JP3696113B2 - Self-propelled racing game device - Google Patents

Description

[0001]
[Industrial application fields]
The present invention relates to a racing game apparatus, and more particularly to a running control system for the self-propelled body, and can realize an extremely smooth and natural racing pattern. A horse racing game apparatus, a car racing apparatus, an auto By applying to a game device such as a race, it is possible to perform a run very close to an actual race.
[0002]
[Prior art]
There are various types of racing game apparatuses that can enjoy various games in the form of the game (what kind of game is used) and the form of race (what kind of race is executed). According to the shape of the model body, there are those that race image models and those that race actual models. Regardless of whether it is based on an image model or a real model, and what kind of “competition” is enjoyed, these racing game devices have realistic characteristics of races based on model bodies. It has been developed while pursuing. These race game devices are basically races using a model body, and race game devices have been developed with a focus on a model body.
On the other hand, running control and race control of the model body in the racing game apparatus using the image model (select one of the various prepared race patterns in accordance with a predetermined rule, and select each model corresponding to the selected race pattern. It is relatively easy to use a microcomputer to determine the travel route and travel speed, etc., so the combination of race horses, the variety of race patterns to be executed, the realization of race control, etc. Game control techniques have been preceded by image models (for example, Japanese Utility Model Publication No. 57-123191).
[0003]
On the other hand, a two-storied racing game device, in which a model body is individually guided through a magnetic force and raced by a self-propelled body traveling on a traveling surface (self-propelled body traveling surface) below the model body traveling surface. In Japan, due to limitations in driving control technology, the self-propelled body had to travel along the rails, and it was made to race by controlling only the traveling speed of the self-propelled body (for example, the US (Japanese Patent No. 2188619). However, against the backdrop of dramatic improvements in microcomputer processing speed, dramatic increase in memory capacity, and lower prices, it is possible to diversify the combinations of race horses, diversify races, and make race control realistic. Various attempts have been made to realize the race control technology of the racing game apparatus using the image model with the game apparatus using the real model body, and the realization thereof has been attempted. In the guidance method by track, there is an example in which the traveling of the self-propelled body is made trackless by feedback control based on a program based on the recognition that the player's interest is halved (for example, Japanese Patent No. 2650643). The main technical problem in this case is that the model body traveling control technology for reliably driving the actual model body according to the game program (the traveling path of each individual traveling body, sequential traveling speed, arrival order, etc.). Development, miniaturization of the self-propelled body, development of a control program for how to make the self-propelled body run smoothly along a straight line or a curve, and so on.
[0004]
On the other hand, along with the development of computer technology, driving control technology that controls the rail travel while guiding the guide line instead of the physical track (rails, grooves, etc.) and regulating the travel path by the guide line Is widely used. This is because the travel course is regulated by the guide line, so that it has the advantage that the travel control is simple, and unlike the case of the rail, it can be separated from the guide line at any point. As a traveling control technique guided by this guidance line, for example, there is one described in Japanese Patent Application Laid-Open No. 59-22106. This is to track the guide line while electromagnetically detecting the guide line, but it is also well known to track the guide line while optically detecting the guide line.
[0005]
[Problems to be solved by the invention]
By the way, the position on the two-dimensional plane is detected step by step based on a control program in which the route, the traveling speed, the arrival order, etc. are determined in advance for the traveling of the self-propelled body, such as those described in the above-mentioned Japanese Patent No. 2650643. However, there are some which perform feedback control by the position data, but this has the following practical problems. That is, because the running of the self-propelled body in an actual racing game is not necessarily stable due to slip or the like, and therefore does not go as scheduled, and the response of the self-propelled body to feedback control is not quick, etc. The self-propelled vehicle does not run smoothly and exhibits unnatural behavior. For this reason, it is not easy to realize a natural running race.
On the other hand, even in actual horse racing, a racehorse runs on a relatively smooth route that is a combination of a straight line and a gentle curve, and does not change the course frequently. It is rather natural to run a relatively smooth route by a combination of the two, and it can be seen that the person is closer to a race pattern in actual horse racing and is more realistic.
As for the traveling of the self-propelled body, there is an advantage that the traveling guided by the track is smoother, the traveling is natural and smooth, and easy to control.
Furthermore, in an actual horse race, the direction of each racehorse is not changed according to a scheduled program, but is determined by positioning of the corner and the situation of the jockey according to the horse group situation. As a result, races with pre-programmed driving routes, including course changes, do not always run as planned. Because It is not realistic, and there is a strong feeling that it is a race that has been created, and no matter how the program is devised, it is not possible to completely escape from the feeling that this race has been made.
In addition, in the case of the travel control that tracks the single guide line from beginning to end, the travel route is monotonous, the race is simple and unnatural, and the race pattern is extremely lacking in realism.
[0006]
For the reasons described above, as a control method for realistically reproducing the race pattern in actual horse racing with a relatively simple control mechanism, traveling according to a traveling speed program set in advance according to the characteristics of each model body Basically, each self-propelled body travels along a predetermined guidance line at a speed, and the self-propelled body is provided with a progress line provided to cross the traveling direction on the self-propelled body traveling surface. The horse group situation is grasped from the progress (degree of progress after starting) information of individual self-propelled bodies obtained by detecting and counting by the sensor, and the guidance line is changed or decelerated according to this horse group situation. It is conceivable to perform control by giving instructions such as these to individual self-propelled bodies as needed.
By the way, in such control, since the traveling control based on the horse group situation grasped from the progress information of each self-propelled body is performed, the detection and counting of the progress line are performed reliably. It is important to accurately grasp the group situation, and if an error occurs in the detection of progress information, the running control based on the horse group situation will be confused and the model body will run unnaturally. Or the model bodies come into contact with each other, making it difficult to realize the intended competition pattern.
Accordingly, an object of the present invention is to realize a horse racing game apparatus that can realistically reproduce a race pattern in an actual horse racing by increasing the accuracy of the progress information of each self-running body.
[0007]
[Measures taken to solve the problem]
(Corresponding to claim 1)
The means for solving the above-described problem is that a model body traveling on the upper model body traveling surface is moved by a self-propelled body traveling on the lower model body traveling surface via magnetic force. Towing The model body races, and the self-propelled body follows the guidance line of the self-propelled body traveling surface, and the traveling speed From the central control unit speed Consists of the following (a) to (e) on the premise of a racing game device that is controlled based on a control signal and performs a steering operation of the self-propelled body by a difference in rotational speed between the left and right drive wheels of the self-propelled body It is what is done.
(I) the above Controlling the guide line to follow the guide line by the control device of the self-propelled body while detecting the guide line provided on the self-propelled body running surface with an optical sensor or a magnetic sensor;
(B) Based on controlling the running speed based on the speed data given to the character of the model body according to the characteristics assigned for production. , the above Self-propelled Controlling the running speed by means of a control device,
(C) the above Progress of each self-propelled vehicle by counting the progress lines provided on the surface of the self-propelled vehicle information Detect this progress information To the central controller, this Central control unit So, for each of the above progress By information , Sequential It is the positional relationship of the model body phase Knowing the horse herd situation,
(D) the above An absolute progress display line indicating the absolute invariable progress is provided on the self-propelled vehicle running surface, and is provided on the bottom surface Absolute progress Received this by sensor and absolute progress information The absolute progress information By the above progress line Count Correcting progress information by
(E) According to the horse group situation sequentially grasped by the central control unit, From central controller Of the induction line transmitted to the control device of the self-propelled body Transfer Directives and In response to the deceleration command, Self-propelled guidance line Transfer control And Perform deceleration control.
The above horse group situation means the situation of the horse group assuming a horse racing game apparatus. However, in the case of car racing and auto racing, the situation of the model body group of each model body is the above. It hits the horse group situation.
The “absolute progress display line” is a display line that displays the progress itself from the start line, not the progress obtained by integrating the progress lines.
[0008]
[Action]
Each model body travels smoothly while tracking each guidance line, and the traveling speed depends on the characteristics of each model body such as escape type, driving-in type, short distance type, long distance type, etc. Run on a program basis. And the status of the horse group is successively grasped from the progress information of each self-propelled body by the count value of the number crossing the progress line (the progress degree obtained by accumulating the progress line from the start), and from the situation of this horse group In each corner, the direction of travel of the model body is changed, and depending on the situation of the horse group, the transfer signal and deceleration so that the individual model bodies develop a natural competition pattern without contacting each other. A signal is appropriately transmitted from the central control unit to each self-propelled vehicle, and each self-propelled vehicle that receives this signal performs real-time and natural racing by changing the guide line according to the signal and temporarily decelerating. The
Here, an absolute progress display line indicating an absolute invariable progress is provided at a predetermined position on the self-propelled vehicle running surface, and by receiving this by a sensor provided on the lower surface of the self-propelled vehicle, the absolute invariable progress That is, the absolute progress is detected, and the progress information by the progress line is corrected by the absolute progress. Therefore, even if a progress line detection error occurs, the absolute progress is detected when the self-propelled vehicle passes the absolute progress display line, and the progress information is corrected. Since transfer instructions and deceleration signals are transmitted based on the group situation, the running mode of the model body is not unnatural, and there is no problem such as the model bodies contacting each other. It becomes possible to develop competition.
Note that by increasing the number of absolute progress display lines installed, the frequency of progress information correction is increased, and more accurate running control based on the horse group situation is possible. Since the manufacturing cost will increase, for example, it is predicted that control such as a transfer instruction or a transmission of a deceleration signal will be required more frequently, and the entrances of the first and third corners and the second and second By providing absolute progress display lines at four locations at the exit of the four corners, it is possible to achieve both reduction in manufacturing cost and accurate understanding of the horse group status.
[0009]
In addition, by using sensors of different physical characteristics for the absolute progress display line detection sensor, the induction line detection sensor, and the progress line detection sensor, interference between the respective detection information is prevented and the above interference is detected. Therefore, it is possible to suppress the occurrence of the detection error of the guide line and the progress line.
In particular, since the progress line count error immediately becomes the progress count value error, if the progress line count error increases due to interference between detection information, a correction based on the absolute progress information is performed after the count error occurs. Until now, it becomes inaccurate to grasp the condition of the horse group and the driving control based on the condition of the horse group will be confused. However, the detection accuracy of the progress line can be improved by using sensors that detect different physical quantities. The number of absolute progress display lines required can be reduced.
The traveling control in the present invention is basically guided traveling by a guidance line, and the traveling speed is based on a traveling speed program corresponding to the characteristics of the model body given to the control device of the self-propelled body. Because it is controlled by a temporary deceleration command, the driving control of the self-propelled vehicle is almost self-contained by the control device installed in the self-propelled vehicle, realizing an extremely smooth and natural driving situation. Moreover, the control device and control are very simple and simple.
[0010]
In the above solution, the guide line is traced by the control device of the self-propelled body while detecting the guide line provided on the traveling surface of the self-propelled body with an optical sensor or a magnetic sensor. The central control unit sequentially grasps the horse group status while correcting the progress information based on the signal of the absolute progress display line, and according to the horse group status, the transfer command of the guide line, the speed change (deceleration) ) Sending a signal to the self-propelled vehicle, and the basic idea is that the control device of the self-propelled vehicle performs the guidance line transfer control and speed control of the self-propelled vehicle according to the above-mentioned guidance line transfer command and speed change signal. It is possible to change other conditions such as transfer control and speed control within the scope of this basic idea according to the type and specifications of the racing game apparatus.
[0011]
In addition, regarding the progress control (travel speed control) of the self-propelled vehicle, if the self-propelled vehicle is highly followable to the progress command and there is no problem, Passion It is not necessary to feed back the information to the progress control (possible with open control), but if the feedback control is performed to improve the progress control system, the feedback control device does not need to be performed by the central control device. A feedback control may be performed by a control device mounted on the body.
[0012]
Embodiment 1
(Corresponding to claim 2)
In the first embodiment, the absolute progress display line includes a light-transmitting thin window provided on the traveling surface of the self-propelled body so as to be orthogonal to the guide line, and an infrared light-emitting diode embedded in the lower portion of the light-transmitting thin window. That Is .
[Action]
Because absolute progress information is transmitted by infrared signals, for example, when a visible photodiode or magnetic sensor is used to detect the induction line and progress line, there is no concern about signal interference between them, and detection errors occur. Can be prevented.
[0013]
Embodiment 2
(Corresponding to claim 3)
In the second embodiment, the racing game apparatus is based on an elliptical running track, and the absolute progress display lines are provided at least at the entrances of the first and third corners and the exits of the second and fourth corners. Is .
The above “first and third corners” and “second and fourth corners” are the same as “first and third corners” and “second and fourth corners” in actual horse racing. Yes, when starting from a straight course in front, the first, second, third, and fourth corners are counted from the starting point in the direction of travel, respectively. This also applies to the following.
[Action]
As in the case of actual horse racing, when the group of horses enters the corner course from the straight course and when the horse enters the straight course from the corner section, frequent transfer control and deceleration control of each model body are performed. Since it is necessary to perform this, an absolute progress display line is arranged immediately before the correction to correct the progress information of each self-propelled body, thereby enabling control based on accurate horse group conditions.
[0014]
Embodiment 3
(Corresponding to claim 4)
Embodiment 3 is a horse racing game device in which the race game device is an elliptical running track, and the first and second models are determined in advance by the central controller before starting, and the run control from the third corner to the goal is performed. A model that is scheduled for first and second Towing Priority is given to these driving controls so that the self-propelled vehicle that finishes first and second goal as planned, and other model bodies Tow Travel speed of the self-propelled vehicle Control and Perform induction line transfer control Is .
[Action]
By determining the first and second models before the start, it is practically possible to apply the present invention to a racing game machine in which a coin payout is awarded for a win vote. In fact, it does not hold as a racing game machine that pays coins.
By the way, the first and second model bodies are decided at the start, and the goal according to the decision is an essential condition for practical use as a racing game machine that pays a coin payout for the winning vote, and this This is common sense in the game machine industry.
[0015]
Embodiment 4
(Corresponding to claim 5)
In Embodiment 4, the central controller is Individual self-propelled Based on progress information, It is the positional relationship between models Gradually grasp the horse group situation, Condition 1: The following self-propelled vehicle on the same guidance line is faster than the preceding self-propelled vehicle, and the speed difference is more than a predetermined value. Condition 2: The distance between the preceding and following self-propelled vehicles is a predetermined value. When , Deceleration signal Following It is to transmit to the control device of the self-propelled body.
[Action]
Since the transfer of the guidance line (change of the driving course) and the right or wrong of the deceleration are judged according to the above conditions based on the horse group situation, it is the most practical regardless of the driving situation of each individual self-propelled vehicle. Race patterns are developed, and various race patterns are realized according to horse group conditions, jockey skills given in race production, samurai, and characteristics given to model characters for race production. Can be made.
The transfer conditions and the deceleration conditions are minimum conditions for avoiding rear-end collisions, and other conditions can be added, and the conditions can be changed to other conditions. In short, it basically simulates an actual horse race Above To set the optimal transfer conditions and deceleration conditions.
[0016]
Embodiment 5
The fifth embodiment is to perform feedback control on the progress of the self-propelled body by a central control device or a control device mounted on the self-propelled body.
[Action]
Since the central controller grasps the status of the sequential horse group and commands the sequential control signal based on this, if there is no problem with the followability of the self-propelled vehicle to the progress command, it can be said that it is not particularly necessary to feed back the progress. As a matter of example, it is important to feed back the progress and to ensure that the vehicle runs as instructed.
Whether the feedback control is performed by the central control device or the control device mounted on the self-propelled body is self-contained may be selected in consideration of the special characteristics caused by the difference in each control method.
[0017]
【Example】
An example in which the present invention is applied to a horse racing game apparatus will be described with reference to the drawings.
The overall structure of this embodiment is the same as that of a conventional horse racing game device, and is a large game device having a width of about 2.5 m and a length of about 4 m. A large number of satellites surround a track on which a model body races. Has been placed. Each satellite is provided with a coin handling mechanism, an operation panel such as a voting button, and a display device for displaying various information for inserting and paying out coins.
A self-propelled vehicle 3 traveling on a self-propelled vehicle traveling track 2 (self-propelled vehicle traveling surface) below the upper model vehicle traveling track 1 (model vehicle traveling surface) has magnets provided on the upper part of the self-propelled vehicle and on the lower part of the model body. The model body 5 is pulled and raced through the magnetic force of 4 and 4.
The above basic structure is a conventionally well-known structure as described in, for example, the above-mentioned US Pat. No. 2,188,619. In the above-mentioned U.S. patent specification, since the self-propelled body travels along the rail and the traveling direction is guided by the rail, the traveling control for the race is only speed control. Travel control is extremely simple. In this embodiment, the guide means by rails in US Pat. No. 2,188,619 is replaced with a conventionally known optical guide means.
[0018]
On the self-propelled vehicle running track 2, black lines (guidance lines) with a width of 6 mm along the running direction and white lines with a width of 6 mm are alternately printed.
The white line 12 can be a guide line, but when the black line 11 or the white line 12 is used as the guide line 10, the width of the guide line 10 is a detection sensor (visible photodiode) for the guide line 10. 14, the width of the lines on both sides of the guide line 10 is appropriately selected depending on the distance between the guide lines. In this embodiment, the pitch between the guide lines 11 is 12 mm, which is about 37% of the width 33 mm of the self-propelled body 3. The pitch of the guide line 10 corresponds to the transfer width of the guide line described later. If the transfer width is too large, the transfer travel is not smooth, so it is desirable to stop the transfer within a range where the transfer can be performed smoothly. If the pitch is too small, the guide line becomes too dense, and the range of change of the running course by transfer is reduced. In this case, it is necessary to jump over two or more guide lines, and special transfer control such as transfer control specifying the number of transfers is required.
In this example, as a guide line detection sensor, three photodiodes 14 are arranged on the lower surface of the self-propelled body in the width direction to constitute a guide line detection sensor. The detection width of the three photodiodes 14 is 12 mm, which is twice the width of the black line (induction line) 11, and the interval between the adjacent photodiodes 14 and 14 is 6 mm. When the black line is detected by the photodiode 14 at the center and the other one is not detected, the self-propelled body is shifted toward the photodiode 14 where the black line is no longer detected. This is discriminated by the control device 16 mounted on the self-propelled body, and feedback control is performed to correct the trajectory. Thus, since the guide line is tracked while reliably detecting any small one, the self-propelled body travels smoothly while accurately tracking the black line (guide line) 11.
[0019]
By the way, in a racing game apparatus, there is a situation where the order of arrival cannot be determined by the course of the race due to the relationship with the payout rate. For this purpose, it is necessary and sufficient to determine at least the first and second model bodies before the start. Therefore, it is necessary to detect the progress of each model body from the start point in order to control the goal to arrive in the order of arrival as scheduled and to grasp the horse group situation sequentially. For this purpose, the progress line 15 that intersects the guide line at a right angle is densely provided, and this is detected by the Hall sensor 9 provided on the lower surface of the self-propelled body 3, and the number of passages is integrated (counted). To detect. The progress line 15 is formed by alternately arranging N-pole magnetic lines 15a and S-pole magnetic lines 15b having a width of 6 mm. When the self-propelled body 3 runs while crossing this, the Hall sensor 9 causes (B) As a detection signal as shown in FIG. The number of passages can be integrated by A / D converting this detection signal. The progress information detected in this way is transmitted from each mobile unit to the central control unit.
Further, in order to detect the absolute progress from the starting point of each model body, an absolute progress display line 20 intersecting the guide line at a right angle is provided at the entrances of the first and third corners and the exits of the second and fourth corners. There are 4 locations. The absolute progress display line 20 includes a light-transmitting thin window 21 disposed on the self-propelled vehicle running track 2 so as to intersect the guide line at right angles, and an infrared light emitting diode 22 embedded in the lower portion thereof. Infrared light from the absolute progress display line 20 is detected by the infrared light receiving sensor 8 provided at the lower part of the self-propelled body, and is transmitted as absolute progress information to the progress calculator 16d of the control device of the self-propelled body. The apparatus 16 corrects the progress information when the progress information obtained by integrating the number of passages of the progress line is considered as absolute progress information.
In this way, the central control unit grasps the exact current position of each self-propelled body based on the progress information of "true" corrected by taking in the progress information from the self-propelled body, and the grasped model body Since it is possible to grasp the correct horse group status from the mutual positional relationship (actually, the positional relationship between the self-propelled bodies), the travel control of the self-propelled body, such as changing the driving line and deceleration described below. It becomes possible to perform appropriately, and it becomes possible to reproduce the race pattern in actual horse racing more naturally.
[0020]
Each self-propelled body has characteristics of the model body (escape type, driving type, short distance type, long distance type, etc.) hand The speed control program given to the self-propelled body control device 16 before the start according to the weakness, the habit, etc. (For those designated as 1st and 2nd, a special speed is almost obtained after passing the third corner. The basic traveling speed is controlled based on the control program. Then, in the sequential horse group situation, transfer of the guide line at the central controller is based on the judgment condition that there is a direction to the inside of the course or the outside of the course and that there is no possibility of interference with the adjacent self-propelled body. Whether or not to carry out is determined, and an inductive line transfer signal to the inside and the outside is transmitted for the self-propelled vehicle that meets the above conditions. In this example, when it is determined that there is no possibility of interfering with the adjacent self-propelled body with priority on the transfer of the guide line, a transfer command to the direction in which the direction is directed (inside or outside the course) is immediately transmitted. The
[0021]
Further, when there is a possibility of a collision with the preceding self-propelled body based on the basic traveling speed, a deceleration command is temporarily transmitted. However, transfer of induction line But If the rear-end collision can be avoided, maintain the basic traveling speed. But the said deceleration means speed change and may be transmitted as a decelerated speed signal, and may be transmitted as a signal which instruct | indicates the amount of deceleration. Further, the basic travel speed signal transmitted from the central control device to the control device of the self-propelled body may be transmitted in a lump, or may be transmitted in a plurality of times for each of the sections. By setting the basic traveling speed as the upper limit, the race is performed only by temporary deceleration control as described above, but it is possible to temporarily accelerate from the basic traveling speed, but there is no merit of doing so. .
Actual transfer control and deceleration control are made based on sequential judgments that also take into account the various other conditions described above, but basically, transfer control and deceleration control based on the above conditions are performed. A race will be held.
Although the division of roles between the control device 16 and the central control device mounted on the self-propelled body is as described above, the signals transmitted from the central control device to the control device of the self-propelled body are the individual signals transmitted before the start. It is the traveling speed data according to the characteristics of the model body, the course-taking signal at the start, the transfer signal during the race, and the deceleration signal. The travel speed data for one race is divided into a plurality of travel sections and given as the basic travel speed in each section. In this example, the entire running section of one race is divided into the straight section from the start to the first corner, the first corner, the second corner, the straight section between the second corner and the third corner, the third corner, the fourth corner It is divided into 7 sections from the corner and 4th corner to the goal. Although the basic running speed is not necessarily different for each section, the characteristics of the horse are represented by this section section, and this section is sufficient to imitate the actual race pattern of horse racing.
[0022]
On the other hand, information transmitted from the control device of the self-propelled body to the central control device is progress information (progress information corrected by absolute progress).
The control device for the self-propelled body controls the rotational speeds of the left and right wheel drive motors based on the basic travel speed signal so as to travel while tracking the guide line, as well as the transfer command and deceleration command from the central control device. In response, the rotational speed of the wheel drive motor is adjusted. If there is no transfer command or deceleration command, the vehicle travels from the start to the goal while tracking one guide line at a traveling speed according to the traveling basic speed data according to the characteristics of the model body.
The control device 16 includes a travel control program, a memory 16a that stores information from the central control device, an arithmetic processing unit, a drive unit 16c that drives and controls the travel motor, and further includes a progress calculation unit 16d. The receiving unit 17 receives a signal from the central control unit and stores necessary data in the memory 16a.
The control device 16 receives the guide line detection signals of the three photodiodes of the self-propelled body 3, thereby detecting a left-right shift from the guide line, and correcting the shift from the guide line by feedback control. While tracking the guide line. Further, the progress calculation unit 16d calculates the progress based on the progress line detection signal from the hall sensor 9, and the progress information is transmitted from the transmission unit 18 to the central controller.
Further, every time the self-propelled body passes the absolute progress display line 20, the absolute progress is detected by the detection signal from the infrared light receiving sensor 8. The progress based on the progress line detection signal of the progress line 15 from the hall sensor 9 is obtained by integrating the progress line detection signal, but the absolute progress by the infrared light receiving sensor 8 is an absolute value detected as code information or the like.
[0023]
The progress integrated value based on the progress line detection signal is not “true” because it may cause a progress line detection error because the progress line detection signal is integrated. In this embodiment, when the progress integrated value is inconsistent with the absolute progress, the progress calculating unit 16d corrects the progress integrated value with the absolute progress, and the absolute progress is transmitted from the transmitting unit 18 to the central control unit. .
The central control device sequentially grasps the horse group status based on the progress information transmitted from each self-propelled body, that is, the progress information corrected every time it passes through the absolute progress display line 20, It is determined whether or not the transfer of the guide line and the deceleration are necessary according to the determination conditions, and a transfer signal and a deceleration signal are sequentially transmitted to each self-propelled body.
It is also possible to transmit the detection signal of the progress line 15 to the central control device and to integrate the progress line detection signal individually by the central control device. In this case, the absolute progress detected by the detection signal from the infrared light receiving sensor 8 is also transmitted to the central controller, and the integrated progress is corrected by the absolute progress by the central controller.
Furthermore, the absolute progress is transmitted to the central control unit, and the central control unit compares the absolute progress and the progress value by the progress line. It is also possible to correct the progress value of the progress calculation unit of the control device, and it is necessary to compare the absolute progress and the progress value by the progress line with the control device mounted on the self-propelled body. It may be corrected.
Since the absolute progress display line and the absolute progress sensor corresponding to the absolute progress display line need only be capable of transmitting and receiving a specific information signal, the absolute progress display line transmits, for example, a transmitting coil for transmitting a specific electromagnetic wave and code information. An IC chip such as an RFID tag (which transmits unique code information by electromagnetic waves or the like) may be used, or a bar code displaying code information may be used.
[0024]
In the case of using a transmission coil that transmits electromagnetic waves, the conversion unit may convert the specific electromagnetic waves into absolute progress, but the electromagnetic waves can also transmit specific information.
The travel control is performed in response to the transfer command and the progress command (speed command) while tracking the line. If the followability to the progress command (speed command) is high and there is no particular problem, no feedback is necessary, so open control may be used. On the other hand, when feedback control is performed in order to improve the followability to the progress command, this feedback control does not need to be special, and may be feedback control by the central control device, or may be self-propelled by the control device of the self-propelled body Feedback control may be performed in a complete manner.
[0025]
【The invention's effect】
As described above, the present invention eliminates fluctuations in the traveling direction of the self-propelled body by restricting the traveling route by the guidance line, and allows the traveling course to be changed (takes a course) by changing the guidance line. Because it is the limit necessary to prevent the models from contacting each other and to simulate the actual race pattern of horse racing as faithfully as possible, extremely natural and stable model running is possible. It is possible to realize the course change and deceleration according to the conditions of simulating the judgment conditions of jockeys in actual horse racing according to the sequential horse group situation that is the actual running result. Therefore, the race pattern by the model body can be brought as close as possible to the race pattern in the actual horse racing.
The sequential horse group situation, which is the actual traveling result, is always grasped by counting the number of progress lines detected, and the absolute progress display line provided at a predetermined location on the traveling body traveling surface is Each self-propelled vehicle can be detected without any major confusion in running control even if a progress line count error occurs by correcting the progress information by detecting the progress line with the sensor on the underside of the running body. It is possible to perform the traveling control.
When the travel route and travel speed of each self-propelled body are programmed and the traveling of the self-propelled body is feedback-controlled by the positional information on the sequential two-dimensional coordinates so that this program is realized, It is possible to look around for various unexpected troubles such as running out of control temporarily due to a slip, and the predetermined race may be broken, but this invention is an induction type, so the running course Therefore, the racing game is executed in an orderly and extremely smooth manner, and an extremely realistic race pattern can be realized.
In addition, the detection means by the reflection type optical sensor is used for tracking control of the guide line, and on the other hand, the progress information is obtained by detecting the infrared ray by the infrared light receiving sensor and the magnetic line by the hall sensor. The detection of the progress line and the detection of the absolute progress display line do not interfere with each other, and no two-dimensional position detection means is required. This is guidance control using a guidance line, and furthermore, speed control is performed by a running speed program given in advance to each model body, so the traveling control of the self-propelled body is extremely simple in both hardware and software. The accuracy is extremely high, and traveling control is ensured.
[Brief description of the drawings]
FIG. 1 is an overall perspective view of a horse racing game apparatus according to an embodiment.
FIG. 2 is a conceptual side view of a model body and a self-propelled body of an example.
FIG. 3 is a top view of the self-propelled vehicle running track of the embodiment.
FIG. 4 is an enlarged view of a main part showing the relationship between the guide line and the guide line detection sensor in the embodiment.
5A is an enlarged view of a main part showing the relationship between the progress line and the progress detection sensor and the relationship between the absolute progress display line and the detection sensor in the embodiment, and FIG. 5B is a progress detection. It is a schematic diagram of the progress detection signal output from a sensor, (c) is a conceptual sectional view near the absolute progress display line installation part.
FIG. 6 is a block diagram of a control device for a self-propelled body according to the embodiment.
[Explanation of symbols]
1: Model body running track (model body running surface)
2: Self-propelled vehicle running track (Self-propelled vehicle running surface)
3: Self-propelled body
4: Magnet
5: Model body
8: Infrared sensor
9: Hall sensor
10: Guidance line
11: Black line
12: White line
15: Progress line
16: Control device
16a: Memory
16b: arithmetic unit (CPU)
16c: Drive unit
16d: Progress calculation unit
17: Receiver
18: Transmitter
20: Absolute progress display line
21: Transparent thin window
22: Infrared light emitting diode

Claims (7)

The model objects traveling on the upper model objects running surface, and pulling through a magnetic force self body traveling lower self-propelled body running surface, there is to race the model body, the self-propelled body Tracks the guidance line on the traveling surface of the self-propelled vehicle, and its traveling speed is controlled based on the speed control signal from the central controller, and the difference in rotational speed between the left and right drive wheels of the self-propelled vehicle In a racing game device in which a steering operation is performed,
While detecting the guide line provided on the self-propelled body running surface by an optical sensor or magnetic sensor, the self-propelled body of the control device, and controls so as to run track the induction line,
As a basic to control the travel speed based on the speed data provided in response to the effect on the assigned characteristic for the model of the character, and controls the running speed by the control device of the self-propelled body,
By counting the progress lines provided on the self-propelled body running surface, to detect the progress information of each of the self-propelled body, it transmits the progress information to the central controller, the central controller in the individual self Based on the progress information of the body , grasp the horse group situation that is the positional relationship between successive model bodies ,
An absolute progress display line is provided on the self-propelled body running surface, and this is received by an absolute progress sensor provided on the lower surface of the self-propelled body to detect absolute progress information, and the progress information by counting the progress line based on the absolute progress information. To fix
In response to the horse group situation sequentially grasped by the central control device , the guidance of the self-propelled body in response to the transfer command or the deceleration command of the guidance line transmitted from the central control device to the control device of the self-propelled body A racing game machine that performs line transfer control and deceleration control. The absolute progress display line is composed of a light-transmitting thin window provided on the traveling surface of the self-propelled body so as to be orthogonal to the guide line, and an infrared light emitting diode embedded in the lower portion of the light-transmitting thin window. The racing game apparatus according to claim 1. The race game device is based on an elliptical running track, and absolute progress display lines are provided at least at the entrances of the first and third corners and the exits of the second and fourth corners. Item 3. The racing game device according to item 1 or 2. The race game device is based on an elliptical running track. Before the start, the first and second models are pre-determined by the central controller, and the run control from the third corner to the goal is performed for the first, second. Priority is given to these driving controls so that the self-propelled body that pulls the model body scheduled for the first or second goal as scheduled, and the traveling speed control of the self-propelled body that pulls other model bodies. horse racing game apparatus induction line crossover control by racing game apparatus of rows cormorants請 Motomeko 1 or claim 3. The central control device sequentially grasps the horse group situation that is the positional relationship between the model bodies based on the progress information of each self-propelled body, and condition 1: the following self-propelled bodies are the preceding self-propelled bodies. faster at that speed difference is greater than a predetermined value, and condition 2: 請 Motomeko 2 distance to the front and rear of the self-propelled body that sends when it is less than a predetermined value, a deceleration signal to the controller of the subsequent self-propelled body Or the racing game apparatus of Claim 3. The progress arithmetic unit of the control device of the self-propelled body detects progress information by counting the progress line and transmits the progress information to the central control unit, modifying the progress information according to the count of the progress lines by the absolute progress Information The racing game apparatus according to claim 1. It said the progress arithmetic unit of the central control unit detects the progress information by counting the progress lines, racing game apparatus according to claim 1 to modify the progress information according to the count of the progress lines by the absolute progress information.

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