JP2645851B2 - Competitive game device and control method therefor - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a competition game device for controlling the traveling of a self-propelled vehicle and a control method thereof.

[Conventional technology]

Conventionally, traveling of a self-propelled vehicle such as an unmanned transport vehicle that transports luggage such as products in a factory draws a running line with a white line on a running surface such as the floor, and the self-propelled vehicle runs along this running line It is done by doing. When the automatic guided vehicle is about to deviate from the white line, the automatic guided vehicle detects a deviation from the white line and corrects the traveling direction of the automatic guided vehicle so as to eliminate the deviation.

As described above, since the conventional automatic guided vehicle moves along a predetermined traveling line, in order to change the traveling line of the automatic guided vehicle, the traveling line itself must be redrawn. In addition, when the self-propelled vehicle greatly deviates from the running line, it is difficult to correct the self-propelled vehicle. Furthermore, it was impossible to judge the situation and change the traveling line of the self-propelled vehicle.

In a conventional competition game that imitates a horse race, a car race, or the like, a self-propelled vehicle such as a horse or a model car is run on a ring-shaped track to compete for an arrival order or to predict an arrival order.

However, in this competition game, the self-propelled vehicle can only run on a predetermined circular track, and it is more realistic than a real horse race or a car race that runs on a free course on the field and competes. It faded, and interest had to be halved.

[Problems to be solved by the invention]

As described above, conventionally, the traveling of the self-propelled vehicle is controlled so as not to deviate from a predetermined traveling line, and it is not possible to change the traveling line as necessary or change according to the traveling situation, In the case of an unmanned transport vehicle, appropriate control cannot be performed as needed, and in the case of a competitive game, a realistic game cannot be performed.

The present invention has been made in view of the above circumstances, and has as its object to provide a competition game apparatus and a control method thereof that allow a model body to run freely along a free running line.

[Means for solving the problem]

The object is a field, a model body that runs on the field, and a self-propelled body that is located on the opposite side of the field, is magnetically connected and coupled to the model body, and pulls the model body, Position detecting means for detecting the position of the self-propelled body, and an expected target position of the model body or the self-propelled body that changes with time is calculated according to a predetermined algorithm, and the position detected by the position detecting means and the expected target position are calculated. And a running control means for controlling the self-propelled body so as to bring the position of the self-propelled body closer to the expected target position.

Further, the above object is a method of controlling a competition game device in which a model body traveling on a field is located on the opposite side of the field and is towed by a magnetically connected and coupled self-propelled body, Detect the position of the model body or the self-propelled body, calculate the expected target position of the model body or the self-propelled body that changes with time according to a predetermined algorithm,
A competitive game characterized by controlling the self-propelled body so that the position of the model body or the self-propelled body is closer to the expected target position based on the position detected by the position detecting means and the expected target position. This is achieved by a control method of the device.

(Operation)

Since the present invention is configured as described above, it is possible to know the position and direction of the self-propelled vehicle, calculate an appropriate direction and speed to reach the target position, and calculate the self-propelled vehicle from these directions and speed. Drive the car to the target position.

〔Example〕

 The present invention will be described with reference to an embodiment shown in the drawings.

1 to 9 show an embodiment in which the traveling control device for a self-propelled vehicle according to the present invention is applied to a car racing game.

FIG. 2 shows the appearance of the entire car racing game. An annular course 4 is provided on the upper surface of the horizontally long base 2, and six model cars 6 are arranged on this course 4 so as to be able to run freely. The base 2 is hollow as shown in FIG. 3, and a separate running surface 8 is laid facing the course 4 via this hollow portion. A self-propelled vehicle 10 for running the model car 6 on the course 4 is arranged on the running surface 8. A magnet 6 a is fixed to the model car 6 with a slight gap from the surface of the course 4.

The self-propelled vehicle 10 is supported by front wheels 12 and left and right rear wheels 14l, 14r, and the rear wheels 14l, 14r are independently driven by motors 16l, 16r, respectively. A plate member 20 is provided on a top plate portion of the self-propelled vehicle 10 via a spring 18. Course 4 for plate member 20
Rollers 22 and 24 are provided so that the lower surface of the plate member 20 can be smoothly moved, and the entire plate member 20 is pressed against the course 4 by the spring 18. On the course 4 side of the plate member 20, the course 4
The magnet 26 is opposed to the magnet 6a of the model car 6 through the
Is installed. In addition, a light receiving element 27 for receiving an optical signal from the control device main body is attached to a front portion of the vehicle 10.

When the self-propelled vehicle 10 runs on the running surface 8, the magnet 26 and the magnet 6a
, The model car 6 on the course 4 also travels on the same running path. Therefore, by controlling the traveling of the self-propelled vehicle 10, the traveling of the model car 6 is controlled.

A position detection plate 28 described later is provided on the entire surface of the running surface 8 so that the position of the vehicle 10 can be detected wherever the vehicle 10 is located. At the lower part of the self-propelled vehicle 10, a position detection plate
The coils 30f and 30r are provided with a slight gap between the coils 30f and 30r. The coil 30f is attached to the front of the vehicle 10 near the front wheel 12, and the coil 30r is mounted on the vehicle 10 near the rear wheels 14l, 14r.
Installed at the rear of the. The position can be detected by the interaction between the coils 30f and 30r and the wiring extended in the position detection plate. In order to correspond to the courses 4 in various forms, there is no running course on the running surface 8 like the course 4, and the wiring is provided on the entire surface of the position detecting plate 28.

FIG. 1 shows the overall configuration of this embodiment. The right side of the figure shows the configuration of the self-propelled vehicle 10, and the left side shows the configuration of the control device main body.

 First, the configuration of the control device body will be described.

In the position detection plate 28, as shown in FIG. 1, a large number of electric wires 34x are stretched in the vertical direction to detect the position of the X axis, and one end of each electric wire 34x is connected to each of the X scanning units 36x. It is connected to a switch and the other end is commonly connected. Similarly, a number of electric wires 34y are stretched in the lateral direction to detect the position of the Y axis, one end of each electric wire 34y is connected to each switch of the Y scanning unit 36y, and the other end is commonly connected. .

The X-axis coordinate value currently being scanned is the X-coordinate counter 40x
Of the X decoder 38x
And the switch corresponding to the count value in the X scanning unit 36x is turned on. Similarly, the Y-axis coordinate value currently being scanned is the count value of the Y-coordinate counter 40g, and this count value is decoded by the Y decoder 38y, and the switch corresponding to the count value in the Y-scanning unit 36y is turned on. Is done.

Self-propelled vehicle by X coordinate detection means 42x and Y coordinate detection means 42y
The position of 10, ie, the position of the coils 30f and 30r of the self-propelled vehicle 10, is detected. Oscillating coils 30f and 30r are electric wires 34x and 3
When it is located above 4y, the coil is attached to the wires 34x and 34y
Currents of the respective oscillation frequencies of 30f and 30r are induced. X
The coordinate detecting means 42x and the Y coordinate detecting means 42y detect the induced current to detect the X coordinate and the Y coordinate.

The X coordinate detection means 42x causes the coordinate value memory 44 to read the value of the X coordinate counter 40x when the induced current is detected,
The Y coordinate detecting means 42y calculates the Y value when the induced current is detected.
The value of the coordinate counter 40y is read into the coordinate value memory 44.
Thus, the coordinates of the positions of the coils 30f and 30r are stored in the coordinate value memory 44.

The traveling table 46 stores the position coordinates of the self-propelled vehicle 10 that moves at a predetermined speed along a predetermined traveling route in each control cycle. These position coordinates are the coordinates of the target position of the self-propelled vehicle 10. A specific example of the traveling table 46 is shown in FIG. If it is desired that each self-propelled vehicle 10 take a traveling route as shown in FIG. 4 (a), the traveling table 46 becomes as shown in FIG. 4 (b). That is, the traveling table 46 is configured from the coordinate values of the target position of each self-propelled vehicle 10 at each time.

The angle error calculation unit 48 calculates the current position coordinates of the coils 30f and 30r of the vehicle 10 stored in the coordinate value memory 44 and the target position coordinates of the next time set in the travel table 46, based on the position of the vehicle. Calculate the angle error of 10. Similarly, the tangential direction error calculation unit 50 calculates the coil of the vehicle 10 stored in the coordinate value memory 44.
The tangential direction error of the self-propelled vehicle 10 is calculated from the current position coordinates of 30f and 30r and the target position coordinates of the next time defined in the traveling table 46. Further, the average speed calculation unit 52 calculates the average speed γ at that time from the target position coordinates of the traveling table 46.

The calculation directions of the angle error α and the tangential direction error β will be described with reference to FIG. The traveling route is L, and the target point at time tn is Pn. When the target points Pn, Pn + 1,... Now, assuming that the time is tn-1, the current position of the coil 30f is A, and the position of the coil 30r is B. The angle formed by the vector APn and the vector AB is the angle error α. Also, the vector
The difference between the absolute value of APn and the target interval 1 is the tangential error β. Here, the target interval 1 is a traveling distance to travel between times tn-1 and tn, that is, Pn-Pn-1. Note that the average speed γ by the average speed calculator 52 is (Pn−Pn−1) / (t
n-1-tn).

The right motor speed calculator 54r sets the right side of the self-propelled vehicle 10 to the motor 16r.
The left motor speed calculation unit 54
l is for calculating the driving speed Vl of the motor 16l on the left side of the self-propelled vehicle 10. The base values of the driving speeds Vr and Vl are determined based on the average speed γ, and the driving speeds Vr and Vr are determined based on the tangential direction error β.
The base value of Vl is increased or decreased by the same amount, and the left and right driving speeds Vr and Vl are respectively increased and decreased in the opposite directions so that the angle error α becomes zero. That is, the driving speeds Vr and Vl have a function form represented by the following equation.

Vr = f (γ) + g (β) + h (α) Vl = f (γ) + g (β) −h (α) The instruction creating unit 56 is operated by the right motor speed calculating unit 54r and the left motor speed calculating unit 54l. A command for driving the motors 16r, 16l at the set driving speeds Vr, Vl is created.

The instruction creating unit 56 also creates an instruction to turn on and off the oscillation of the oscillators 68f and 68r.

FIG. 6 shows a specific example of an instruction created by the instruction creating unit 56. The instruction is composed of an address part, an instruction code, a data part, and a check code for checking an error, as shown in FIG. 6 (a).

The address portion is for specifying the self-propelled vehicle 10 to be commanded, and the content of this address portion determines the self-propelled vehicle 10 to be commanded.

The instruction code indicates the type of the instruction. As shown in FIG. 6B, the command types include a command “11” for oscillating the oscillator 68f, a command “10” for oscillating the oscillator 68r, and a command “01” for driving the left motor 16l. And a command “00” for driving the right motor 16r. The data part of the command "11" and the command "10" indicate whether the oscillators 68f and 68r are turned on or off, and the data part of the command "01" is the driving speed of the motors 16r and 16l. Is instructed.

The optical communication unit 58 generates and transmits an optical signal to communicate the created command to the vehicle 10. In addition, self-propelled car
The light emitting element (not shown) of the optical communication unit 58 is provided so that the optical signal can be received at any position on the running surface 8.
It is desirable to provide a large number on the wall surface of the hollow portion formed between the course 4 and the running surface 8.

Next, the configuration of the self-propelled vehicle 10 shown on the right side of FIG. 1 will be described.

The amplifier 60 is provided with a light emitting element 27 provided at the front of the vehicle 10.
, And outputs the amplified signal to the demodulation serial-to-parallel converter 62. The demodulation serial / parallel converter 62 demodulates the received signal into digital data, and converts the demodulated serial data into parallel data.

Among the demodulated instructions, the instruction code is the instruction decoder 64
Sent to The instruction decoder 64 decodes which instruction it is and latches the result to latches 66r, 66l, and an oscillator 68
f, output to the oscillator 68r.

If the result of the decoding by the instruction decoder 64 is a motor drive instruction, the contents of the data portion are latched by the latches 66l and 66r.

The D / A converters 70l and 70r convert the drive speed of the digital signal latched by the latches 66l and 66r into an analog signal.
Amplifiers 72l and 72r amplify the converted analog signal,
The left motor 16l and the right motor 16r are driven.

The oscillators 68f, 68r are turned on / off by the decoding result of the instruction decoder 64 and the demodulation serial-parallel converter 62, and the oscillation signals are output from the coils 30f, 30r.

 Next, the operation of this embodiment will be described.

FIG. 7 is a flowchart showing the progress of the car racing game.

In this embodiment, the audience predicts the arrival order of the car race,
It is something to enjoy betting on the expected ranking.

First, conditions for betting on a display device (not shown) for a spectator are shown (step S1). The audience sees the condition and places a bet according to each expectation (step S2). Then, on the car racing game device side, the running table 46 is considered in consideration of the situation where the spectators bet, the conditions (preceding type, follow-up type, etc.) that are characterized for each self-propelled vehicle, randomness, fun of the race, and the like. Is determined (step S3).
For example, the contents of the traveling table 46 are determined as shown in FIG. In FIG. 8, 74 is a start position, and 76 is a goal position. The circled numbers indicate the position of each car at each time. In FIG. 8, only three traveling courses are shown for simplicity. The contents of the traveling table 46 may be created in accordance with a predetermined algorithm each time a race is performed, or a plurality of types of traveling tables may be prepared and selected.

When the contents of the traveling table 46 are determined, each self-propelled vehicle 10 travels in accordance therewith (step S4). Traveling is performed for each control cycle. The operation in each control cycle will be described with reference to the time chart of FIG. FIG. 2A shows an optical signal sent from the control device body to the self-propelled vehicle 10, and FIG.
Indicates the operation of the control device body. First, the instruction creation unit 56 creates an instruction to oscillate one of the coils 30f, and the optical transmission unit 58 transmits the instruction by an optical signal. Then, the X coordinate counter 40x and the Y coordinate counter 40y start counting from 0,
The X scanning unit 36x and the Y scanning unit 36y start searching in the X and Y directions. When the X coordinate detecting means 42x and the Y coordinate detecting means 42y detect the oscillation signal from the coil 30f, the coordinate value memory 44
To store the count values of the X coordinate counter 40x and the Y coordinate counter 40y. Thereby, the position coordinates of the coil 30f at the front of the self-propelled vehicle 10 can be known. Coil 3 as well
0r is also oscillated by the oscillation command, and the X coordinate detection means
An oscillation signal from the coil 30r is detected by the 42x, Y coordinate detecting means 42y, and the position coordinates of the coil 30r are stored in the coordinate memory 44.
Is stored in

When the coordinates of the positions of the coils 30f and 30r are stored in the coordinate value memory 44, the angle error calculator 48, the tangential direction error calculator 50,
Angle error α, tangential direction error β,
Calculate the average speed γ. According to the calculation result, the right motor speed calculation unit 54r and the left motor speed calculation unit 54l
Calculate the speed of 6l. Instruction creation unit according to the operation result
56 creates a motor drive command, and the optical communication unit 58 transmits this command as an optical signal. The light receiving element 27 of the self-propelled vehicle 10 receives this optical signal, and finally drives the motors 16l and 16r according to the motor drive command.

When the above control is performed for each control cycle and the race ends,
The required payment is made to the bettor according to the result of the race.

As described above, according to the present embodiment, the car model can be run freely along a free running line, and therefore, an interesting car racing game full of a sense of realism can be enjoyed.

10 and 11 show another embodiment in which the traveling control device for a self-propelled vehicle according to the present invention is applied to a car racing game. The same components as those in the above embodiment are denoted by the same reference numerals, and description thereof will be omitted.

In this embodiment, the electric wires 34x and 34y of the position detection plate 28 are
Oscillation. Coil 30f, 3 by coil reception command
0r is in the receiving state, and the receivers 80f, 80r use the wires 34x, 3
4y oscillation is detected. The detection signal is amplified by the amplifiers 82f and 82r and output to the issuing element 84. The light emitting element 84 emits an optical signal according to the detection signal.

This optical signal is received by the optical receiving unit 86. The timing of the received signal is adjusted by the timing adjusting unit 88, and is input to the coordinate value memory 44, where the count values of the X coordinate counter 40x and the Y coordinate counter 40y are stored.

Next, the operation in each control cycle will be described with reference to the time chart of FIG. FIG. 2A shows an optical signal sent from the control device main body to the self-propelled vehicle 10, and FIG. 2B shows oscillating signals of electric wires 34x and 34y of the position detection plate 28 of the control device main body. (c) shows an optical signal from the light emitting element 84 of the self-propelled vehicle 10, and (d) shows the operation of the control device main body.

When a certain control cycle starts, the command creation unit 85 creates a command to set the receiver 80f of one coil 30f to the reception state,
The optical transmission unit 58 emits an optical signal of the reception command. This optical signal is received by the light receiving element 23 and finally decoded by the instruction decoder 64, and the coil 30f enters a receiving state. Subsequently, the X-coordinate counter 40x starts counting, and scanning in the X-direction is performed such that the electric wires 34x for detecting the position of the X-coordinate oscillate sequentially. coil
When the electric wire 34x on which 30f is located oscillates, the oscillating signal is detected by the coil 30f, and the detection signal is emitted from the light emitting element 84 as an optical signal. The count value of the X coordinate counter 40x is stored in the coordinate value memory 44 based on the timing at which the light receiving unit 86 receives this optical signal, and the position of the X coordinate of the coil 30f is detected. Similarly, the Y coordinate is stored in the coordinate value memory 44 according to the detection timing of the oscillation signal in the coil 30f.

Subsequently, a command to set the receiver 80r of the coil 30r in the receiving state is issued to the vehicle 10 as an optical signal to detect the position of the coil 30r. The X-coordinate value and the Y-coordinate value of the position of the coil 30r are stored in the coordinate value memory 44 in the same manner as in the case of the coil 30f, based on the detection timing of the oscillation signal by the coil 30r.

When the positions of the coils 30f and 30r are detected, the same calculation as in the previous embodiment is performed, and the motor 16
The l and 16r are driven, and the vehicle 10 is controlled so as to reach the next target position.

As described above, according to the present embodiment, the car model can be run freely along a free running line, and an interesting car racing game full of a sense of realism can be enjoyed.

Further, the present invention can be applied to a racing car game in which a person controls driving. FIG. 12 shows a base 2 of a racing car game to which the present invention is applied, as viewed from above. The base 2 has an 8-shaped road as shown in the figure.
90 are formed. The road 90 is provided with a four-course running line 94 as indicated by a broken line in a software manner. That is, the coordinate value of each position on the travel line 94 is stored in the travel table 46.
, The travel line 94 is determined.

In the present embodiment, there is provided a restriction that the operation of the racing car is not completely freely operated by the operator, but that the racing car moves along any one of the running lines 94 described above. That is, the racing car is
It is assumed that the operator moves along any one of 94, and the operator selects which traveling line 94 to select and in which direction to move at the branch point by operating the steering wheel. Further, the operator may operate the speed.

Normally, it is very difficult for a beginner to operate a racing car as he or she wants, and the body turns in the opposite direction or falls off the course. However, according to the present embodiment, since the basic traveling is controlled by the device side, even a beginner can easily operate the traveling course, and the traveling course is invisible, so that the sense of realism does not decrease.

The present invention is not limited to the above embodiment, and various modifications are possible. In the above embodiment, the self-propelled vehicle is driven by two driving means. However, if the self-propelled vehicle is driven by three or more driving means, more complicated control is possible. Further, the speed control for moving one of the driving units forward or backward may be performed, and the direction control for changing the direction of the other driving unit may be performed. For example, in the case of a self-propelled vehicle driven by four wheels, speed control is performed by rear wheels, and direction control is performed by front wheels. Further, the speed control and the direction control may be performed by one driving unit. In the example of a four-wheeled self-propelled vehicle, the self-propelled vehicle is moved forward or backward by the front wheels, and is also controlled to turn left or right.
In short, any number of driving means may be used as long as they can control the speed and the direction.

Further, two positions are detected to detect the position of the self-propelled vehicle, but three or more positions may be detected.
The position detection method may be another method such as an electrostatic induction method or an ultrasonic method, in addition to the electromagnetic induction method of the above-described embodiment.

〔The invention's effect〕

As described above, according to the present invention, the model body can freely travel along the free traveling line.

[Brief description of the drawings]

FIG. 1 is a block diagram showing the overall configuration of a car racing game according to an embodiment of the present invention, FIG. 2 is a perspective view showing the appearance of the car racing game, and FIG. FIG. 4 is a diagram showing a specific example of a driving table of the car racing game, FIG. 5 is an explanatory diagram of a method of calculating an angle error and a tangential direction error in the car racing game, and FIG. FIG. 7 is a diagram showing a specific example of a command in the car racing game, FIG. 7 is a flowchart showing the progress of the car racing game, FIGS. 8 and 9 are diagrams for explaining the operation of the car racing game.
FIG. 10 is a block diagram showing the overall structure of a car racing game according to another embodiment of the present invention, FIG. 11 is a diagram for explaining the operation of the car racing game, and FIG. 12 is a racing car to which the present invention is applied. It is a figure showing a game. 2 ... Base, 4 ... Course, 6 ... Model car, 8 ...
Running surface, 10: self-propelled vehicle, 12: front wheel, 14l, 14r ... rear wheel, 16l, 16r ... motor, 18 ... spring, 20 ... plate member,
22, 24: Roller, 26: Magnet, 28: Position detection plate, 30
f, 30r ... coil, 34x, 34y ... electric wire, 36x ... X scanning unit, 36y ... Y scanning unit, 38x ... X decoder, 38y ... Y
Decoder, 40x... X coordinate counter, 40y... Y coordinate counter, 42x... X coordinate detector, 42y.
... Coordinate value memory, 46 ... Travel table, 48 ... Angle error calculator, 50 ... Tangential error calculator, 52 ... Speed calculator, 54l ... Right motor speed calculator, 54r ... Left motor Speed calculation unit, 56: Command creation unit, 58: Optical transmission unit, 62
…… Demodulation serial / parallel converter, 64 …… Instruction decoder, 66l, 66r
…… Latch, 70l, 70r …… D / A converter, 78 …… Oscillator, 8
0f, 80r: receiver, 84: light emitting element, 86: light receiving unit, 88: timing adjustment unit.

Claims (2)

(57) [Claims] A field, a model body running on the field, a self-propelled body positioned on the opposite side of the field, magnetically connected and coupled to the model body, and pulling the model body. A position detecting means for detecting the position of the self-propelled body, an expected target position of the model body or the self-propelled body that changes with time is calculated according to a predetermined algorithm, and the position detected by the position detecting means and the expected target are calculated. Running control means for controlling the self-propelled body based on the position so that the position of the self-propelled body is closer to the expected target position. 2. A method for controlling a competitive game machine in which a model body traveling on a field is towed by a magnetically connected self-propelled body located on the opposite side of the field and comprising: The position of the body or the self-propelled body is detected, and the expected target position of the model body or the self-propelled body which changes with time is calculated according to a predetermined algorithm, and the detected position by the position detecting means and the expected target position are calculated. And controlling the self-propelled body so that the position of the model body or the self-propelled body is closer to the expected target position.