JP2003033564A - Racing direction reverse operation system for line guiding type racing game system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To contrive the arrangement of guiding lanes of a line guiding type racing game system by which the racing direction can be easily reversed while running in the racing direction by using racing lanes without providing special guiding lanes for reversing the racing direction with respect to the game system in which a self-propelled body tows a model body through magnetic force while tracking the guiding lanes. SOLUTION: The line guiding type racing game system carries out a race of model bodies by towing the model bodies on the upper running face of a loop track by self-propelled bodies which track the guiding lanes of the lower running face through a magnet. A connection guiding part of a guiding line shaped like ] [ is provided as additional lines on the inside of the innermost guiding line of the loop guiding lane for racing. The additional guiding lines are provided with connection instruction transmitters and the self-propelling bodies are provided with connection instruction receivers. Running control devices of the self-propelling bodies perform the transfer between the additional lines in response to the instruction received by the connection instruction receivers.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a line in which a model body traveling on an upper traveling surface is towed by a self-propelled body traveling on a lower traveling surface through a magnet to develop a race by the model body on an annular track. The present invention relates to a racing direction reversing operation system in a guided race game device, in which a self-propelled body is guided by a guide lane, and according to a command from a central controller, a race game device in which the self-propelled body runs while changing the guide lane, With a simple command from the central controller,
The racing direction can be easily and easily reversed.

[0002]

2. Description of the Related Art As a racing game device in which a model body is run on an upper model running surface and the model body is pulled by a self-propelled body running on the lower stage via a magnet, each self-propelled body There is a type that guides with a rail laid on the running surface, and the position of the self-propelled body on the two-dimensional coordinates is sequentially detected,
There is also a system in which a self-propelled body travels in a trackless manner by sequentially tracking the target positions while performing feedback control based on the target position on the two-dimensional coordinates and the position detected by the position detecting means (Japanese Patent No. 2645851). In addition, the optical guidance lane densely laid on the running surface is detected by the lane detection means provided in the self-propelled body, and the guidance lane is controlled while the self-propelled vehicle traveling control device performs self-complete feedback control. There are some which are tracked and run (Japanese Patent Laid-Open No. 10-232 / 1998).
712 publication). The above-mentioned prior art in which feedback control is performed between the target position on the two-dimensional coordinates and the sequentially detected position (two-dimensional coordinate position), and the vehicle travels on a predetermined traveling route while sequentially passing through the target positions, the above-mentioned conventional technique is used. A position display device that displays the position in detail is required, and a position detection device that detects the position of the self-propelled body corresponding to the position display device is required. Further, in order to travel sequentially through the target position on the two-dimensional coordinates, the direction of the self-propelled body is detected, and the traveling speed is taken into consideration by the relationship between the direction of the self-propelled body and the next target position. Since it is necessary to calculate the steering angle and control the steering,
Information processing for traveling control is not simple, and its control is complicated. Further, since the target positions are set at minute intervals on the program so as to sequentially pass through the target positions on the two-dimensional coordinates and this is feedback-controlled, there is a problem in smoothness and stability of traveling. Further, since the central control unit feedback-controls the traveling of the self-propelled body while performing complicated information processing, the control system is complicated and the cost is inevitably increased accordingly.

On the other hand, those which follow the guide lane are basically excellent in smoothness and stability of the guide because the guide route is guided by the guide lane. But,
It is undeniable that the running route is simple and the race is unnatural, and in order to eliminate this, it is necessary to change the guide lane appropriately, but this transfer control is extremely simple and easy. There is no problem because it exists. Further, since the traveling control of the self-propelled body that chases the guide lane is basically speed control and transfer control, the traveling control and its control system are simple.

Japanese Patent Application Laid-Open No. 10-232712 discloses a control memory of a self-propelled body, which collectively stores a transfer position, a transfer direction, and an intermediate traveling speed at a start stage of a race. , The individual self-propelled body at a predetermined speed according to the traveling control information stored collectively,
You will travel to the goal while changing trains on the guidance lane in sequence as specified. However, in actuality, the self-propelled body does not always travel at the speed according to the travel control information stored collectively at the start, so that the race is not always executed as scheduled. For this reason, the timing of the transfer is deviated from the progress of the race, and the transfer is performed in an unnatural state. As a result, the race may be extremely unnatural. This is a problem that occurs because the traveling control information collectively input at the start of the race controls traveling to the goal regardless of the actual race situation. In addition, speed control is performed based on the control data stored in advance in the memory of the self-propelled body and the traveling progress of the detected self-propelled body, and the feedback control is self-contained by the traveling control device of the self-propelled body. Since the vehicle travels after being driven, the traveling control device for the self-propelled body is not necessarily simple in terms of hardware and software, and the precision of the traveling control is not high. Furthermore, in the line guide type race game device as described above, the traveling direction cannot be reversed because the traveling direction is defined by the annular guide lane.
In order to simulate a racetrack such as Nakayama Racecourse, Kyoto Racecourse, etc. in a game using a racing game device, it is necessary to reverse the racing direction. However, in order to reverse the traveling direction in the prior art using a simple annular guide line, it is necessary to provide a special traveling direction reversal line outside the race track. The guidance traveling control by the reversal line is not simply performed.

[0005]

SUMMARY OF THE INVENTION The present invention relates to a running direction reversing operation system of a line guidance type race game device in which a self-propelled body follows a guiding lane and pulls a model body through magnetic force. The issue is to devise a layout of guide lanes so that the race lane can be used to easily and easily reverse the running direction without using a special guide lane. is there.

[0006]

[Means taken for solving the problem] Means taken for solving the above-mentioned problems are as follows: a self-propelled body that tracks and travels in a guidance lane on a lower traveling surface, and a model body that travels on an upper traveling surface through a magnet. A line-guided type race game device for towing and developing a model race on an annular track, in which the self-propelled body has a traveling control device, and the traveling control device detects the guiding lane on the lower traveling surface. In addition, it is a self-propelled body that tracks the guidance lane by feedback control in a self-contained manner while detecting the progress, and includes at least the target lane number, the target progress, and the traveling speed from the central control unit of the game device body. Regarding the line guidance type race game device in which the command information is intermittently transmitted and the traveling control device controls the lane change of the self-propelled body according to the commanded target lane number, the following (i) It is due to (c). (A) Inside the innermost guidance line of the circular guidance lane for racing] [Provide a crossover guidance section with a model guidance line,
This] [Make the type induction line an extra line,
(B) A command transmission section is provided on the extra guide line, and (c) a command reception section is provided on the self-propelled body, and the traveling control device for the self-propelled body is operated by the command received by the crossover command reception section. I tried to transfer between the extra lines.

[0007]

The traveling command information includes the target lane number, the target progress, the traveling speed, etc., and the traveling command is set for each of a plurality of sections of the annular truck in the traveling direction. Then, the central control device repeatedly transmits a traveling command for the section to the individual self-propelled body while the individual self-propelled body is traveling in the respective sections. This travel command is a very simple command because it is a travel speed, a target lane number, a target progress (progress from the start position), and the communication is one-way. The traveling control device mounted on the self-propelled vehicle basically receives the traveling instruction and simply travels at the instructed speed, and the transfer control to the lane of the instructed target lane number is self-contained as necessary. To do it.

The central control unit, for each self-propelled body,
The traveling command is repeatedly transmitted, and the self-propelled body travels at the instructed traveling speed while changing the guide line according to the traveling command. Further, the traveling control device for the self-propelled body controls the traveling speed of the self-propelled body, the transfer of the guide line according to the received traveling instruction, and also transmits a signal indicating that the instructed target progress is reached. Then, the transfer of the guide line is performed by the travel control device in a self-contained manner based on the commanded target guide line and the current guide line recognized by the travel control device of the self-propelled body. FIG. 8 schematically shows a traveling direction reversing operation when reversing the traveling direction of the self-propelled body traveling counterclockwise in the clockwise direction. In this example, if the innermost guide line number is assumed to be 1, and the crossing section] [type guide line, that is, the extra guide line is the 0th guide line, the central control unit can reverse the traveling direction. The target guidance line number 0 is commanded. The traveling control device of the self-propelled body instructed with the target guide line number 0 first travels in the counterclockwise direction (to the right of the guide line in front of the annular guide lane), and the innermost guide line, that is, 1
Move to the nth guidance line n, and then change to the 0th guidance line. The 0-th guide line, that is, the self-propelled body that has changed to the [] type guide line is guided by the 0-th guide line in a direction crossing the innermost 1st guide line in the middle thereof. Since the traveling direction is not reversed only by this, the crossover command is received from the crossover command transmission unit provided on the No. 0 guide line immediately after entering the No. 0 guide line. The traveling control device of the self-propelled body, according to the above migration command,
Transfer to the other adjacent type or type induction line. When the vehicle is guided by the other 0th guide line and reaches the opposite side of the 1st guide line, it receives a transfer command to the 1st guide line n and transfers to the 1st guide line n. Since the crossing traveling by the [0] guide line of this shape is traveling by the S-shaped route, the traveling direction is reversed by this and the traveling direction becomes clockwise. In the case of reversing the traveling direction from the clockwise traveling to the counterclockwise traveling, since the traveling is performed along a route different from the above case, the traveling route is an inverted S-shaped route. [] Crossing travel along an S-shaped route by [type guide line is performed only by transfer control, not by branching of the guide line (in the case of branching, it is necessary to select a route at the branch point). ,
This is because it is necessary to perform a special control that is completely different from the follow-up control of the guide line). Therefore, like the normal race control, only the guide-line tracking control and the transfer control are performed. Therefore, the reversal of the traveling direction can be performed by the same control as that for the race traveling. In addition, the self-propelled body that has finished the migration must be travel-controlled so as to quickly retract from the innermost guidance line in order to quickly clear the first guidance line in preparation for the self-propelled body that will perform the next migration. I won't.

The main part of this solution is to connect the center part of the innermost guide line to the line guide type race game device with the ring guide lane] [connect it with a crossover with the model guide line, and] The purpose of this is to reverse the running direction by changing lines, and this main part is applied regardless of the running control method of the self-propelled body of the above-mentioned racing game device. Depending on the traveling control method of the self-propelled body of the device, it is sufficient to control] [transfer to the mold guiding line,] [transfer on the mold guiding line.

[0010]

[Embodiment 1] Embodiment 1 is that the above-mentioned solving means is as follows. (D) The display line of the race-guided circular guide line is a guide line that can be detected by an optical sensor, and (e) the above-mentioned optical sensor is on the lower surface of the self-propelled body, and three light-receiving units are provided close to each other. It is composed of elements, and the deviation of the self-propelled body to the left and right with respect to the annular guide line is detected by the three light receiving elements.

[Function] When one guide lane, that is, the light receiving element in the center of the guide line traces the guide line and the vehicle runs while being sandwiched between two light receiving elements on the left and right, if this shifts to the left or right Since any one of the light receiving elements will detect, smooth pursuit running can be performed by extremely simple feedback control.

[0011]

[Embodiment 2] Embodiment 2 is that the above-mentioned solving means is as follows. (F) The guide lane number at the race start position is recorded in the memory of the traveling control device of the self-propelled body, and the lane number recorded in the memory of the traveling control device is updated every time the guide lane is changed. (G) The travel control device determines that the target lane number received during travel and the recognized lane number match or not, and if they do not match, the travel control device changes to match. Take control.

Since the guide lane number recorded in the memory of the traveling control device and the guide lane number actually traveling are always the same, the guide lane number and the target lane number recorded in the memory are The traveling control device performs the transfer control according to the comparison. Therefore, the guide lane transfer control of the self-propelled body is accurately performed. The traveling control command information is set so as to avoid mutual interference between the self-propelled bodies at the time of transfer, and transfer control is performed according to the direction and timing of the transfer.

[0012]

[Third Embodiment] A third embodiment is as follows for the above-mentioned solving means. (H) On the lower running surface, the progress measurement lines perpendicular to the guide lane are arranged at equal intervals, and (z) the progress line detection sensor is provided on the lower surface of the self-propelled body, and the progress line detection sensor A progress detecting means for adding the detection signals is provided.

[Function] Since a number of progress measurement lines that are perpendicular to the guidance lane are arranged at equal intervals on the lower traveling surface, the progress is detected by counting this, regardless of the length of each guidance lane. Displayed in common progress. Therefore,
The detected progress is common to all guide lanes.
Therefore, since there is no difference in the progress even when the guide lane is changed, it is simple to detect the progress of the self-propelled vehicle traveling while changing the guide lane and to handle the detected progress.
Further, since the above-mentioned progress measurement line is also present in the blank between the guide lines that define the guide lane, the progress is continuously detected even during the transfer transfer (while the vehicle is diagonally crossing the above-mentioned blank). Therefore, the transfer progress does not cause the detection progress to go wrong. In addition, in corners,
Although the progress measurement line may not be a right angle to all guide lanes in a strict sense, it is a "right angle" within the range that does not hinder the above-mentioned action. is there.

[0013]

Fourth Embodiment A fourth embodiment is that the progress measuring line of the above-mentioned third embodiment is a magnetic line, and the progress detecting sensor provided on the lower surface of the self-propelled body is a magnetic sensor.

Each time the self-propelled body crosses, the magnetic sensor detects the magnetic line as one pulse. Therefore, the progress is measured by adding this. Therefore, the progress detection is simplified.

[0014]

Fifth Embodiment A fifth embodiment is to solve the following problems. (E) Four or more infrared progress lines (display lines for displaying progress, lane number by code, etc. by infrared rays) are arranged at predetermined intervals on the lower running surface, and an infrared receiver is provided on the lower surface of the self-propelled body. When the self-propelled body passes the infrared progress line, the lane number and the progress from the progress line are read through the infrared receiver, (L) The lane number recorded in the memory of the self-propelled body. And the progress to the lane number and the progress read through the infrared receiver.

The lane number and the progress recorded in the memory are counted and updated each time the self-propelled body crosses the guide line and the progress measuring line, and thus a detection error may occur. These detection errors cause the guide lane number and progress recorded in the memory to be incorrect, but the correct lane number and progress are corrected when the track is placed on an annular track and passes through the above progress display line. As seen, the traveling control is performed by comparing the commanded target lane number and the target progress with reference to the almost correct lane number and the progress. The communication medium is not limited to infrared rays, and any medium capable of transmitting digital information may be used, but infrared rays are desirable as the simplest and surest one.

[0015]

Sixth Embodiment A sixth embodiment is that the 0th guide line in the solving means is a guide line detectable by the same optical sensor as the display line of the annular guide lane.

As a part of the tracking traveling control and the guide line transfer control for racing traveling, the traveling direction reversing operation is performed by the same sensor, control means and control procedure.

[0016]

[Embodiment 7] In Embodiment 7, when the lane number of the innermost guide line is n, the extra guide line number is n-.
That is the number one.

Since the guide line for crossing can be handled as a part of the guide line for racing in terms of running control, the crossing guiding line for changing the running direction can be performed in exactly the same way as the race running.

[0017]

BEST MODE FOR CARRYING OUT THE INVENTION According to the present invention, a model body travels on an upper traveling surface and a self-propelled body travels on a lower traveling surface, and the self-propelled body pulls the model body through magnetic force to drive it. It is a two-story racing game device, and is based on the premise of a racing game device in which the self-propelled body changes the number of guiding lines attached to the lower running surface while chasing the designated guiding line. Since the technology on which this is based is well known in the art (for example, Japanese Patent Laid-Open No. 10-232712), a detailed description of the basic structure will be omitted in the description of this embodiment.

A large number of annular guide wires 1 are densely attached to the lower traveling surface. The minimum required space between the guide lines 1 and 1 depends on the width of the guide lines and the blank width between the guide lines, which are necessary for smooth and reliable pursuit, but they are adjacent to each other. There is no problem as long as the self-propelled body can run in parallel along the guide wire. On the other hand, there is also a demand to reduce the course change width due to the change of the guide line so as to avoid the unnatural change of the traveling route due to the change of the guide line as much as possible. If the interval is too large, the course cannot be changed with a small width, and the realism of the race will be lost. It may be selected as appropriate in consideration of these two sides. Also, on the lower running surface, a progress measurement line 2 perpendicular to the guide line 1
Are provided at predetermined intervals. In this embodiment, the progress measuring line 2 is a magnetic line. This progress measurement line may be used by combining three colored lines of red, blue, and green, and the progress sensor may be a combination of three light receiving elements having high sensitivity to red, blue, and green. But,
In this case, it is necessary to separately devise the guide wire so that the detection of the progress measurement line and the guide wire do not mix.

Further, as shown in FIG. 1, a total of six position display lines 3 perpendicular to the guide line 1 are arranged on the entire circumference of the race track T. The position display line 3 is an optical signal (infrared signal) transmitter, and transmits the guide lane number and the accurate progress to the self-propelled body crossing the position display line 3. The position display line 3 is for correcting the guide lane number and the progress recorded in the memory of the self-propelled body at predetermined intervals to improve the running accuracy. It may be selected as appropriate, but if four or more are evenly arranged around one track, there is no practical problem.

Three light-receiving elements 10a, 10b, 10c are provided in the center of the front surface of the self-propelled body 10 close to each other, and the center light-receiving element 10a is located at the center of the guide wire 1.
The left and right light receiving elements 10b and 10c sandwich the guide wire 1 from the left and right. The light receiving element detects the reflected light, and when the self-propelled body shifts from the center of the guide wire 1, two of the light receiving element 10a and the left and right light receiving elements 10b or 10c detect the guide wire 1. Therefore, by the traveling control device of the self-propelled body, the guide wire
The traveling of the self-propelled body is controlled so that the is detected. There is a magnetic sensor 11 on the lower surface of the self-propelled body, and one pulse signal is generated every time the magnetic line 2 which is the progress measurement line is crossed. By adding this pulse signal by the traveling control device, the progress (progress from the start position) is added one by one each time the magnetic line 2 is crossed, and the progress at that time is detected.

Further, an infrared receiver 12 is provided on the lower surface of the self-propelled body.
Is provided, and when the vehicle travels while following the guide wire 2 and crosses the position display line 3 (infrared ray transmitter), the lane number and progress at that time are received from the position display line 3.
Then, the lane number and the degree of progress recorded in the memory of the traveling control device of the self-propelled body are rewritten to the true value received from the position display line 3. Therefore, when the lane number and the progress recorded in the memory of the travel control device do not match the true value received from the position display line 3, the correction is corrected by this. Even if there is, the entire race runs according to the command from the central control device 20, and the race is executed according to the command from the central control device.

The exchange of signals between the central controller 20 of the game machine body and the traveling controller 30 of the self-propelled body is as shown in FIG. A command (travel command information such as a target lane number, a target progress, a traveling speed) from the central control device 20 is transmitted from the command transmitting unit to the traveling control device 30 of the self-propelled body. The transmission unit of the central control device 20 switches to the reception mode when the command is transmitted, while the reception unit of the travel control device 30 switches to the transmission mode when the command is received. Then, when the progress stored in the memory does not match the target progress in the command, an NG signal is returned to the central controller 20 each time the command is received. The same command is repeatedly sent at intervals of 0.2 seconds (when the number of self-propelled objects in a group is 10) until the progress of the self-propelled object reaches the target progress, and the progress measurement value is used as the progress target in the command. If they match, an OK signal is returned from the travel control device 30 to the central control device 20 in response to the command. This command is set in the control unit of the central control unit for each one of the sections in which the traveling truck is divided into a number of sections in the traveling direction. (In normal driving conditions,
The running distance is 90 mm to 15 mm). If this section is too long, the race becomes monotonous and the running control becomes unstable, while if it is too short, the running control becomes too fine.
Based on these tradeoffs, the above level is one guide.

The traveling of the self-propelled body is controlled by the traveling control means 30 in a self-contained manner.
Is detected by an optical sensor, the guide line 1 designated by the traveling speed in the command from the central control unit is not traced, and the vehicle travels to the target progress. When the target progress is reached, an OK signal is transmitted from the travel control device, and upon receipt of this OK signal, the command is changed and this command is transmitted. When the command is changed, the traveling is continued at the traveling speed of the immediately preceding command until the traveling control device receives the next command, so that the traveling is smoothly continued. If the target lane number in the received command does not match the lane number recorded in the memory of the traveling control device of the self-propelled vehicle, it is necessary to make the difference between the lane number and the target lane number zero. The guide line is changed, and the guide line is chased when it matches. When one guide wire is changed, the output of the optical sensor 10a at the center changes. Therefore, by counting this change, it is possible to detect the number of times the self-propelled body changes the guide wire.

Instead of detecting the guide wire with the three photosensors, it is also possible to carry out the tracking run while tracing the edge of the guide wire with the two photosensors. In this case, the self-propelled body is displaced in the direction of the optical sensor when either the left or right deviates from the guide line, so the two vehicles are controlled so that the two optical sensors always detect the guide line. Will be done. Further, if the optical sensor is an optical sensor array in which four or more optical sensors are assembled, the arrangement density of the optical sensors is increased, so that the guide wire can be traced and run with higher accuracy.

The self-propelled body changes and travels with respect to the guide wire 1 at a predetermined line changing angle (see FIG. 7). The angle in the line changing direction (see FIG. 7) is designated by the central control unit. Alternatively, the travel control device may appropriately select it in relation to the travel speed. When instructing from the central control device, a large number of transfer angles are prepared in advance in the memory of the self-propelled body, the transfer angles are transmitted to the travel control device of the self-propelled body by code numbers, and the self-propelled vehicle receives this. The body may select the transfer angle corresponding to the code from the memory, and the transfer angle may be prepared as the rotational speed difference between the left and right drive wheels of the self-propelled body. Further, the traveling control device of the self-propelled body may be selected by itself in relation to the traveling speed. In this case, a transfer angle may be prepared for each appropriately divided traveling speed range, and an appropriate transfer angle may be selected from individual traveling speeds.

The circular guide wire 1 is numbered from the inside from the inside, number 2, 3
No., but inside the innermost guide wire n]
[A mold guiding line, that is, a 0th guiding line O is provided. This crossing guide line is the 0th guide line O
Has both ends Oe parallel to the first guide line n, and the interval between the intermediate parts Os and Os is equal to the interval between the annular guide lines (see FIG. 8). When the self-propelled body 10 traveling in the counterclockwise direction on the circular guidance line is instructed to enter the target guidance line number 0, the self-propelled body moves to the innermost 1st guidance line n and traces this. Then, change to the end Oe of the 0th guide line O. When traveling on the 0th guide line O, a transfer command is received from a transmitter (not shown) provided in the vicinity of the intermediate section Os, and the transfer is made to the intermediate section Os of the other adjacent 0th guide line O. , At the other end, transfer to the opposite side of the innermost guide wire n on the innermost side. The transfer control from the 0th guide line O to the 1st guide line n may be performed by a traveling command from the central controller,
A transfer command transmitter may be provided in the vicinity of the end Oe of the guide line O, and a transfer command from the transfer command transmitter to the guide line n may be transmitted. The traveling control device of the self-propelled body is provided with a program for crossing, and when the command of the target guiding line number 0 is received, this program is started and the crossing operation is completed by this program. May be.

[0027]

INDUSTRIAL APPLICABILITY As described above, the present invention is based on the self-propelled traveling control from the start to the goal by the traveling control device of the self-propelled body, and is adapted to the progress of the race while being based on the self-contained traveling control by the traveling control device of the self-propelled body. It transmits traveling command information to the traveling control device of the self-propelled body, and the self-propelled body travels based on this, and a command between the central control device for traveling control and the traveling control device of the self-propelled body. Is very simple communication, and the current lane number and progress of the running control device are only initialized at the start, so data input for initial setting at the start of the race is also simple. . Regarding the guide line tracking type race game device as described above, it is possible to reverse the traveling direction only by providing a crossover section with a guide line of the type and changing the guide line at the crossover section. The crossover traveling control can be performed in exactly the same manner as the traveling control of the race traveling on the ring lane. Therefore, by adding an extremely simple means, it is possible to easily reverse the traveling direction only by a simple mechanism and a simple transfer control. You can It is a great advantage that the same traveling control can be performed in either the clockwise or counterclockwise inversion operation of the traveling direction.

[Brief description of drawings]

FIG. 1 is a plan view showing an arrangement of guide lines and position display lines on a traveling surface of a self-propelled body.

FIG. 2 is a plan view showing an arrangement of progress measuring lines on a traveling surface of a self-propelled body.

FIG. 3 is a sectional view schematically showing the relationship between an optical sensor of a self-propelled body and a guide wire.

FIG. 4 is a cross-sectional view schematically showing a relationship between a magnetic sensor of a self-propelled body and a progress measurement line.

FIG. 5 is a sectional view schematically showing a relationship between an infrared receiver of a self-propelled body and a position display line.

FIG. 6 is a diagram schematically showing an order of communication between the central control device and the traveling control device of the self-propelled body.

FIG. 7 is a plan view schematically showing how the self-propelled body changes the guide wire.

FIG. 8 is an enlarged plan view showing a crossover guide line.

[Explanation of symbols]

1: Guide wire 2: Progress measurement line 3: Position display line 10: Self-propelled body 10a, 10b, 10c: light receiving element 11: Magnetic sensor 12: Infrared receiver 20: Central control unit 30: Travel control device O: Migration guidance line Oe: The end of the migration guide line Os: Middle part of the migration guide line n: innermost guide line

Claims (11)

[Claims] 1. In a line guide type race game device using a ring guide lane, the center portion of the innermost guide line is provided.
[Connecting at the crossover by the mold guiding line, this] [Transfer to the mold guiding line] [A race direction reversing operation system that reverses the traveling direction of the self-propelled body by performing transfer on the mold guiding line. 2. A line-guided type in which a self-propelled body that tracks and travels in a guidance lane on a lower traveling surface pulls a model traveling on an upper traveling surface through a magnet to develop a race by the model on an annular track. In a racing game device, the self-propelled body has a traveling control device, and by the traveling control device, the guide lane on the lower traveling surface is detected, and feedback control is performed in a self-contained manner while detecting the progress. It is a self-propelled body that tracks and runs in the guidance lane, and intermittently transmits the driving command information including at least the target lane number, the target progress, and the traveling speed from the central control unit of the game device body, and the commanded target lane number In accordance with the above, in the line guidance type race game device in which the traveling control device controls the lane change of the self-propelled body, inside the innermost guidance line of the circular guidance lane for racing] A crossing guide section is provided by the inn.]
[The model guide line is an extra line, a command transmission unit is provided on the extra guide line, and a command receiving unit is provided on the self-propelled body, and the traveling control of the self-propelled body is performed by the command received by the crossover command receiving unit. A race direction reversing operation system that allows the device to transfer between extra lines. 3. The guide line of the guide lane is a guide line that can be detected by an optical sensor, and the optical sensor is on the lower surface of the self-propelled body and is composed of a plurality of light receiving elements that are close to each other. The racing direction reversing operation system in the line-guided type race game device according to claim 2, wherein the plurality of light-receiving elements are used to detect the left-right deviation of the self-propelled body with respect to the guidance lane. 4. A race direction reversing operation system in a line guide type race game device according to claim 2, wherein said optical sensor is composed of three or more light receiving elements. 5. The racing direction reversing operation system according to claim 2, wherein the light receiving sensor is constituted by a light receiving element array. 6. The guide lane number at the race start position is recorded in the memory of the traveling controller of the self-propelled body, and the guide lane number recorded in the memory of the traveling controller is updated every time the guide lane is changed. The traveling control device determines whether or not the target lane number received during traveling and the recognized lane number match, and if they do not match, the traveling control device performs transfer control so that they match. The traveling direction reversing operation system according to claim 2, which is performed. 7. A plurality of progress measurement lines perpendicular to the guide lane are arranged at equal intervals on the lower traveling surface, and a progress line detection sensor is provided on the lower surface of the self-propelled body. Is provided with a progress detecting means for adding the detection signal of
A running direction reversing operation system in the line-guided racing game device according to claim 2. 8. The traveling direction reversing operation system according to claim 2, wherein the progress measuring line is a magnetic line, and the progress detecting sensor provided on the lower surface of the self-propelled body is a magnetic sensor. 9. A progress indicator line of four or more infrared rays is arranged at a predetermined interval on the lower running surface, an infrared receiver is provided on the lower surface of the self-propelled body, and when the self-propelled body passes the progress indicator line, The lane number and the progress from the progress display line are read through the infrared receiver, and the lane number and the progress stored in the memory of the self-propelled body are read through the infrared receiver and The traveling direction reversing operation system according to claim 2, wherein the traveling direction is corrected. 10. The traveling direction reversing operation system according to claim 2, wherein the 0th guide line is a guide line which can be detected by the same optical sensor as the display line of the annular guide lane. 11. The lane number of the innermost guide line is n.
The traveling direction reversing operation system according to claim 2, wherein the number of the extra guide line is n-1.