JP2003164661A - Traveling control system for line guided racing game - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a traveling control system for a line guided racing game, which can stabilize a transfer running and prevents a delay in arriving at a target guide line. <P>SOLUTION: The traveling control system conforms the detection width centers of right and left light receiving elements 10a and 10c of three guide line tracing light receiving elements 10a, 10b and 10c to the right and left edges 'e' and 'e' of a guide line, respectively, makes the detection width of the central light receiving element equal to the width of a guide line 1, and detects by calculation the amount of deviation of a self-propelled body from the central line 's' of a guide line on the basis of variations in the amounts of light received by the three light receiving elements. A traveling control means (MPU3) in the self-propelled body defines a plurality of virtual guide lines between the central lines 's' and 's' of adjacent guide lines 1 and 1, sequentially designates target virtual guide lines to change the same from one to another while traveling toward a target guide line, and judges the deviating direction of the self-propelled body from the central line 's' of the guide line 1 on the basis of a change in difference between the amounts of light received by the right and left light receiving elements of the three light receiving elements. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is to draw a model body running on an upper running surface through a magnet by a self-propelled body running on a lower running surface to develop a model race on an annular track. There is a guide line (guidance line) for guiding the self-propelled body, and a guide line for a line-guide type race game device such as a race game device in which the self-propelled body runs while changing the guide line according to a command from the central controller. This is related to the transfer control system for the transfer, and when the guide wires are transferred one by one in response to the drive command from the central control unit, it is possible to make the transfer transfer instability due to disturbances such as mutual interference of self-propelled bodies and slips. Therefore, it is possible to avoid the disturbance of the race due to the instability of the transfer traveling.

[0002]

2. Description of the Related Art As a racing game device in which a model body is run on an upper running surface, and a self-propelled body running on a lower running surface pulls the model body through a magnet, each individual running body is run on a lower stage. There is a type that guides with a rail attached to the surface,
In addition, the position of the self-propelled body on the two-dimensional coordinates is sequentially detected, and the target position is sequentially tracked while performing feedback control based on the target position on the two-dimensional coordinates and the position detected by the position detection means. There is also one in which a running body runs without a track (Japanese Patent No. 2645851). In addition, a guide line densely provided on the traveling surface is detected by a line detection means provided in the self-propelled body, and feedback control is performed by the traveling control means of the self-propelled body in a self-contained manner so as to perform tracking traveling. (Japanese Patent Laid-Open No. 10-232712). The above-mentioned prior art in which feedback control is performed by the central control unit using the target position on the two-dimensional coordinates and the sequentially detected position (two-dimensional coordinate position), and the vehicle travels on a predetermined travel route while sequentially passing through the target position, A position display device for finely displaying the position on the dimensional coordinates is required, and a position detection device for directly detecting 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, the information processing for traveling control is not simple and the control becomes complicated. Further, since the target positions are set at minute intervals on the program so that the target positions on the two-dimensional coordinates are sequentially passed, and this is feedback-controlled by the central controller, there is a problem in smoothness and stability of traveling. is there. Further, since the central control device feedback-controls the traveling of the self-propelled body based on the position information while performing complicated information processing, the control system is complicated and the cost is inevitably increased accordingly.

On the other hand, it can be said that those that follow the guide wire basically excel in smoothness and stability because the guide wire guides the travel. However, it cannot be denied that the traveling route is simple and the race is unnatural, and in order to eliminate this, it is necessary to change the guide line appropriately. Further, since the traveling control of the self-propelled body that follows the guide wire is basically speed control and transfer control, the traveling control and its control system are simple,
On the other hand, if the timing of changing trains deviates from the progress of the race, the realism of the race will be significantly impaired. Therefore, there remains a problem of how to realize the realism of the race by performing the transfer control at an appropriate timing that does not cause a sense of discomfort in view of the progress of the race and performing the speed control and the like.

According to the above-mentioned Japanese Patent Laid-Open No. 10-232712, at the start stage of a race, the transfer position, the transfer direction, and the traveling speed in the middle are collectively stored in the control memory of the self-propelled body. The individual self-propelled bodies travel to the finish line at predetermined speeds according to the collectively stored travel control command, while changing over the guide lines in sequence as planned. However, in reality, the self-propelled vehicle does not travel at the speed according to the travel control command that was stored in memory at the start because of disturbance such as slip, and therefore the transfer timing is deviated from the progress of the race. However, the transfer is performed in an unnatural state, and as a result, the race progress becomes extremely unnatural. This is a problem that occurs because the travel control commands collectively input at the start of the race control the travel to the goal regardless of the actual race situation.

By the way, in order to collectively control the traveling of a large number of self-propelled bodies as a cohesive group, it is necessary that all the self-propelled bodies are within a certain range. Certain self-propelled vehicles do not run faster than they are supposed to, but they are often far behind schedule, and this often breaks races. Speed control based on control data stored in advance in the memory of the self-propelled body as a reference, or control data prepared in advance is unilaterally transmitted from the central control unit, and this control data is used as a reference. In the case of speed control, it is not possible to correct the disorder of the race due to the running delay of a small number of self-propelled vehicles. Regarding the one in which the control data prepared in advance is mechanically transmitted sequentially from the central control device, it is not possible to feed back the traveling command from the self-propelled body to make a correction, but the central control device for traveling control The simplicity of information exchange with the traveling control means of the self-propelled body is lost, and the advantages of the line-guided traveling control are lost.

[0006]

Prior art on which the present invention is premised On the premise of the existence of the above-mentioned publicly known technology, a self-propelled running game apparatus in which a self-propelled body tracks a guide line and pulls a model body through a magnetic force There is a device that simplifies the traveling control of the self-propelled body by the control means as much as possible and devises so that traveling control data such as transfer control and speed control according to the race situation can be transmitted appropriately (Japanese Patent Application No. 2001-2001). 221752
issue. Hereinafter referred to as "prior art"). The prior art is a two-story racing game device in which a model body travels on the upper traveling surface, a self-propelled body travels on the lower traveling surface, and the self-propelled body pulls the model body through magnetic force to run the model. It is based on a race game device in which a self-propelled body tracks a designated guide line while changing over a large number of guide lines provided on the lower traveling surface. And the race progress management section (M
The race creating unit (MPU1) of PU1) executes a simulated race, creates traveling control data based on the progress of this simulated race, and uses this traveling control data as a relay control unit (MPU).
2) is transmitted to the traveling control means (MPU3) of the self-propelled body, the guide line designated by the self-contained feedback control of the traveling control means (MPU3) is tracked, and the guide line is changed. It is something to do. The traveling control data is extremely simple data such as the target guide line, the target progress, and the traveling speed. Then, the self-propelled body of this thing recognizes the traveling guide wire and the progress, and based on these data and the traveling command (the target progress, the target guide wire, the traveling speed) from the central control unit, the self-propelled body guides the guide wire. Continue to follow or change guide lines one after another and drive to the goal at the commanded speed.

Next, the above "prior art" will be described with reference to FIGS.
It will be specifically described with reference to. A large number of annular guide wires 1 are densely provided on the lower traveling surface. Further, a number of progress lines 2 perpendicular to the guide line 1 are provided at predetermined intervals on the lower traveling surface. The progress line 2 is a magnetic line.

Further, as shown in FIG. 1, a total of six position display lines 3 perpendicular to the guide line 1 are arranged around the race track T. The position display line 3 is an optical signal (infrared signal) transmitter and transmits a guide line number and an accurate progress to a self-propelled body that crosses the position display line 3.

Three light-receiving elements 10a, 10b, 10c are provided close to each other in the center of the front surface of the self-propelled body 10, 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 deviates from the center line 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, the light receiving element 1 is controlled by the traveling control means (MPU3) of the self-propelled body.
The traveling of the self-propelled body is controlled so that the guide wire 1 is detected only by 0a. There is a magnetic sensor 11 on the lower surface of the self-propelled body, and one pulse signal is generated each time the magnetic line 2 which is a progress line is crossed. By adding this pulse signal by the traveling control means, one progress (progress from the start position) is added every 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 guide wire and the progress at that time are received from the position display line 3. Then, the guide line and the progress recorded in the memory of the traveling control unit (MPU3) of the self-propelled body are rewritten to the true values received from the position display line 3. Therefore, when the guide wire 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, so that the guide wire and the progress during traveling may be misaligned. Even so, it is expected that the self-propelled body will run according to the command from the relay control unit (MPU2) 20 of the central control unit, and the race will be executed almost according to the command.

Relay control unit (MPU2) of the game console
Signal exchange between the vehicle 20 and the traveling control means (MPU3) 30 of the self-propelled body is as shown in FIG. A traveling command (target guide line, target progress, traveling speed) from the relay control unit (MPU2) 20 is transmitted from the command transmission unit to the traveling control means (MPU3) 30 of the self-propelled body. The transmission unit of the relay control unit (MPU2) 20 switches to the reception mode when the traveling command (command) is transmitted, while the reception unit of the traveling control unit (MPU3) 30 transmits when the traveling command is received. Switch to. And
When the progress recorded in the memory does not match the target progress in the travel command, the NG signal is transmitted to the relay control unit (MPU).
2) Reply to 20. The same travel command is sent at 0.2 second intervals (when the number of self-propelled units is 10
When the progress measurement value matches the target progress in the travel command, the travel control means (MPU3).
An OK signal is returned from 30 to the relay control device 20. This traveling command precedes the traveling of the model body by 2 to 5 divisions (steps) for each division that divides the traveling track T into a large number of divisions in the traveling direction.
1) 2-5 created and created by 40 lace creators
The travel control data of the earliest partition among the travel control data of each partition is sequentially set in the memory of the relay control unit (MPU2) 20, and the above partition is 0.6 to
1.0 seconds (90 to 150m in normal driving distance)
m).

The traveling of the self-propelled body is controlled by the traveling control means (MPU).
3) The traveling control is carried out in a self-contained manner by 30. Basically, the guiding line 1 is instructed by the traveling speed of the traveling command from the relay control unit (MPU 2) 20 while detecting the guiding line 1 by the light receiving element. Do not chase 1 and drive to the above target progress. When the target progress is reached, the traveling control means (MPU3) 30
Since an OK signal is transmitted from the vehicle, the traveling instruction set in the memory of the relay control unit (MPU2) 20 is updated to the traveling instruction of the next section upon reception of this OK signal. Is the traveling control means (M
PU3) 30 will be transmitted. The target guide wire of the received traveling command is the traveling control means (MPU3) of the self-propelled body.
When the guide wire recorded in the memory of 30 does not match, the necessary guide wire is changed so that the difference between the guide wire and the target guide wire becomes zero, and when the guide wire is matched, the guide wire is changed. I will start chasing. When one guide wire is changed, the output of the light receiving element 10a at the center changes. Therefore, by counting this change, it is possible to detect the number of times the self-propelled object has changed the guide wire. Further, the self-propelled body changes and travels with respect to the guide wire 1 at a predetermined angle in the change direction (see FIG. 7).

The race preparation section of the race progress management section (MPU1) 40 uses the control conditions (starting horses, characteristics of each running horse, order of arrival, etc.) in the simulated race as basic data, and the characteristics of each leg of each running horse. Based on the running by, the calculation is repeated according to a predetermined calculation condition necessary for avoiding a rear-end collision and an interference, and an orderly simulated race is advanced in the computer while keeping the group of horses.
And from the driving control data in this simulated race,
Running control data such as a target guiding line, a target progress, and a running speed in the line guiding type race game machine is created and sequentially stored in a buffer memory. The calculation of the simulated race is performed under XY coordinates (coordinates in the CPU of the race creation unit) that match the xy coordinates of the guide line and the progress line of the traveling surface of the self-propelled body, so the simulated race is developed. XY
The position on the coordinates is simply converted into a position on the traveling surface based on the guide line and the progress based on the correlation between the guide line number and the position on the traveling surface of the self-propelled body. In this example, the calculation for the simulated race is performed in advance of the model race by 4 sections (4 steps from the viewpoint of race progress) of the traveling section, and the control data of the simulated race is obtained. The control data stored in the buffer memory of the race creation unit of the race progress management unit (MPU1) 40 is sequentially updated every time one section (one stage of race progress) of the race progresses. In addition, the relay control device (M
In response to the return of the OK signal from the PU 2) 20, the control data in the memory of the race creating section is sequentially transmitted to the relay control unit (MPU 2) 20 to update the command recorded in the memory.

It should be noted that the simulated race by the above-mentioned race creating section is made to be in the order of finish given as one of the control conditions at the start point. Race progress management unit (MPU
1) 40 race creation units have characteristics such as horse legs given to each model body (characteristics according to the model body's horse leg, age, sex, etc.)
A race progress timer 50 managed by the relay control unit (MPU2) 20 on the basis of conducting a simulated race by
However, it also serves as the control timer for the simulated race. When a certain self-propelled body arrives at the target progress with a significant delay due to some obstacle, the clocking speed of the race progress timer 50 is delayed so as to match the delay, and this is executed by the race creation unit. The speed of the simulated race is slowed. On the other hand, the relay control unit (MPU2) 20 decelerates the traveling speeds of the other self-propelled bodies whose arrival to the target progress is not delayed, at a rate according to the delay of the measured speed of the race progress timer 50, and The running speed of the runner is delayed, which delays the race of the model body.

As described above, the relay control unit (MPU2) 2
The race progress timer 50 managed by 0 also serves as a control timer for the simulated race by the race creating section, and the relay control unit (MPU2) delays the race of the model body to increase the speed of the simulated race. The running speed of the race by the self-propelled body is synchronized. According to the progress of the race of the self-propelled body, the simulated race is progressed by the race preparation unit of the race progress management unit (MPU1) 40.

[0016]

[Problems of Prior Art] In a line-guided race game device, even if there is a disturbance such as mutual interference or slip, the traveling reference is restricted by the guide line as long as the vehicle is traveling along the guide line. , Feedback control is expected to be controlled stably, but feedback is not applied in the range of deviation where the deviation of the self-propelled body from the guide line is not detected, so within this deviation amount range It will follow the guide wire while swinging to the left and right. Therefore, straightness is not necessarily high. This tendency is even more pronounced during cornering. In addition, when changing trains, there is nothing that serves as a reference for the traveling until the target guide line is reached, and the vehicle travels in an unrestrained state, so the directionality of the traveling of the self-propelled body due to disturbances such as mutual interference and slip. Is lost, and traveling disturbance such as traveling delay occurs, reaching the target guide line is delayed, or smooth transfer traveling is not performed, and the race is often disturbed.

[0017]

Therefore, according to the present invention, by giving directionality to the traveling of the self-propelled body even when the guide line is changed and traveling, the traveling of the self-propelled body is always restrained, so that even if a disturbance occurs. It is an object of the present invention to devise a line control system for a self-propelled body in a line-guided type race game device so that transfer traveling can be stabilized and a delay in reaching a target guide line can be reduced as much as possible.

[0018]

[Measures taken to solve the problem]

SOLUTION 1 (Measures to Claim 2) In order to solve the above problems, a model body travels on an upper traveling surface and a self-propelled body traveling on a lower traveling surface moves the model body through magnetic force. It is towed, and it optically tracks while detecting the guide wire by three light receiving elements on the lower surface of the self-propelled body, and is given a target progress and a target guide wire as a travel command, and based on these commands, The guide line transfer traveling control in the travel control system of the line guide type race game device for controlling the line tracking traveling and the guide line switching traveling by the traveling body traveling control means (MPU3) is as follows. (A) Three light receiving elements 10a, 10b for tracking the guide wire,
The centers of the detection widths of the left and right light receiving elements 10b and 10c of 10c are respectively made to coincide with the left and right edge lines e of the guide wire, and (b) the detection width of the center light receiving element is made equal to the width of the guide wire 1. (C) The deviation amount of the guide line of the self-propelled body from the center line s is calculated and detected based on the change amount of the received light amount of the three light receiving elements. (D) The guide line 1, 1 A large number of virtual guide lines between the center lines s and s of the vehicle are defined in the traveling control means (MPU3) of the self-propelled body, and the target virtual guide line is set by the traveling control means during the transfer traveling in the transfer direction. The target virtual guide wires are sequentially specified and the target virtual guide line is repeatedly transferred, and the passengers are allowed to change and travel. (E) Based on the change in the difference in the amount of light received by the left and right of the above three light receiving elements, the self-propelled body Deviation from the center line s of the guide wire 1 of Possible to determine the direction.

[0019]

The operation will be described with reference to FIGS. When the center of the detection range of the light receiving element 10a at the center of the back surface of the self-propelled body coincides with the center line s of the guide wire 1 and moves, for example, to the right in the traveling direction (x direction in FIG. 9), the light receiving element 1
The detection width of the guide wire 1 due to 0a decreases, and the amount of light received by the light receiving element 10a changes accordingly. On the other hand, the detection width of the guide wire 1 by the light receiving element 10c on the right side decreases, and the amount of light received by the light receiving element 10c on the right side changes by that amount, while the detection width of the guide wire 1 by the light receiving element 10b on the left side changes. Increases, and the amount of light received by the light receiving element 10b on the left changes accordingly. When the amount of movement in the right direction (the amount of deviation from the center s of the guide wire 1) reaches one pitch of the guide wire 1, the light receiving amounts of the three light receiving elements return to their original values. By converting the amount of light received during this period into the amount of electricity (voltage), the amount of deviation can be detected as the amount of change in the amount of electricity. Since the above-mentioned changes in the amount of light received by the left and right light-receiving elements are in opposite directions, the direction of deviation of the guide line of the self-propelled body from the center line s is detected by the change in the difference in the amount of change.

On the other hand, by defining a virtual guide line between the center lines of the guide lines 1 and 1 in the traveling control means of the self-propelled body, and comparing this specified value with the amount of electricity proportional to the amount of light received by the light receiving element. The traveling control means can recognize the amount of deviation of the guide line of the self-propelled body from the center line s. Travel control means (M
PU3), when receiving the traveling control data, if it is necessary to change trains based on the target guide line number and the target progress,
The transfer traveling is started toward the target position (the target position based on the target guide line and the target progress). This transfer traveling direction is the direction of the arrow in FIG. 9, and the transfer traveling during this is controlled as follows.

For example, virtual guide lines between the guide lines are set to p1, p
2, p3, ... pn, the traveling control means (MP
Under the control of U3), the self-propelled body travels obliquely (for example, the arrow direction in FIG. 9) from the center of the guide wire 1 toward the virtual guide line p1. From the change in the amount of light received by the three light receiving elements, the position of the self-propelled body in the x direction (virtual guide line p
1, p2, ... pn), the traveling control means sequentially changes the designation of the target virtual guide line, and directs the designated target virtual guide line to further travel the self-propelled body to the right of the arrow. Let In this way, the position in the x direction is detected by the virtual guide line based on the change in the amount of light received by the three light receiving elements, the target virtual guide lines are sequentially designated, and the target virtual guide lines are transited to travel to the target guide line. When the target virtual guide line is specified,
This serves as a running reference to control the running of the self-propelled body. That is, the self-propelled body travels toward the target guide line while successively transferring to the target virtual guide line designated. After connecting to the target virtual guide line, the vehicle travels under feedback control with the virtual guide line as a reference until the next target virtual guide line is designated. Therefore, the self-propelled body always sequentially directs the target virtual guide line designated by the traveling control means (MPU3) and traces the target virtual guide line until the transfer to the predetermined guide line is completed.
The vehicle always runs while being restrained by the target virtual guide line. Further, even when the direction of the self-propelled body is changed due to a disturbance such as mutual interference or slip during the transfer traveling, and the traveling position shifts, the traveling control means (MPU3) performs the virtual position of the self-propelled body as described above. (Virtual guide lines p1, p2, p3, ... p
The current position (on which line of n) is recognized, and the traveling control is performed with the designated target virtual guide line as a reference, the resistance to the disturbance is strong and even if the traveling is disturbed by the disturbance. , Feedback control is performed to quickly move to the target virtual guide line. Therefore, even if a self-propelled body receives a disturbance during transfer and travels, the self-propelled body always points at the target virtual guide line without losing directionality and travels while being restrained by the target virtual guide line. Transfers to the line are smooth and stable.

In short, the main point of this solving means 1 is that when the self-propelled body deviates from the guide wire 1 in the lateral direction with respect to the traveling direction, the amount of lateral displacement is the amount of change in the amount of light received by the three light receiving elements. From this, the position between the guide lines of the self-propelled body is always recognized by this, and the traveling position of the self-propelled body is determined based on the relationship between this and the position of the target virtual guide line designated by the traveling control means. Is moved to the position of the target virtual guide line, and the self-propelled body is directed to the target guide line by sequentially changing the designation of the virtual guide line toward the target guide line, and at least the target It is to perform feedback control (self-complete feedback control by the traveling control means of the self-propelled body) on the basis of the designated virtual guide line until the traveling of the self-propelled body until the train is connected to the guide line. In addition, the self-propelled body travels on the lower traveling surface, and the model body on the upper traveling surface is towed by magnetic force, which is not limited to the traveling control system of the self-propelled object in the so-called two-story line-guided race game device. Since the action and effect are also applicable to the traveling control system of the self-propelled body of the line-guided race game device in which the self-propelled body itself is a model body, the solution means 1 is the self-propelled body of the general line-guided race game device. It is applied to the traveling control system of.

[0023]

A solution means 2 (corresponding to claim 3) is characterized by a method of designating a virtual guide line and a method of selecting a traveling speed in the solution means 1, and the characteristic items are as follows. ) (G). (F) A guideline, a progress, a target progress, a target guideline, and the above-mentioned target arrival are included in the travel command to the traveling control means (MPU3) of the self-propelled body, including the target progress, the target guideline, and the target arrival time to the target progress. Travel control means (MPU3) based on time
Calculates and determines the required traveling speed, and (g) specifies the target virtual guide line by the traveling control means at predetermined time intervals, and determines the target virtual guide line based on the transfer traveling speed and the transfer direction. To be specified by calculating.

[0024]

Next, the operation of the solving means 2 will be described with reference to FIG. Current position (y0, x
0), the target position by the target progress y6 and the target guide line x1,
And the target reaching time t from the traveling control means (MP
The traveling speed up to the target progress is calculated and determined by U3). Specifically, referring to FIG. 13, the line connecting the transfer start point (y0, x0) and the transfer point (y6, x1) to the target guide line, that is, the angle of the transfer line L1, that is, the angle of the transfer direction Θ is obtained, and the transfer travel distance (the length of the transfer line L1) is calculated by geometrical calculation based on the transfer angle Θ, and the transfer travel speed V (L1 / L1) is calculated based on the target arrival time t and the transfer travel distance. t) is calculated and determined. Then, the target virtual guide line is designated as follows based on the predetermined time interval Δt. That is, the x-direction speed component Vx (see FIG. 9) is obtained based on the transfer speed V and the transfer angle Θ, and the distance Δx (the distance Δx (should be moved in the x direction at the predetermined time Δt from the speed component Vx). Vx × Δt) is calculated, and the virtual guide line ps (FIG. 13) corresponding to the distance to be moved in the x direction is specified as the target virtual guide line based on the distance Δx and the current position. Therefore, the transfer speed V
When the vehicle travels at, the target virtual guide line ps is specified as described above, and the target virtual guide line ps is moved to the target virtual guide line ps specified by the predetermined time Δt. In the end, the self-propelled body moves in the transfer direction (the transfer line). The vehicle travels at the speed V in the angle direction). Then, during the commanded target arrival time, the target virtual guide line is sequentially designated at the predetermined time interval Δt as described above, and the above control is repeated. Therefore, the designated target virtual guide line is always set. You will drive with the goal. Therefore, during this period, the resistance to disturbance is strong and is not easily affected by the disturbance, and even if the traveling is disturbed by the disturbance, the traveling disturbance is promptly resolved because the vehicle travels while directing the designated target virtual guide line. It

[0025]

Embodiment 1 (corresponding to claim 4) Embodiment 1 is a guide line 1 in which the center of the detection width by the left and right light receiving elements 10b and 10c in the solving means 1 is detected by the central light receiving element.
That is, they are matched with the left and right edge lines e.

[0026]

Embodiment 2 In Embodiment 2, the center of the detection width by the left and right light receiving elements 10b and 10c in the solving means 1 is the left and right edge lines e of another guide wire adjacent to the guide wire detected by the center light receiving element. To match each.

[0027]

[Third Embodiment] In the third embodiment, in the solving means 1, the centers of the detection widths of the left or right light receiving elements 10b and 10c are made to coincide with the center s of the guide line 1, and the center light receiving element 10a and the right side are arranged. Of the light receiving element 10c, or the center of the detection width of the light receiving element 10a in the center and the light receiving element 10b on the left side of the guide line 1 adjacent to the guide line 1 detected by the light receiving elements 10b, 10c on the left side or the right side. That is, they are matched with the edge line e.

[0028]

Embodiment 4 (corresponding to claim 5) Embodiment 4 sets the width of the non-guide wire 1b between the guide wires 1 to be equal to the width of the guide wire,
In addition, the detection width of the left and right light receiving elements 10b and 10c is made equal to the detection width of the central light receiving element 10a.

[Operation] 3 for the amount of deviation of the self-propelled body from the center s of the guide line
Since the amount of light received by each light receiving element continuously changes within one pitch of the guide wire 1, the change in the amount of deviation can be continuously and accurately detected as a change in the amount of electricity in the entire area of the deviation. it can.

[0029]

Fifth Embodiment A fifth embodiment is that the guide wire 1 in the solving means 1 is a black wire and the non-guide wire 1b between the guide wires 1 is a white wire.

[0030]

Since the change in the amount of light received by the three light-receiving elements with respect to the change in the amount of deviation of the self-propelled body from the center of the guide wire 1 becomes remarkable, the above-mentioned virtual condition is ensured while ensuring high detection accuracy of the amount of deviation of the self-propelled body. The distance between the guide lines (p1, p2, ... P3) can be made fine, and therefore, the virtual guide lines can be transferred along a smooth route while sequentially connecting.

[0031]

Sixth Embodiment (corresponding to claim 6) In the sixth embodiment, in the solving means 2, every time the target virtual guide line is designated during the transfer travel, the remaining transfer travel distance and the remaining target arrival time are calculated. Based on, the running speed is calculated repeatedly,
It is to decide.

[0032]

With the virtual guide line optically detected by the action of the solving means 1 and the detected progress, the traveling control means always recognizes the current position of the self-propelled body. It is possible to easily calculate the distance to the connecting point to the line, that is, the remaining changeover travel distance, and by starting the changeover travel from the target arrival time t and subtracting the elapsed time after that, The remaining time to reach the target can be easily calculated. Then, the traveling speed is repeatedly calculated and determined by the above-mentioned remaining changeover traveling distance and the remaining target arrival time at every predetermined time interval Δt for designating the virtual guide line, whereby the traveling delay due to the disturbance during the changeover traveling is reduced. Even if there is, the traveling delay amount is compensated by repeating the above-described speed calculation, and at the same time, the target guide line is reliably reached in the target arrival time. Therefore, the self-propelled body can change its course almost exactly following the simulated race executed by the race creation unit of the race progress management unit (MPU1).

[0033]

[Embodiment]

[Embodiment 1] Next, Embodiment 1 of the present invention will be described. The first embodiment is an example in which the present invention is applied to a case where the traveling speed is commanded from the relay control unit (MPU2) together with the target progress and the target guide line. The guide wire 1 of this embodiment is a black wire having a width of 6 mm, and the non-guide wire 1b between the guide wires 1 and 1 is a white wire having a width of 6 mm. The detection widths of the three light receiving elements 10a, 10b, 10c are equal to the width of the guide wire 1, the center light receiving element 10a is on the center line in the width direction of the back surface of the self-propelled body 10, and the left and right light receiving elements 10b, 10c. The center of the detection range is the guide line 1 detected by the light receiving element 10a.
And the edge lines e, e on the left and the right of the line, respectively. Therefore, the central light receiving element 10a covers the entire width of the guide wire,
The left and right light receiving elements cover half of the guide wire 1 and half of the width of the non-guide wire 1b adjacent thereto. The virtual guide line p (FIG. 9) between the center lines s and s of the guide line 1 is a virtual line on the computer by the traveling control means (MPU3) mounted on the self-propelled body, and is a reality provided on the traveling surface. Is not a guide wire. The number of virtual guide lines p between the center lines s and s of the guide line 1 is
In this example, the number is 10. Then, since the numbers are allotted from the innermost guide line of the traveling truck to the outermost guide line, every tenth virtual guide line number is the same as the guide line 1. . However, this is to simplify the description of the embodiment, and the density of virtual lines in an actual game device is considerably higher than this.

Since the amount of light received when the light receiving element 10a is following the guide wire 1 is small, its output is inverted and converted into an electric quantity. Since the intensity of the irradiation light of the light receiving elements 10a, 10b, 10c is equal, the light receiving element 10a is
While tracking, the amount of light received by the central light receiving element 10a is approximately 1/2 of the amount of light received by the left and right light receiving elements 10b, 10c.
Since this is doubled and converted into an electric quantity by inversion, the detected electric quantity v1 is twice the detected electric quantity v2, v3 of the left and right light receiving elements 10b, 10c. This can be schematically shown in FIG.
Is like. Self-propelled guide wire 1 for transfer traveling
When the amount of deviation from the to x direction increases, the change in the detected electric amount v changes accordingly as shown in FIG.
However, x in FIG. 10 represents the amount of deviation of the guide wire 1 from the center line s. Light receiving elements 10a, 10b, 10
The detected electric quantities v1, v2, v3 of c are A / D converted, and this is used as input data to be calculated by the calculating means 61, and the calculation result is collated with the virtual guide line table to determine the deviation amount at each time. The number of the virtual guide line p corresponding to the shift amount corresponding to the calculated value is stored in the virtual guide line table (see FIG. 11) of the comparison and determination means 62.

The above comparison judgment is made by the comparison judgment means 62, and if it is judged that the position in the x direction (current position) is pn, then the next target virtual determined by the commanded traveling speed and transfer angle Θ. Guide line pn + α (α:
The virtual guiding line designating unit 63 designates (integer of 1 or more), and this is sequentially repeated until the target guiding line is reached. After reaching the target virtual guide line pn, the next virtual guide line pn +
The travel until α is designated is restricted by the target virtual guide line pn. In this way, the traveling control means M
The (MPU 3) causes the self-propelled body 10 to travel in the direction of the predetermined transfer angle (see FIG. 7) while sequentially transiting the designated virtual guide line until the target guide line is reached. In other words, when the guide line that is being tracked and the target guide line are different, the traveling control unit (MPU3) determines the transfer traveling angle from the progress and the guide line at that time and the commanded target progress and the target guide line. Θ is calculated, the rotational speeds of the left and right driving wheels are controlled, and the self-propelled body is caused to travel at a predetermined speed in the above-mentioned transfer traveling direction. Then, the number of crossing guide lines is counted, and when the target guide line is reached, the guide line is entered. The above is the basics of the guide line transfer traveling control, but the center of the self-propelled body is the center line s of the guide line for transfer.
After deviating from (see FIG. 9), as described above, while sequentially recognizing (detecting) the virtual guide lines p between the guide lines, the designated target virtual guide line is always directed and the target virtual guide line is sequentially transferred to the target. I will drive to the guide line. It should be noted that there is no problem when the transfer traveling speed in consideration of the transfer traveling distance is instructed, but when it is given by the straight traveling speed up to the target progress, the geometrical transfer traveling distance is obtained by the angle of the transfer direction, The required transfer-changing traveling speed is calculated by an appropriate method such as calculating the required transfer-changing traveling speed by the traveling control means (MPU3) based on the ratio of the transfer-changing traveling distance and the straight traveling distance to the target progress. .

Since the vehicle is restrained by the virtual guide line which is sequentially designated at a small time interval even during the transfer traveling, the resistance to the disturbance is strong, and therefore the traveling direction is not greatly changed by the relatively weak disturbance such as slip. Absent. Even if the traveling of the self-propelled body is disturbed by a disturbance, 3
Since the position of the self-propelled body is always recognized by the virtual guide line based on the change in the amount of electricity detected by the two light receiving elements, the amount of deviation between the recognized virtual guide line and the target virtual guide line and the direction of the deviation are determined. Based on this, the rotational speeds of the left and right drive wheels are controlled so as to direct them to the target virtual guide line. It should be noted that when there is a change in the guide line (when the guide line being tracked and the target guide line are different), the transfer is changed, and if there is no change in the guide line, the same guide line is continuously tracked and straight traveling is performed. In the first embodiment, the traveling speed is commanded even during straight traveling, so the vehicle travels to the target progress at the commanded speed.

[0037]

Second Embodiment Next, a second embodiment will be described. In the second embodiment, the target progress time and the target guide line as well as the target arrival time (arrival time to the target progress) t are commanded to the traveling control means, and the designation of the virtual target guide line is repeated at a predetermined time interval Δt. It is an example to which the invention is applied. Based on the result of the simulated race executed by the race creation unit of the race progress management unit (MPU1) 40, the target progress and the target guide line (y0, x) are used as travel control data for the specific self-propelled body 10.
0), (y3, x0), (y6, x1), (y9, x
1) is created, and this is instructed from the relay control unit (MPU2) to the traveling control means (MPU3) of the self-propelled body 10 in response to the OK signal from the self-propelled body 10.

Also in the case of the second embodiment, for simplification, 10 virtual guide lines p are formed so that the guide lines 1 and 1 are divided into 10.
1, p2 ... P10 are defined in the travel control means (MPU3). That is, the virtual guide lines p1, p2 ...
The distance of p10 is 12 mm if it is replaced between the guide wires 1 and 1.
/ 10, that is, 1.2 mm. In this example, the transfer start points are y3 and x0 (see FIG. 12).
When the vehicle travels along the guide line x0 and reaches the progress y3, the progress y is calculated from the intersection (y3, x0) of the progress y3 and the guide line x0.
6. The transfer operation is started toward the intersection (y6, x1) of the guide line x1. The transfer direction at this time is 3 pitches of progress (30 mm) / 1 guide line pitch (12 mm), and the length of the transfer line L1, that is, the transfer travel distance is the distance of the progress y6-y3, Guide wire x
Geometrically calculated from the distance between 0 and x1,
The angle (90 degrees-Θ) of the transfer line L1 with respect to the guide line x0 is also calculated geometrically. If the target arrival time in the travel command is 0.3 seconds, the length (about 32 mm) of the transfer direction line L1 must be traveled at the target arrival time. The velocity V is 106 mm / sec (L1 / target arrival time is 0.
3 seconds). Then, at this speed, transfer line L1
The x-direction velocity component Vx of the velocity V when traveling in the direction is 4
0 mm / sec (this Vx is geometrically simply calculated from the tilt angle Θ). In this example, since the predetermined time interval Δt for designating the target virtual guide line is 0.03 seconds, the required traveling speed (speed in FIG. 13 is required to travel in the direction of the transfer traveling direction line L1. In V), it is necessary to move 1.2 mm in the x direction during the predetermined time interval Δt (0.03 seconds). From this, the target virtual guide wire to be specified is 1.2 mm / 1.2 m
m, that is, the first virtual guide line ps from the guide line x0. Therefore, the target virtual guide line ps is designated in the first designation.

In the second designation after the predetermined time interval Δt, the x, y position of the self-propelled body at that time (the position specified by the progress y and the virtual guide line p) and the transfer to the guide line x1 are set. The above calculation is repeated based on the position (y6, x1), the next Vx is obtained, and the designated interval α for that is added to the virtual guide line ps to specify the target virtual guide line ps + α. If there is a travel delay of the self-propelled body due to a disturbance, the remaining transfer travel distance becomes longer than the remaining distance when there is no travel delay, so the required travel speed V when the second target virtual guide line is specified is faster. Become. Then, since the Vx increases as the transfer speed changes, the designated interval α of the target virtual guide line becomes wider. While repeating the calculation of the virtual target guide line and the traveling speed to be specified in this way, the self-propelled vehicle compensates for the traveling delay, and even if there is a temporary traveling delay, the planned transfer direction ( In the direction of the angle Θ), the vehicle travels to the guide line x1 at the target arrival time and connects to it. As described above, the target virtual guide line is repeatedly designated at intervals of 0.03 seconds until the target guide line is reached. Therefore, the designated target virtual guide line, that is, the traveling control means ( The vehicle runs while being restrained by the reference line set in the MPU 3). Therefore, the vehicle is strong against external disturbances such as slips and mutual contact, and even if there is a traveling disturbance, the vehicle quickly returns to the target virtual guide line and travels. It is possible to reach the target position (the position based on the target guide line and the target progress) with.

In the second embodiment, the target arrival time t is commanded (the traveling speed is not commanded) even when the vehicle is traveling straight following the guiding line (the guiding line is not changed). The traveling control unit (MPU3) calculates and determines the traveling speed based on the straight traveling distance to the target progress and the target arrival time, and the predetermined time interval Δt (0.03
The traveling speed is repeatedly calculated and determined every second) .Therefore, even if there is a traveling delay due to a slip or the like even during straight traveling, the target is the same as in the case of the above-mentioned transfer traveling. Reach the target progress in the arrival time.

[0041]

According to the above-mentioned prior art, when there is no disturbance such as mutual interference and slip of the self-propelled body, the traveling control mounted on the self-propelled body is simply performed by sequentially instructing the target progress and the target guide line. It is possible to drive to the target progress within a predetermined time by the means and to complete the transfer to the target guide line.However, if the running is disturbed due to disturbance during the transfer, this running disturbance causes the drive to reach the target progress. The arrival and transfer to the target guide line will be delayed. On the other hand, in the traveling control means (MPU3), a number of virtual guide lines are assumed between the guide lines, and the position of the self-propelled body (from the guide line after the start of transfer traveling is changed based on the changes in the outputs of the three light receiving elements). Of the self-propelled body in the lateral direction) is always recognized, and the traveling control means (MPU3) controls the target virtual guide line so as to direct it from the relationship between the current position and the specified target virtual guide line. By doing so, it is possible to stabilize the traveling of the self-propelled body against a disturbance, and even when the disturbance is received, it is possible to quickly return to the designated target virtual guide line. Therefore, even if there is a disturbance during the change-over traveling, the traveling disturbance due to the disturbance is suppressed, and even if the traveling disturbance occurs, it is always directed in the direction of the target guide line, so that the transfer to the target guide line, that is, the course change is stable. To be done.

In addition, the traveling command includes the target progress and the target guide line together with the time required to reach the target progress, that is, the target arrival time. Is calculated and repeatedly calculated during the transfer traveling, the transfer traveling can be controlled on the basis of the target arrival time, which is executed by the race creating unit of the race progress management unit (MPU1). The course of the self-propelled body is changed almost according to the change of course of the model body in the simulated race. Therefore, it is possible to prevent the race from being greatly disturbed due to the disturbance of the traveling change of the self-propelled body due to the disturbance.

[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 lines on a traveling surface of a self-propelled body.

FIG. 3 is a sectional view schematically showing a relationship between a light receiving element of a self-propelled body and a guide wire.

FIG. 4 is a cross-sectional view schematically showing the relationship between a magnetic sensor of a self-propelled body and a progression 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 over the guide wire.

FIG. 8 is a schematic enlarged plan view showing a relationship between a guide wire and a detection range of a light receiving element.

FIG. 9 is a schematic enlarged plan view showing the relationship between a guide wire and a virtual guide wire.

10 is a graph schematically showing a change in output of the light receiving element in FIG.

FIG. 11 is a block diagram of a virtual position detection system.

[Fig. 12] Fig. 12 is a diagram schematically showing the transfer traveling of the first embodiment.

FIG. 13 is a diagram schematically showing a relationship between a distance between target virtual guide lines and a transfer traveling speed in the second embodiment.

FIG. 14 is a block diagram showing an outline of a calculation procedure of the second embodiment.

[Explanation of symbols]

1: Guide wire 1b: Non-guide wire 2: Progress line 3: Position display line 10: Self-propelled body 10a, 10b, 10c: light receiving element 11: Magnetic sensor 12: Infrared receiver 20: Relay control device 30: Travel control means 40: Race progress management department 50: Race progress timer s: Center line of guide wire p1, p2 ... pn: virtual guide line

Claims (6)

[Claims] 1. A self-propelled body which is optically tracked while detecting a guide line by three light-receiving elements on the lower surface of the self-propelled body and is given a target progress and a target guide line as traveling commands, and based on these commands. In the running control system of the line-guided type race game device by the self-propelled body, which controls the line-tracking running and the change-over running of the guide line by the running control means (MPU3), three light-receiving elements 10a, 10b for guiding line tracking are provided. 10c
The center of the detection width of the left and right light receiving elements 10b and 10c is respectively matched with the left and right edge lines e of the guide wire, and the detection width of the center light receiving element is made equal to the width of the guide wire 1, Based on the amount of change in the amount of received light, the amount of deviation of the guide line of the self-propelled body from the center line s is calculated and detected, and a large number of virtual guide lines between the center lines s and s of the guide lines 1 and 1 are detected. ,
It is specified by the traveling control means (MPU3) of the self-propelled body, and the target virtual guide line is sequentially designated by the traveling control means during the transfer traveling traveling in the transfer direction.
The transfer of the target virtual guide line is sequentially repeated while the transfer is performed, and based on the change in the difference in the amount of received light from the left and right of the above three light receiving elements, the change from the center line s of the guide line 1 of the self-propelled body A travel control system for a line-guided race game device, which is configured to determine the direction of the deviation. 2. A model body travels on the upper traveling surface, and the model body is pulled by a self-propelled body traveling on the lower traveling surface via magnetic force. Optical tracking travel is performed while detecting the guide wire, the target progress and the target guide wire are given as travel commands, and based on these commands, the travel control means (MPU3) of the self-propelled body performs line tracking travel and guide wire In a traveling control system of a line-guided type racing game device for controlling transfer traveling, three light-receiving elements 10a, 10b, 10c for guiding line tracking are provided.
The center of the detection width of the left and right light receiving elements 10b and 10c is respectively matched with the left and right edge lines e of the guide wire, and the detection width of the center light receiving element is made equal to the width of the guide wire 1, Based on the amount of change in the amount of received light, the amount of deviation of the guide line of the self-propelled body from the center line s is calculated and detected, and a large number of virtual guide lines between the center lines s and s of the guide lines 1 and 1 are detected. ,
The target virtual guide line is sequentially specified by the above-mentioned drive control means while being specified in the traveling control means (MPU3) of the self-propelled body, and while traveling in the transfer direction, the transit of the target virtual guide line is repeated sequentially. The vehicle is made to change and travel, and the direction of the deviation from the center line s of the guide line 1 of the self-propelled body is determined based on the change in the amount of received light of the left and right of the three light receiving elements. A traveling control system for line-guided racing game machines. 3. A travel control system for a line-guided racing game device according to claim 1 or 2, wherein a travel command is issued to a travel control means (MPU3) of the self-propelled body to a target progress, a target guide line, and a target progress. Including the target time of
Based on the progress, the guide line, the target progress, the target guide line, and the target arrival time, the traveling control means (MPU3) calculates and determines the required traveling speed, and the traveling control means specifies the target virtual guiding line. Perform at a predetermined time interval, calculate and specify the target virtual guide line based on the transfer speed and the transfer direction,
A traveling control system for line-guided racing game machines. 4. The traveling control system for a line-guided race game device according to claim 1 or 2, wherein the center of the detection width by the left and right light receiving elements 10b, 10c is detected by a central light receiving element. A running control system for a line-guided race game device in which right and left edge lines e of the guide line 1 are matched. 5. The running control system for a line-guided race game device according to claim 1 or 2, wherein the width of the non-guide wire 1b between the guide wires 1 is equal to the width of the guide wire, and Of the line guiding type race game device in which the detection width of the light receiving elements 10b and 10c is equal to the detection width of the central light receiving element 10a. 6. The travel control system for a line-guided racing game device according to claim 3, wherein, every time a target virtual guide line is designated during transfer transfer, based on the remaining transfer transfer distance and the remaining target arrival time. A traveling control system for line-guided racing game devices, in which the traveling speed is repeatedly calculated and determined.