Function] Each model body travels smoothly and stably while individually tracing the guide line, and its running speed is controlled by that of the individual model body such as the escape type, the run-in type, the short-distance type, and the long-distance type. The vehicle travels based on a traveling speed program according to the characteristics. Then, the progress of each self-propelled body based on the count value of the number that crossed the progress line (the progress from the start)
The status of the horse group is sequentially grasped from the information, and based on the status of the horse group, whether or not predetermined conditions are met is checked. If these conditions are satisfied, a transfer signal is transmitted from the central control device, and the transfer signal is used by the transfer signal. The control is performed, and whether or not a predetermined condition is satisfied with respect to the horse group status is checked. If the condition is satisfied, a deceleration signal is transmitted and deceleration control is performed. The most practical race based on the sequential horse group situation is developed by the transfer command and the deceleration signal based on the predetermined conditions regarding the above horse group situation. In addition, this traveling control is basically guidance traveling by a guidance line, and the traveling speed is based on a traveling speed program according to the characteristics of the model body given to the control device of the self-propelled body. Since the vehicle is controlled, the traveling control of the self-propelled body is almost controlled by a control device mounted on the self-propelled body, and a smooth, stable, and natural traveling state is realized. Is extremely simple and simple.

Further, since the guide line detection sensor and the progress line detection sensor are optical sensors and magnetic sensors having different physical characteristics, the guide line detection and the progress line detection do not interfere with each other. The interference does not cause the detection error of the guidance line and the progress line.
A progress line provided on the running surface of the self-propelled body in a direction perpendicular to the guide line is configured by alternately arranging N-pole magnetic lines and S-pole magnetic lines. When the body traverses, it is detected as two line pulse signals by two magnetic sensors arranged to be shifted back and forth. When the mutual relationship between the two line pulse signals is “order”, the pulse signals are added as “positive” to obtain the progress data of the self-propelled body. When the self-propelled body moves backward, the relationship between the two line pulse signals becomes "reverse". Therefore, the pulse in the reverse order is set to "negative" and subtracted to obtain progress data. In particular, a progress line count error immediately results in an error in the progress count value (progress information), which makes the grasp of the horse group situation inaccurate and confuses the running control based on the horse group situation. According to this solving means, the traveling line can be accurately controlled based on the horse group status because the accuracy of detecting the progress line is high. In addition, the above requirements (e) (g)
Is a matter relating to how to perform the traveling speed control and the transfer change control in order to enhance the race pattern, and is not an indispensable requirement from the viewpoint of improving the traveling control accuracy by the guidance line.

[0010] The above-mentioned solution is based on the premise described above, and the control device for the self-propelled body tracks the guided line while detecting the guide line provided on the self-propelled body running surface by a reflection type optical sensor. The central control unit sequentially grasps the status of the horse group based on the progress information, transmits a transfer signal and a speed (deceleration) signal of the guidance line to the self-propelled vehicle according to the horse group status, and controls the self-propelled vehicle. The basic idea is that the control device performs the transfer control and the speed control of the guide line according to the transfer signal and the speed signal. Within the scope of the basic idea, the conditions of the transfer control and the speed control are determined. How to do so can be appropriately selected according to the type, specifications, and the like of the racing game device.

[0011]

Embodiment 1 (corresponding to claim 3) In Embodiment 1, before the start, the first and second model bodies are determined in advance by the central controller, and the traveling control from the third corner to the goal is controlled by one. The model body that is scheduled to wear and wears 1 as scheduled
The priority is given to the traveling control of these self-propelled bodies so as to finish in the second or third place, and in this connection, the traveling speed control of the self-propelled bodies of other model bodies and the control of transfer to the guide line are performed.

By deciding the first and second model bodies before the start, it becomes practically possible to apply the present invention to a racing game machine that pays out coins for winning voting.
By the way, the first and second model bodies are determined at the start,
It is an indispensable condition in a racing game machine that pays a coin for a winning vote to achieve a goal as determined, and this is a common sense in the game machine industry.

[0012]

Embodiment 2 (corresponding to claim 4) Embodiment 2 is that the above-mentioned reflection type optical sensor is constituted by arranging three optical sensors in a line in the horizontal direction.

When the center of the three optical sensors arranged in a row is located at the center of the guide line, the shift of the self-propelled body with respect to the guide line is zero. Then, when two detect the guide line and the other does not detect the guide line, it is determined from these signals that the self-propelled body has shifted to one side with respect to the guide line. As described above, since the direction and the amount of the deviation can be detected, the feedback control for tracking the center of the guidance line can be performed with high accuracy, and therefore, the guidance line tracking traveling with small swing to the left and right can be performed. Done.

[0013]

Embodiment 3 (corresponding to claim 5) Embodiment 3 is that in Embodiment 2, the guide line is a printed line in which white lines and black lines are alternately arranged.

By printing, the guide line can be formed on the running surface relatively easily, and the contrast of the detection signal when the track goes off the track becomes clear. be able to.

[0014]

Embodiment 4 (corresponding to claim 6) In Embodiment 4, the central control unit sequentially grasps the horse group status based on the progress detection information, and Condition 1: the speed between the self-propelled bodies on the same guidance line. When the difference is equal to or greater than a predetermined value and Condition 2: when the inter-vehicle distance between the preceding and following mobile bodies is equal to or less than a predetermined value, a deceleration signal is transmitted to the control device of the subsequent mobile body.

[Function] Since the change of the guide line (change of the running course) and the deceleration are judged based on the above conditions based on the situation of the horse group, it is most important regardless of the running condition of each self-propelled body. A practical race pattern is developed, and various race patterns can be realized according to the conditions of the horse group, the skill of the jockey, the habit, the characteristics of the model body, and the like. The transfer condition and the deceleration condition are minimum conditions, and other conditions can be added, and the conditions can be changed to other conditions. In short, basically, optimal transfer conditions and deceleration conditions should be set to simulate actual horse racing.

[0015]

Fifth Embodiment In a fifth embodiment, the progress control of the self-propelled body is feedback-controlled by a central control device or a control device mounted on the self-propelled body.

The accuracy of the progress control of the self-propelled body is improved, and a race game in a game device in which a large number of model bodies race can be smoothly executed.

[0016]

[Embodiment 6] Embodiment 6 is that the progress control of the self-propelled body is made open control.

[Function] Since the open control is used, the progress control of the self-propelled body itself becomes extremely simple. Since the self-propelled body of the present invention is guided by the guidance line and travels by changing the guidance line, even if the control accuracy of the progress is not high, there is no particular obstacle to the race itself. Will not occur. Therefore, even in a race using a large number of model bodies, this can be smoothly executed.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An example in which the present invention is applied to a horse racing game machine will be described with reference to the drawings. The overall structure of this embodiment is the same as that of the conventional horse racing game machine, and is a large game machine having a width of about 2.5 m and a length of about 4 m, and a large number of satellites so that the model body 5 surrounds a race track. Is arranged. Each satellite is provided with a coin handling mechanism for inserting and paying out coins, an operation panel such as a voting operation key, and a display for displaying various information. Upper model running track (model running surface) 1
A self-propelled body 3 traveling on a self-propelled body running track (self-propelled body running surface) 2 below the model body pulls the model body 5 through the magnetic force of magnets 4 and 4 provided on the self-propelled body upper part and the model body lower part. And race.
The above basic structure is described, for example, in US Pat. No. 2,188,861.
It has a conventionally well-known structure as described in the specification of JP-A No. 9 (KOKAI). The thing described in the above-mentioned U.S. Patent Specification is to make the self-propelled body run along the rail and regulate the running direction by the rail, so that the running control for the race is only speed control. The traveling control is extremely simple.
This embodiment is based on the above-mentioned U.S. Patent Specification in which the rail-based guiding means is replaced with a conventionally known optical guiding means.

On the self-propelled body traveling track 2, printing is performed by alternately arranging black lines (guide lines) 11 having a width of 6 mm and white lines 12 having a width of 6 mm along the traveling direction. White line 1
2 may be used as a guide line. However, in the case where either the black line 11 or the white line 12 is used as the guide line 10, the width of the guide line 10 depends on the arrangement of the photodiodes 14 facing the guide line 10. Although it is related, the width of the line on both sides of the guide line 10 is appropriately selected depending on the interval between the guide lines. In this embodiment, the pitch between the guide lines 10 is 12 mm, which is about 37% of the width 33 mm of the self-propelled body 3. The pitch of the guide line 10 corresponds to a transfer width of the guide line described later. If the transfer width is too large, the transfer will not be smooth, so it is desirable to keep the transfer within a range where the transfer can be performed smoothly. If the pitch is too small, the guide lines become too dense, and the change width of the traveling course due to transfer is reduced. In this case, it is necessary to jump over two or more guide lines and transfer, and special transfer control such as performing transfer control specifying the number of transfer lines is required. If the pitch is too small, the guiding line 10
Becomes narrower, it is difficult to detect with three or more photodiodes 14. So, in this case,
It is necessary to provide a detection system in which the two photodiodes 14 detect both sides of the guide line 10 respectively.

In this embodiment, three photodiodes are arranged side by side in the width direction on the lower surface of the self-propelled body as detection sensors for the guide line 10 to constitute a reflection type optical sensor (guide line detection sensor). I have. The detection width of the three photodiodes is 12 mm, which is twice the width of the black line (induction line) 11, and the interval between the adjacent photodiodes 14 is 6 mm. Central photodiode 1
4, when the black line 11 is detected and the other one detects the white line 12, the photodiode 14 that has detected the white line 12
The self-propelled body is shifted toward. This is determined by the controller 16 of the self-propelled body, and the trajectory is corrected by feedback control. In this way, the vehicle travels smoothly while accurately tracking the guidance line while reliably detecting a small one. As described above, by tracking the three photodiodes 14 in opposition to one relatively wide guide line, it is possible to perform tracking running with small lateral swing, while the white line 12 and the black line Line 11
, The center photodiode 14 faces the black line 11, and the left and right photodiodes 14, 14 face the left and right white lines 12, respectively. Also, by arranging three photodiodes at the front of the self-propelled body and arranging two or three photodiodes at the rear, skew of the self-propelled body with respect to the guide line can be detected. The tracking control accuracy of the guidance line, especially the curved guidance line can be increased.

By the way, in a racing game machine, there are circumstances in which it is not possible to determine the order of arrival based on the outcome of the race from the relationship with the payout rate. For this, at least one
It is necessary and necessary to determine the model of the first and second clothes before the start. Therefore,
It is important to detect the degree of progress of each model from the start point in order to control to finish in the expected order of arrival and to grasp the status of horse groups one by one. The self-propelled body may retreat due to a contact accident or the like due to a trouble. However, if such a trouble occurs, the detected progress will not be “true”, which will hinder accurate transfer and speed control thereafter. Therefore, it is important that the progress data transmitted from the self-propelled body is always “true” even when the self-propelled body retreats. To this end, a magnetic progress line 15 that intersects the guide line at right angles is densely provided,
This is detected by the two Hall sensors A and B provided on the lower surface of the self-propelled body 3, and the number of passing holes is integrated (counted) to detect the progress. The progress line 15 is formed by alternately arranging N-pole magnetic lines 15a and S-pole magnetic lines 15b each having a width of 10 mm. Two Hall sensors (magnetic sensors) A and B are arranged at the lower part of the self-propelled body so as to be shifted back and forth. are doing. Self-propelled body 3 has N-pole magnetic line 15a and S-pole magnetic line 1
When traveling while crossing 5b, the two Hall sensors A and B detect a detection signal as shown in FIG. A / D conversion of this detection signal makes it possible to integrate the number of passing signals. The progress information detected in this way is transmitted from each self-propelled body to the central control device.

When the self-propelled body crosses the N-pole magnetic line 15a and the S-pole magnetic line 15b in the forward direction, the detection signals A and B by the two Hall sensors A and B which are arranged to be shifted from each other in the front-back direction are shown in FIG. When the self-propelled body moves backward, the relationship between the detection signals A and B is reversed. When the correlation between the two progress line detection signals A and B is in order, this is added to the progress data as "positive", and when the two are opposite,
This is subtracted from the progress data as "negative". By this subtraction, the progress of the retreated position is accurately detected. N-pole magnetic line and S-pole magnetic line as a pair of magnetic lines,
Even if a blank line having an appropriate width is interposed between each pair, the progress can be accurately detected as in the embodiment of FIG. The detection signal in this case is different from that shown in FIG.
The detection signal has a waveform in which 0, +,-, 0 is repeated, and in the case of retreat, a waveform in which 0,-, + is repeated. This is because it is possible to distinguish between forward and backward by the difference in waveform. The central controller fetches the progress information from all the self-propelled bodies and grasps the horse group status from the positional relationship between the model bodies (actually, the positional relation between the self-propelled bodies).
Each self-propelled body has characteristics of the model body (escape type, run-in type, short-range type, long-range type, etc.),
Depending on the habit, etc., the speed control program given to the control device 16 of the self-propelled body before the start (for those designated as first and second clothes, after passing through the third corner, a special speed control program) Based on this, the basic traveling speed is controlled. Then, in the sequential horse group situation, the central control device determines whether or not there is a possibility of interfering with an adjacent self-propelled body, etc. It is determined whether or not to make a transfer, and for self-propelled vehicles that meet the above conditions,
An outward guidance line transfer signal is transmitted. In this example, when it is determined that there is no possibility of interfering with an adjacent self-propelled body with respect to the transfer in the directed direction with priority given to transfer, a transfer command in that direction (inside or outside) is immediately issued. Is transmitted.

A deceleration command is transmitted when there is a possibility that the vehicle will collide with a preceding self-propelled body based on the basic traveling speed. If you can avoid a rear-end collision by transferring,
Issue a transfer command. In this case, the basic traveling speed can be maintained as it is. However, the above-mentioned deceleration means a speed change, and may be transmitted as a decelerated speed signal, or may be transmitted as a signal indicating a deceleration amount. Further, the basic traveling speed signal transmitted from the central control device to the control device of the self-propelled body may be transmitted collectively before the start of the race, or may be transmitted a plurality of times for each section. . The actual transfer control and deceleration control are performed based on the sequential determination in consideration of the above various other conditions, but basically, the transfer control and the deceleration control based on the predetermined conditions are performed. One race will take place.
Although the roles of the control unit 16 of the self-propelled body and the central control unit are as described above, the signals transmitted from the central control unit to the control unit of the self-propelled body are the individual model bodies transmitted before the start. , Basic speed data corresponding to the characteristics of the above, a signal for taking a course at the start, a transfer signal during a race, and a deceleration signal. And the basic speed data during the above one race is
It is divided into a plurality of traveling sections and given as a basic traveling speed in each section. In this embodiment, the entire running section of one race is defined as a straight section from the start to the first corner, the first corner, the second corner, the second corner and the third section.
It is divided into a straight section between the corners, a third corner, a fourth corner, and seven sections from the fourth corner to the goal. Although the basic running speed is not necessarily different for each section, the characteristics of each model body can be represented by this section division, and this section is sufficient to imitate the actual race pattern of horse racing. It is. The basic traveling speed may be single for each self-propelled body, but in this case, speed adjustment according to the characteristics of the model body is separately performed for the above-described sections.

On the other hand, the progress information is transmitted from the control device of the self-propelled body to the central control device. The control device of the self-propelled body controls the rotation speeds of the left and right wheel drive motors so that the vehicle travels at the above basic traveling speed and while following the guidance line, and responds to the transfer command and deceleration command from the central control device. Then, the rotational speed of the wheel drive motor is adjusted. Assuming that there is no transfer command or deceleration command, from the start to the goal, the vehicle travels at a basic running speed based on the characteristics of the model body while being guided by one guide line while being tracked throughout. The control device 16 includes a memory 1 for storing a tracking control program, information from the central control device, and the like.
6a, a calculating unit 16b, a driving unit 16c for controlling the driving of the traveling motor, and further, a progress calculating unit 16d, the correlation of the detection signals from the Hall sensors A and B is "positive",
There is a processing device 16e for determining the reverse of the mutual relationship. Then, a signal from the central control unit is received by the receiver 17, and necessary data is stored in the memory 16a. The control device 16 receives the guidance line detection signals from the three photodiodes 14 of the self-propelled body 3, detects the deviation from the guidance line to the left and right, and performs feedback control to correct the deviation from the guidance line. Follow the guidance line while running. Further, the progress calculating section 16d calculates the progress based on the progress line detection signals from the two Hall sensors A and B, and transmits the progress information from the transmitter 18 to the central control device. The central control unit sequentially grasps the horse group status based on the progress information transmitted from each self-propelled body, determines whether it is necessary to change the guidance line and decelerate based on predetermined judgment conditions, and Transfer to your body and send a deceleration signal sequentially. The traveling of the self-propelled body controlled as described above is basically based on the tracking traveling of the guide line as schematically shown in FIG. 7, and travels while changing the guide line inward and outward as appropriate.

If high progress control accuracy is not required, the open control is not a problem for the progress control.
However, in a game device such as a horse racing game device in which a large number of model bodies race in a complicated manner, a high progress control accuracy is required. When such high progress control accuracy is required, it is necessary to perform feedback control of the progress control. In this case, the feedback control may be performed by the central control device, or may be performed by a control device mounted on the self-propelled body. On the other hand, when the progress accuracy of the self-propelled body is extremely high, or when high progress accuracy is not required due to the nature of the game, etc., the horse group status is sequentially grasped and running control is performed based on this. It is also possible to use open control.

[0025]

As described above, according to the present invention, the traveling path is regulated by the guide line, whereby the swing of the self-propelled body in the traveling direction is reduced and the vehicle can run stably. The change of the course (taking a course) is performed and the above-mentioned transfer is performed as much as possible in order to simulate the actual racetrack pattern as faithfully as possible, realizing a very natural and stable model body running In addition, according to the sequential horse group situation during the race, for example, by simulating the determination conditions of the jockey in the actual horse race, the course change, deceleration is sequentially determined according to the horse group situation. Since the course is changed and decelerated based on the judgment, the race pattern of the model body can be approximated to the race pattern of an actual horse race as much as possible. As in the prior art, the traveling route and traveling speed of each self-propelled body are programmed, and the running of the self-propelled body is performed by sequential position information on two-dimensional coordinates during a race so that this program is executed. In the case of feedback control, various types of trouble such as running out of control due to slippage of the wheels and going out of control due to a temporary slippage of the wheel, which may cause a runaway, may not be possible. Since the present invention is of the induction type,
There is no loss of control outside the running course, so that the race game is executed in an orderly and extremely smooth manner, and a very realistic race pattern is realized.

In addition, since the reflection type optical sensor is used for tracking and running control of the guide line, and the progress information is obtained by detecting the progress line with the magnetic sensor, detection of the guide line for tracking and running is performed. There is no interference with the detection of the progress line for detecting the progress, no two-dimensional position detecting means is required, and the traveling of the self-propelled body is guidance control by a guidance line. Since the speed control is performed according to the running speed program given to each model body in advance, the running control of the self-propelled body is extremely simple in terms of both hardware and software, the control accuracy is high, and therefore the running control is accurate. Is made.

Further, the progress information is obtained by using a progress line in which an N-pole magnetic line and an S-pole magnetic line are repeatedly arranged and detecting the progress line with two magnetic sensors whose positions are shifted forward and backward. The forward and backward movements of the self-propelled body can be clearly distinguished by the detection signals of the two magnetic sensors, so that the progress counting error due to the backward running can be reliably avoided. The "true" progress can be reliably detected. Therefore, it is possible to accurately and reliably execute the race control using the progress of each self-propelled body as basic data.

[Brief description of the drawings]

FIG. 1 is an overall perspective view of a horse racing game apparatus according to an embodiment.

FIG. 2 is a conceptual side view of the model body and the self-propelled body of the embodiment.

FIG. 3 is a perspective view of the self-propelled body traveling track of the embodiment.

FIG. 4 is an enlarged view of a main part showing a relationship between a guide line and a guide line detection sensor in the embodiment.

FIG. 5A is an enlarged view of a main part showing a relationship between a progress detection line and a progress detection sensor in the embodiment, and FIG. 5B is a schematic diagram of a progress detection signal output from the progress detection sensor.

FIG. 6 is a block diagram of the travel control device of the embodiment.

FIG. 7 is a diagram schematically showing a traveling route of the self-propelled body of the embodiment.

[Explanation of symbols]

 1: Model body running track (model body running surface) 2: Self-propelled body running track (self-running body running surface) 3: Self-propelled body 4: Magnet 5: Model body 10: Guidance line 11: Black line 12: White line 14: Photodiode (reflection type optical sensor) 15: Magnetic progress line 15a: N-pole magnetic line 15b: S-pole magnetic line 16: Controller 16a: Memory 16b: Operation unit (CPU) 16c: Driving unit 16d: Progress operation Part 17: Receiver 18: Transmitter A, B: Hall sensor

Claims (9)

[Claims] 1. A model body traveling on an upper model body traveling surface,
A self-propelled body running on the lower self-propelled body running surface is guided by a magnetic force to compete with the self-propelled body, and the self-propelled body tracks the guidance line of the self-propelled body running surface, and the running speed is reduced. In a racing game machine controlled based on a control signal from a central control device and in which a steering operation of the self-propelled body is performed by a rotation speed difference between left and right driving wheels of the self-propelled body, the self-propelled body is provided on a running surface. While detecting the guide line by the reflection type optical sensor, feedback control is performed by the control device of the self-propelled body so that the self-propelled body follows the guide line, and an N pole perpendicular to the guide line on the self-propelled body running surface. A magnetic progress line is provided by alternately arranging magnetic lines and S-pole magnetic lines, and two magnetic sensors opposed to the magnetic progress line are provided on the lower surface of the self-propelled body so as to be shifted back and forth, and the self-propelled body has passed the progress line. With the above magnetic sensor. Each sensor detects the progress by counting the pulse signal from the magnetic sensor by crossing the magnetic progress line, and the progress is detected.The central control unit sequentially grasps the horse group situation during the race based on the progress signal of the self-propelled body. A racing game device that transmits a transfer command and a speed change command to the self-propelled body according to the horse group situation. 2. A model body traveling on an upper model body traveling surface,
A self-propelled body running on the lower self-propelled body running surface is guided by a magnetic force to compete with the self-propelled body, and the self-propelled body tracks the guidance line of the self-propelled body running surface, and the running speed is reduced. In a racing game machine which is controlled based on a control signal from a central control device and in which a steering operation of the self-propelled body is performed by a rotation speed difference between left and right driving wheels of the self-propelled body, the guide to the self-propelled body running surface is provided. A line is provided, and a reflection type optical sensor is provided on the lower surface of the self-propelled body, and the guide line is detected by the reflection type optical sensor. A magnetic progress line is provided by alternately arranging magnetic lines and S-pole magnetic lines, and two magnetic sensors opposed to the magnetic progress line are provided on the lower surface of the self-propelled body so as to be shifted back and forth, and the self-propelled body has passed the progress line. Self-running With the control device, the feedback control is performed by the line detection signal of the above-mentioned reflection type optical sensor, the guide line is traced, the pulse signal from the magnetic sensor by crossing the magnetic progress line is counted, and the progress is detected. A traveling speed characteristic corresponding to the characteristics of each model body is given to the self-propelled body from the central control device, and the traveling speed of each self-propelled body is controlled by the control device according to the traveling speed characteristic. The deceleration control is performed according to the deceleration signal, and the control device gives a predetermined rotational speed difference between the left and right driving wheels of the self-propelled body to perform the transfer of the guidance line according to the transfer signal from the central control device. A race where the device sequentially grasps the horse group status based on the progress information and transmits a guide line transfer signal and a deceleration signal in accordance with a determination based on predetermined conditions. Over beam apparatus. 3. Before the start of the race, the first and second model bodies are determined in advance by the central control unit, and the running control from the third corner to the goal is controlled by the planned model body with one set as scheduled. 3. The running control of these self-propelled bodies is given priority so as to finish in second place, and in this connection, the running speed control of the self-propelled bodies of other model bodies and the transfer control of the guide line are performed. Racing game machine. 4. The racing game machine according to claim 2, wherein said reflection type optical sensor is constituted by arranging three optical sensors in a line in the horizontal direction. 5. The racing game machine according to claim 4, wherein said guide line is a printed line in which white lines and black lines are alternately arranged. 6. The central control unit sequentially grasps the horse group status based on the progress detection information. Condition 1: a speed difference between self-propelled bodies on the same guidance line is equal to or greater than a predetermined value; 3. The racing game device according to claim 2, wherein a deceleration signal is transmitted to a control device of the following self-propelled body when the inter-vehicle distance between the self-propelled bodies is less than or equal to a predetermined value. 7. The racing game machine according to claim 1, wherein said magnetic progress line has a blank line interposed between each pair of an N-pole magnetic line and an S-pole magnetic line. 8. The racing game apparatus according to claim 1, wherein the progress control of the self-propelled body is feedback-controlled by a central control device or a control device mounted on the self-propelled body. 9. The racing game machine according to claim 1, wherein the progress control of the self-propelled body is an open control.