JP2002306832A - Game machine using traveling body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To device a position detector so that a traveling body is made light in weight and small in size by directly reading the position of the traveling body on the traveling surface in order to simplify the position detector of the traveling body in a game machine. SOLUTION: In the game machine which travels tracking target points on a traveling route one by one according to a program and feedback-controls the traveling of the traveling body with positional information, a surface pressure measuring sheet using of a sensor matrix is laid on a traveling surface, the pressure distribution of each wheel of the traveling body on the surface pressure measuring sheet is measured by a control signal processing part, the position of each wheel is detected based on the pressure distribution of each wheel measured by the control signal processing part, a positional information transforming part detects the X coordinate position and Y coordinate position of the traveling body from the position of each wheel and transmits these to a travel controller.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for detecting the position of a running body in a game machine, and a running body on a running surface (two-dimensional plane) for feedback-controlling the running body without track. Can be simplified, and the information processing for detecting the position information can be simplified.

[0002]

2. Description of the Related Art As a game device for running a model body,
There are a racing game machine that races a model body, a game device that makes the model body perform various operations, and the like. These game devices include a model body that is a self-propelled body or a two-story structure. There are things that guide the body by self-propelled bodies. On the other hand, in terms of the difference in the traveling control method, the one that performs feedback control based on the trackless traveling of the self-propelled body (for example, Japanese Patent No. 2861978), does not deviate from the guiding line based on the tracking traveling of the guiding line. (For example, Japanese Patent Application Laid-Open
-244517). Since the trackless running is to feedback control the running route of the running body and the running speed every moment according to the program,
Basically, the position of the traveling body on the traveling surface (two-dimensional plane) is detected every moment, and the traveling route and traveling speed are feedback-controlled based on the position information. By the way, there are various trackless traveling control technologies in the game device, but an outline of a typical position detecting device for feedback control is as shown in FIG. In the position detecting device shown in FIG. 1, position detecting lines 2 a and 2 b in the X-axis direction and the Y-axis direction are provided densely
a to the X-axis position search circuit 3a,
b is connected to the Y-axis position search circuit 3b. While traveling on the traveling surface 1 on which the position detection lines 2a and 2b are stretched in the X-axis direction and the Y-axis direction, the traveling body intermittently transmits from the transmitter in response to a command from the central control device. A signal is transmitted and received by the position detection lines 2a and 2b, and this signal is transmitted to the X-axis position search circuit 3a and the Y-axis position search circuit 3b. The received signal is transmitted to the position detection circuit 4, which detects the X-coordinate position and the Y-coordinate position of the traveling body, and transmits the position detection signal to the microcomputer 5. The traveling body intermittently transmits a signal while traveling, so that the traveling position is detected each time.

[0003] As described above, the position detection lines 2a and 2b for detecting the position of the traveling body are provided by transmitting and receiving signals between the position detection lines 2a and 2b and the traveling body that are closely arranged on the traveling surface. Since the sequential position of the traveling body is detected, it is necessary to provide the traveling body with a receiving unit or a transmitting unit, and it is necessary to mount a power supply and an electronic device for this. On the other hand, in order to smoothly control the traveling of the traveling body (control of the route and the speed), it is desirable that the inertia is small (light weight). Traveling surface position detection lines 2a, 2b
Since the transmission device for transmitting to the vehicle is provided, it becomes heavier by that amount, and this is an obstacle to downsizing of the traveling body.

[0004]

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to reduce the weight of a traveling body by directly reading the position of the traveling body on a traveling surface in order to simplify a traveling body position detecting device in a game device. It is an object of the present invention to devise a position detecting device so that it can be downsized.

[0005]

Means taken for solving the problem are based on a game device which sequentially tracks and runs on a target point on a running route according to a program and feedback-controls the running of the running body based on position information. (A), (b) and (c) below. (A) A surface pressure measurement sheet using a sensor matrix is laid on the running surface. (B) A pressure distribution of each wheel of the running body on the surface pressure measurement sheet is measured by the control signal processing unit. (C) Each wheel position is detected based on the pressure distribution for each wheel measured by the control signal processing unit, and the X coordinate position and the Y coordinate position of the traveling body are detected from each wheel position by the position information conversion unit. And transmit this to the travel control device.

[0006]

The sheet for measuring the surface pressure using the sensor matrix is composed of an X line (X electrode) and a Y line (Y
Electrodes) are provided densely, the pressure applied to the sheet surface is detected, and the pressure distribution is detected by the X-line circuit and the Y-line circuit. The pressure distribution on the surface pressure measurement sheet is measured by the control signal processing unit according to the weight of the traveling body, and the position of each wheel of the traveling body can be specified from the pressure distribution. The XY coordinate position of the traveling body is detected by the position information conversion unit based on the specified wheel positions, and transmitted to the traveling control unit as position information. The above-described position detection is performed intermittently on the XY coordinate plane. However, since this position detection is automatically performed repeatedly by the control device, it is not possible for an electromagnetic signal to be transmitted and received between the traveling body and the travel control device during that time. Absent. Also, in order for the traveling body to travel along a predetermined traveling route on the program,
It is necessary to perform steering control by calculating the steering amount from the relationship between the direction of the traveling body, the current position, and the next target point. However, since the positions of all wheels are specified from the pressure distribution, Since the direction of the traveling body at that time can be calculated from the position of the wheels, the traveling body is provided with two or more transmitting units,
Detecting the position of this transmitting part, the vector (direction) of the traveling body
There is no need for a special position detection mechanism for detecting the direction of the traveling body, such as detecting the direction of the vehicle. Therefore, position information necessary for feedback control in traveling control can be obtained from the position of each wheel detected by the surface pressure measurement sheet. Simple. This solution detects each wheel position and detects the position of the traveling body based on the wheel position.However, based on the pressure distribution on the surface pressure measurement sheet, the position information conversion unit converts the traveling body. It is also possible to detect the X coordinate position and the Y coordinate position.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention can be applied to an obstacle game machine for moving a running body along a programmed running route, a game machine for causing a running body to perform various operations, and the like. For example, as shown schematically in FIG. 2, for example, a large number of traveling routes (mazes) are prepared by a program in a field F where a large number of obstacles H are arranged.
This is an example in which this traveling route (maze) is changed every time a game is performed, and the present invention is applied to an obstacle race device in which a player travels a traveling body while appropriately selecting a traveling route. This game device competes for the accuracy of the selection of a traveling route and the time required to reach a goal, and allows a player to select a route and control the speed at each branch point, and is provided. If the user deviates greatly from the route, the game becomes uncontrollable and the game ends there. On the other hand, if the goal can be achieved in time, a reward is obtained according to the time required to complete the goal. In such a game device as described above, the running body is controlled so as to track the programmed route, and the position is momentarily detected for feedback control.

In the field F, a surface pressure sheet made of piezoelectric elements is laid. The surface pressure sheet is provided with a sensor matrix section 30, that is, an X line 31 formed by a piezoelectric element,
The X line 31 is a sheet on which the Y lines 32 are densely wired.
Are connected to the Y line circuit 34, respectively. The X line circuit 33 includes an X sensitivity correction adjustment unit 33a, an X multiplex 33b, and an X gate signal processing unit 33c.
The line circuit 34 includes an X sensitivity correction adjustment unit 34a, an X multiplex 34b, and an X gate signal processing unit 34c. The X line circuit 33 and the Y line circuit 34 are connected to a control signal processing unit 35, and the X line circuit 33 and the Y line circuit
The surface pressure distribution on the sensor matrix unit 30 is detected by the control signal processing unit 35 based on the data information from the line circuit 34. Although the sensor matrix section 30 is conventionally known, the outline of its cross-sectional structure is as shown in FIG. That is, the lower electrode 42 is laminated on the fixing plate (substrate) 41, the Y line 32 is laminated on the lower electrode 41, and the resistor sheet 43, X
The line 31 and the upper electrode 44 are stacked. The upper electrode 44 is protected by laminating a protective sheet 35, and the upper surface of the protective sheet 45 serves as a traveling surface of the traveling body.

When the pressure P acts on the surface of the protective sheet 45, distortion occurs in the resistance sheet between the X and Y lines on the line of action of the pressure P, and the X and Y lines are proportional to the magnitude of the distortion. Since the electric resistance of the resistance sheet between the lines changes, the distribution of the pressure on the surface of the protection sheet 45 is measured by measuring the distribution of the electric resistance of the resistance sheet between the X line and the Y line. An electric resistance distribution corresponding to the distribution of the pressure applied to the upper surface of the protection sheet 45 is generated on the resistance sheet. This electric resistance distribution is measured by the X-line circuit 33, the Y-line circuit 34, and the control signal processing unit 35, and the information is processed. Thus, the pressure distribution is detected. A position information conversion unit 36 is connected to the control signal processing unit 35. The position information conversion unit 36 converts the surface pressure distribution (pressure distribution) detected by the control signal processing unit 35 into the position of the wheel of the traveling body. The XY coordinate position is detected, and further, the XY coordinate position of the traveling body is detected from the XY coordinate position of the wheel, and is converted into respective XY coordinate data.

The XY coordinate data of the wheels and the XY coordinate data of the traveling body are transmitted from the position information conversion unit to the traveling control device 37, and the position of the traveling body based on the XY coordinate data is compared with a target position on the program. A control signal from the traveling control unit is transmitted to the traveling body so that the traveling body travels toward the next target position on the traveling route while performing necessary feedback. The traveling control signal is received by the communication unit 21a of the traveling body 21 and the control unit 21b
To control the driving unit 21c to cause the traveling body 21 to travel along a programmed predetermined traveling route. Depending on the traveling speed and direction change, the center of gravity of the traveling body moves beyond the overturn limit, which may cause the traveling body to overturn.However, calculating changes in load applied to individual wheels and load distribution Thus, the movement of the center of gravity can be constantly monitored. Therefore, when the movement of the center of gravity may exceed the overturn limit, the traveling speed and the traveling direction can be finely adjusted to prevent the position of the center of gravity from exceeding the overturn limit. Therefore, by detecting the load applied to each wheel, the speed and the traveling direction can be finely adjusted so that the movement of the center of gravity does not exceed the overturn limit, and the traveling body can be prevented from overturning.

When a plurality of traveling bodies run on the same surface pressure measurement sheet, the traveling bodies cannot be distinguished from each other. However, one field is divided into a plurality of traveling lanes, and each traveling lane has a separate field. By laying the surface pressure measurement sheet and running one traveling body in each traveling lane, a race with a plurality of traveling bodies can be performed. Furthermore, since the weight of a plurality of traveling bodies traveling on one surface pressure measurement sheet is different, the magnitude of the surface pressure by each traveling body is different. Can be distinguished. Therefore, it is also possible to simultaneously move a plurality of traveling bodies on one surface pressure measurement sheet and detect the position of each traveling body. Further, when the traveling body is, for example, an ABCD, the traveling route on which the traveling bodies A, B, C, and D travel, and if the traveling speed is scheduled on a program, the travel route ABCD and the traveling speed ABCD are used to determine the traveling route. Since the passing time of each target point on the traveling route ABCD of each traveling body is predicted, a plurality of traveling bodies A, B, C, and D traveling on the same surface pressure measurement sheet are estimated from this route and the predicted passing time. And it is also possible to detect each position.

[0012]

As described above, according to the present invention, a surface pressure measuring sheet using a sensor matrix is laid on a running surface, and a pressure distribution of each wheel of a traveling body on the surface pressure measuring sheet is measured by a control signal processing unit. Based on the pressure distribution for each wheel measured by the control signal processing unit, each wheel position is detected, and from each wheel position, the X coordinate position of the traveling body, Y
Since the coordinate position is detected and the travel position information is read using the weight of the traveling body, the information processing in the position detection device is simplified. Therefore, the manufacturing cost of the position detecting device is significantly reduced in both hardware and software. Further, since there is no need to provide transmission or reception means and devices on the traveling body, the traveling body can be reduced in weight and size accordingly. In addition, since the position of each wheel of the traveling body can be individually detected, the direction of the traveling body can be detected using the same position information, and the direction of the traveling body on the two-dimensional traveling surface can be calculated. Therefore, the control of the traveling route including the turning operation of the traveling body at the target point on the planned traveling route is simplified. further,
Since not only the position of each wheel of the traveling body but also the magnitude of the weight applied to each wheel can be individually detected, it is possible to calculate the movement of the center of gravity of the traveling body, and using this, the position of the center of gravity can be calculated. By finely adjusting the speed or the direction before the vehicle exceeds the overturn limit, it is possible to prevent the running body from overturning. Therefore, delay and confusion of the game progress due to the falling of the running body are prevented.

[Brief description of the drawings]

FIG. 1 is a schematic diagram of a traveling body position detection device in a conventional game device.

FIG. 2 is a perspective view schematically showing a game device according to the embodiment of the present invention.

FIG. 3 is a schematic diagram of a position detection device according to an embodiment of the present invention.

FIG. 4 is a sectional view of a sensor matrix portion of the surface pressure sheet according to the embodiment of the present invention.

[Explanation of symbols]

 H: Obstacle F: Game device field P: Pressure 1: Running surface 2a: X-axis position detection line 2b: Y-axis position detection line 3a: X-axis position search circuit 3b: Y-axis position search circuit 4 : Position detection circuit 5: microcomputer 21: traveling body 30: sensor matrix section 31: X line 32: Y line 33: X line circuit 34: Y line circuit 35: control signal processing section 36: position information conversion section 37: traveling Control unit

Claims (4)

[Claims] 1. A game machine with a running body that sequentially tracks a target point on a running route in accordance with a program and feedback-controls the running of the running body based on position information, wherein a surface pressure measuring sheet using a sensor matrix is laid on a running surface. The control signal processing unit measures the pressure distribution of the traveling object on each wheel of the traveling object on the surface pressure measurement sheet. Based on the pressure distribution measured by the control signal processing unit, the position information conversion unit transmits the X of the traveling object. A game device that detects a coordinate position and a Y coordinate position, transmits them to the travel control device, and controls travel by the travel control device. 2. A game machine with a running body that sequentially tracks a target point on a running route according to a program and feedback-controls the running of the running body based on position information, wherein a surface pressure measurement sheet is laid on a running surface by a sensor matrix. The control signal processing unit measures the pressure distribution of each wheel of the traveling body on the surface pressure measurement sheet, and detects the position of each wheel based on the pressure distribution of each wheel measured by the control signal processing unit. A game device in which an X coordinate position and a Y coordinate position of a traveling body are detected from each wheel position by a position information conversion unit and transmitted to the traveling control device, and traveling is controlled by the traveling control device. 3. A game apparatus in which a traveling body is caused to travel on a field where a programmed traveling route changes every time a game is performed while avoiding obstacles on the field. 4. A surface pressure measurement sheet based on a sensor matrix is laid on a running surface, and a pressure distribution for each wheel of the traveling body on the surface pressure measurement sheet is measured by a control signal processing unit, and measured by the control signal processing unit. Based on the detected pressure distribution of each wheel, each wheel position is detected, and the position information conversion unit detects the X coordinate position and the Y coordinate position of the running object from each wheel position, and the position detection of the game device by the running object apparatus.