JP3609043B2 - Race execution system for line-guided racing game machine - Google Patents

Description

[0001]
[Industrial application fields]
The present invention relates to a racing game apparatus that pulls a model body traveling on an upper traveling surface through a magnet with a self-propelled body traveling on a lower traveling surface, and develops a race by the model body on an annular track, For a racing game device in which a self-propelled body is guided by a guidance lane and the self-propelled body travels while changing the guidance lane according to a command from the central control device, the travel control command from the central control device is simplified and the central control device The communication between the vehicle and the self-propelled body can be simplified, and the traveling control can be simplified.
[0002]
[Prior art]
Each self-propelled body is laid on the lower-stage running surface as a racing game device in which the model body is run on the upper model-body running surface, and the model body is pulled by a self-running body running on the lower stage via a magnet. There is a type that is guided by a rail, and the position of the self-propelled body on the two-dimensional coordinates is sequentially detected, and the target position while performing feedback control based on the target position on the two-dimensional coordinates and the position detected by the position detecting means In some cases, the self-propelled body is caused to tracklessly travel in such a way that the vehicle is sequentially tracked (Japanese Patent No. 2645851).
In addition, optical guidance lanes densely laid on the running surface are detected by the lane detection means provided in the self-propelled vehicle, and the self-propelled vehicle control device performs self-contained feedback control, There is also a vehicle that is followed by tracking (Japanese Patent Laid-Open No. 10-232712).
The above-described conventional technique for performing feedback control with a target position on a two-dimensional coordinate and a sequentially detected position (two-dimensional coordinate position) and traveling a predetermined travel route while sequentially passing through the target position is based on the two-dimensional coordinate. A position display device that finely displays the position is necessary, and a position detection device that detects the position of the self-propelled body corresponding to the position display device is necessary. In addition, in order to travel sequentially through the target position on the two-dimensional coordinates, the direction of the self-propelled body is detected, and the traveling speed is considered in relation to the direction of the self-propelled body and the next target position. Since it is necessary to calculate the steering angle and to control the steering, the information processing for traveling control is not simple and the control becomes complicated. Further, since the target position is determined at a minute interval in the program so as to sequentially pass through the target position on the two-dimensional coordinates and this is feedback-controlled, there is a problem in the smoothness and stability of traveling. Furthermore, since the central control unit performs feedback control of the traveling of the self-propelled body while performing complicated information processing, the control system is complicated and the cost is unavoidably increased.
[0003]
On the other hand, those that follow the guide lane are basically excellent in the smoothness and stability of the travel because the travel route is guided by the guide lane. However, it is undeniable that there is the simplicity of the driving route and the unnaturalness of the race, and it is necessary to change the guidance lane appropriately to solve this, but this transfer control is very simple, There is no problem because it is easy. Moreover, since the traveling control of the self-propelled body that tracks the guidance lane is basically speed control and transfer control, the traveling control and the control system thereof are simple. However, if the transfer timing deviates from the progress of the race, the realism of the race will be significantly impaired. Therefore, the remaining problem is how to realize the realism of the race by performing the travel control such as transfer control and speed control at appropriate timing so that there is no sense of incongruity from the progress of the race. is there.
[0004]
Japanese Patent Laid-Open No. 10-232712 discloses that at the start of a race, the transfer position, the transfer direction, and the running speed in the middle are stored in the control memory of the self-propelled vehicle collectively at the start, The self-propelled vehicle travels to the goal at the predetermined speed at the predetermined speed while sequentially changing the guide lanes according to the predetermined stored control command. However, in actuality, the self-propelled vehicle does not always travel at the speed according to the travel control command stored collectively at the start, so the race is not always performed as scheduled. For this reason, the timing of the transfer is shifted from the progress of the race, the transfer is performed in an unnatural state, and as a result, the progress of the race may become extremely unnatural. This is a problem that arises because the running control command input collectively at the start of the race controls the running to the goal regardless of the actual racing situation.
Also, speed control is performed based on the control data stored in advance in the memory of the self-propelled vehicle and the detected traveling progress of the self-propelled vehicle, and feedback control is performed in a self-contained manner by the self-propelled vehicle control device. Therefore, the travel control device of the self-propelled body is not always simple in terms of hardware and software, and the accuracy of the travel control is not high.
[0005]
By the way, in order to collectively control a large number of self-propelled bodies as a united group, it is necessary that all the self-propelled bodies are within a certain range.
Although a specific self-propelled vehicle does not run faster than the scheduled speed, the specific self-propelled vehicle is often far behind the schedule, which often breaks the race.
Control data stored in advance in the memory of the self-propelled vehicle and those for speed control based on the detected traveling speed of the self-propelled vehicle, or prepared control data mechanically sequentially from the central controller In the case of transmitting to the self-propelled body and detecting the control data and performing the speed control based on the traveling speed, it is not possible to correct race disturbance due to the traveling delay of a small number of self-propelled bodies. For those that send the control data prepared in advance mechanically from the central control unit, it is not impossible to feed back and correct the travel command from the self-propelled body, but the central control unit for travel control and The simplicity of information exchange with the traveling control device of the self-propelled body is lost, and the advantages of the line guidance type traveling control device are lost.
From the above, the above problem can be reduced as much as possible if a traveling control command that matches the progress of the race can be transmitted to the traveling body from the progress position of the traveling body.
[0006]
[Problems to be solved]
The present invention relates to a racing game device in which a self-propelled body tracks a guidance lane and pulls the model body through magnetic force, and the traveling control of the self-propelled body by the traveling control device of the self-propelled body is as simple as possible. At the same time, it is an object of the present invention to devise a race execution system so that traveling control data such as transfer control and speed control according to the race situation can be transmitted as appropriate.
[0007]
[Measures taken to solve the problem]
The measures taken to solve the above problems are as follows:A self-propelled body that follows the guidance lane on the lower running surface pulls the model running on the upper running surface through a magnet and develops a race with the model on an annular track.About the race execution system in a race game device, it is based on following (a)-(f).
(I)The game apparatus body has a central control unit having a relay unit and a race creation unit.,
(B)The race creation part of the central control unit includes the target lane number, the target progress, and the traveling speed, and the traveling control data for the self-propelled vehicle for each section that divides the annular track into a number of sections in the traveling direction. Produced sequentially prior to running of the self-propelled vehicle,
(C)The relay unit of the central control unit has a memory for storing the run control data of the earliest section to be transmitted to the self-propelled body among the run control data created by the race creating unit.,
(D)The self-propelled body is provided with a travel control device, and the travel control device detects the progress of the self-propelled body on the lower travel surface and the guidance lane detection means for detecting the guide lane on the lower travel surface. Means, a lane change detecting means for detecting the number of times the guidance lane is changed, and a memory for storing the current running position progress of the self-propelled vehicle and the current running lane number, and transmitted from the relay unit of the central control unit. Depending on the driving control data, the self-propelled body is traced to the designated guidance lane by performing self-contained feedback control while detecting progress and changing lanes. Be something to be done,
(E)The traveling control device of the self-propelled body returns an NG signal to the relay unit of the central control device from the time when the traveling control data is received until the traveling body reaches the target progress in the traveling control data, Return an OK signal when the target progress is reached.,
(F)When the relay unit of the central control unit receives the OK signal, it transmits the travel control data stored in the memory of the relay unit to the travel control unit of the self-propelled vehicle, and the race of the central control unit Update to the run control data of the next section created by the creation unit.
[0008]
[Operation]
TravelingControl dataIs the target lane number, target progress, travel speed, etc.Control dataAre set respectively. The central control unit travels for each section while each self-propelled body travels in each section.Control dataTo individual self-propelled bodiesSequentiallySend. This runControl dataIs a traveling speed, a target lane number, a target progress (progress from the start position), etc., and is a very simple command, and its communication is unilateral.
Driving control device mounted on the self-propelled vehicleIs, TravelingControl dataIs based on simply traveling at the commanded speed, performing the transfer control to the lane of the commanded target lane number as necessary, and further detecting the progress during this time, Compare the detected progress with the target progress and runControl dataIn response to this, an NG signal is returned until the target progress is reached, and an OK signal is returned when the target progress is reached. And above runningControl dataThe transmission to the self-propelled body, the NG signal from the self-propelled body, and the return of the OK signal are both unilateral.
[0009]
In the computer system of the central controllerraceBased on the time measured by the race progress timer, the creation unit executes the simulated race three to five ahead of the above-mentioned traveling section, and from the simulated race, 3 to 5 sections for each self-propelled body Traveling control data (traveling speed, target progress, target lane number, etc.) are stored in the buffer memory. This simulated race is executed under various conditions such as the characteristics given to each model body and the situation of the race track.
the aboveraceThe running control data (running control command) extracted from the execution result of the simulated race executed by the creating unit is temporarily saved in the buffer memory, and saved in response to the OK signal from the relay unit.TravelingThe control data from the earliest one is sequentially transmitted to the relay unit, and the data in the memory for each self-propelled body of the relay unit is updated. The relay unit was updated at a predetermined time interval by a predetermined race progress timer.TravelingSend control data to the self-propelled vehicle repeatedly. For the self-propelled vehicle that has returned an OK signal, travel from the relay unit for the next travel zoneControl dataWill be sentControl dataControl of a self-propelled vehicle that has receivedapparatusThe said travelingControl dataFollow the next section.
[0010]
As described above, the relay section of the central control device is a simple travel for each section.Control dataOn the other hand, traveling control of the self-propelled bodyapparatusIsCommandUntil reaching the target progress, the vehicle travels at a predetermined speed toward the target progress while returning a simple NG signal in response to a repeatedly transmitted command.Later OBecause it only transmits the K signal, the relay control of the central control unit and the traveling control of the self-propelled bodyapparatusThe information exchanged for traveling control with the central control device and the traveling control device for the self-propelled vehicle for that purpose is extremely simple.
[0011]
Embodiment 1
Embodiment 1Corresponding to claim 2)In the above solution, Race game deviceThe model body is a running horseHorse racing game equipment, horse legs, age, sexAnotherWhich characteristic data and race results are given to each racehorse, and the characteristics of this racehorseAndBased on actual resultsThe running control data for each horseIt is to create and run a mock race.
[Operation]
In the horse racing game, by displaying the characteristics and results of the running horse,The playerBased on this, it is possible to predict the race situation and vote with the expectation that the expected race will be developed, so that the horse racing game can be enjoyed with the same feeling as an actual horse racing.
[0012]
Embodiment 2
Embodiment 2Corresponding to claim 3) For embodiment 1 above,As basic data,Jockey characteristics, winning percentageBy adding the run control data for each racehorseCreate and run a simulated race.
[0013]
Embodiment 3
Embodiment 3 (Corresponding to claim 4) For the above embodiment 1 or embodiment 2,In the race controller of the central controllerOf the individual compartments for the calculated individual horsesOf travel control dataTo travel speedfor,Multiply a given coefficientSoonThe running speed of the section is selected, and the coefficient is randomly selected by the lottery means of the race creation unit.
[Operation]
If it is based on the running control data created by a predetermined program based on the characteristics, achievements, jockey characteristics, achievements of the running horse, there is a possibility that it may lack the fun of chance in competition, but at random by lottery means By multiplying the lottery coefficient and adjusting the speed, chances are added to the race pattern of the race, so the interest in the race pattern of the race is increased.
[0014]
Embodiment 4
Embodiment 4 (Corresponds to claim 5) Is the relay unit of the central control unit for the above solutionHas a race progress timer,The race progress timer also functions as a control timer for the simulated race by the race creation unit.
[Operation]
When the control of the race of the model body by the relay unit and the control of the creation of the simulated race by the race creation unit are synchronized, the progress control of the model body race and the progress control of the creation of the simulated race are performed. If each timer is used, it is necessary to synchronize both timers, but since the race progress timer of the relay unit also serves as the control timer for the simulated race by the race creation unit, it is created and executed sequentially by the race creation unit The synchronization control mechanism between the progress speed of the simulated race and the progress speed of the race by the self-propelled body is simplified.
[0015]
Embodiment 5
Embodiment 5 (Corresponding to claim 6) For the above embodiment 4, when there is a self-propelled vehicle that has reached the target progress by a predetermined time or more,In the relay section of the central controller, The timing speed of the race progress timer,According to the delay of the self-propelledIn addition to delaying at a predetermined rate, the traveling speed of the self-propelled vehicle other than the self-propelled vehicle whose arrival at the target progress was delayed by a predetermined time,UpThe deceleration process is performed at the same rate as the predetermined rate to delay the progress of the model race.
[Operation]
As described above, the traveling speed of the self-propelled vehicle other than the self-propelled vehicle that has reached the target progress by a predetermined time or more,By relayAccording to the delay of the self-propelledDecelerate at a predetermined rate to delay the progress of the model race. This makes it possible to recover the arrival delay of the delayed self-propelled vehicle in the meantime, and since the overall race progress speed is delayed, even if there is a self-propelled vehicle that is delayed due to poor running, The race can be continued to the goal while keeping the appearance of the race by keeping a group of model bodies together without making the delay apparently noticeable throughout the race.
Further, the race progress timer of the relay unit also serves as a control timer for the simulated race by the race creation unit, delays the timing speed of the race progress timer as described above, and sets the traveling speed of the self-propelled vehicle as described above. Therefore, the progress of the simulated race by the race creation unit and the progress of the model race always coincide, and the progress of the game (race production, winning display, payout, etc.) is controlled based on the progress of the simulated race. When doing so, it is avoided that the race of the model body deviates from the progress of the above game.
[0016]
Embodiment
The present invention is a two-story racing game device in which a model body travels on an upper traveling surface, a self-propelled body travels on a lower traveling surface, and the model body is pulled and traveled by a self-propelled body via magnetic force. The premise is a racing game device in which the self-propelled body changes the number of guide lines attached to the lower running surface while tracking the specified guide line, and the technology that is the basis for this is well known in the art. (For example, JP-A-10-232712), in the description of this embodiment, the detailed description of the basic structure is omitted.
[0017]
A large number of annular guide wires 1 are densely attached to the lower running surface. The minimum necessary distance between the guide lines 1 and 1 depends on the width of the guide lines and the blank width between the guide lines, which are necessary for smooth and reliable tracking, but are adjacent to each other. There is no problem as long as the self-propelled body can run along the guide line. On the other hand, there is a demand to reduce as much as possible the course change width due to the transfer of the guide line and to avoid the unnatural change of the travel route accompanying the transfer of the guide line as much as possible. If the interval is too large, the course cannot be changed with a fine width, and the realism of the race will be lost. What is necessary is just to select suitably considering these both surfaces.
In addition, a number of progress measurement lines 2 perpendicular to the guide line 1 are provided at predetermined intervals on the lower travel surface. In this embodiment, the progress measuring line 2 is a magnetic line.
The progress measurement line 2 does not need to be strictly a straight line with respect to the guide line, and may be substantially perpendicular.
[0018]
The progress measurement line can be used by combining three colored lines of red, blue, and green, and the progress sensor can be a combination of three light receiving elements having high sensitivity to red, blue, and green. However, in this case, it is necessary to devise the guide line separately so that the detection of the progress measurement line and the guide line is not mixed.
In addition, as shown in FIG. 1, a total of six position display lines 3 in a direction perpendicular to the guide line 1 are arranged around the race track T. The position display line 3 is an optical signal (infrared signal) transmitter, and transmits a guide lane number and an accurate progress to a self-propelled body that crosses the position display line 3. This position display line 3 is for correcting the guidance lane number and progress recorded in the memory of the self-propelled vehicle at predetermined intervals to improve the traveling accuracy, so that the number can be appropriately selected. If it is 4 or more, there is no practical problem.
[0019]
Three light receiving elements 10a, 10b, 10c are provided close to each other at the center of the lower surface of the self-propelled body 10, and the center light receiving element 10a is located at the center of the guide wire 1, and the left and right light receiving elements 10b, 10c. Thus, the guide wire 1 is in a positional relationship between the left and right. The light receiving element detects reflected light. When the self-propelled body deviates from the center of the guide wire 1, two of the light receiving device 10 a and the left and right light receiving devices 10 b or 10 c detect the guide wire 1. Therefore, the traveling of the self-propelled body is controlled by the traveling control device of the self-propelled body so that the guide wire 1 is detected only by the light receiving element 10a.
The magnetic sensor 11 is provided on the lower surface of the self-propelled body, and one pulse signal is generated every time the magnetic line 2 that is a progress measurement line is crossed. By adding this pulse signal with the travel control device, every time the magnetic line 2 is crossed, one advance (advance from the start position) is added, and the advance at that time is detected.
The number of light receiving elements is not limited to three, but may be two, or a light receiving array in which a large number of light receiving elements are densely provided. When the light receiving array is used, the shift of the self-propelled body can be detected very finely, so that the tracking traveling can be controlled with high accuracy.
[0020]
Further, an infrared receiver 12 is provided on the lower surface of the self-propelled body. When the vehicle travels while tracking the guide wire 1 and crosses the position display line 3 (infrared transmitter), the lane number and progress at that time Is received from the position display line 3. Then, the lane number and progress recorded in the memory of the traveling control device of the self-propelled body are rewritten to the true value received from the position display line 3. Therefore, when the lane number and progress recorded in the memory of the travel control device do not match the true value received from the position display line 3, it is corrected with this, so that the guide line and progress during travel may be distorted. Even if it exists, it will run according to the command from the command part 20 of the central controller as a whole race, and the race will be executed according to the command from the central controller.
[0021]
Signal exchange between the relay unit (MPU2) 20 of the central control device of the game machine main body and the travel control means (MPU3) 30 of the travel control device of the self-propelled body is as shown in FIG.
A command (travel command such as target lane number, target progress, travel speed) from the relay unit (MPU2) 20 is transmitted from the command transmission unit to the travel control means (MPU3) 30 of the self-propelled body. The transmission unit of the relay unit (MPU2) 20 switches to the reception mode in response to the transmission of the command, while the reception unit of the travel control unit (MPU3) 30 switches to the transmission mode in response to the reception of the command. When the progress recorded in the memory does not match the target progress in the command, an NG signal is returned to the relay unit (MPU2) 20. The same command is repeatedly sent at 0.2 second intervals (when the number of self-propelled bodies is 10) until the progress of the self-propelled body reaches the target progress, and when the progress measurement value matches the progress target in the command, An OK signal is returned from the travel control means (MPU 3) 30 to the relay unit 20. In this command, the race creation unit (MPU1) 40 of the central controller precedes the running of the model body by 2 to 5 sections (steps) for each section that divides the traveling track T into a number of sections in the traveling direction. The travel control data of the earliest section of the travel control data of each of the created 2 to 5 sections is sequentially set in the memory of the relay unit (MPU2) 20. 0.6 to 1.0 seconds (the travel distance during normal travel is 90 to 150 mm). If this section is too long, the race becomes monotonous. On the other hand, if it is too short, running control becomes too fine. In view of these trade-offs, the above degree is one standard.
[0022]
The traveling of the self-propelled body is controlled by the traveling control means (MPU3) 30 in a self-contained manner. Basically, while detecting the guide wire 1 with an optical sensor, the relay unit (MPU2) 20 of the central control unit. The vehicle travels to the target progress without tracking the designated guide line 1 at the travel speed of the command from. When the target progress is reached, an OK signal is transmitted from the travel control means (MPU3) 30. When this OK signal is received, the command set in the memory of the relay unit (MPU2) 20 is sent to the next section. The command is updated and this command is transmitted. Note that when the command is updated, the travel is continued at the travel speed of the immediately preceding command until the travel control device receives the next command, so the travel is continued smoothly.
If the target lane number of the received command does not match the lane number recorded in the memory of the traveling control unit (MPU3) 30 of the self-propelled vehicle, the difference between the lane number and the target lane number becomes zero. In this way, the necessary guide lines are changed, and when they match, the guide lines are traced. When changing one guide line, the output of the center optical sensor 10a changes. By counting this change, it is possible to detect the number of self-propelled bodies that have changed the guide line.
[0023]
In addition, the self-propelled body changes and travels with respect to the guide line 1 at a predetermined change angle (see FIG. 7), but the angle in the change direction (see FIG. 7) may be designated from the central controller. Further, the travel control means (MPU 3) 30 may select as appropriate in relation to the travel speed. When commanding from the central controller, a number of transfer angles are prepared in advance in the memory of the traveling control unit (MPU3) 30 of the self-propelled vehicle, and the transfer angles are transmitted to the traveling control device of the self-propelled vehicle by code numbers. The self-propelled vehicle that has received this code may select the transfer angle corresponding to the code from the memory, and this change angle is prepared as a difference in rotational speed between the left and right drive wheels of the self-propelled vehicle. You may keep it.
Furthermore, the traveling control means (MPU3) of the self-propelled body may select itself in relation to the traveling speed. In this case, it is also possible to prepare a change angle for each travel speed range appropriately divided and select an appropriate change angle from each travel speed.
[0024]
The race controller (MPU1) 40 of the central controller uses the control conditions (running horses, characteristics of each of the running horses, arrival order, etc.), etc., for each simulated race as basic data to run according to the characteristics of the legs of each running horse. Based on the above, the calculation is repeated in accordance with predetermined calculation conditions necessary for avoiding rear-end collision and interference, and an orderly simulated race is advanced in the computer while keeping a group of horses together. Then, from the run control data in the simulation race, run control data such as a target lane, a target progress, and a run speed in the line guidance type game machine are created and sequentially set in the buffer memory. Since the simulation race is performed under the XY coordinates that coincide with the XY coordinates by the guide line and the progress scale line of the self-propelled vehicle running surface, the position on the XY coordinates where the simulation race is deployed is From the correlation between the lane number on the running surface and the position based on the progress scale line, the position is simply converted into the position on the travel surface based on the lane number and the progress scale line. Further, in this example, the calculation for the simulated race is performed in advance of the race of the model body by four sections (four stages from the viewpoint of the progress of the race) in the above running section. Control data stored in the buffer memory of the race creation unit (MPU1) 40 and sequentially stored in the memory each time a race progresses for one section (one stage of the race progress).
Also, in response to the return of the OK signal from the MPU 2, the control data in the memory of the race creation unit (MPU 1) 40 is sequentially transmitted to the relay unit (MPU 2) 20, and the command recorded in the memory is updated. Let
[0025]
The simulated race by the race creation unit (MPU1) 40 is arranged in the order of arrival given as one of the control conditions at the start time.
The race creation unit (MPU1) 40 basically performs a simulated race based on the characteristics of the horse legs and the like given to each model body (characteristics such as the model's horse legs, age, and sex), and the relay unit (MPU2) 20 manages it. The race progress timer 50 is also used as a simulation race control timer. When a specific self-propelled vehicle arrives with a delay in target progress due to some kind of obstacle, the timing speed of the race progress timer 50 is delayed so as to match the delay, and thereby the race creation unit (MPU1) 40 The progress speed of the mock race that is executed within is reduced. On the other hand, the relay unit (MPU2) 20 decelerates the traveling speed relative to the other self-propelled bodies that have not reached the target progress at a rate corresponding to the delay of the time measured by the race progress timer 50, and Delays the body's running speed, thereby delaying the model's race progression.
In addition, if it is based on the running control data created by a predetermined program based on the characteristics and results of the running horse, the characteristics and results of the jockey, there is a possibility that the accidental chance of racing is lacking. If the running speed of the race control unit is multiplied by the coefficient randomly drawn by the lottery means of the race creation unit (MPU1) 40 to adjust the running speed, chances will be added to the race pattern of the race. Increased interest in race racing.
[0026]
As described above, the race progress timer 50 managed by the relay unit (MPU2) 20 also serves as a control timer for the simulated race by the race creation unit (MPU1) 40, and the relay unit (MPU2) plays the model race. By delaying, the progress speed of the simulated race and the progress speed of the race by the self-propelled body are always synchronized.
A simulated race by the race creation unit (MPU1) 40 is advanced in accordance with the progress of the race of the self-propelled body.
[0027]
By the way, the content of the travel command is a travel speed, a target lane number, a target progress, and the like, and the travel speed is a travel speed based on a normal time measured by the race progress timer 50. Then, the relay unit (MPU2) 20 records the scheduled time from when a new travel command is transmitted to each self-propelled vehicle until it reaches the target progress in the memory as a target arrival time, and the OK signal. When the arrival delay of the most delayed self-propelled vehicle is 0.5 seconds or more, the time measured by the race progress timer 50 is set to the arrival delay time t. To a predetermined rate (delay rate d). As for the arrival delay time t and the delay rate d of the timing speed, for example, when the arrival delay starts, such as by the relationship of the curve d = f (t) shown in FIG. 8, the play time ts (0.5 seconds) ) Until the timing speed of the race progress timer 50 is not delayed, and is adjusted so as to delay the timing speed very gradually from the play time ts. The range of the play time ts is provided, and then the timekeeping speed is delayed very gradually. In actual traveling control, the target progress is rarely reached as scheduled due to various disturbance factors, and a slight delay occurs. This is because of the constant occurrence, and the delay is not particularly noticeable from the viewpoint of race appearance. When the delay reaches a noticeable level, the delay of the timing speed can be increased, and the appearance of the race from the viewpoint of grouping of a group of model bodies can be maintained up to the goal.
[0028]
As a result of delaying the timing speed of the race progress timer 50 as described above, the race is interrupted when the delay of the timing speed reaches 5.0 seconds. While maintaining the appearance of the race from the standpoint of grouping a group of racing models, this actually impairs the appearance of the race from the viewpoint of the race speed due to the slowness of the progress speed, and it seems to kill interest. The race may be interrupted earlier than this, and may be interrupted after a further delay, but the overall judgment is based on the delay in the timekeeping speed described above. ± 10% is a practical range.
[0029]
【The invention's effect】
As described above, the present invention divides the process from the start to the goal into a number of sections by the traveling control device of the self-propelled vehicle, and is based on the self-contained traveling control by the traveling control device of the self-propelled vehicle. The travel command is transmitted to the travel control device of the self-propelled vehicle according to the progress of the vehicle, and based on this, the self-propelled vehicle travels through the above-mentioned segments. Therefore, a realistic and smooth race can be realized by appropriately controlling the running speed and transfer according to the actual race situation.
[0030]
In addition, the exchange of travel control commands and responses between the central control device and the travel control device of the self-propelled body is extremely simple communication, and the target lane in the memory of the travel control means MPU3 of the self-propelled body at the start. Since only the number and the advancement are set to zero, the data input for the initial setting at the start of the race is also simple. Therefore, communication and information processing for traveling control are simple.
[0031]
Furthermore, since the present invention creates travel control data in the race creation unit in accordance with the progress of the race by the model body, the mechanism and control system for running control are simple, the race of the model body is smooth, and While taking advantage of the stability of the line-guided racing game device to be stable, it is possible to execute more realistic races based on the actual racing situation with the model body, and the simplicity of the race with the line-guided racing game device The monotony can be completely eliminated.
[0032]
Also, in the traveling control of a self-propelled vehicle that races by commanding the traveling speed and target progress, the traveling speed decreases with respect to the command due to slip or rotation error of the traveling drive motor, and the time to reach the target progress Even if there is a large delay, the running control based on the target progress can be maintained, and the race appearance will not be broken due to a decrease in the running speed of a specific self-propelled body, and the race appearance will be maintained The running speed can be recovered while the race is continued, and the progress speed of the race can be recovered. Therefore, since the appearance of the race is maintained regardless of the delay in the running speed of the specific self-propelled body, it is possible to avoid the loss of interest and trust in the game as much as possible.
[Brief description of the drawings]
FIG. 1 is a plan view showing the arrangement of guide lines and position display lines on a self-propelled vehicle running surface.
FIG. 2 is a plan view showing an arrangement of progress measurement lines on a self-propelled vehicle running surface.
FIG. 3 is a cross-sectional view schematically showing a relationship between an optical sensor of a self-propelled body and a guide wire.
FIG. 4 is a cross-sectional view schematically showing a relationship between a magnetic sensor of a self-propelled body and a progress measurement line.
FIG. 5 is a cross-sectional view schematically showing a relationship between an infrared receiver of a self-propelled body and a position display line.
FIG. 6 is a diagram schematically showing the order of communication between the central control device and the traveling control device of the self-propelled body.
FIG. 7 is a plan view schematically showing how the self-propelled body changes the guide line.
FIG. 8 is a diagram illustrating an example of a relationship between a delay in arrival time to a target progress and a delay rate of a measured speed of a race progress timer.
[Explanation of symbols]
1: Guide wire
2: Progress measurement line
3: Position display line
10: Self-propelled body
10a, 10b, 10c: light receiving elements
11: Magnetic sensor
12: Infrared receiver
20: Central controller
30: Travel control device
40: RaceCreatePart
50: Race progress timer

Claims (6)

In a race execution system in a racing game apparatus in which a self-propelled body that tracks a guidance lane on a lower traveling surface pulls a model traveling on an upper traveling surface through a magnet and develops a race with the model body on an annular track ,
The game apparatus body includes a central control unit having a relay unit and a race creation unit ,
The race creation part of the central control unit includes the target lane number, the target progress, and the traveling speed, and the traveling control data for the self-propelled vehicle for each section that divides the annular track into a number of sections in the traveling direction. Prior to the self-propelled vehicle running ,
The relay unit of the central control device has a memory that stores the traveling control data of the earliest section to be transmitted to the self-propelled body among the traveling control data created by the race creating unit ,
The self-propelled body is provided with a travel control device, and the travel control device detects the progress of the self-propelled body on the lower travel surface and the guidance lane detection means for detecting the guide lane on the lower travel surface. Means, a lane change detecting means for detecting the number of times the guidance lane is changed, and a memory for storing the current running position progress of the self-propelled vehicle and the current running lane number, and transmitted from the relay unit of the central control unit. In accordance with the traveling control data, the self-contained feedback control is performed while tracking the traveling of the designated guided lane while detecting the progress and changing the lane ,
The traveling control device of the self-propelled body returns an NG signal to the relay unit of the central control device from the time when the traveling control data is received until the traveling body reaches the target progress in the traveling control data, When the target progress is reached, an OK signal is returned ,
When the relay unit of the central control unit receives the OK signal, it transmits the travel control data stored in the memory of the relay unit to the travel control unit of the self-propelled vehicle, and the race of the central control unit The race execution system in the line induction type | formula racing game apparatus updated to the driving control data of the following division produced by the preparation part . A horse racing game apparatus in which the racing game apparatus to horses to model objects, true colors, age, gave gender of any characteristic data and race results on the horses, and the characteristics and performance of the horses to the basic data The race execution system in the line induction type racing game apparatus according to claim 1 , wherein the running control data of each starting horse is created by the race creating unit of the central control unit and a simulated race is executed. The race execution system in the line induction type racing game apparatus according to claim 2, wherein, as the basic data, characteristics of a jockey and a winning rate are further added to create run control data for each of the running horses to execute a simulated race. For the running speed of the running control data of the individual compartments for the individual horses calculated in the race preparation unit of the central control unit, by multiplying a predetermined coefficient and the traveling speed of the compartments,
The race execution system in the line induction type racing game apparatus according to claim 2 or 3, wherein the coefficient is randomly selected by a lottery means of a race creation unit. The race execution system in a line induction type racing game apparatus according to claim 1 , wherein the relay unit of the central control unit has a race progress timer, and the race progress timer also serves as a control timer for a simulated race by the race creation unit. . When there is a self-propelled vehicle that has reached the target progress by a predetermined time or more, the relay controller of the central control unit delays the time measured by the race progress timer at a predetermined rate according to the delay of the self-propelled vehicle. , reaching the target progress is the traveling speed of the self-propelled body other than self-propelled body delayed more than a predetermined time, and deceleration processing at the same rate as above Symbol predetermined ratio, delaying the progression of racing model bodies, claim The race execution system in 5 line guidance type | formula race game devices.

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