JP3850020B2 - Transfer control method for line-guided racing game machine - Google Patents

Description

[0001]
[Industrial application fields]
The present invention 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. In a racing game device in which a self-propelled body travels while changing the guide line according to a command from the central control device, the self-propelled vehicle is used to sequentially change the guide lane according to the travel command from the central control device. The instability of transfer running due to disturbances such as mutual interference and slips can be reduced as much as possible, and race disturbance due to instability of transfer running can be avoided.
[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, while detecting the guidance lane densely laid on the running surface with the lane detection means provided in the self-propelled vehicle, the self-propelled vehicle control device performs self-contained feedback control to track the guidance lane. Some of them are disclosed in 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 smoothness and stability of traveling. Furthermore, the central control device provided in the game machine main body performs feedback control of the traveling of the self-propelled body based on position information while performing complex information processing, so the control system is complicated and the cost is increased accordingly. Is inevitable.
[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 line (or guide line). However, there is no denying that the route is simple and the race is unnatural, and in order to eliminate this, it is necessary to change the guidance lane appropriately.
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, there remains a problem of how to realize the realism of the race by performing a travel control such as a transfer control and a speed control at an appropriate timing so that there is no sense of incongruity from the progress of the race.
[0004]
Japanese Patent Application Laid-Open No. 10-232712 discloses that at the start of a race, the transfer position, the transfer direction, and the traveling speed in the middle are stored in the control memory of the self-propelled vehicle in a lump, and each self-propelled The body travels to the goal according to the travel control command stored in a batch at a predetermined speed while sequentially changing the guidance lanes as predetermined. However, in practice, there are many cases where the self-propelled body does not travel at the traveling control command speed stored at the time of start (due to slip or the like), and thus the race is often not executed as scheduled. For this reason, the timing of the transfer is shifted according to the progress of the race, and the transfer is performed in an unnatural state. As a result, the progress of the race may be extremely unnatural. This is a problem that occurs because the running control is performed up to the goal by the running control command that is collectively input at the start of the race regardless of the actual race situation.
[0005]
By the way, in order to collectively control a large number of self-propelled bodies as a united group, it is necessary that the dispersion of all the self-propelled bodies is within a certain range. A specific self-propelled vehicle does not run faster than the scheduled speed, but it often lags behind the scheduled time, 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 where the speed is transmitted to the self-propelled vehicle and the speed is controlled based on the detected traveling speed data, it is not possible to correct the race disturbance caused by the traveling delay of a small number of self-propelled vehicles. For those that send the control data prepared in advance mechanically from the central controller, the speed detection data from the self-propelled body cannot be fed back and corrected, but the central controller for running control Simplicity of information exchange between the vehicle and the traveling control device of the self-propelled body is lost, and the advantages of the line guidance type traveling control device are lost.
[0006]
[Prior art of this invention]
On the premise of the existence of the above-mentioned known technology, the running control of the self-propelled body by the traveling control means of the self-propelled body is performed for the racing game device that pulls the model body through magnetic force while the self-running body tracks the guidance lane. A race execution system has been devised so that it can be made as simple as possible and transmission control data such as transfer control and speed control according to the race conditions can be appropriately transmitted (Japanese Patent Application No. 2001-212752). Is called "prior art").
In the above prior art, the model body travels on the upper travel surface, the self-propelled body travels on the lower travel surface, and the model body is pulled by the self-propelled body via magnetic force to travel, so to speak. The game device is based on a competitive game device in which a self-propelled body tracks and runs a designated guide line while changing a number of guide lines attached to the lower running surface.
Then, the race creation unit of the race progress management unit (MPU1) executes a simulated race (simulated race on a computer), creates model body running control data based on the simulated race, and relays this running control data. This is transmitted to the traveling control means (MPU3) of the self-propelled body via the device (MPU2), and the guidance line designated by the self-contained feedback control of the traveling control means (MPU3) is tracked and transferred. is there. The travel control data is extremely simple such as the target lane, the target progress, and the travel speed.
The self-propelled vehicle recognizes the number of the guide line that is traveling and the progress of the travel, and based on these data and the travel control data from the central controller, it travels to the goal at the commanded speed while sequentially switching the guide lines. To do.
[0007]
Next, the “prior art” will be described in detail with reference to FIGS.
A large number of annular guide wires 1 are densely attached to the lower travel surface, and a number of progress measurement lines 2 perpendicular to the guide wires 1 are provided at predetermined intervals. In this embodiment, the progress measuring line 2 is a magnetic line.
[0008]
The progress 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 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 line number and an accurate progress to a self-propelled body that crosses the position display line 3. The position display lines 3 are intended to improve the traveling accuracy by correcting the guide line number and progress recorded in the memory of the self-propelled body at a predetermined interval, so that the number thereof may be appropriately selected. If it is 4 or more, there is no practical problem.
[0009]
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, the light receiving device 10a and either the left or right light receiving device 10b or 10c detect the guide wire 1. Therefore, the traveling of the self-propelled body is controlled by the traveling control means (MPU3) 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 that is the progress measurement line 2 is crossed. By adding this pulse signal with the travel control device, every time the progress measurement line (magnetic line) 2 is crossed, one progress (advance from the start position) is added, and the progress at that time is detected. It will be.
[0010]
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 guide wire number at that time and The progress is received from the position display line 3. Then, the guide line 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 guide line number and progress recorded in the memory of the travel control device do not coincide with the true value received from the position display line 3, it is corrected with this, so that the guide line during travel and the progress are inaccurate. Even if there is, the race as a whole travels according to the command from the relay control device 20 of the central control device, and the race is executed according to the command.
[0011]
Signal exchange between the relay control device (MPU2) 20 of the game machine main body and the traveling control means (MPU3) 30 of the self-propelled body is as shown in FIG.
A travel command (target guide line number, target progress, travel speed, etc.) from the relay control device (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 control device (MPU2) 20 switches to the reception mode when triggered by the transmission of the travel command, while the reception unit of the travel control means (MPU3) 30 switches to transmission mode when triggered by the reception of the travel command. When the progress recorded in the memory does not match the target progress in the travel command, an NG signal is returned to the relay control device (MPU2) 20. The same travel command is repeatedly sent at 0.2 second intervals (when the number of self-propelled vehicles is 10) until the progress of the self-propelled vehicle reaches the target progress, and the progress measurement value matches the progress target in the travel command. Then, an OK signal is returned from the travel control means (MPU 3) 30 to the relay control device (MPU 2) 20. This travel command is issued by the race progress management unit (MPU1) 40 in advance of 2 to 5 sections (steps) before the model body travels for each section in which the traveling track T is partitioned 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 created by the creation unit is sequentially set in the memory of the relay control unit (MPU2) 20, but the sections are The time is 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.
[0012]
The traveling of the self-propelled body 10 is feedback-controlled by the traveling control means (MPU3) 30 in a self-contained manner, but basically the relay control device (MPU2) of the central controller while detecting the guide wire 1 with the light receiving element. ) The vehicle travels to the target progress without tracking the designated guide line 1 at the commanded traveling speed from 20. 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 travel command set in the memory of the relay control unit (MPU2) 20 is the next. It is updated to the command of the partition, and this command is transmitted. When the travel command is updated, the travel is continued at the travel speed in the previous travel command until the travel control means (MPU3) 30 receives the next travel command, so the travel is continued smoothly. The
If the target guide line number of the received travel command does not match the guide line number recorded in the memory of the travel control means (MPU3) 30 of the self-propelled vehicle, the difference between the guide line number and the target guide line number The necessary guide line is changed so that becomes zero, and the guide line is traced at the coincidence. When changing one guide line, the output of the center light receiving element 10a changes, and by counting this change, the number of self-propelled bodies that have changed the guide line can be detected.
[0013]
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 control unit, Further, the travel control means (MPU 3) 30 may select as appropriate in relation to the travel speed. When commanding from the central control unit, 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 body that has received this code may select the change 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 object. 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.
[0014]
The race creation unit of the race progress management unit (MPU1) 40 of the game machine body uses the control conditions (running horses, characteristics of each of the running horses, arrival order, etc.) and the like in each simulated race as basic data. The operation is repeated in accordance with predetermined calculation conditions necessary for avoiding rear-end collisions and interferences while traveling based on characteristics such as the above, 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 simulated race, run control data such as a target guide line, a target progress, and a run speed in the line guidance type racing game apparatus are created and sequentially set in the buffer memory. In addition, since the calculation of the simulated race is performed under the XY coordinates that coincide with the xy coordinates by the guide line and the progress scale line (same as the progress measurement line or the progress line) of the self-propelled body running surface, the simulated race is developed. The position on the XY coordinates is converted into the position on the traveling plane based on the lane number and the degree of progress based on the correlation between the position of the guide line number and the degree of progress on the self-propelled body traveling surface. 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. The control data accumulated in the buffer memory of the race creation unit of the race progress management unit (MPU1) 40 is sequentially updated each time a race progresses for one section (one stage of 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 of the race progress management unit (MPU1) 40 is sequentially transmitted to the relay control unit (MPU2) 20 and recorded in the memory. Update the current command.
[0015]
It should be noted that the simulated race by the race creation unit of the MPU 1 is arranged in the order of arrival given as one of the control conditions at the start time.
The race creation unit basically performs a simulated race based on the characteristics of each model body such as the horse legs (characteristics of the model body, such as horse legs, age, and sex), and is managed by the relay control unit (MPU2) 20. The progress timer 50 also serves as a control timer for the simulated race. When a specific self-propelled vehicle arrives with a delay in the 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. The progress speed of the simulated race executed in is delayed. On the other hand, the relay control unit (MPU2) 20 decelerates the traveling speed of 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 The running speed of the running body is delayed, thereby delaying the race progress of the model body.
[0016]
As described above, the race progress timer 50 managed by the relay control unit (MPU2) 20 also serves as a simulated race control timer by the race creation unit of the MPU1, and the relay control unit (MPU2) 20 is a model race. By delaying, the progress speed of the simulated race and the progress speed of the race by the self-propelled body are synchronized.
In addition, a simulated race by the race creation unit is advanced in accordance with the actual progress of the race.
[0017]
[Problems of the prior art]
As long as you are driving along a guidance line (same as a guidance line, hereafter referred to as a “guidance line”), a line-guided racing game device can be driven by the guidance line even if there is a disturbance such as mutual interference or slip. Is clearly defined, and the traveling is stably controlled by feedback control.
By the way, in order to determine the transfer travel direction during the transfer travel control, an angle in the travel direction is selected in advance, and the left and right drive wheels are driven to travel toward the target guide line so as to travel in the angle direction. The driving direction is calculated using the intersection of the method or the next target guidance line and the target progress line as the target point, and the left and right drive wheels are driven toward the target guiding line so as to travel in the angular direction. Various methods such as a method of running can be employed.
The present invention is for the latter method. In the case of the latter method, according to the above prior art, if there is no change of the transfer guide line, the self-propelled body simply follows the guide line as it is, but if there is a change of the transfer guide line, Using the intersection of the commanded target progress and the target guide line as the target position, calculate the travel angle in that direction, perform the necessary turning operation based on this calculated travel angle, and eventually put it on the target guide line (Transfer).
However, in the transfer run, the route w that swells outward is traced (see the route indicated by the one-dot chain line in FIG. 8), so the transfer run is not performed as scheduled, and the race may not proceed smoothly.
[0018]
[Problems to be solved]
Therefore, the present invention relates to a line-guided racing game device, by making the transfer angle in the transfer travel control as gentle as possible, reducing the bulge of the travel route of the transfer travel to the outside as much as possible. Thus, it is an object of the present invention to devise a transfer traveling control system so that the transfer can be smoothly performed.
[0019]
[Measures taken to solve the problem]
The means for solving the above problem is that the transfer traveling control in the prior art is performed as follows.
(B) The self-propelled vehicle recognizes the current position from the progress line and the guide line, and runs along the guide line.
(B) The traveling control means MPU3 of the self-propelled body receives a command of the target progress and the target guide line, and based on the target position based on the target progress and the target guide line and the current position, the transfer direction and transfer Calculate travel speed and control the transfer in a self-contained manner;
(C) The next second target progress and target guide line are simultaneously commanded together with the latest target progress and target guide line, and the second target based on the current position, the second target progress and the second target guide line The direction of the line connecting the positions should be the transfer direction.
[0020]
[Action]
The operation will be described with reference to FIG.
If the target progress y0 is reached while traveling on the guide wire x0, the relay control unit (MPU2) commands the target progress y3 to the travel control means (MPU3) in response to the OK signal at that time. At this time, the second target progress y6 and the target guide line x2 are instructed together with the target progress y3 and the guide line x0, and the guide line is changed in the second target, so the travel control means MPU3 has reached the progress y0. Then, control is performed so as to turn toward the line L1 (so-called transfer line) connecting the intersection (y0, x0) with the intersection (y6, x2) of the target progress y6 and the target guide line x2, and the line L1 When the vehicle travels in the direction and reaches the target progress y3, an OK signal is transmitted to the relay control unit (MPU2). In response to the OK signal, the target progress 6y and the target guide line x2 are instructed, and the second target progress y9 and the target guide line x2 are instructed. At this time, the traveling control means MPU3 determines the position (xm) of the intersection between the target progress line y3 of the self-propelled body and the line L1 by appropriate calculation of the CPU of the traveling control means, and the position (y3, xm). ) And the second target progress y9 and the intersection (y9, x2) of the target guide line x2 is controlled so as to be turned in the direction of the line L2, and the target guide line x2 is transited.
As described above, since the transfer to the transfer target position (y6, x2) is started at the stage (y0, x0) immediately before the transfer start point (y3, x0), the predetermined transfer start position (y3 , X0), the turning angle (angle of (90 degrees-Θ) in FIG. 8) becomes gentler than when the transfer is started toward the transfer target position (y6, x2). Therefore, the outward bulge of the travel route after the start of transfer is significantly reduced.
In addition, since the angle between the target guide line x2 and the line L2 when the self-propelled body reaches the target progress y3 becomes gentle as in the case of the start of transfer, the corresponding amount to the target guide line x2 is increased accordingly. Connections will also be smooth.
Therefore, the bulge of the travel route at the transfer start point (y0, x0) and the transfer point (y9, x2) is reduced, and the transfer travel is performed almost as scheduled along a relatively smooth route as a whole.
[0021]
Embodiment 1
In Embodiment 1, in the above solution, (e) the position (y3, xm, see FIG. 8) on the target progress line (y3) of the point of arrival of the self-propelled vehicle at the target progress y3 is changed in the transfer direction. It is determined by the calculation of the traveling control means (MPU3) based on the angle Θ.
[0022]
[Action]
Next, the operation will be described with reference to FIG.
The direction of the line L connecting the intersection of the transfer start point (y0, x0), the second target progress (y6), and the target guide line (x2) is the transfer direction, and the line L1 and the line L1 are based on the angle Θ of the line L1. The intersection (y3, xm) with the target progress line (y3) is obtained. The direction of the line L2 connecting the position (y3, xm) of this intersection and the second target progress y9 commanded when the progress line y3 is reached and the intersection (y9, x2) of the target guide line x2 is, so to speak. It becomes the approach direction to the target guide line x2. The angle between the line L2 and the target progress line x1 is smaller than the angle (angle (90 degrees-Θ)) between the line L1 and the guide line x0 at the transfer start point (y0, x0). The swelling of the travel route from (y3, xm) to the target guide line x2 is reduced, and the connection to the target guide line x2 becomes extremely smooth.
[0023]
Embodiment 2
Embodiment 2 is the above solution,
(F) By defining a large number of virtual guide lines between the guide lines in the CPU of the travel control means, analyzing the change in the amount of light received by the light receiving element for tracking the guide lines, and specifying the order of the virtual guide lines The position (xn, see FIG. 9) between the guide line and the guide line on the progress line (y3) of the arrival point of the self-propelled body to the progress line (y3) is determined.
[0024]
[Action]
Next, the operation will be described with reference to FIG.
Since the CPU of the traveling control means (MPU3) analyzes the change in the amount of light received by the light receiving element for guiding line tracking and determines the actual positional relationship between the self-propelled body and the target guiding line x1, the traveling during the transfer traveling The effects of path disturbances (such as disturbances) are eliminated. Therefore, the setting of the direction (angle) of the line L2 connecting the position (y3, xn) on the target progress y3 and the second target position (y9, x1) of the arrival point to the target progress y3, that is, the transfer travel route The setting of the direction (angle) in the second stage is made based on the actual travel state, the accuracy of the transfer travel control is improved, and stable transfer travel is performed.
[0025]
Embodiment 3
In the third embodiment, the traveling control means (MPU3) of the self-propelled vehicle is instructed to reach the target progress time in the first or second embodiment, and the travel speed is based on the target progress time and the distance to the target progress. Is determined by calculating.
[Action]
Since a travel command related to the travel speed is given by the target progress and the target progress arrival time, and the travel speed is determined by the travel control means (MPU3) of the self-propelled body, the travel delay of the model body is the travel control means of the self-propelled body. Will be recovered by speed control.
Therefore, the information processing for delay recovery is simplified as compared with the case where the race progress management unit performs the information processing.
[0026]
Embodiment 4
Embodiment 4 is to repeatedly calculate and determine the traveling speed a plurality of times until reaching the target progress, based on the travel distance to the target progress and the target progress arrival time in Embodiment 3.
[Action]
Until the target progress is reached, the calculation and determination of the travel speed is repeated several times based on the remaining distance and the remaining time, so feedback control is performed based on the target progress arrival time, and therefore due to disturbances such as slips. The travel delay is quickly recovered and the target progress is reached accurately at the target progress arrival time.
Therefore, the traveling of the self-propelled body surely follows the traveling of the model body in the simulation race executed by the race creating unit, and the progress of the race is made smooth.
[0027]
Embodiment
An example will be described in which the present invention is applied to a traveling control system for a self-propelled body of a line induction type horse racing game apparatus in which the width of the guide line 1 is 6 mm, the pitch is 12 mm, and the progress line interval (pitch) is 10 mm.
In this horse racing game device, the target progress, the target guide line number, and the arrival time to the target progress are given by one driving command, and based on the commanded target reaching time and the target progress, the driving control means MPU3 The travel speed is calculated and determined.
The example of FIG. 9 shows the simplest transfer control according to the present invention.
The self-propelled vehicle 10 follows the guide line x0, and the progress is at the position of y0. The self-propelled body 10 reaches the progress y0 and returns an OK signal to the relay control unit MPU2. The target progress y3, the target guide line x0 is received. At this time, since the next second target progress y6 and the target guide x1 are received together with the target progress y3 and the target guide line x0, at this point, the traveling control means (MPU3) has the current position ( An angle (so-called transfer angle) Θ from y0, x0) to the transfer target position (y6, x1) is calculated. This angle Θ is an angle of a line L1 connecting the current position (y0, x0) to the transfer target position (y6, x1) (that is, an angle of 6 degrees / 1 guide line interval). Therefore, the travel control means (MPU3) calculates the travel speed in the direction of the line L1 in consideration of the target arrival time t until the target progress y3 is reached, and based on this, the travel speed in the direction of the line L1 is calculated. Start turning. Needless to say, the travel speed in the transfer direction is calculated based on the travel distance in the direction of the line L1 and the target progress arrival time, and the travel distance in the direction of the line L1 is calculated based on the travel distance of the line L1. Geometrically calculated by the direction angle, the target progress number 3 (y3-y1), and the transfer width 1 (x1-x0).
When the target progress y3 is reached during the transfer travel in this way, the travel control means (MPU3) returns an OK signal to the relay control unit (MPU2), and in response, the MPU2 has the target progress y6 and the target guide line. x1 is commanded, and at the same time, the next second target progress y9 and the guide line x1 are commanded. When the target progress line y3 is reached, the position (position on the progress line y3) is determined, the angle Θ1 of the line L2 connecting the position and the next target position (y9, x1) is calculated, and the direction In order to make it point to the second direction, the second-stage turning control is performed. The calculation of the angle Θ1 is the same as the calculation of Θ, and the traveling direction of the self-propelled body is changed from the angle Θ to the direction Θ1 by the second-stage turning control.
[0028]
The position on the progress line y3 can be obtained by geometric calculation as an intersection (y3, xm) of the line L1 with the progress line y3, but the first stage from the transfer travel start position (y0, x0). Since the actual travel route of swells outward, an error occurs in the calculated position (xm). In this embodiment, the actual position xn is optically detected, an angle Θ1 in the direction of the line L2 connecting the position (y3, xn) and the target position (y9, x1) is obtained, and the angle Θ1 is calculated. Based on this, the travel speed at the second stage in the transfer travel is calculated in consideration of the target arrival time for the target progress y6.
The actual position (y3, xn) is a virtual position within the CPU of the travel control means (hereinafter referred to as “virtual position”), and the outputs of the three light receiving elements 10a, 10b, and 10c for line tracking. The change is detected as follows.
[0029]
[Virtual position detection method]
An outline of the virtual position detection method will be described with reference to FIGS.
When the center of the detection range of the center light receiving element 10a on the back surface of the self-running body is coincident with the center line s of the guide line 1, for example, moving to the right in the traveling direction (y direction in FIG. 10), the light receiving element 10a. The detection width of the guide wire 1 is reduced, and the amount of light received by the light receiving element 10a changes accordingly. On the other hand, the detection width of the guide line 1 by the right light receiving element 10c decreases, and the amount of light received by the right light receiving element 10c changes accordingly, and the detection width of the guide line 1 by the left light receiving element 10b. And the amount of light received by the left light receiving element 10b changes accordingly. When the amount of movement in the right direction (the amount of deviation from the center s of the guide wire 1) reaches one pitch of the guide wire 1, the received light amounts of the three light receiving elements are restored. By converting the amount of light received during this period into an electric quantity, the deviation amount can be detected as a change in the electric quantity.
Since the above changes in the amount of light received by the left and right light receiving elements are in opposite directions, the direction of deviation from the center line s of the guide line 1 of the self-propelled body is detected by the change in the difference in the amount of change.
[0030]
On the other hand, a virtual guide line between the center lines of the guide lines 1 and 1 is defined in the traveling control means (MPU3) of the self-propelled body, and this specified value is compared with an electric quantity proportional to the amount of light received by the light receiving element. The travel control means can determine the amount of deviation of the self-propelled body from the center line s of the guide line 1. Then, the position (xn in FIG. 9) of the self-propelled body between the guide lines 1 and 1 is specified from the amount of deviation.
[0031]
For example, when the guide lines 1 and 1 are equally divided by the virtual guide lines p1, p2,... Pn, and the virtual guide lines are set to p1, p2, p3,. The self-propelled body 10 travels obliquely (for example, in the direction of the arrow in FIG. 10) from the center of the guide line 1 toward the virtual guide line p1. At this time, since the received light amounts of the three light receiving elements change as shown in FIG. 11, the change amount is detected from the correlation between the change amounts and the virtual guide lines p1, p2, p3,. Can be used to determine the virtual guide lines p1, p2, p3,.
In the case of this position detection system, the virtual guide lines p1, p2, p3 located between the guide lines x0, x1, x2... In FIGS. 8 and 9 are defined by the travel control means (MPU3). The position between the guide lines of the self-propelled body is sequentially specified by the travel control means (MPU 3) as the virtual guide line number. The positional relationship between each guide line and the virtual guide lines p1, p2, p3 is recognized by the travel control means (MPU3), so that the guide lines x0, x1, x2... And the virtual guide lines p1, p2,. The traveling control means (MPU3) is associated with p3.
[0032]
In the above embodiment, the travel speed is not given as a travel command, but the target arrival time to the target progress is given. However, when speed information is given as the travel command, the target progress is given to a predetermined time. The traveling speed necessary for reaching the vehicle is calculated by the race progress management unit, and this is instructed to the traveling control means (MPU3) of the self-propelled body. Therefore, the self-propelled vehicle travels at the commanded speed until the target progress is reached. However, in practice, the traveling speed is not constant because of the mutual contact and slip of the self-propelled bodies, and therefore the arrival time to the target progress is not stable.
On the other hand, when the target arrival time is commanded as in the above embodiment, the traveling speed is repeatedly calculated based on the traveling distance to the target progress (travel distance measured by the progress) and the remaining target arrival time, and the target This can be repeated multiple times until the progress is reached. In this way, when the calculation of the traveling speed is repeated a plurality of times until the target progress is reached, the traveling speed during that time sequentially varies according to the remaining distance and the remaining time, and as a result, the target progress is reached at the scheduled time. Will do. That is, the traveling speed is feedback-controlled by the traveling control means (MPU3) with reference to the target arrival time.
[0033]
【The invention's effect】
In the prior art in which a simulated race on a computer is developed by the game creation unit of the race progress management unit (MPU1) and imitated by a model race, it is avoided that the transfer between guide lines becomes acute. In addition, for this reason, the transfer route is greatly expanded outward, and as a result, it is difficult to change and travel along the planned route. For this reason, the traveling path of the self-propelled body does not necessarily coincide with the traveling of the model body in the simulated race, and various inconveniences in the progress of the race occur. However, in response to an OK signal from the self-propelled vehicle, the next control data together with the latest control data is given to the travel control means (MPU3) by the travel command transmitted from the relay control means MPU2. The travel control means pre-reads the transfer position by one step and starts the transfer in the form of taking it in, so the turning angle of the transfer travel becomes smoother, and the transfer travel becomes smoother. The deviation from the course change of the model body in the simulated race can be reduced as much as possible.
Therefore, it is possible to avoid a large disturbance in the travel route during transfer travel, and to allow the model race to proceed smoothly following the simulated rail.
[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 a light receiving element 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 controller and the traveling control means of the self-propelled body.
FIG. 7 is a plan view schematically showing a state where the self-propelled body changes the guide wire.
FIG. 8 is a schematic diagram for explaining the operation.
FIG. 9 is a schematic diagram showing a transfer travel route of the embodiment.
FIG. 10 is a schematic enlarged plan view showing a relationship between a guide line, a light receiving element, a virtual guide line, and the like.
11 is a graph schematically showing a change in output of the light receiving element in FIG. 10. FIG.
[Explanation of symbols]
1: Guide wire
1b: Non-inductive line
2: Progress line
3: Position display line
10: Self-propelled body
10a, 10b, 10c: light receiving elements
11: Magnetic sensor
12: Infrared receiver
20: Relay control device
30: Driving control means
40: Race Progress Management Department
50: Race progress timer
s: Center line of guide line
p1, p2, .. pn: virtual guide line

Claims (5)

The model body traveling on the upper traveling surface is pulled by a self-propelled body traveling on the lower traveling surface via a magnet, and the race by the model body is developed on an annular track. In the transfer control method in the line induction type racing game device in which the self-propelled body travels while changing the guidance lane according to a command from the central control device,
The self-propelled body recognizes the current position from the progress line and the guide line, travels along the guide line,
The traveling control unit MPU3 of the self-propelled body receives a command of the target progress and the target guide line, and based on the target position based on the target progress and the target guide line and the current position, determines the transfer direction and the transfer travel speed. Calculate and control the transfer run in a self-contained manner,
The next second target progress and target guide line are simultaneously commanded together with the latest target progress and target guide line, and the current position and the second target position based on the second target progress and the second target guide line are set. A transfer control method in a line-guided racing game apparatus in which a direction of a connecting line is a transfer running direction. In the transfer control method in the line induction type racing game apparatus according to claim 1,
The position (y3, xm) on the target progress line (y3) of the point of arrival of the self-propelled body at the target progress line (y3) is determined by calculation of the travel control means (MPU3) based on the angle in the transfer direction. A transfer control method in the line-guided racing game apparatus. In the transfer control method in the line induction type racing game apparatus according to claim 1,
By defining a number of virtual guide lines between the guide lines in the CPU of the travel control means, analyzing the change in the amount of light received by the light receiving element for tracking the guide lines, and identifying the order of the virtual guide lines, the self-running A transfer control method in a line guidance type racing game apparatus in which a position (xn) between a guide line and a guide line on the progress line of an intersection with a body progress line (y3) is determined. The traveling control means (MPU3) of the self-propelled body is instructed to reach the target progress time, and calculates and determines the travel speed based on the target progress time and the distance to the target progress. Transfer control method for a line-guided racing game apparatus. 5. The transfer in the line-guided racing game apparatus according to claim 4, wherein the traveling speed is repeatedly calculated and determined based on the travel distance to the target progress and the target progress arrival time until the target progress is reached. Control method .

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