JP6801916B2 - Control devices, game machines, control methods and programs - Google Patents

Description

The present invention relates to control devices, game machines, control methods and programs.

In a rotating drum type gaming machine generally called a pachislot machine, a stepping motor is used to rotate and stop a reel on which a plurality of symbols are arranged around it.
Patent Document 1 discloses a technique for controlling a stepping motor in a rotating cylinder type gaming machine as a related technique.

Japanese Patent No. 3881507

In the revolving game machine, the reel is stopped according to the timing when the stop button for stopping the reel is pressed, and the control is performed to align the symbols according to the timing.
At this time, a control called full-phase excitation is often used in which the same current is passed through all the coils on the stator side of the motor and the braking force generated at that time is used to stop the motor.
However, when the motor is stopped by full-phase excitation, the rotor is expected due to manufacturing variations of the motor and motor control circuit, ambient temperature of the motor and motor control circuit, and aging deterioration of the motor and motor control circuit. The rotor may rotate due to an inertial force different from the above, and the rotor may stop at a position different from the desired stop position (for example, ± 1 step of the rotation step of the motor).
Therefore, when the start lever of the rotating drum type game machine is operated and the reel starts to rotate, the rotor is once pulled into the stator on the rear side in the normal rotation direction excited to rotate the rotor. Alternatively, it may be suddenly pulled into the stator on the front side in the normal rotation direction, and the rotation may not start smoothly.
Therefore, in the rotating cylinder type game machine, a technique capable of starting the rotation of the reel more smoothly has been required.

An object of the present invention is to provide a control device, a game machine, a control method, and a program capable of solving the above problems.

In order to achieve the above object, the present invention is a motor control device that operates by a magnetic force acting between a plurality of coils on the stator side and a rotor, and the stop position of the rotor and the front in the rotation direction. Based on the comparison result of the measuring unit that specifies the distance from the nearest static excitation position on the side, the comparison unit that compares the distance specified by the measuring unit with a predetermined reference value, and the comparison unit. A control device including a drive control unit that controls the exciting currents of the plurality of coils by a current value associated with a predetermined reference value, and a drive control unit that changes the ON time of chopper control according to the distance. Is.

Further, the present invention includes the above-mentioned control device, a motor operated by a magnetic force acting between a plurality of coils on the stator side of the own motor driven by the control device and a rotor of the own motor, and the motor. It is a gaming machine equipped with a reel that rotates with the rotation of the rotor .

Further, the present invention is a control method of a motor control device that operates by a magnetic force acting between a plurality of coils on the stator side and a rotor, and is the most on the stop position of the rotor and the front side in the rotation direction. It is to specify the distance to the near static excitation position, to compare the specified distance with a predetermined reference value, and to control the exciting currents of the plurality of coils based on the comparison result. , The control method includes changing the ON time of the chopper control according to the distance .

Further, in the present invention, the computer of the motor control device operated by the magnetic force acting between the plurality of coils on the stator side and the rotor is settled closest to the stop position of the rotor and the front side in the rotation direction. Based on the identification of the distance from the exciting position, the comparison between the specified distance and the predetermined reference value, and the comparison result, the current value associated with the predetermined reference value of the plurality of coils It is a program for controlling the exciting current, changing the ON time of the chopper control according to the distance, and executing the operation .

According to the present invention, the rotation of the reel can be started more smoothly in the rotating cylinder type game machine.

It is a figure which shows the structure of the rotating cylinder type game machine by one Embodiment of this invention. It is a figure which shows the 1st example of the statically indeterminate excitation position in one Embodiment of this invention. It is a figure which shows the 2nd example of the statically indeterminate excitation position in one Embodiment of this invention. It is a figure which shows the example of the distance in one Embodiment of this invention. It is a figure which shows the relationship between the predetermined reference value and the exciting current in one Embodiment of this invention. It is a figure which shows the 1st example of a phase output and a current value by one Embodiment of this invention. It is a figure which shows the 2nd example of a phase output and a current value by one Embodiment of this invention. It is a figure which shows the 3rd example of a phase output and a current value by one Embodiment of this invention. It is a figure which shows the 4th example of a phase output and a current value by one Embodiment of this invention. It is a figure which shows the 1st example of statically indeterminate and acceleration by one Embodiment of this invention. It is a figure which shows the 2nd example of statically indeterminate and acceleration by one Embodiment of this invention. It is a figure which shows the 3rd example of statically indeterminate and acceleration by one Embodiment of this invention. It is a figure which shows the motor by one Embodiment of this invention. It is a figure which shows the processing flow of the control apparatus by one Embodiment of this invention. It is a figure which shows the minimum structure of the control device by one Embodiment of this invention.

<Embodiment>
A rotating drum type gaming machine 1 according to an embodiment of the present invention will be described.
As shown in FIG. 1, the rotating cylinder type gaming machine 1 according to the embodiment of the present invention includes a control device 10, a motor 20, and a reel 30.

The motor 20 includes a rotor and a stator. The stator attracts or moves away the rotor, which is a magnet, by passing an electric current through a coil provided in the stator. The rotor is a magnet having an S pole and an N pole, and a shaft is provided between the S pole and the N pole. Therefore, the rotor rotates about its axis by being attracted to or moved away from the stator by the current flowing through the coil. The rotor and stator will be described in detail later.

The control device 10 includes a measurement unit 101, a comparison unit 102, and a drive control unit 103.
The measuring unit 101 specifies the distance between the stop position of the rotor of the motor 20 and the next statically indeterminate excitation position on the front side in the rotation direction.
It is assumed that the rotor of the motor 20 rotates in the order of A phase, B phase, Abar phase, and Bbar phase. Then, it is assumed that the rotor is stopped by all-phase excitation. Actually, it is composed of 48 steps or 96 steps per lap, but in this explanation, it is a motor with 4 steps per lap.
The measuring unit 101 is, for example, an encoder having 20 slits per circumference, and the rotor rotates between the A phase and the B phase, the B phase and the Abar phase, the Abar phase and the Bbar phase, and the Bbar phase and the A phase of the motor 20. It is assumed that 5 slits are detected between them. The measuring unit 101 obtains a remainder of 5 of the total number of slit detections counted when the motor 20 rotates by (20 slits / 4 steps). If the remainder due to 5 is 0, the measuring unit 101 identifies that the rotor is stopped at a reference position corresponding to the remainder 0, that is, a position corresponding to the stator, and specifies that the distance is 0. If the remainder due to 5 is 1, the measuring unit 101 identifies that the motor is stopped at a position one slit ahead of the reference position corresponding to the remainder 0. Similarly, in the measuring unit 101, when the remainder due to 5 becomes 2, 3, and 4, the rotor of the motor 20 is stopped at a position advanced by 2, 3, and 4 slits from the reference position corresponding to the remainder 0, respectively. To identify.

The measuring unit 101 specifies the distance R between the specified position and the closest statically indeterminate excitation position on the front side in the rotation direction.
The closest static excitation position on the front side in the rotation direction is the position of the rotor stopped by all-phase excitation when the rotor is rotated by two-phase excitation, and the A phase and B phase shown in FIG. The closest position on the front side in the rotation direction among the intermediate position, the intermediate position between the B phase and the Abar phase, the intermediate position between the Abar phase and the Bbar phase, and the intermediate position between the Bbar phase and the A phase. is there. For example, when the rotor is rotated by two-phase excitation, the position of the closest star on the front side in the rotation direction shown in FIG. 2 is the statically indeterminate excitation position. When the rotor is rotated by 1-2 phase excitation, the position of the closest star on the front side in the rotation direction shown in FIG. 3 is the statically indeterminate excitation position.

When the specified position is a position closer to the B phase (position indicated by a circle) than the middle of the A phase and the B phase in FIG. 4, the measuring unit 101 is shown in FIG. The distance from the nearest static excitation position on the front side in the rotation direction indicated by the star of 4 is specified. In the case of the example shown in FIG. 4, the measuring unit 101 has a distance of 2 slits from the circle to the stator corresponding to the B phase and 2.5 slits from the stator corresponding to the B phase to the star. By adding the distance, the distance is specified as the distance R for 4.5 slits.

The comparison unit 102 compares the distance R specified by the measurement unit 101 with a predetermined reference value.
The predetermined reference value indicates a reference distance for changing the exciting current.
For example, when the exciting current is reduced as the distance R is shorter, as shown in FIG. 5, a predetermined reference value indicating a shorter distance is set for a shorter distance R.
In FIG. 5, based on the distance of 1 slit and the distance of 3 slits, the exciting current A is set when the distance R is less than the distance of 1 slit, and the distance R is less than the distance of 3 slits and 1 slit. An example is shown in which the exciting current B is set when the distance exceeds a minute, and the exciting current C is set when the distance R exceeds the distance of 3 slits.
The comparison unit 102 compares the distance R specified by the measurement unit 101 with the reference value L1 corresponding to the distance for one slit, and determines whether or not the distance R specified by the measurement unit 101 is equal to or less than the reference value L1. judge. When the distance R specified by the measuring unit 101 exceeds the reference value L1, the comparison unit 102 sets the distance specified by the measuring unit 101 and the reference value (3 × L1) corresponding to the distance of three slits. By comparison, it is determined whether or not the distance specified by the measuring unit 101 is equal to or less than the reference value (3 × L1).

The drive control unit 103 controls the exciting currents of the plurality of coils based on the comparison result of the comparison unit 102.
For example, when the comparison unit 102 determines that the distance R specified by the measurement unit 101 is equal to or less than the reference value L1, the drive control unit 103 controls the exciting current of the coil to be the exciting current A. Further, when the comparison unit 102 determines that the distance specified by the measurement unit 101 exceeds the reference value L1 and is equal to or less than the reference value (3 × L1), the drive control unit 103 uses the exciting current of the coil as the exciting current. Control to be B is performed. Further, when the comparison unit 102 determines that the distance specified by the measurement unit 101 exceeds the reference value (3 × L1), the drive control unit 103 controls the exciting current of the coil to be the exciting current C.
Regarding the exciting currents A, B, and C, for example, as the distance R from the stop position of the rotor to the nearest static excitation position on the front side in the rotation direction becomes shorter, the exciting current when the rotor starts to rotate becomes smaller. It is set to be smaller. That is, an example of the magnitude relationship between the respective exciting currents A, B, and C is the exciting current A ≦ the exciting current B ≦ the exciting current C.
However, the magnitude relationship of the exciting currents A, B, and C is not limited to the exciting current A ≦ the exciting current B ≦ the exciting current C.

When the stop position of the rotor deviates from the static excitation position, the drive control unit 103 gradually increases the current value from the smaller absolute value to slowly rotate the rotor when starting the rotation of the rotor. Make the suction less noticeable by letting it.
The drive control unit 103 uses general choppering control as a method of gradually increasing the current value having a small absolute value, and realizes it by changing the time for turning on / off the current.
When the distance R is long, for the phase in which the current is passed during statically indeterminate excitation, when a large current is passed from the early stage of the current flow time (statically indeterminate time), for example, 200 ms, the position of statically indeterminate excitation is reached early. , The time it takes to stop at that position becomes longer, which makes it look like a suction phenomenon. Therefore, in the first half of the statically indeterminate time, a current with a small absolute value (= weak pulling force to the exciting position) is passed to slowly start rotation, and in the second half, a current with a large absolute value (= strong pulling force to the exciting position) is applied. ) Is flowed to rotate the distance to the statically indeterminate excitation position at high speed and continue the rotation smoothly. At this time, whether or not the rotation can be continued smoothly without stopping at the position of statically indeterminate excitation depends on the current flowing through the coil and its time.
When the distance R is short, by keeping the statically indeterminate time constant with a weak current (= the pulling force to the excitation position is weak), the rotor is slowly rotated to the statically indeterminate excitation position, and the statically indeterminate excitation is performed. Shorten the stop time at the position.
In this way, by combining the control of changing the current value and shortening the time during which the statically indeterminate excitation is stopped, the suction phenomenon can be made inconspicuous.
The drive control unit 103 switches between a current having a large absolute value and a current having a small absolute value by choppering control. For example, if the ratio of the ON time and the OFF time of the phase output is set to ON: OFF = 10: 0, the drive control unit 103 becomes a normal current. Further, in the drive control unit 103, for example, if the ratio of the ON time and the OFF time of the phase output is set to ON: OFF = 0:10, no current flows. Further, in the drive control unit 103, for example, if the ratio of the ON time and the OFF time of the phase output is set to ON: OFF = 5: 5, a weaker current than usual flows.
That is, the drive control unit 103 can flow a large current by lengthening the ON time. Further, the drive control unit 103 can pass a small current by shortening the ON time.

For example, with respect to the normal phase output and phase current value shown in FIG. 6, as shown in FIG. 7, the phase current is gradually increased, that is, the amount of increase in current per unit time is reduced, and the chopper Make a ring. As shown in FIG. 8, when the ON time is short in this chopper ring, the amount of current flowing through the coil can be made smaller than in the normal case. Further, as shown in FIG. 9, the amount of current flowing through the coil can be increased by shortening the OFF time in this chopper ring.
The integrated value indicated by the area of the peak of the phase current value is the amount of current flowing through the coil. The strength of the electromagnetic force changes depending on the amount of this current, and the tensile force (rotational force) of the motor changes.

10 to 12 are diagrams showing statically indeterminate and acceleration when 1-2 phase control is performed.
FIG. 10 is an example showing normal statically indeterminate and acceleration without choppering the phase output.
FIG. 11 is an example showing statically indeterminate and acceleration in which the phase output is choppered and the ON / OFF time is set at regular intervals.
FIG. 12 is an example showing statically indeterminate and acceleration in which the ON / OFF time is variably set by choppering the phase output.
The exciting currents controlled as shown in FIGS. 11 to 12 by the methods described in FIGS. 6 to 9 are specific examples of the exciting currents A, B, and C shown in FIG. FIG. 10 is an example of control by a related technique.
In order to smooth the rotation of the rotor of the motor 20, that is, the rotation of the reel 30, the exciting currents A, B, and C with respect to a predetermined reference value are determined in advance by conducting experiments and simulations.

As shown in FIG. 13, the motor 20 includes a rotor 201, a stator 202a, 202b, 202c, 202d, a coil 203a, 203b, 203c, 203d, and a rotating shaft 204.
The stators 202a, 202b, 202c, and 202d are collectively referred to as the stator 202. Further, the coils 203a, 203b, 203c and 203d are collectively referred to as the coil 203.

The rotor 201 is a magnet having an S pole and an N pole. A rotating shaft 204 is provided between the S pole and the N pole of the rotor 201, and the rotor 201 rotates about the rotating shaft 204.

The stator 202 is fixed to the inner circumference of the inside of the housing 205 of the motor 20.
As shown in FIG. 13, the stator 202a is provided at a predetermined position along the inner circumference of the motor 20 centered on the rotating shaft 204. The stator 202a is a stator corresponding to the A phase of the motor 20.

The stator 202b is provided at a position along the inner circumference of the motor 20 that is centered on the rotation shaft 204 and is concentric with the stator 202a and has an angle of 90 degrees clockwise with the stator 202a. The stator 202b is a stator corresponding to the B phase of the motor 20.

The stator 202c is provided at a position along the inner circumference of the motor 20 that is centered on the rotation shaft 204 and is concentric with the stator 202a and has an angle of 90 degrees clockwise with the stator 202b. The stator 202c is a stator corresponding to the Abar phase of the motor 20.

The stator 202d is located inside the motor 20 having a rotation axis 204 at an angle of 90 degrees clockwise with the stator 202c and 90 degrees counterclockwise with the stator 202a on a concentric circle. It is provided at a position along the inner circumference. The stator 202d is a stator corresponding to the Bbar phase of the motor 20.

As shown in FIG. 13, the coil 203a is wound around the stator 202a. When a current flows through the coil 203a, the stator 202a is excited.

As shown in FIG. 13, the coil 203b is wound around the stator 202b. When a current flows through the coil 203b, the stator 202b is excited.

As shown in FIG. 13, the coil 203c is wound around the stator 202c. When a current flows through the coil 203c, the stator 202c is excited.

As shown in FIG. 13, the coil 203d is wound around the stator 202d. When a current flows through the coil 203d, the stator 202d is excited.

The rotating shaft 204 is fixedly provided between the S pole and the N pole of the rotor 201, and the rotation of the rotor 201 causes the reel 30 fixed to the rotating shaft 204 to rotate.

The processing flow of the control device 10 according to the second embodiment of the present invention shown in FIG. 14 will be described.
Here, the processing of the control device 10 when the user is playing the rotating cylinder type game machine 1 will be described.

When the user presses the stop button, the rotor of the motor 20 is stopped by all-phase excitation.
The measuring unit 101 specifies the distance R between the stop position of the rotor of the motor 20 and the next statically indeterminate excitation position on the front side in the rotation direction (step S1).

The comparison unit 102 compares the distance R specified by the measurement unit 101 with a predetermined reference value.
For example, as shown in FIG. 5, when a reference value for changing the exciting current is set according to the distance from the stop position of the rotor to the next static excitation position on the front side in the rotation direction, the comparison unit 102 sets the reference value. The distance R specified by the measuring unit 101 is compared with the reference value L1 (step S2). The comparison unit 102 determines whether or not the distance R specified by the measurement unit 101 is equal to or less than the reference value L1 (step S3). When the comparison unit 102 determines that the distance R specified by the measurement unit 101 is equal to or less than the reference value L1 (YES in step S3), the drive control unit 103 controls the exciting currents of the plurality of coils to be the exciting currents A. (Step S4). Then, the process is completed.

When the comparison unit 102 determines that the distance R specified by the measurement unit 101 exceeds the reference value L1 (NO in step S3), the comparison unit 102 determines whether or not the distance R is equal to or less than the reference value (3 × L1) (NO). Step S5). When the comparison unit 102 determines that the distance R specified by the measurement unit 101 is equal to or less than the reference value (3 × L1) (YES in step S5), the drive control unit 103 applies the exciting currents of the plurality of coils to the exciting currents B. (Step S6). Then, the process is completed.

When the comparison unit 102 determines that the distance R specified by the measurement unit 101 exceeds the reference value (3 × L1) (NO in step S5), the drive control unit 103 uses the exciting currents of the plurality of coils as the exciting currents C. Control is performed (step S7). Then, the process is completed.

(Numerical example)
The remainder when the encoder with 20 slits per circumference is stopped is obtained. For example, when the encoder is advanced by 4 slits from the assumed phase, the distance to the statically indeterminate excitation phase is 1 slit.
Therefore, the choppering control time is started at a fixed cycle of ON = 200 μs and OFF = 200 μs with respect to the statically indeterminate time of 200 ms.
Further, for example, when the phase is advanced by one slit from the assumed phase, the distance to the statically indeterminate excitation phase is four steps.
Therefore, for the statically indeterminate time of 200 ms, the choppering control time is started in a cycle of ON = 100 μs and OFF = 100 μs in the first half of 100 ms, and the subsequent statically indeterminate time of 50 ms is a cycle of ON = 500 μs and OFF = 300 μs. Then, in the last 50 ms of the statically indeterminate time, ON = 1 ms and OFF = 700 μs are set to start.
The remainder when stopped is obtained, and if it is the same as the assumed phase (remainder is 0), the choppering control may not be performed and the start may be performed with 100% current flowing.
As described above, the suction phenomenon is made inconspicuous by starting the motor by setting each ON / OFF time according to the obtained distance (number of slits).
Since the ON / OFF time varies depending on the weight of the entire reel and the torque of the adopted motor, the above is only an example, and the ON / OFF time including the statically indeterminate time is evaluated and determined in advance.
In addition, the motor phase may not match and the reel may step out at the start immediately after the hall clerk touches and moves the reel. It is also an example to switch to the control that does not execute the choppering control on the premise that the suction phenomenon may occur in order to surely start the motor immediately after the motor step-out is detected.

Microstep control exists as a technology for driving the motor by fluctuating the current value, but it is not intended to make suction inconspicuous, and smooth drive and vibration by position control in fine steps. It is generally used for the purpose of realizing a small number of operations.

The control device 10 according to the embodiment of the present invention has been described above.
The control device 10 according to the embodiment of the present invention includes a measurement unit 101, a comparison unit 102, and a drive control unit 103. The measuring unit 101 specifies the distance between the stop position of the rotor of the motor and the next statically indeterminate excitation position on the front side in the rotation direction. The comparison unit 102 compares the distance specified by the measurement unit 101 with a predetermined reference value. The drive control unit 103 controls the exciting currents of the plurality of coils based on the comparison result of the comparison unit 102.

In this way, the control device can start the rotation of the reel more smoothly in the rotating cylinder type game machine.

The control device 10 having the minimum configuration of the present invention will be described.
The control device 10 having the minimum configuration of the present invention is a control device for a motor that operates by a magnetic force acting between a plurality of coils on the stator side and a rotor. As shown in FIG. 15, the control device 10 having the minimum configuration of the present invention includes at least a measurement unit 101, a comparison unit 102, and a drive control unit 103.

The measuring unit 101 specifies the distance between the stop position of the rotor of the motor and the next statically indeterminate excitation position on the front side in the rotation direction.
The comparison unit 102 compares the distance specified by the measurement unit 101 with a predetermined reference value.
The drive control unit 103 controls the exciting currents of the plurality of coils by the current value associated with the predetermined reference value based on the comparison result of the comparison unit 102.

In this way, the control device can start the rotation of the reel more smoothly in the rotating cylinder type game machine.

In addition, there are two predetermined reference values in the embodiment of the present invention, and the processing of the control device 10 has been described by taking three types of exciting currents as examples. However, the control device 10 has two predetermined reference values, and is not limited to one that handles three types of exciting currents. The control device 10 may handle two types of exciting currents with one predetermined reference value within a range in which the motor 20 can be smoothly rotated. Further, the control device 10 may handle three or more predetermined reference values and four or more types of exciting currents.

In the processing flow according to the embodiment of the present invention, the order of processing may be changed as long as appropriate processing is performed.

Each of the storage units in the embodiment of the present invention may be provided anywhere as long as appropriate information is transmitted and received. Further, each of the storage units may exist in a plurality of units within a range in which appropriate information is transmitted and received, and the data may be distributed and stored.

Although the embodiment of the present invention has been described, the above-mentioned control device 10 may have a computer system inside. The process of the above-mentioned processing is stored in a computer-readable recording medium in the form of a program, and the above-mentioned processing is performed by the computer reading and executing this program. Here, the computer-readable recording medium refers to a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like. Further, this computer program may be distributed to a computer via a communication line, and the computer receiving the distribution may execute the program.

Further, the above program may realize a part of the above-mentioned functions. Further, the program may be a file that can realize the above-mentioned functions in combination with a program already recorded in the computer system, that is, a so-called difference file (difference program).

Although some embodiments of the present invention have been described, these embodiments are examples and do not limit the scope of the invention. These embodiments may be added, omitted, replaced, or modified without departing from the gist of the invention.

1 ... Rotating barrel type game machine 10 ... Control device 20 ... Motor 30 ... Reel 101 ... Measuring unit 102 ... Comparison unit 103 ... Drive control unit

Claims (5)

A motor control device that operates by the magnetic force acting between multiple coils on the stator side and the rotor.
A measuring unit that specifies the distance between the stop position of the rotor and the closest statically indeterminate excitation position on the front side in the rotation direction.
A comparison unit that compares the distance specified by the measurement unit with a predetermined reference value,
A drive control unit that controls the exciting currents of the plurality of coils by a current value associated with the predetermined reference value based on the comparison result of the comparison unit, and sets the chopper control ON time according to the distance. The drive control unit to change and
A control device comprising. The drive control unit
The exciting current is changed according to the distance.
The control device according to claim 1. The control device according to claim 1 or 2 ,
A motor operated by a magnetic force acting between a plurality of coils on the stator side of the own motor driven by the control device and a rotor of the own motor, and
A reel that rotates with the rotation of the rotor of the motor,
A game machine equipped with. It is a control method of a motor control device operated by a magnetic force acting between a plurality of coils on the stator side and a rotor.
To specify the distance between the stop position of the rotor and the closest statically indeterminate excitation position on the front side in the rotation direction,
Comparing the identified distance with a given reference value,
Based on the comparison result, the exciting currents of the plurality of coils are controlled, and the ON time of the chopper control is changed according to the distance .
Control methods including. To the computer of the motor control device operated by the magnetic force acting between the multiple coils on the stator side and the rotor,
To specify the distance between the stop position of the rotor and the closest statically indeterminate excitation position on the front side in the rotation direction,
Comparing the identified distance with a given reference value,
Based on the comparison result, the exciting currents of the plurality of coils are controlled by the current value associated with the predetermined reference value, and the ON time of the chopper control is changed according to the distance .
A program that executes.

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