JP2020188589A - Motor controller and slot machine - Google Patents

Abstract

To provide a motor controller that can improve the accuracy of position in stopping the rotation of a rotating body driven by a motor.SOLUTION: A motor controller comprises: a deviation calculation unit 15 that calculates, as a deviation amount, the difference between the number of detection signals that are received in a period from when the rotational position of a rotating body 5 driven by a motor 2 reaches a predetermined reference point until when the rotational position of the rotating body 5 reaches the reference point next, and output from a rotation angle sensor 4 every time the motor 2 rotates by a predetermined angle, and a reference number of detection signals equivalent to the amount of rotation of the motor 2 corresponding to the amount of rotation of the rotating body 5 in the period; and correction units (12, 14) that correct positional information indicating the rotational position of the rotating body 5 according to the deviation amount and a correction amount equivalent to the deviation of a stop position from a target stop position in stopping the rotation of the rotating body 5.SELECTED DRAWING: Figure 1

Description

The present invention relates to a motor control device for controlling a motor and a rotating drum game machine having such a motor control device.

The spinning reel game machine has a plurality of rotary reels (hereinafter, may be simply referred to as reels) in which a plurality of symbols are represented along the circumferential direction. Further, in the rotary cylinder game machine, when each rotary reel is rotating, the player presses the stop button to stop the rotation of the corresponding rotary reel. At that time, the rotary reel corresponding to the pressed stop button has one of a plurality of symbols represented on the rotary reel in advance so that the symbols represented on the rotary reels are stopped in a line. It is stopped so as to stand still at the set stop position. Therefore, the motor control device that controls the motor that drives the rotary reel is required to accurately stop the rotary reel at a target stop position. However, in some cases, the amount of rotation of the motor for rotating the rotating reel by a predetermined amount of rotation may deviate from the actual amount of rotation of the rotating reel due to slippage between the rotating shaft of the motor and the rotating reel. Sometimes. Therefore, it has been proposed to provide an origin sensor for detecting the position of the rotation origin of the rotating cylinder driven by the motor (see, for example, Patent Document 1). This origin sensor is composed of an optical sensor in which a light emitting element and a light receiving element are paired, and is fixed to a frame in which a rotating cylinder is rotatably attached. Then, a thin plate-shaped shielding plate protruding toward the origin sensor side is integrally fixed to one of the cross-shaped arms attached to the rotating shaft of the stepping motor at the center and supporting the rotating cylinder. The shielding plate rotates together with the rotating cylinder due to the rotation of the stepping motor, and passes through the origin sensor once for each rotation of the rotating cylinder. Therefore, the shielding plate blocks the light from the light emitting element and the light receiving element receives the light. The rising timing that cannot be achieved, or the opposite falling timing, is detected as the rotation origin.

Japanese Unexamined Patent Publication No. 2016-116946

However, physical parameters such as inertia that affect the drive of the rotating body may differ for each rotating body due to manufacturing variations of the rotating body such as the rotating reel. In such a case, even if the rotation origin is detected, the rotating body may not be able to stop at the target stop position.

Therefore, an object of the present invention is to provide a motor control device capable of improving position accuracy when stopping the rotation of a rotating body driven by a motor.

As one embodiment of the present invention, there is provided a motor control device that controls a motor that drives a rotating body. This motor control device rotates every time the motor rotates by a predetermined angle, which is received during the period from when the rotation position of the rotating body reaches a predetermined reference point until the next rotation position of the rotating body becomes the reference point. A deviation calculation unit that calculates the difference between the number of detection signals output from the angle sensor and the reference number of detection signals corresponding to the rotation amount of the motor corresponding to the rotation amount of the rotating body as the deviation amount during that period. It has a correction unit that corrects the position information indicating the rotation position of the rotating body according to the deviation amount and the correction amount corresponding to the deviation of the stop position from the target stop position when stopping the rotation of the rotating body.

By having such a configuration, this motor control device can improve the position accuracy when stopping the rotation of the rotating body driven by the motor.

It is preferable that the motor control device further includes a communication interface unit that receives a correction amount setting signal representing the correction amount.

As a result, the motor control device can facilitate the setting of the correction amount corresponding to the deviation from the target stop position when the rotation of the rotating body is stopped.

Further, this motor control device further has a drive signal generation unit that outputs a drive signal for controlling the rotation of the motor to the drive circuit that drives the motor, and the correction unit is from the current rotation position of the rotating body. The cumulative value of the detection signal corresponding to the remaining rotation amount to the target stop position of the rotating body is held as position information, 1 is subtracted from the cumulative value each time the detection signal is received, and the cumulative value is deviated. It is corrected according to the amount and the correction amount, and when the corrected cumulative value becomes equal to or less than the predetermined stop threshold, the drive signal generator is instructed to brake the motor, and the drive signal generator instructs the motor. When instructed to apply the brake, it is preferable to output a drive signal to the drive circuit to stop the motor until the motor stops rotating.

As a result, the motor control device can accurately stop the rotating body driven by the motor at the target stop position.

Further, according to another embodiment, a rotating drum game machine is provided. This rotary cylinder game machine includes a game machine main body, a rotary reel rotatably arranged in the game machine main body, a origin sensor for detecting that the rotary position of the rotary reel has reached a predetermined reference position, and a rotary reel. It has a motor that drives the motor, a motor drive circuit that drives the motor, a rotation angle sensor that outputs a detection signal each time the motor rotates by a predetermined angle, and a motor control device that controls the motor. Then, in the motor control device, the origin sensor detects that the rotation position of the rotary reel has reached a predetermined reference point, and then the origin sensor detects that the rotation position of the rotary reel has reached the reference point. A deviation calculation unit that calculates the difference between the number of detection signals received during the period up to and the reference number of detection signals corresponding to the rotation amount of the motor corresponding to the rotation amount of the rotating reel in that period as the deviation amount. It has a correction unit that corrects the position information indicating the rotation position of the rotary reel according to the deviation amount and the correction amount corresponding to the deviation of the stop position from the target stop position when stopping the rotation of the rotary reel.

By having such a configuration, the rotating cylinder game machine can improve the position accuracy when stopping the rotation of the rotary reel driven by the motor.

It is a schematic block diagram of the motor control device by one Embodiment of this invention. It is a circuit diagram of a motor drive circuit. It is a figure which shows an example of the table which shows the relationship between the drive signal applied to each switch of a motor drive circuit, and the rotation direction of a DC motor. It is a figure which shows an example of the rotating body which drives a motor, and the origin sensor. It is an operation flowchart of the deviation amount calculation process. It is explanatory drawing of the outline of deviation amount calculation. It is an operation flowchart of the stop control processing. It is the schematic perspective view of the rotating cylinder game machine provided with the motor control device by embodiment or modification. It is a circuit block diagram of a rotating cylinder game machine. It is the schematic perspective view of one rotary reel which a reel unit has.

Hereinafter, the motor control device according to one embodiment of the present invention will be described with reference to the drawings. This motor control device is used to control a motor that drives a rotating body, such as a rotating reel of a rotating cylinder game machine. The rotating body is provided with a mechanism for defining a reference point used for detecting a deviation amount between the actual rotating position of the rotating body and the rotating position of the rotating body corresponding to the rotating amount of the motor. This motor control device detects that the rotation position of the rotating body has become a reference point, and obtains the amount of deviation between the actual rotation position of the rotating body and the rotation position of the rotating body corresponding to the rotation amount of the motor. Then, this motor control device uses the amount of deviation as well as the amount of correction for correcting the deviation of the stop position from the target stop position of the rotating body due to variations such as inertia of the rotating body to determine the rotational position of the rotating body. By correcting the represented position information, the position accuracy when stopping the rotation of the rotating body is improved.

In the following embodiment, the motor control device is incorporated in the rotating cylinder game machine and is used to drive the rotary reel of the rotating cylinder game machine.

FIG. 1 is a schematic configuration diagram of a motor control device according to an embodiment of the present invention. As shown in FIG. 1, the motor control device 1 includes a communication interface circuit 10, a memory 11, a drive control circuit 12, a drive signal generation circuit 13, a brake timing determination circuit 14, and a deviation calculation circuit 15. Have.
Each of these parts of the motor control device 1 may be mounted on a circuit board (not shown) as a separate circuit, or mounted on a circuit board as an integrated circuit in which these parts are integrated. You may.

The motor control device 1 controls the motor drive circuit 3 that drives the motor 2 according to the speed setting signal and the drive signal received from the upper control device. In the present embodiment, the motor control device 1 generates a drive signal for switching on / off of the current supply to the motor 2 by a pulse width modulation (PWM) method. Then, the motor control device 1 controls the rotation of the motor 2 by outputting the generated drive signal to the motor drive circuit 3. At that time, the motor control device 1 rotates the motor 2 at the designated rotation speed by setting the duty ratio of the drive signal to a duty ratio corresponding to the rotation speed specified by the speed setting signal. Then, the motor control device 1 detects from the rotary encoder 4 for checking the amount of rotation of the motor 2 that each time the rotation axis (not shown) of the motor 2 rotates by a predetermined sampling angle, it rotates by that angle. The signal is received, and the timing at which the motor 2 starts to brake is controlled according to the number of times the detection signal is received.

Further, the motor control device 1 detects that the rotation position of the rotating reel 5, which is an example of the rotating body, has become the reference point by the reference point signal from the origin sensor 6 driven by the motor 2. The motor control device 1 has a rotation position of the rotary reel 5 and an actual rotation position of the rotary reel 5 corresponding to the rotation amount of the motor 2 obtained from the number of detection signals received from the rotary encoder 4 each time the rotation position becomes a reference point. Find the amount of deviation between the rotation positions. Then, the motor control device 1 corrects the timing at which the brake for stopping the motor 2 starts to be applied according to the deviation amount and the correction amount received from the upper control device (not shown).

In the present embodiment, the motor 2 can be a DC motor.

FIG. 2 is a circuit diagram of the motor drive circuit 3. The motor drive circuit 3 has four switches TR1 to TR4. Each switch can be, for example, a transistor or a field effect transistor. Of these, two switches TR1 and TR3 are connected in series between the power supply and ground. Similarly, two switches TR2 and TR4 are connected in series between the power supply and ground. The positive electrode side terminal of the motor 2 is connected between the switches TR1 and TR3, while the negative electrode side terminal of the motor 2 is connected between the switches TR2 and TR4. The switch terminals of each switch TR1 to TR4 (for example, if the switches TR1 to TR4 are transistors, they correspond to the base terminals, and if the switches TR1 to TR4 are field effect transistors, they correspond to the gate terminals), respectively. It is connected to the signal generation circuit 13. Then, the drive signal from the drive signal generation circuit 13 is input to the switch terminals of the switches TR1 to TR4.

FIG. 3 is a diagram showing an example of a table showing the relationship between the drive signal applied to each switch and the rotation direction of the motor 2.
As shown in Table 300, when the motor 2 is rotated in the normal direction, the switch terminal of the switch TR1 and the switch terminal of the switch TR4 have a pulse width set according to the PWM method according to the rotation speed of the motor 2. A drive signal including a periodic pulse is applied. On the other hand, no drive signal is applied to the switch terminal of the switch TR2 and the switch terminal of the switch TR3. As a result, the power supply voltage is applied to the positive electrode side terminal only while the pulse is applied to the switch TR1 and the switch TR4 to the motor 2, so that the motor 2 rotates forward at a speed corresponding to the pulse width. To do.
When the motor 2 is rotated in the normal direction, a drive signal may be applied to either one of the switches TR1 and TR4, and the other may be always on.

On the other hand, when the motor 2 is reversed, a drive signal having a periodic pulse according to the rotation speed of the motor 2 set according to the PWM method is applied to the switch terminal of the switch TR2 and the switch terminal of the switch TR3. .. On the other hand, no drive signal is applied to the switch terminal of the switch TR1 and the switch terminal of the switch TR4. As a result, the power supply voltage is applied to the negative terminal side terminal only while the pulse is applied to the switch TR2 and the switch TR3 to the motor 2, so that the motor 2 reverses at a speed corresponding to the pulse width. ..
When reversing the motor 2, a drive signal may be applied to either one of the switches TR2 and TR3, and the other may be always on.

In the present embodiment, when the motor 2 is braked while the motor 2 is rotating in the normal direction, the drive signal generation circuit 13 outputs a drive signal for reversing the motor 2 to the motor drive circuit 3. On the contrary, when the motor 2 is braked when the motor 2 is reversed, the drive signal generation circuit 13 outputs a drive signal for rotating the motor 2 in the normal direction to the motor drive circuit 3.

Further, when maintaining the stationary state of the motor 2, the switch terminal of the switch TR3 and the switch terminal of the switch TR4 are turned on, and the switch terminal of the switch TR1 and the switch terminal of the switch TR2 are turned off.

Further, when the motor 2 is not driven, the switch terminal of each switch is turned off.

The rotary encoder 4 is an example of a rotation angle sensor, and can be, for example, an optical rotary encoder. Then, the rotary encoder 4 has, for example, a disk attached to the rotation axis of the motor 2 and having a plurality of slits provided at predetermined sampling angles along the circumferential direction about the rotation axis, and the disk. It has a light source and a light receiving element arranged so as to face each other. Then, each time any slit is positioned between the light source and the light receiving element, the light from the light source reaches the light receiving element, so that the rotary encoder 4 outputs a pulse-shaped detection signal. As a result, the rotary encoder 4 outputs a detection signal to the motor control device 1 each time the motor 2 rotates by a predetermined sampling angle. For example, by providing 50 slits in the disk along the circumferential direction centered on the rotation axis of the motor 2, the rotary encoder 4 detects 50 pieces while the rotation axis of the motor 2 makes one rotation. Output a signal. As the rotary encoder 4, a rotary encoder other than the optical type, for example, a magnetic rotary encoder using a Hall IC may be used.

FIG. 4 is a diagram showing an example of a rotating body driven by the motor 2 and an origin sensor. The rotary reel 5, which is an example of a rotating body driven by the motor 2, has a member 51 formed in a cylindrical shape (hereinafter, simply referred to as a cylindrical member) 51, a support member 52, and a plurality of arms 53. A plurality of symbols are provided on the surface of the cylindrical member 51. The support member 52 is located substantially in the center of the cylindrical member 51, and is attached to the rotation shaft of the motor 2 directly or via a gear at the center of the support member 52, that is, the center of the rotary reel 5. The plurality of arms 53 are provided radially from the support member 52 toward the cylindrical member 51 in order to support the cylindrical member 51, and connect the support member 52 and the cylindrical member 51. Therefore, the rotary reel 5 can rotate around its center.

One of the plurality of arms 53 has a predetermined length along the circumferential direction with respect to the rotation center of the rotary reel 5, and is provided on the side of the optical sensor 54 so as to face the plurality of arms 53. A protruding shielding plate 55 is provided. The optical sensor 54 has a light emitting element 56 such as a light emitting diode and a light receiving element 57 such as a photodiode, and the light emitting element 56 and the light receiving element 57 are arranged so as to face each other. The optical sensor 54 and the shielding plate 55 form the origin sensor 6. Further, the position where the light emitting element 56 and the light receiving element 57 are provided corresponds to a predetermined detection position. Then, as the rotary reel 5 rotates, the shielding plate 55 can pass between the light emitting element 56 and the light receiving element 57. Therefore, when the shielding plate 55 is located between the light emitting element 56 and the light receiving element 57, the light emitted from the light emitting element 56 does not reach the light receiving element 57, and the light receiving element 57 receives a relatively small amount of light. A signal indicating that (for example, a relatively high voltage) is output. On the other hand, when the shielding plate 55 is not located between the light emitting element 56 and the light receiving element 57, the light receiving element 57 can receive the light emitted from the light emitting element 56, so that the light receiving element 57 has a relative amount of light received. Outputs a signal (for example, a relatively low voltage) indicating that there is a large amount of light. Therefore, the rotation position of the rotary reel 5, which corresponds to the signal output from the light receiving element 57, that is, the reference point signal output from the optical sensor 54 when it falls or rises, is detected as, for example, a reference point. Ru.

In the present embodiment, as shown in the waveform 401, when the shielding plate 55 blocks the light from the light emitting element 56, the origin sensor 6 outputs a relatively high voltage as a reference point signal. On the other hand, when the light from the light emitting element 56 reaches the light receiving element 57, the origin sensor 6 shall output a relatively low voltage as a reference point signal. Therefore, the rising edge 401a of the waveform 401 corresponds to the time when the shielding plate 55 approaches between the light emitting element 56 and the light receiving element 57, and the falling edge 401b of the waveform 401 corresponds to the time when the shielding plate 55 is the light emitting element 56 and the light receiving element 57. It corresponds to the point of passing between. The period P from the rising edge 401a to the falling edge 401b corresponds to the length of the shielding plate 55. The origin sensor 6 outputs a relatively low voltage as a reference point signal when the shielding plate 55 blocks the light from the light emitting element 56, while the light from the light emitting element 56 is the light receiving element 57. When it reaches, a relatively high voltage may be output as a reference point signal. In this case, the rising edge and the falling edge in the following description may be interchanged.

Hereinafter, each part of the motor control device 1 will be described.

The communication interface circuit 10 is an example of a communication unit. Then, the communication interface circuit 10 connects, for example, the motor control device 1 to a higher-level control device. The upper control device is, for example, a control unit of the rotating cylinder game machine main body on which the motor control device 1 is mounted. Then, the communication interface circuit 10 receives a speed setting signal having a plurality of bits serially transmitted from the upper control device every time the rotation speed of the rotary reel 5 driven by the motor 2 is changed. For example, assume that the speed setting signal has 2 bits. In this case, the rotation speed 40 [rpm] is set for the bit value '00' of the speed setting signal. Similarly, the rotation speeds of 80 [rpm], 240 [rpm], and 333 [rpm] are set for each of the bit values ‘01’, ‘10’, and ‘11’ of the speed setting value. Further, the communication interface circuit 10 may receive a rotation direction setting signal for designating the rotation direction of the rotation reel 5 from a higher-level control device together with the speed setting signal or separately from the speed setting signal.

Further, the communication interface circuit 10 continues the rotation of the rotary reel 5 every time the rotary reel 5 is rotated by the amount of rotation of one symbol from the upper control device while the rotary reel 5 is rotationally driven. The drive control signal indicating that is received. The drive control signal can be, for example, a rectangular single pulse signal.

Furthermore, the communication interface circuit 10 has a correction amount for correcting the deviation of the stop position from the target stop position due to variations such as inertia of the rotary reel 5 from the upper control device (hereinafter, simply referred to as a correction amount). Represents and receives the correction amount setting signal that is serially transmitted. The correction amount is represented by, for example, the number of detection signals received from the rotary encoder 4 corresponding to the rotation amount of the motor 2 required to rotate the rotary reel 5 by a rotation angle corresponding to the correction amount.

Each time the communication interface circuit 10 receives the speed setting signal, the communication interface circuit 10 passes the received speed setting signal to the drive control circuit 12. Similarly, each time the communication interface circuit 10 receives the rotation direction setting signal, the communication interface circuit 10 passes the received rotation direction setting signal to the drive control circuit 12. Further, each time the communication interface circuit 10 receives the correction amount setting signal, the communication interface circuit 10 notifies the brake timing determination circuit 14 of the correction amount represented by the received correction amount setting signal. Since the correction amount setting signal only needs to be transmitted once to the motor control device 1 unless the rotary reel 5 is replaced, the communication interface circuit 10 sets the correction amount represented by the received correction amount setting signal. It may be written in the non-volatile semiconductor memory circuit of the memory 11. Further, each time the communication interface circuit 10 receives the drive control signal, the communication interface circuit 10 notifies the drive control circuit 12 that the drive control signal has been received. When the rotation of the rotary reel 5 is stopped, the upper control device does not transmit the drive control signal to the motor control device 1, so that the drive control signal is also transmitted from the communication interface circuit 10 to the drive control circuit 12. The reception is not notified. In the following, stopping the rotation of the motor 2 may be simply referred to as stopping the motor 2. Similarly, stopping the rotation of the rotary reel 5 may be referred to hereinafter simply as stopping the rotary reel 5.

The memory 11 has, for example, a non-volatile semiconductor memory circuit. Then, the memory 11 stores information necessary for controlling the rotation of the rotary reel 5. In the present embodiment, the memory 11 is rotating so that a speed table showing the relationship between the speed setting signal and the rotation speed of the rotation reel 5 and any symbol for each rotation speed are stopped at a predetermined stop position. The number of detection signals (hereinafter, referred to as the required number of stops) until the rotating reel 5 of the above stops, that is, until the rotating motor 2 stops. The required number of stops is an example of the stop threshold. Further, the memory 11 stores a duty ratio table showing the duty ratio for each rotation speed and a speed brake value table showing the relationship between the rotation speed and the duty ratio according to the braking force. Furthermore, the memory 11 receives the number of received signals during one revolution of the rotary reel 5 driven by the motor 2 in an ideal case where the rotation of the motor 2 and the rotation of the rotary reel 5 are completely synchronized (hereinafter, one revolution). (Called the required number) is memorized. Furthermore, the memory 11 may store the correction amount notified from the upper control device.

The drive control circuit 12 is an example of the drive control unit, and sets the duty ratio of the drive signal of the motor 2 according to the rotation speed specified by the speed setting signal. Therefore, each time the drive control circuit 12 receives the speed setting signal, the speed table is read from the memory 11 and the speed table is referred to to obtain the rotation speed specified by the speed setting signal. Further, the drive control circuit 12 sets the duty ratio of the pulse of the drive signal according to the set rotation speed. The drive control circuit 12 may determine the duty ratio corresponding to the set rotation speed with reference to the duty ratio table.

The drive control circuit 12 outputs a duty ratio corresponding to the rotation speed set by the speed setting signal to the drive signal generation circuit 13 each time the rotation speed of the rotation reel 5 specified by the speed setting signal is changed. To do. Further, the drive control circuit 12 outputs information indicating the rotation direction specified by the rotation direction setting signal to the drive signal generation circuit 13.

Further, each time the drive control circuit 12 is notified that the drive control signal has been received, the number of detection signals from the rotary encoder 4 corresponding to the amount of rotation per symbol (hereinafter referred to as the number of symbol unit detection signals). To be called) is output to the brake timing determination circuit 14. For example, if the gear ratio between the motor 2 and the rotary reel 5 is 1:10 and the rotary encoder 4 outputs 50 detection signals while the motor 2 makes one revolution, the rotary encoder 5 makes one revolution. 500 detection signals are output to. Therefore, when 20 symbols are provided on the rotary reel 5, 25 detection signals are output for each symbol. Therefore, in this example, the drive control circuit 12 outputs '25' to the brake timing determination circuit 14 as the number of symbol unit detection signals each time it is notified that the drive control signal has been received. When the rotary reel 5 is stopped, the drive control circuit 12 does not output the number of symbol unit detection signals because it is not notified that the drive control signal has been received.

Further, from the deviation calculation circuit 15, the drive control circuit 12 determines the rotation position of the rotary reel 5 corresponding to the rotation amount of the motor 2 with respect to the case where the rotation of the rotary reel 5 is completely synchronized with the rotation of the motor 2. Each time the deviation amount between the actual rotation positions of the rotary reel 5 is received, the deviation amount is output to the brake timing determination circuit 14.
Furthermore, the drive control circuit 12 notifies the brake timing determination circuit 14 of the rotation speed set by the speed setting signal each time the rotation speed of the rotation reel 5 designated by the speed setting signal is changed.

The drive signal generation circuit 13 is an example of a drive signal generation unit. For example, a variable pulse generation circuit capable of changing the output pulse width (that is, a duty ratio) and a drive signal generated by the variable pulse generation circuit. It has a switch circuit for switching which switch of the motor drive circuit 3 outputs the periodic pulse signal. Then, each time the drive control circuit 12 notifies the duty ratio, the drive signal generation circuit 13 generates a pulse signal, which is a drive signal for driving the motor 2, according to the PWM method, and the drive signal generation circuit 13 generates a pulse signal according to a predetermined output cycle. The rotation of the motor 2 is controlled by outputting the pulse signal to the motor drive circuit 3. At that time, the drive signal generation circuit 13 may set the pulse width of the pulse signal according to the notified duty ratio. On the other hand, when the brake timing determination circuit 14 notifies that the brake start timing has come, the drive signal generation circuit 13 outputs a drive signal for braking and stopping the motor 2 to the motor drive circuit 3. .. In the present embodiment, as described above, when the motor 2 is braked, the drive signal generation circuit 13 transmits a drive signal to the motor drive circuit 3 in the direction opposite to the direction in which the motor 2 is rotating. You can output it.

When the motor 2 is braked, the drive signal generation circuit 13 sets the braking force applied to the motor 2 with reference to the brake value table read from the memory 11.

In the present embodiment, the drive signal generation circuit 13 controls the braking force so that the motor 2 stops when the motor 2 rotates by the required number of stops from the brake start timing. Therefore, the duty ratio of the drive signal corresponding to the braking force is set according to the rotation speed of the motor 2. That is, the drive signal generation circuit 13 may specify the duty ratio corresponding to the rotation speed of the motor 2 by referring to the speed brake value table stored in the memory 11. In the speed brake value table, for example, the higher the rotation speed of the motor 2, the higher the duty ratio, that is, the higher the braking force is set.

The drive signal generation circuit 13 may calculate the current rotation speed of the motor 2 based on the detection signal received from the rotary encoder 4 in order to determine the braking force. Therefore, the drive signal generation circuit 13 further includes, for example, a timer and a counter. Then, the drive signal generation circuit 13 counts the number of detection signals received during a certain period measured by the timer by the counter, and multiplies the number of the detection signals by the sampling angle of the rotary encoder 4 to obtain the rotation speed. The rotation speed is calculated by dividing by the fixed period. The drive signal generation circuit 13 may set the rotation speed of the motor 2 to 0 when the number of detection signals received within a certain period is 1 or less.

The drive signal generation circuit 13 outputs a drive signal having a specified duty ratio to the motor drive circuit 3 until the motor 2 is stopped.

In the drive signal generation circuit 13, when the rotation amount of the motor 2 becomes the target rotation amount and the rotation speed of the motor 2 becomes 0, the drive signal for stopping the brake on the motor 2 and maintaining the stationary state of the motor 2 is maintained. May be output to the motor drive circuit 3.

The brake timing determination circuit 14 is an example of the brake timing determination unit, and determines the timing (that is, the brake start timing) at which the motor 2 is started to be braked according to the stop set value. Further, the drive control circuit 12 and the brake timing determination circuit 14 are examples of the correction unit as a whole.

The brake timing determination circuit 14 is the difference between the predetermined target rotation amount corresponding to the target stop position of the rotary reel 5 and the rotation amount of the motor 2 corresponding to the current rotation position of the rotary reel 5 (that is, the remaining rotation amount). When is less than the required number of detections, it is determined that the brake start timing has come. In the present embodiment, the brake timing determination circuit 14 includes the cumulative value of the number of symbol unit detection signals received from the drive control circuit 12 and the amount of deviation (hereinafter, simply referred to as the cumulative value) and the correction notified from the upper control device. The brake start timing is determined based on the amount and the number of detected detection signals received. The cumulative value when the motor 2 does not receive a drive control signal from the host control device even after rotating one symbol of the rotary reel 5, that is, when the rotation of the motor 2 is instructed to stop is the motor. It corresponds to the target rotation amount of the motor 2 up to the target stop position for stopping 2, and the number of detection signals received after that corresponds to the rotation amount of the motor 2. Therefore, the cumulative value updated each time the detection signal is received from the rotary encoder 4 corresponds to the remaining rotation amount up to the target rotation amount.

For example, the brake timing determination circuit 14 sets the cumulative value to 0 before the rotary reel 5 starts rotating. After that, the brake timing determination circuit 14 adds the correction amount notified from the upper control device to the cumulative value only once until the rotation of the rotary reel 5 is stopped. For example, the brake timing determination circuit 14 adds the correction amount to the cumulative value together with the number of symbol unit detection signals when the number of symbol unit detection signals is first received after resetting the cumulative value to 0. Alternatively, the brake timing determination circuit 14 may set the cumulative value as the correction amount when the rotary reel 5 starts rotating. As a result, the variation in the stop position of the rotary reel 5 due to the variation in the inertia of the rotary reel 5 is suppressed.

Then, when the drive control circuit 12 notifies the rotation speed of the rotary reel 5, the brake timing determination circuit 14 reads the required number of stops corresponding to the rotation speed from the memory 11. Further, the brake timing determination circuit 14 adds the number of received symbol unit detection signals to the cumulative value each time the number of symbol unit detection signals is received from the drive control circuit 12.

Similarly, each time the brake timing determination circuit 14 receives a deviation amount from the drive control circuit 12, the received deviation amount is added to the cumulative value. As a result, the cumulative value, which is an example of the position information representing the current rotation position of the rotary reel 5, is corrected. As a result, the deviation between the rotation position of the rotary reel 5 corresponding to the rotation amount of the motor 2 and the actual rotation position of the rotary reel 5 is corrected.

On the other hand, the brake timing determination circuit 14 decrements 1 from the cumulative value each time the detection signal is received from the rotary encoder 4. Then, the brake timing determination circuit 14 sets the brake start timing when the cumulative value becomes equal to or less than the required number of stops read from the memory 11.

The deviation calculation circuit 15 is an example of a deviation amount calculation unit, and the rotation of the motor 2 with respect to the case where the rotation reel 5 and the motor 2 rotate in perfect synchronization each time the rotation position of the rotation reel 5 becomes a reference point. The amount of deviation between the rotation position of the rotary reel 5 and the actual rotation position of the rotary reel 5 corresponding to the amount is calculated.

The deviation calculation circuit 15 determines the rotational position of the rotary reel 5 when the reference point signal rises or falls, that is, either of the two ends of the shielding plate 55 in the circumferential direction. The reference point can be set between the light emitting element 56 and the light receiving element 57. In the present embodiment, the deviation calculation circuit 15 is a shielding plate at the rotation position of the rotary reel 5 when the reference point signal rises when the motor 2 is rotating normally, that is, when the motor 2 is rotating normally. The rotational position of the rotary reel 5 when one end of the 55 is approaching between the light emitting element 56 and the light receiving element 57 is detected as a reference point.

FIG. 5 is an operation flowchart of the deviation amount calculation process by the deviation calculation circuit 15. The deviation calculation circuit 15 executes the deviation amount calculation process according to the following operation flowchart while the motor 2 is rotating.

When the deviation calculation circuit 15 detects the reference point based on the reference point signal from the origin sensor 6, the deviation calculation circuit 15 sets the count value X indicating the number of received detection signals from the rotary encoder 4 to 0 (step S101). As described above, the deviation calculation circuit 15 detects the rotation position of the rotary reel 5 when the reference point signal rises when the motor 2 is rotating in the normal direction as a reference point. Therefore, when the motor 2 is reversed, the deviation calculation circuit 15 may detect the rotation position of the rotary reel 5 when the reference point signal falls as the reference point.

Further, when the deviation calculation circuit 15 receives the detection signal from the rotary encoder 4, it determines whether or not the rotation direction of the motor 2 is the normal rotation direction (step S102). The deviation calculation circuit 15 can determine the rotation direction of the motor 2 by, for example, an instruction of the rotation direction from the host control device. Alternatively, if the rotary encoder 4 is a type encoder that can identify not only the rotation angle but also the rotation direction, the deviation calculation circuit 15 determines the rotation direction of the motor 2 based on the detection signal received from the rotary encoder 4. May be good.

When the rotation direction of the motor 2 is the normal rotation direction (step S102-Yes), the deviation calculation circuit 15 determines whether or not the count value X is equal to the required number C for one round (step S103). If the count value X is less than the required number C for one round (step S103-No), the deviation calculation circuit 15 increments the count value X by 1 (step S104). On the other hand, if the count value X is equal to the required number C for one round (step S103-Yes), the deviation calculation circuit 15 resets the count value X to 0 (step S105).

Further, in step S102, when the rotation direction of the motor 2 is the reverse direction (step S102-No), the deviation calculation circuit 15 determines that the count value X is a value (-C) obtained by multiplying the required number C for one round by -1. It is determined whether or not they are equal (step S106). If the count value X is larger than the value (-C) (step S106-No), the deviation calculation circuit 15 decrements the count value X by 1 (step S107). That is, when the rotation direction of the motor 2 is the reverse direction, the count value X becomes a negative value. On the other hand, if the count value X is equal to the value (-C) (step S106-Yes), the deviation calculation circuit 15 resets the count value X to 0 (step S108).

After step S104, S105, S107 or S108, the deviation calculation circuit 15 determines whether or not the reference point has been detected based on the change in the value of the reference point signal from the origin sensor 6 (step S109). As described above, the deviation calculation circuit 15 refers to the rotation position of the rotary reel 5 when the reference point signal rises when the motor 2 is rotating in the normal direction, or when the motor 2 is in the reverse direction. The rotation position of the rotary reel 5 when the point signal falls is detected as a reference point.

If the reference point is not detected (step S109-No), the deviation calculation circuit 15 repeats the processes after step S102. On the other hand, if the reference point is detected (step S109-Yes), the deviation calculation circuit 15 calculates the deviation amount based on the counter value X (step S110). For example, if the motor 2 is rotating normally and the counter value X is less than half of the required number C for one round, that is, the number of detection signals during one rotation of the rotary reel 5 is larger than the required number C for one round. For example, the deviation calculation circuit 15 calculates the counter value X itself as the deviation amount. On the other hand, if the motor 2 is rotating normally and the counter value X is more than half of the required number of rounds C, that is, the number of detection signals during one rotation of the rotary reel 5 is less than the required number of rounds C. For example, the deviation calculation circuit 15 calculates a value (XC) obtained by subtracting the required number C for one rotation from the counter value X as the deviation amount. Further, if the motor 2 is reversed and the absolute value of the counter value X is less than half of the required number C for one round, that is, the number of detection signals during one rotation of the rotary reel 5 is larger than the required number C for one round. If there are many, the deviation calculation circuit 15 calculates the absolute value of the counter value X itself as the deviation amount. On the other hand, if the motor 2 is reversed and the absolute value of the counter value X is more than half of the required number C for one round, that is, the number of detection signals during one rotation of the rotating reel 5 is larger than the required number C for one round. If there is less, the deviation calculation circuit 15 adds the required number C for one rotation to the counter value X, and calculates the value {-(X + C)} obtained by inverting the positive and negative directions as the deviation amount.

After step S110, the deviation calculation circuit 15 repeats the processes after step S101. That is, the deviation amount is calculated every time the rotary reel 5 makes one rotation, unlike the correction amount.

FIG. 6 is an explanatory diagram of an outline of the deviation amount calculation. In FIG. 6, the horizontal axis represents the number of detection signals received from the rotary encoder 4, and the vertical axis represents the counter value X. The waveform 600 represents a time change of the counter value X. In the example shown in FIG. 6, it is assumed that the motor 2 is rotating in the normal direction. As shown in the waveform 600, the counter value X becomes 0 when the rotation position of the rotary reel 5 becomes a reference point, and increases by 1 each time a detection signal is received from the rotary encoder 4. Then, when the counter value X reaches the required number C for one round, the counter value X is reset to 0. If the rotary reel 5 is rotating in perfect synchronization with the motor 2, the counter value X reaches the required number C for one round, and at the same time, the rotational position of the rotary reel 5 also reaches the reference point. However, if the rotation of the rotary reel 5 deviates from the rotation of the motor 2 for some reason, as shown in the waveform 600, the rotation of the rotary reel 5 occurs after the number of received detection signals exceeds the required number C for one round. It is detected that the position has become the reference point. Therefore, the counter value X when the rotation position of the rotary reel 5 becomes the reference point becomes the deviation amount.

FIG. 7 is an operation flowchart of the stop control process for stopping the motor 2 by the motor control device 1. This stop control process is executed when the motor control device 1 stops receiving the drive control signal from the host control device, that is, when it is instructed to stop the rotation of the motor 2.

The brake timing determination circuit 14 adds the correction amount notified from the upper control device via the communication interface circuit 10 to the cumulative value of the number of symbol unit detection signals and the deviation amount, which represents the remaining rotation amount up to the target rotation amount. (Step S201).
Further, the drive signal generation circuit 13 outputs a drive signal having a duty ratio corresponding to the rotation speed specified by the speed setting signal, which is notified from the drive control circuit 12, to the motor drive circuit 3 that drives the motor 2. (Step S202).

When the brake timing determination circuit 14 receives the deviation amount from the drive control circuit 12, the brake timing determination circuit 14 adds the received deviation amount to the cumulative value (step S203). Further, when the brake timing determination circuit 14 receives the number of symbol unit detection signals from the drive control circuit 12, the brake timing determination circuit 14 adds the number of received symbol unit detection signals to the cumulative value (step S204). Further, when the brake timing determination circuit 14 receives the detection signal from the rotary encoder 4, the brake timing determination circuit 14 decrements the cumulative value by 1 (step S205).

The brake timing determination circuit 14 determines whether or not the cumulative value is equal to or less than the required number of stops (step S206). If the cumulative value is larger than the required number of stops (step S206-No), the motor control device 1 repeats the processes after step S202.

On the other hand, if the cumulative value is equal to or less than the required number of stops (step S206-Yes), the brake timing determination circuit 14 notifies the drive signal generation circuit 13 that the brake start timing has been reached. Further, the drive signal generation circuit 13 refers to the speed brake value table stored in the memory 11 until the motor 2 is stopped, and specifies the duty ratio corresponding to the rotation speed of the motor 2. Then, the drive signal generation circuit 13 outputs a drive signal having a braking force corresponding to the duty ratio to the motor drive circuit 3 (step S207). When the motor 2 stops, that is, when the cumulative value becomes 0, the drive signal generation circuit 13 stops the output of the drive signal to the motor drive circuit 3, and the motor control device 1 ends the stop control process.

As described above, this motor control device detects the reference point of the rotation position of the rotating body driven by the motor to be controlled, and corresponds to the actual rotation position of the rotating body and the rotation amount of the motor. Find the amount of deviation between the rotating positions of the rotating body. Then, this motor control device corrects the position information representing the rotating position of the rotating body by using the deviation amount and the correction amount for correcting the deviation of the stop position due to the variation such as the inertia of the rotating body. Therefore, this motor control device can improve the position accuracy when stopping the rotation of the rotating body.

The correction amount may be set for each rotation speed of the motor 2. In this case, the upper control device may include the set value of the rotation speed of the motor 2 corresponding to the correction amount in the correction amount setting signal. At that time, the upper control device may include a plurality of combinations of the rotation speed of the motor 2 and the corresponding correction amount in the correction amount setting signal. Alternatively, the above control device may include a correction amount in the speed setting signal. Then, the communication interface circuit 10 may write the correction amount and the rotation speed in association with each other in the memory 11. In this case, the brake timing determination circuit 14 may read the correction amount corresponding to the rotation speed of the motor 2 designated by the speed setting signal from the memory 11 and use it for determining the brake start timing.

According to this modification, the motor control device can use an appropriate correction amount according to the rotation speed of the motor to control the stop position of the rotating body, so that the accuracy of the stop position can be further improved.

Further, the rotating body may be provided with a plurality of shielding plates at equal intervals along the circumferential direction with respect to the center of rotation. In this case, the deviation calculation circuit 15 may detect the position where one end of each shielding plate approaches the optical sensor as a reference point. For example, the deviation calculation circuit 15 may determine that the rotation position of the rotating body has reached the reference point each time the reference point signal rises. Then, the deviation calculation circuit 15 may calculate the deviation amount in the same manner as described above by using the rotation amount of the motor 2, which corresponds to the rotation amount of the rotating body between the reference points, instead of the required number for one round. According to this modification, the motor control device can calculate the deviation amount for each rotation amount less than one rotation of the rotating body.

The motor control device according to the above embodiment or modification may be used to drive a movable member other than the rotary reel of the rotating drum game machine. For example, the motor control device may be used to drive a movable member for producing a ball game machine.

FIG. 8 is a schematic perspective view of a rotating cylinder game machine 100 provided with a motor control device according to the above embodiment or a modification. Further, FIG. 9 is a circuit block diagram of the rotating drum game machine 100. Further, FIG. 10 is a schematic perspective view of one rotary reel included in the reel unit 120. As shown in FIG. 8, the rotating cylinder game machine 100 has a main body housing 110 which is a game machine main body, a reel unit 120, a start lever 130, and stop buttons 140a to 140c.

Further, the rotating cylinder game machine 100 has a control circuit 150 for controlling each part of the rotating cylinder game machine 100 and three motors 1511-1 for driving the rotary reel included in the reel unit 120 in the main body housing 110. It has 151-3, three motor drive circuits 1521-1152-3 for driving each motor, and three motor control devices 153-1 to 153-3. The motor control device 153-1 to 153-3 can be a motor control device according to the above embodiment or modification. Further, the motor drive circuits 1521-152-3 can be motor drive circuits according to the above-described embodiment or modification. Further, the rotating drum game machine 100 temporarily stores medals in response to a control signal from a power supply circuit (not shown) and a control circuit 150 that supply electric power to each part of the rotating cylinder game machine 100, and discharges medals. It has a medal storage and discharge mechanism (not shown).

An opening 111 is formed in the upper center of the front surface of the main body housing 110, and a part of the reel unit 120 is visible through the opening 111. A medal insertion slot 113 for inserting medals is formed on the upper surface of the frame 112 below the opening 111.

The reel unit 120 has three rotary reels 121-1 to 121-3. Each of the rotary reels 121-1 to 121-3 has a rotation center (not shown) substantially parallel to and substantially horizontal to the front surface of the main body housing 110 in response to a drive control signal from the control circuit 150. As each, it can be rotated separately. Further, each of the rotating shafts of the rotating reels 121-1 to 121-3 is engaged with the rotating shafts of the motors 151-1 to 151-3 via a gear (not shown). Then, as the motors 151-1 to 151-3 rotate, the rotary reels 121-1 to 121-3 also rotate. Further, a rotary encoder (not shown) is attached to each rotation axis of the motors 1511-151-3, and the rotary encoder is used every time the motors 1511-151-3 rotate by a predetermined sampling angle. The detection signal is output to the motor control devices 153-1 to 153-3. Further, each of the rotary reels 121-1 to 121-3 is provided with an origin sensor (not shown) as in the above embodiment.
Further, the surfaces of the rotary reels 121-1 to 121-3 are each divided into a plurality of regions having substantially the same width along the rotational direction, that is, the circumferential direction, and various patterns are drawn for each region. A part of these areas is visible to the player through the opening 111.

The start lever 130 is provided on the left side when facing the front surface of the frame 112 of the main body housing 110. Further, stop buttons 140a to 140c are provided substantially in the center of the front surface of the frame 112. The stop buttons 140a to 140c correspond to the rotary reels 121-1 to 121-3, respectively.

A medal ejection port 114 for ejecting medals is formed in the lower part of the front surface of the main body housing 110. A medal tray 115 for preventing the ejected medals from falling is attached below the medal ejection port 114.

When the start lever 130 is operated after the medal has been inserted into the medal insertion slot 113, a signal indicating that the start lever 130 has been operated is transmitted to the control circuit 150. Then, the control circuit 150 starts the rotation of the rotary reels 121-1 to 121-3. That is, the control circuit 150 outputs a speed setting signal to the motor control devices 153-1 to 153-3, and each time the rotary reels 121-1 to 121-3 rotate by one symbol, the drive control signal Is output. The control circuit 150 may change the rotation speed of the rotary reels 121-1 to 121-3 according to the state of the game. In this case, each time the rotation speed of the rotary reels 121-1 to 121-3 is changed, the control circuit 150 outputs a speed setting signal for designating the changed rotation speed to the motor control device 153-1 to 153-3. do it. The control circuit 150 may set different rotation speeds for each of the rotary reels 121-1 to 121-3. Further, the control circuit 150 may have different timings for changing the rotation speed for each of the rotary reels 121-1 to 121-3. Furthermore, the control circuit 150 sends, for example, a correction amount setting signal indicating a correction amount of the stop position of the rotary reel driven by the motor control device to each of the motor control devices 153-1 to 153-3. It is transmitted when the reel game machine 100 is started. The correction amount may be input via an input device (not shown) at the time of shipment from the factory of the rotating drum game machine 100 or at the time of installation, and may be stored in the non-volatile memory circuit of the control circuit 150.

After that, when any of the stop buttons 140a to 140c provided at substantially the center of the front surface of the frame 112 of the main body housing 110 is pressed, the control circuit 150 sends a signal indicating that the pressed button has been pressed. Receive and stop the rotation of the rotating reel corresponding to the pressed button. Alternatively, the control circuit 150 uses the rotary reels 121-1 to 121-3 for which the predetermined period has elapsed since the rotation was started until the predetermined period elapses. Stop later. When stopping the rotary reel, the control circuit 150 may stop the output of the drive control signal. At that time, the motor control devices 153-1 to 153-3 may execute the stop control process according to the above-described embodiment or modification, respectively.
When all the rotating reels are stopped, if the same symbols are lined up in a row across all the rotating reels, the control circuit 150 ejects a predetermined number of medals corresponding to the symbols through the medal ejection port 114. ..

As described above, those skilled in the art can make various changes within the scope of the present invention according to the embodiment.

1 Motor control device 2 Motor 3 Motor drive circuit 4 Rotary encoder 5 Rotating reel 51 Cylindrical member 52 Support member 53 Arm 54 Optical sensor 55 Shielding plate 56 Light emitting element 57 Light receiving element 6 Origin sensor 10 Communication interface circuit 11 Memory 12 Drive control circuit 13 Drive signal generation circuit 14 Brake timing judgment circuit 15 Deviation calculation circuit 100 times body game machine 110 Main body housing 120 Reel unit 121-1 to 121-3 Rotary reel 130 Start lever 140a to 140c Stop button 150 Control circuit 151-1 to 151-3 Motor 152-1 to 152-3 Motor drive circuit 153-1 to 153-3 Motor control device

Claims (4)

A motor control device that controls a motor that drives a rotating body.
Every time the motor rotates by a predetermined angle, it is received from the rotation angle sensor during the period from when the rotation position of the rotating body reaches a predetermined reference point until the rotation position of the rotating body becomes the reference point. A deviation calculation unit that calculates the difference between the number of detected detection signals to be output and the reference number of the detection signals corresponding to the rotation amount of the motor corresponding to the rotation amount of the rotating body as the deviation amount in the period.
A correction unit that corrects the position information representing the rotation position of the rotating body according to the deviation amount and the correction amount corresponding to the deviation of the stop position from the target stop position when the rotation of the rotating body is stopped.
Motor control device with. The motor control device according to claim 1, further comprising a communication interface unit that receives a correction amount setting signal representing the correction amount. It further has a drive signal generation unit that outputs a drive signal for controlling the rotation of the motor to a drive circuit that drives the motor.
The correction unit holds the cumulative value of the detection signal corresponding to the remaining rotation amount from the current rotation position of the rotating body to the target stop position of the rotating body as the position information, and the detection is performed from the cumulative value. 1 is subtracted each time a signal is received, and the cumulative value is corrected according to the deviation amount and the correction amount, and when the corrected cumulative value becomes equal to or less than a predetermined stop threshold value, the drive is performed. Instruct the signal generator to brake the motor,
The drive signal generation unit, when instructed to apply a brake to the motor, outputs the drive signal for stopping the motor to the drive circuit until the motor stops rotating, according to claim 1 or 2. The motor control device described. It is a rotating game machine, and the game machine itself
Rotating reels that are rotatably arranged in the game machine body,
An origin sensor that detects that the rotational position of the rotary reel has reached a predetermined reference position, and
The motor that drives the rotary reel and
The motor drive circuit that drives the motor and
A rotation angle sensor that outputs a detection signal each time the motor rotates by a predetermined angle,
A motor control device that controls the motor and
Have,
The motor control device is
From the time when the origin sensor detects that the rotational position of the rotary reel has reached a predetermined reference point, until the origin sensor detects that the rotational position of the rotary reel has reached the reference point. The deviation calculation is calculated by calculating the difference between the number of the detection signals received during the period and the reference number of the detection signals corresponding to the rotation amount of the motor corresponding to the rotation amount of the rotary reel in the period. Department and
A correction unit that corrects the position information representing the rotation position of the rotary reel according to the deviation amount and the correction amount corresponding to the deviation of the stop position from the target stop position when the rotation of the rotary reel is stopped.
A spinning game machine that has.

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