JP3857114B2 - Running position detection method by self-propelled body in line guidance type racing game device - Google Patents

Description

[0001]
[Industrial application fields]
The present invention relates to a racing game apparatus that pulls a model body traveling on an upper traveling surface through a magnet with a self-propelled body traveling on a lower traveling surface, and develops a race by the model body on an annular track, For a competitive game device in which a self-propelled vehicle is guided by a guidance lane and the self-propelled vehicle travels while changing the guidance lane according to a command from the central control device, the traveling between the guidance lane and the guidance lane is stabilized, mutual interference, slip, etc. It is possible to suppress as much as possible the disturbance of running due to the disturbance of the vehicle.
[0002]
[Prior art]
Each self-propelled body is attached to 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, the optical guide line (or line) closely attached to the traveling surface is detected by the line detection means provided in the self-propelled body, and the self-propelled traveling control device performs self-contained feedback control. There is also a vehicle that tracks the guide line (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, since the central control unit performs feedback control of the traveling of the self-propelled body while performing complicated information processing, the control system is complicated and the cost is unavoidably increased.
[0003]
On the other hand, those that follow the guide line are basically excellent in the smoothness and stability of the travel because the travel route is guided by the guide line. However, there is no denying that the driving route is simple and the race is unnatural, and in order to eliminate this, it is necessary to change the guide line appropriately.
In addition, the traveling control of a self-propelled vehicle that tracks a guidance lane is basically speed control and transfer control, so its traveling control and its control system are simple. If the timing of transfer changes, the realism of the race will be significantly impaired. Therefore, the remaining problem is how to realize the realism of the race by executing the transfer control at appropriate timing and speed control so that there is no sense of incongruity from the progress of the race. is there.
[0004]
In the above-mentioned Japanese Patent Application Laid-Open No. 10-232712, at the start of the 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 at the start, Each self-propelled body travels to the goal at the predetermined speed and sequentially changing the guide lanes according to the travel control command stored in a lump. However, in actuality, the self-propelled vehicle does not always travel at the speed according to the travel control command stored collectively at the start (due to a disturbance such as slip), so the race is not always performed 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 arises because the running control command input collectively at the start of the race controls the running to the goal regardless of the actual racing situation.
Also, speed control is performed based on the control data stored in advance in the memory of the self-propelled vehicle and the detected traveling progress of the self-propelled vehicle, and feedback control is performed in a self-contained manner by the self-propelled vehicle control device. Therefore, the traveling control device of the self-propelled body is not always simple in terms of hardware and software, and the accuracy of the traveling control is not high.
[0005]
By the way, in order to collectively control a large number of self-propelled bodies as a united group, it is necessary that all the self-propelled bodies are within a certain range.
Although a specific self-propelled vehicle does not run faster than the scheduled speed, a specific self-propelled vehicle is far behind the schedule, which often breaks the race.
Control data stored in advance in the memory of the self-propelled vehicle and those for speed control based on the detected traveling speed of the self-propelled vehicle, or prepared control data mechanically sequentially from the central controller In the case of transmitting to the self-propelled body and detecting the control data and performing the speed control based on the traveling speed, it is not possible to correct race disturbance due to the traveling delay of a small number of self-propelled bodies.
[0006]
[Prior art]
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 the 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").
The prior art is a two-story racing game device in which a 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. The self-propelled vehicle is based on a racing game device that tracks and runs a designated guide line while changing over many guide lines attached to the lower running surface.
Then, a simulation race is executed by the race creation unit (MPU1) of the central control unit, and the running control data of the model body is created based on the simulated race, and this running control data is self-running via the relay unit (MPU3). It is transmitted to the body travel control means (MPU3), tracks the guide line designated by the self-contained feedback control of the travel control means (MPU3), and performs the transfer, and the above travel control data is The target guide line, target progress, travel speed, etc. are extremely simple.
The self-propelled body recognizes the driving guide line and the traveling progress, and travels to the goal at the commanded speed while sequentially switching the traveling lane based on these data and the traveling control data from the central controller. .
[0007]
Next, the “prior art” will be described in detail with reference to FIGS.
A 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 wire 1 are provided at predetermined intervals on the lower travel surface.
In this embodiment, the progress measuring line 2 is a magnetic line.
[0008]
In addition, as shown in FIG. 1, a total of six position display lines 3 in a direction perpendicular to the guide line 1 are arranged around the race track T. The position display line 3 is an optical signal (infrared signal) transmitter, and transmits a guide lane number and an accurate progress to a self-propelled body that crosses the position display line 3. This position display line 3 is for correcting the guidance lane number and progress recorded in the memory of the self-propelled vehicle at predetermined intervals to improve the traveling accuracy, so that the number can be appropriately selected. If it is 4 or more, there is no practical problem.
[0009]
Three light receiving elements 10a, 10b, 10c are provided close to each other in the center of the lower surface of the self-running body 10, and the center light receiving element 10a is located at the center line of the guide wire 1, and the left and right light receiving elements 10b, In 10c, the guide wire 1 is sandwiched from the left and right. The light receiving element detects reflected light. When the self-propelled body is displaced with respect to the guide line 1, the light receiving element 10a and either the left or right light receiving element 10b or 10c detect the guide line 1. Therefore, the traveling of the self-propelled body is controlled by the traveling control device of the self-propelled body so that the guide wire 1 is detected only by the light receiving element 10a.
A magnetic sensor 11 is provided on the lower surface of the self-propelled body, and one pulse signal is generated every time the magnetic line 2 that is a progress measurement line is crossed. By adding this pulse signal with the above travel control device, every time the progress line (magnetic line) 2 is crossed, one progress (advance from the start position) is added, and the progress at that time is detected. become.
[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 and progress recorded in the memory of the traveling control means 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 runs according to the command from the command unit 20 of the central control unit, and the race is executed according to the command from the central control unit.
[0011]
Signal exchange between the relay control device (MPU2) 20 of the central control device of the game machine main body and the travel control means (MPU3) 30 of the travel control device of the self-propelled body is as shown in FIG.
A travel control 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 traveling control means (MPU 3) 30 to the relay control device 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).
[0012]
The traveling of the self-propelled body is controlled by the traveling control means (MPU3) 30 in a self-contained manner, but basically traveling from the relay control unit (MPU2) 20 while detecting the guide wire 1 with an optical sensor. The vehicle travels to the target progress while tracking the designated guide line 1 at the commanded traveling speed. 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 one of the section, and this is transmitted to the traveling control means (MPU3). When the travel command is updated, the travel is continued at the travel speed according to the immediately preceding travel command until the travel control means receives the next travel command, so that the travel is continued smoothly.
If the target guide line of the received travel command does not match the guide line number recorded in the memory of the traveling control means (MPU3) 30 of the self-propelled vehicle, the difference between the guide line and the target guide line is zero. The necessary guide lines are changed so that the guide lines are traced when they match. 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 travel control means (MPU3) 30 of the self-propelled vehicle, and the transfer angles are transmitted to the travel control device of the self-propelled vehicle by code numbers. Then, the self-propelled body that has received this may select the transfer angle corresponding to the code from the memory.
[0014]
The race creation unit of the race control unit (MPU1) 40 of the central controller uses the control conditions (running horses, characteristics of each of the running horses, arrival order, etc.), etc. in each simulated race as basic data, etc. 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. The calculation of the simulated race is performed under the XY coordinates (coordinates in the CPU of the race creation unit) of the CPU of the race creation unit that coincides with the xy coordinates by the guide line and the progress line of the self-propelled vehicle running surface. The position on the XY coordinates where the simulated race is deployed is simply converted to the position on the running surface by the guide line and the progress line from the correlation between the position on the self-propelled body running surface and the progress line. Is done. 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 stored in the buffer memory of the race progress management unit (MPU1) 40 and updated in the memory each time the race progresses for one section (one stage of the race progress) is sequentially updated.
In response to the return of the OK signal from the MPU 2, the control data in the memory of the race progress management unit (MPU 1) 40 is sequentially transmitted to the relay control unit (MPU 2) 20, and the command recorded in the memory is transmitted. To update.
[0015]
Note that the simulated race by the race creation unit of the race progress management unit (MPU1) 40 is 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 at a target progress with a delay due to some kind of obstacle, the speed of the race progress timer 50 is delayed so as to match the delay, and this is executed in the race creation unit. The progress speed of the simulated race 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 by 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 race progress management unit (MPU1) 40, and the relay control unit (MPU2). ) Delays the race of the model body so that the progress speed of the simulated race and the progress speed of the race by the self-propelled body are always synchronized.
According to the progress of the race of the self-propelled body, the simulated race by the race creation unit is advanced.
[0017]
[Problems of the prior art]
By the way, when tracking a guide line, in the prior art, two of the center light receiving element 10a and the left and right light receiving elements 10b or 10c detect the guide line 1 to the left and right of the self-propelled body. Since the shift of the self-propelled body is detected by the travel control device of the self-propelled body so that the guide wire 1 is detected only by the light receiving element 10a, the detection range of the shift to the left and right is large and the vehicle travels straight. The performance is not necessarily high. For this reason, for example, there is a problem that it fluctuates left and right within the range of the detection width due to the influence of disturbance such as mutual interference. This is particularly noticeable in the tracking of the curved portion of the guide line.
Also, at the time of transfer of the guide line, there is no constraint by the guide line until it reaches the target guide line after a different target guide line is specified, and the position between them cannot be detected, so it becomes an unconstrained state, There are problems such as inconvenience in dealing with disturbances during this period, or fine traveling control based on the position between guide lines cannot be performed.
In addition, with respect to the prior art based on optically detecting the guide wire 1 and detecting the guide wire number by calculation, for adding a detection system for the position between guide wires separate from the guide wire detection system, In order to simplify the traveling position detection system, it is desired to effectively utilize the guide line detection system using the three light receiving elements for position detection between guide lines.
[0018]
[Problems to be solved]
Therefore, the present invention relates to a system for detecting a traveling position of a self-propelled body in a line-guided racing game device, so that the traveling position with respect to the center line of the traveling guidance line can be precisely detected by the self-propelled body itself. An object of the present invention is to devise a system for detecting a traveling position using a light receiving element of a detection system.
[0019]
[Measures taken to solve the problem]
The means for solving the above problem is that three light receiving elements 10a, 10b, 10c are arranged in a horizontal row on the lower surface of the self-propelled body, the guide line is detected by the light receiving elements, and the received light amounts of these three light receiving elements are used as input data. The following (a) to (d) are provided on the premise of a travel control device for a line-guided racing game device that tracks a guide line while performing self-contained feedback control by the travel control means of the self-propelled vehicle. Is. (A) The center of the detection width of the left and right light receiving elements 10b, 10c of the three light receiving elements 10a, 10b, 10c for tracking the guide line is made to coincide with the left and right edge lines e of the guide line, respectively.
(B) The detection width of the center light receiving element is made equal to the width of the guide wire 1;
(C) calculating and detecting the amount of deviation of the self-propelled body from the center line s of the guide line based on the amount of change in the amount of light received by the three light receiving elements;
(D) A large number of virtual guide lines between the center lines s, s of the guide lines 1 and 1 are defined in the traveling control means (MPU3) of the self-propelled body, and the received light amounts of the three light receiving elements and the virtual guide lines The virtual guide line is specified from the detected values of the received light amounts of the three light receiving elements based on the correlation between the guide line 1 and the center line s of the guide lines 1, and is recognized as the position of the self-propelled body. To do.
[0020]
[Action]
The operation will be described with reference to FIGS.
When the center of the detection range of the light receiving element 10a at the center of the back surface of the self-propelled body moves from the state where the center of the detection line 10a coincides with the center line s of the guide line 1, for example, to the right in the traveling direction (x direction in FIG. 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 of the guide line 1 from the center line s) reaches one pitch of the guide line 1, the amount of light received by the three light receiving elements returns. By converting the amount of light received during this period into an electric quantity, the deviation amount can be detected as an electric quantity (voltage value, current value).
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 of the self-propelled body, and a reference value representing each virtual guide line is compared with an output proportional to the amount of light received by the light receiving element. Thus, the travel control means can precisely detect the amount of deviation of the self-propelled body from the center line s of the guide line 1. Therefore, traveling control can also be performed by feedback control based on the amount of deviation of the self-propelled body from the center line s of the guide line 1.
[0021]
Embodiment 1
In the first embodiment, the solution means obtains the direction of displacement of the self-propelled body from the center line s of the guide line 1 based on the change in the difference in the amount of light received by the three light receiving elements. .
[Action]
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 of the self-propelled body is detected by the change in the difference in the amount of change.
[0022]
Embodiment 2
Embodiment 2 is that the center of the detection width by the left and right light receiving elements 10b and 10c in the solving means is made to coincide with the left and right edge lines e of the guide line 1 detected by the central light receiving element 10a.
[0023]
Embodiment 3
In the third embodiment, the centers of the detection widths of the right and left light receiving elements 10b and 10c in the solving means are made to coincide with the left and right edge lines e of other guide lines adjacent to the guide line detected by the central light receiving element, respectively. It is.
[0024]
Embodiment 4
In the fourth embodiment, the center of the detection width of the left or right light receiving elements 10b and 10c is made to coincide with the center line s of the guide line 1, and the center light receiving element 10a and the right light receiving element 10c, Alternatively, the center of the detection width of the center light receiving element 10a and the left light receiving element 10b is set to the left and right edge lines e of the guide line adjacent to the guide line 1 detected by the left or right light receiving elements 10b and 10c, respectively. It is matched.
[0025]
Embodiment 5
In the fifth embodiment, the width of the non-guide line 1b between the guide lines 1 in the solving means is made equal to the width of the guide line 1, and the detection widths of the left and right light-receiving elements 10b and 10c are detected by the center light-receiving element 10a. It is equal to the width.
[Action]
The amount of light received by the three light receiving elements with respect to the amount of deviation from the center line s of the guide line of the self-propelled body continuously changes during one pitch of the guide line 1, so that the amount of deviation changes in the entire area of the deviation. Can be detected with high accuracy by the change in the output of the light receiving element.
[0026]
Embodiment 6
In the sixth embodiment, the guide line 1 in the solution means is a black line, and the non-guide line 1b between the guide lines 1 is a white line.
[Action]
Since the change in the amount of light received by the three light receiving elements with respect to the change in the amount of deviation from the center line of the guide line 1 of the self-propelled body becomes significant, the virtual guide line is secured while ensuring high detection accuracy of the amount of deviation of the self-propelled body. The interval between (p1, p2, p3...) Can be made fine.
[0027]
Embodiment
[Example 1]
Next, Embodiment 1 of the present invention will be described. However, since the prior art has been described in detail in the section of the prior art, description of matters common to the prior art is omitted.
The guide line 1 is a black line having a width of 6 mm, and the non-guide line 1b between the guide lines 1 and 1 is a white line having a width of 6 mm.
The detection widths of the three light receiving elements 10a, 10b, and 10c are equal to the width of the guide wire 1, the center light receiving element 10a is on the center line in the width direction of the back surface of the self-propelled body 10, and the left and right light receiving elements 10b and 10c The center of the detection range coincides with the left and right edge lines e and e of the guide wire 1 detected by the light receiving element 10a.
Therefore, the central light receiving element 10a covers the entire width of the guide wire 1, and the left and right light receiving elements 10b and 10c cover half of the guide wire 1 and half of the width of the adjacent non-guide wire 1b.
The virtual guide line between the centers of the guide lines 1 is a virtual line on the computer by the travel control means (MPU 3) mounted on the self-propelled body, and is not an actual guide line provided on the travel surface. In this example, the number of virtual guide lines between the centers of the guide lines 1 is ten. And since the numbers are given from the innermost guide line to the outermost guide line of the running track, every tenth virtual guide line number in the running track corresponds to each guide line 1 respectively. Become.
[0028]
Since the amount of light received when the light receiving element 10a is tracking the guide wire 1 is small, the amount of light received is inverted and converted into an amount of electricity.
Since the intensity of irradiation light with respect to the light receiving elements 10a, 10b, and 10c is equal, when the light receiving element 10a tracks the guide wire 1, the amount of light received by the central light receiving element 10a is the amount of light received by the left and right light receiving elements 10b and 10c. This is inverted by half and is converted into an electric quantity, so that the detected electric quantity v1 is twice the detected electric quantities v2 and v3 of the left and right light receiving elements 10b and 10c. This is schematically shown in FIG.
When the amount of shift in the x direction from the guide line 1 of the self-propelled body increases due to the transfer travel, the detection output (electric amount) v changes as shown in FIG. However, x in FIG. 10 represents the shift amount.
Using the outputs (electrical quantities) v1, v2, and v3 of the light receiving elements 10a, 10b, and 10c as input data, calculation is performed by the calculation means 61, and the calculation result is compared with the virtual guide line table, That is, the virtual guide line number is determined.
That is, the virtual guide line number corresponding to the shift amount corresponding to the calculated value is stored in the virtual guide line table of the comparison judgment means 62, and the comparison judgment is made by the comparison judgment means 62 (see FIG. 11). ).
[0029]
For example, if a shift amount p1 (see FIG. 9) of the guide line 1 from the center line s is detected while tracking the guide line, feedback for the shift amount p1 is applied at this time. Therefore, when the self-propelled body deviates from the center line s of the guide line by a minute p1, this can be detected and corrected immediately. Further, when a deviation amount between the deviation amounts p2 and p3 is detected, feedback corresponding to this is applied, so that the deviation can be corrected stably and accurately.
[0030]
Moreover, the transfer control of the guide line using this position detection system is performed as follows.
That is, as described above, the virtual guide line number corresponding to the shift amount corresponding to the calculated value is stored in the virtual guide line table, and the current position is determined from the shift amount by the determining means 71 (see FIG. 12). The comparison / judgment means 72 compares the current position with the virtual guide line designated by the virtual guide line designation means 73, outputs a feedback signal so as to correct the deviation, and determines the designated virtual guide line. Orient. When the virtual guide line designating unit 73 sequentially designates the virtual guide line p1 (see FIG. 9) next to the center line s of the guide line and the next virtual guide lines p2,. Move from the line s to the virtual guide line p1, and then move sequentially to p2,.
At this time, the specified virtual guide line is tracked for a moment, but the vehicle travels.
In this way, the self-propelled bodies 10 are sequentially directed to the virtual guide lines that are sequentially designated, and while traveling, they travel in a predetermined transfer direction (see FIG. 7) until reaching the target guide line. During this transfer, the virtual guide lines p1, p2,... Pn are constrained by any of the virtual guide lines p1, p2,. Therefore, the transfer is stable.
[0031]
[Example 2]
The second embodiment is an example in which a change in the direction of the self-propelled body relative to the guide line is detected by analyzing the amount of change in the output of the light receiving elements 10a, 10b, and 10c.
If the light receiving elements 10a, 10b, and 10c are provided at the front end of the self-propelled body, and the light receiving elements 10a, 10b, and 10c are similarly provided at the rear end, and the position between the guide lines at the front end and the rear end is detected, the self-running Since the amount of deviation from the guide line at the front and rear ends of the body is quantitatively detected, the direction of the self-propelled body relative to the guide line (the direction of the self-propelled body relative to the guide line) is calculated using this detection data. Can also be detected. Therefore, for example, even if the orientation of the self-propelled body with respect to the guide line changes due to disturbance such as mutual interference and slip of the self-propelled body, this can be immediately detected and the return to the guide line can be performed quickly. it can.
[0032]
【The invention's effect】
The running control of the self-propelled body in the line-guided racing game device is based on line-following running and travels along an appropriate route while switching the guiding line as appropriate. If the deviation of the running body is not exceeded, the deviation is not detected. Therefore, feedback control is not performed in this range. Therefore, there is a run-out in a range where this deviation is not detected, and the straight traveling performance is not necessarily high. However, according to the present invention, it is possible to finely detect the amount of deviation with respect to the guide line based on the precise virtual guide line in the travel control means, and therefore, using this detection data, feedback control during straight traveling can be performed. Can be done finely. Therefore, it is possible to improve the straight traveling performance during line traveling. This effect is particularly noticeable when cornering.
In addition, during a transfer run, the vehicle runs in an unconstrained state until it reaches the target guide line after leaving the guide line, and is therefore easily affected by disturbances, making the transfer run unstable. According to the invention, since the position of the self-propelled body between the guide lines can be detected finely based on the virtual guide line, it is possible to perform feedback control even during the transfer travel using this detection data, thereby suppressing the influence of disturbance. It is possible to stabilize the traveling while changing.
In addition, when the virtual guide line is used as a guide means that replaces the guide line, it is possible to travel straight on the basis of the designated virtual guide line between the guide lines. The travel route can be freely selected with almost the same degree of freedom as in trackless travel.
[Brief description of the drawings]
FIG. 1 is a plan view showing the arrangement of guide lines and position display lines on a self-propelled vehicle running surface.
FIG. 2 is a plan view showing an arrangement of progress measurement lines on a self-propelled vehicle running surface.
FIG. 3 is a cross-sectional view schematically showing a relationship between an optical sensor of a self-propelled body and a guide wire.
FIG. 4 is a cross-sectional view schematically showing a relationship between a magnetic sensor of a self-propelled body and a progress measurement line.
FIG. 5 is a cross-sectional view schematically showing a relationship between an infrared receiver of a self-propelled body and a position display line.
FIG. 6 is a diagram schematically showing the order of communication between the central control device and the traveling control device of the self-propelled body.
FIG. 7 is a plan view schematically showing a state where the self-propelled body changes the guide wire.
FIG. 8 is a schematic enlarged plan view showing a relationship between a guide wire and a detection range by a light receiving element.
FIG. 9 is a schematic enlarged plan view showing the relationship between guide lines and virtual guide lines.
FIG. 10 is a graph showing the relationship between the amount of light received by the light receiving element and the amount of deviation of the self-propelled body from the guide line.
FIG. 11 is a block diagram of a virtual position detection system.
FIG. 12 is a block diagram of a guidance control system using a virtual guidance line according to the embodiment.
[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 (7)

Three light receiving elements 10a, 10b, and 10c are arranged in a horizontal row on the lower surface of the self-propelled body, and a guide line is detected by the light receiving element. In a running position detection method by a self-propelled body in a line-guided racing game device that tracks a guide line while performing self-contained feedback control,
Three light receiving elements are installed on the right and left sides in the width direction of the back of the self-propelled body, and the self-propelled body deviates from the center line s of the guide line based on the amount of change in the amount of light received by the three light receiving elements. Calculate and detect the quantity,
A number of virtual guide lines between the center lines s and s of the guide lines 1 and 1 are defined in the traveling control means (MPU3) of the self-propelled body, and the correlation between the received light amounts of the three light receiving elements and the virtual guide lines. Based on the relationship, the virtual guide line is identified from the detection values of the light reception amounts of the three light receiving elements, and this is recognized as the position of the self-propelled body between the center lines s and s of the guide lines 1 and 1. A running position detection method using a self-propelled body in a line guidance type racing game apparatus. 2. The line induction type racing game apparatus according to claim 1, wherein the direction of displacement of the self-propelled body from the center line s of the guide line 1 is obtained based on a change in the difference in the amount of light received by the three light receiving elements. A traveling position detection method using a self-propelled body. 2. The line induction type racing game apparatus according to claim 1, wherein the center of the detection width by the left and right light receiving elements 10b and 10c is made to coincide with the left and right edge lines e of the guide line 1 detected by the central light receiving element. A traveling position detection method using a self-propelled body. The line guide according to claim 1, wherein the centers of the detection widths of the left and right light receiving elements 10b and 10c are made to coincide with the left and right edge lines e of other guide lines adjacent to the guide line detected by the central light receiving element. Method for detecting a traveling position by a self-propelled body in a type racing game apparatus. The center of the detection width of the left or right light receiving elements 10b and 10c is made to coincide with the center line s of the guide wire 1, and the center light receiving element 10a and the right light receiving element 10c or the center light receiving element 10a The center of the detection width of the left light receiving element 10b is made to coincide with the left and right edge lines e of the guide line adjacent to the guide line 1 detected by the left or right light receiving elements 10b and 10c, respectively. Method for detecting a running position by a self-propelled body in a line-guided racing game apparatus. The width of the non-guide line 1b between the guide lines 1 is made equal to the width of the guide line 1, and the detection width by the left and right light receiving elements 10b, 10c is made equal to the detection width of the center light receiving element 10a. A method for detecting a traveling position by a self-propelled body in the line guidance type racing game apparatus according to claim 1. The running position detection method by a self-propelled body in the line guidance type racing game apparatus according to claim 1, wherein the guide line 1 is a black line and the non-guide line 1b between the guide lines 1 is a white line.

Images