JP6892736B2 - Drive equipment control device - Google Patents

Description

The present invention relates to a drive device control device that controls a drive device that drives a movable body.

Gaming machines such as pachinko and pachinko machines have been devised to appeal to the player's sight, hearing, or sense in order to enhance the player's interest. In particular, in order to produce an effect that appeals to the player's eyesight, the gaming machine may be provided with a moving movable body, for example, a movable accessory. Such a movable body is driven by a driving device such as a stepping motor. A stepping motor is set so that a processor unit for production (hereinafter, simply referred to as a CPU for production), which is an example of a higher-level control device, moves a movable body to a designated position according to a game state. A command to rotate in the direction is transmitted to the control circuit of the stepping motor. The control circuit outputs a control signal corresponding to the received instruction to the drive circuit for driving the stepping motor (see, for example, Patent Document 1).

The drive device control device described in Patent Document 1 determines the moving direction of the movable body based on the difference between the moving destination position of the moving body and the current position of the moving body received from a higher-level control device such as a production CPU. Determine and drive the movable body until it reaches its destination position. The movable body driving device described in Patent Document 1 enables the movable body to be moved to a desired destination position even if the upper control device does not know the current position of the movable body, and is capable of moving the movable body to a desired destination position. The load on the device can be reduced.

Further, in recent years, the number of movable bodies mounted on a gaming machine has tended to increase in order to enhance the interest of the player. As the number of movable bodies mounted on the gaming machine increases, so does the number of motors that drive each movable body. However, since the space behind the gaming machine is limited, it may become difficult to arrange the motors in the gaming machine as the number of motors increases. In particular, since the stepping motor needs to perform excitation control of a plurality of phases, the structure is complicated, and the stepping motor becomes larger accordingly. Moreover, stepper motors are relatively expensive. Therefore, it is not preferable to increase the number of stepping motors.

In addition, in order to enhance the interest of the player, a large movable accessory may be mounted on the game machine. In order to drive such a movable accessory, a motor having a high torque is required. However, in order to increase the torque of the stepping motor, the stepping motor itself has to be made larger, and as a result, it may be more difficult to secure the arrangement space.

On the other hand, there is a DC motor as a kind of generally available motor. DC motors are cheaper than stepper motors and can be smaller than stepper motors to deliver the same torque. Therefore, a technique has been proposed in which a movable body is moved to a desired destination position by using a rotation angle sensor that outputs a detection signal each time the DC motor rotates by a predetermined rotation angle together with the DC motor (for example). , Patent Document 2).

Japanese Unexamined Patent Publication No. 2013-51794 Japanese Unexamined Patent Publication No. 2014-73024

In a gaming machine, in order to enhance the interest of the player, the moving body is driven by a motor so that the moving body such as a movable accessory reciprocates a plurality of times, so that the player can experience the vibration state. There is. For example, when the movable body is reciprocated by receiving a control command including information indicating the movement destination position of the movable body as described in Patent Document 1, the movement destination position of the outward route and the movement destination position of the return route are received. It is necessary to receive two control commands including each for each round trip operation. In the drive device control device described in Patent Document 1, in order to reciprocate a movable body a plurality of times, a number of control commands twice the number of reciprocations is required, and a higher-level control command is generated and transmitted. The load on the control device may increase.

Therefore, an object of the present invention is to provide a drive device control device capable of reciprocating a movable body with fewer control commands.

As one embodiment of the present invention, the drive device control device has a communication unit and a control unit, and receives a control command from a higher-level control device to control the drive device that drives the movable body. The communication unit receives a control command including a reciprocating instruction for reciprocating the movable body. The control unit controls the drive device so that the movable body performs a predetermined reciprocating operation when the control command includes a reciprocating instruction.

This drive device control device further has a storage unit that stores the current position of the movable body, and the control unit controls the drive device so that the movable body reciprocates between the current position and the movement destination position. Is preferable.

In this drive device control device, it is preferable that the control command further includes the movement destination position.

In this drive device control device, it is preferable that the control command further includes the target rotation speed of the drive device, and the control unit controls the drive device so as to rotate at the target rotation speed when the movable body reciprocates. ..

In this drive device control device, the control command further includes a repetitive instruction instructing a plurality of reciprocating operations, and the control unit causes the drive device to repeat the reciprocating operation so that the movable body repeats the reciprocating operation when the control command includes the repetitive instruction. It is preferable to control.

The drive device control device according to the present invention has an effect that the movable body can be reciprocated with fewer control commands.

It is a schematic block diagram of the motor control device which concerns on one Embodiment of this invention. It is a circuit diagram of the motor drive circuit which drives a DC motor. It is a figure which shows an example of the table which shows the relationship between the drive signal applied to each switch of a motor drive circuit, and the rotation direction of a DC motor. (A) is a diagram showing an example of an operation command format, (b) is a diagram showing an example of a setting command format, and (c) is a diagram showing an example of a response signal format. It is a flowchart which shows the DC motor control processing executed by the motor control apparatus shown in FIG. It is a detailed flowchart of the one-way processing executed in S108 shown in FIG. (A) is a detailed flowchart of the one-way process executed in S109 shown in FIG. 5, and (b) is a detailed flowchart of the process executed in S301 and S303 shown in (a). It is a detailed flowchart of the one-way processing executed in S110 shown in FIG. It is the schematic perspective view of the ball game machine provided with the DC motor control device by embodiment or modification. It is a schematic rear view of the ball game machine shown in FIG. It is a figure which shows the structure of the opening / closing door for effect shown in FIG. (A) is a front view of the ball game machine showing a state in which both the right door and the left door shown in FIG. 11 are located at the current positions, and (b) is a front view of both the right door and the left door shown in FIG. It is a front view of the ball game machine which shows the state which is located at the moving destination position. It is the schematic perspective view of the rotating cylinder game machine provided with the DC motor control device by embodiment or modification. It is a block diagram of the control box housed in the rotating cylinder game machine shown in FIG. (A) is a front view of a pachinko / pachislot machine showing a state in which one of the light emitting drums shown in FIG. 13 is located at the current position, and (b) is a front view of the rotating drum gaming machine in which one of the light emitting drums shown in FIG. The state is a front view of a rotating drum game machine.

Hereinafter, a motor control device, which is a drive device control device according to one embodiment of the present invention, will be described with reference to the drawings. As described above, when the motor control device receives a control command including a reciprocating instruction for reciprocating the movable body between the current position of the movable body and the moving destination position, the motor control device moves the movable body between the current position and the moving destination. The motor is controlled so as to reciprocate between the position and the position. By controlling the motor so as to reciprocate the movable body when a control command including a reciprocating instruction is received, the reciprocating operation of the movable body can be realized with fewer control commands.

FIG. 1 is a schematic configuration diagram of a motor control device according to an embodiment of the present invention. As shown in FIG. 1, the DC motor control device 1 includes a communication circuit 11, a register 12, a control circuit 13, a drive signal generation circuit 14, and a sensor interface circuit 15. Each of these parts of the DC motor control device 1 may be mounted on a circuit board (not shown) as a separate circuit, or mounted on a circuit board as an integrated circuit in which these parts are integrated. May be done.

The DC motor control device 1 controls the DC motor 2 according to a control command received from a higher-level control device (hereinafter, also referred to as a higher-level control device). Specifically, the DC motor control device 1 rotates the DC motor 2 at the target rotation speed specified by the control command, and moves the movable object to a position corresponding to the movement destination position specified by the control command. In the present embodiment, the DC motor control device 1 is a motor drive circuit that is generated by a pulse width modulation (PWM) method and supplies a drive signal for switching on / off of current supply to the DC motor 2 to the DC motor 2. By outputting to 3, the rotation speed of the DC motor 2 is controlled. The DC motor control device 1 receives a detection signal from the rotary encoder 4 indicating that the rotation axis (not shown) of the DC motor 2 has rotated by a predetermined angle each time the rotation shaft (not shown) rotates by a predetermined angle. Calculate the total amount of rotation of. The DC motor control device 1 appropriately decelerates the DC motor 2 according to the difference between the target rotation amount calculated from the movement destination position specified by the control command and the current position, which is the current position, and the total rotation amount. Then, when the DC motor 2 rotates by the target rotation amount, the DC motor 2 is stopped.

FIG. 2 is a circuit diagram of the motor drive circuit 3. The motor drive circuit 3 has four switches TR1 to TR4. Each switch can be, for example, a bipolar transistor or a field effect transistor. Of these, two switches TR1 and TR3 are connected in series between the power supply and ground. Similarly, two switches TR2 and TR4 are connected in series between the power supply and ground. The positive electrode side terminal of the DC motor 2 is connected between the switches TR1 and TR3, while the negative electrode side terminal of the DC motor 2 is connected between the switches TR2 and TR4. Each of the switch terminals of the switches TR1 to TR4 (for example, if the switches TR1 to TR4 are bipolar transistors, they correspond to the base terminals, and if the switches TR1 to TR4 are field effect transistors, they correspond to the gate terminals), each of them is a drive signal generation circuit. Connected to 14. The drive signal from the drive signal generation circuit 14 is input to the switch terminals of the switches TR1 to TR4.

FIG. 3 is a diagram showing an example of a table showing the relationship between the drive signal applied to each switch and the rotation direction of the DC motor 2. As shown in the table 300, when the DC motor 2 is rotated in the normal direction, a drive signal is applied to the switch terminal of the switch TR1 and the switch terminal of the switch TR4. The drive signal includes a periodic pulse having a pulse width corresponding to the rotation speed of the DC motor 2 set according to the PWM method. On the other hand, no drive signal is applied to the switch terminal of the switch TR2 and the switch terminal of the switch TR3. As a result, the power supply voltage is applied to the positive electrode side terminal only while the pulse is applied to the switch TR1 and the switch TR4 to the DC motor 2, so that the DC motor 2 has a speed corresponding to the pulse width. Turn forward. When rotating the DC motor 2 in the normal direction, a drive signal may be applied to either one of the switches TR1 and TR4, and the other may be always on.

On the other hand, when the DC motor 2 is reversed, a drive signal having a periodic pulse corresponding to the rotation speed of the DC motor 2 set according to the PWM method is applied to the switch terminal of the switch TR2 and the switch terminal of the switch TR3. Will be done. On the other hand, no drive signal is applied to the switch terminal of the switch TR1 and the switch terminal of the switch TR4. As a result, the power supply voltage is applied to the negative electrode side terminal only while the pulse is applied to the switch TR2 and the switch TR3 to the DC motor 2, so that the DC motor 2 has a speed corresponding to the pulse width. Reverse. When reversing the DC motor 2, a drive signal may be applied to either one of the switches TR2 and TR3, and the other may be always on.

When braking the DC motor 2, the switch terminal of the switch TR3 and the switch terminal of the switch TR4 are turned on, and the switch terminal of the switch TR1 and the switch terminal of the switch TR2 are turned off.

When the DC motor 2 is not driven, the switch terminal of each switch is turned off.

The rotary encoder 4 is an example of a rotation angle sensor, and can be, for example, an optical rotary encoder. The rotary encoder 4 is arranged so as to face, for example, a disk attached to the rotation axis of the DC motor 2 and having a plurality of slits along the circumferential direction about the rotation axis so as to sandwich the disk. It has a light source and a light receiving element. Each time any slit is positioned between the light source and the light receiving element, the light from the light source reaches the light receiving element, so that the rotary encoder 4 outputs a pulse-shaped detection signal. As a result, the rotary encoder 4 outputs a detection signal each time the DC motor 2 rotates by a predetermined angle. For example, by providing 50 slits in the disk along the circumferential direction centered on the rotation axis of the DC motor 2, the rotary encoder 4 has 50 rotary encoders during one rotation of the rotation axis of the DC motor 2. Outputs the detection signal of. As the rotation angle sensor, a Hall IC that detects a change in the magnetic field generated by the magnet of the rotor may be used.

Hereinafter, each part of the DC motor control device 1 will be described.

The communication circuit 11 connects, for example, the DC motor control device 1 to the host control device. The upper control device is, for example, a production CPU of a gaming machine on which the DC motor control device 1 is mounted. The communication circuit 11 receives a control command having a plurality of bits serially transmitted from the host control device. In addition, the communication circuit 11 also receives a clock signal for synchronizing with each of the plurality of bits included in the control command from the host control device in order to analyze the control command.

The control command includes an operation command, a setting command, and a setting read command for reading the setting written in the register 12. The operation command indicates the target rotation speed of the DC motor 2, which corresponds to the moving speed of the movable body driven by the DC motor 2, whether it is a one-way operation, a repetitive operation, or a reciprocating operation, and the coordinates of the movement destination of the movable body. Includes operation information for specifying the operation of the DC motor 2, such as the moving destination position. The setting command includes the number of reciprocations when the movable body repeats the reciprocating operation a plurality of times. The clock signal can be, for example, a signal having a rectangular pulse for each predetermined number of bits in the control command.

FIG. 4A is a diagram showing an example of the format of the operation command. As shown in FIG. 4A, the operation command 400 includes the START flag 401, the device address 402, the instruction mode flag 403, the control data 404, and the END flag 405 in order from the beginning. Further, the operation command 400 may include a 1-bit spacer having a value of, for example, '0' between adjacent flags, addresses and data.

The START flag 401 is a bit string indicating that it is the beginning of the operation command 400, and in the present embodiment, nine bits having a value of '1' are consecutive bit strings. The START flag 401 may be a bit string that does not match any other bit string in the operation command 400.

The device address 402 is identification information for specifying the drive device control device to be controlled by the operation command 400, and is represented by a bit string having a length of 7 bits in the present embodiment. The operation command 400 includes a device ID indicating the type of the device and a device address which is a serial number between devices of the same type. In the present embodiment, the device ID is represented by a bit string having a length of 4 bits, and the device address is represented by a bit string having a length of 3 bits. The communication circuit 11 determines whether or not the device address 402 matches the identification address separately received from the host control device, and if it matches, it is determined that the DC motor control device 1 is the control target of the operation command 400. ..

The instruction mode flag 403 is a 2-bit flag indicating whether the control command is an operation command, a setting command, or a setting read command. In the present embodiment, when the instruction mode flag 403 is '00', it indicates that the control command is an operation command, and when the instruction mode flag 403 is '01', it indicates that the control command is a setting command. .. Further, when the instruction mode flag 403 is '10', it indicates that the control command is a setting read command. Since the control command shown in FIG. 4A is an operation command, the instruction mode flag 403 is '00'.

The control data 404 includes operation information of the DC motor 2 controlled by the DC motor control device 1. Specifically, the control data 404 includes speed data 441, reciprocating control mode flag 442, and movement destination position data 443.

The speed data 441 indicates the target rotation speed of the DC motor 2. In the present embodiment, the velocity data 441 is a bit string having a length of 4 bits, and has a value of any of '0' to '15'. If the speed data 441 is '0', it indicates that the DC motor 2 is braked, that is, a brake signal for turning on the switches TR3 and TR4 of the motor drive circuit 3 is output. If the speed data 441 is '1' to '15', it indicates that the DC motor 2 is rotated at the target rotation speed corresponding to the value of the speed data 441. In this example, the larger the value of the speed data 441, the faster the target rotation speed.

The reciprocating control mode flag 442 is an instruction for one-way operation from the current position to the destination position, a single reciprocating operation instruction from the current position to the destination position, or a repetitive reciprocating operation over a plurality of times, that is, repetition. It is a 2-bit control instruction flag indicating whether it is an operation instruction. In the present embodiment, when the reciprocating control mode flag 442 is '00', an instruction for one-way operation from the current position to the destination position is shown. Further, when the reciprocating control mode flag 442 is '01', a single reciprocating operation instruction from the current position to the moving destination position is indicated, and when the reciprocating control mode flag 442 is '10', an instruction for repetitive operation is indicated. .. The upper bit of the reciprocating control mode flag 442 is a repetitive flag indicating a reciprocating operation instruction, and the lower bit of the reciprocating control mode flag 442 is a reciprocating flag indicating an instruction of the reciprocating operation from the current position to the moving destination position.

The movement destination position data 443 indicates the rotation amount of the DC motor 2 corresponding to the movement amount of the movable body from the predetermined origin to the movement destination position. In the present embodiment, the movement destination position data 443 is a bit string having a length of 13 bits. In one example, the predetermined origin can be a position where the movable object is shielded by a shield and is not visible to the player, but it may be any position where the movable body can move. The movement destination position data 443 indicates the movement destination position by the number of detection signals received from the rotary encoder 4. That is, the actual destination position of the movable object is obtained by multiplying the value shown in the destination position data 443 by the central angle between the adjacent slits of the rotary encoder 4 and the gear ratio between the DC motor 2 and the movable object. It becomes a value.

The END flag 405 is a bit string indicating that it is the end of the operation command 400. The END flag 405 may be a bit string that does not match the START flag and other bit strings included in the control command.

FIG. 4B is a diagram showing an example of the format of the setting command. As shown in FIG. 4B, the setting command 410 includes the START flag 411, the device address 412, the instruction mode flag 413, the control data 414, and the END flag 415 in this order from the beginning. Further, the operation command 400 may include a 1-bit spacer having a value of, for example, '0' between adjacent flags, addresses and data. Each of the START flag 411, the device address 412, and the END flag 415 has the same configuration as the START flag 401, the device address 402, and the END flag 405 of the operation command 400. The setting command 410 is different from the operation command 400 in that the value of the instruction mode flag 413 is '01' and the control data 414 includes the setting address flag 446 and the round trip count data 447. Therefore, in the following, the setting address flag 446 and the round trip number data 447 will be described.

The setting address flag 446 is indicated by a 4-bit length, and sets an address for setting the round-trip number data. The data setting area for setting data is provided with 16 setting areas, and various data are set in each of the 16 setting areas. In the present embodiment, the address for setting the round-trip number data is '0110'.

The reciprocating number data 447 indicates the number of reciprocating times N when the movable body repeatedly reciprocates over a plurality of times. In the present embodiment, the speed data 441 is a bit string having a length of 7 bits, and the number of round trips N is defined by any value of 1 to 255.

FIG. 4C is a diagram showing an example of the format of the response signal. As shown in FIG. 4C, the response signal 420 includes the buffer flag 421 and the current position data 422 in this order from the beginning. Further, the operation command 400 may include an 18-bit blank between adjacent flags, addresses and data, for example each having a value of '1'.

The buffer flag 421 is a 2-bit flag indicating whether or not data is written to both the execution buffer 18 and the standby buffer 19 of the register 12. When the buffer flag 421 is '00', it indicates that no data has been written to both the execution buffer 18 and the standby buffer 19. When the buffer flag 421 is '01', it indicates that data has been written to the execution buffer 18 and no data has been written to the standby buffer 19. When the buffer flag 421 is '11', it indicates that data is written to both the execution buffer 18 and the standby buffer 19.

The current position data 422 indicates the amount of rotation of the DC motor 2 corresponding to the amount of movement of the movable body from the predetermined origin to the current position. In the present embodiment, the current position data 422 is a bit string having a length of 13 bits. Similar to the movement destination position data 443, the current position data 422 indicates the current position by the number of detection signals received from the rotary encoder 4.

Further, the communication circuit 11 receives an identification address from the host control device for identifying the DC motor control device to be controlled by the control command. When the identification address and the device address included in the control command match, the communication circuit 11 writes the operation information or the setting information included in the control command to the register 12. On the other hand, when the identification address and the device address do not match, the communication circuit 11 discards the received control command.
The communication circuit 11 has a memory circuit for storing the identification address so that it can be determined whether or not the identification address and the device address match even if the identification address and the timing of receiving the control command are different. You may be doing it.

The register 12 has a so-called first-in first-out (FIFO) memory circuit including an execution buffer 18 and a standby buffer 19. The memory circuit included in the register 12 is composed of, for example, a volatile readable and writable semiconductor memory circuit. Each of the execution buffer 18 and the standby buffer 19 alternately stores the speed data 441, the reciprocating control mode flag 442, and the movement destination position data 443 included in the control data 404 of the operation command 400 received by the communication circuit 11. When the stored speed data 441, the reciprocating control mode flag 442, and the movement destination position data 443 are read by the control circuit 13, each of the execution buffer 18 and the standby buffer 19 has the read speed data 441 and the reciprocating control mode flag. The 442 and the movement destination position data 443 are deleted.

The register 12 further includes a return register 16 and a number-of-times register 17. The return register 16 stores the current position data 161 indicating the current position of the movable body when the communication circuit 11 receives the operation command. The number-of-times register 17 stores the round-trip number data 171 acquired from the round-trip number data 447 defined by the setting command transmitted in advance. When the stored current position data 161 and the round trip count data 171 are read by the control circuit 13, the register 12 erases the read current position data 161 and the round trip count data 171.

The control circuit 13 includes, for example, a processor and a non-volatile memory circuit. The control circuit 13 determines the target rotation amount and rotation direction of the DC motor 2 with reference to the movement destination position data 443 acquired via the communication circuit 11 and the current position data 161 read from the register 12. Further, the control circuit 13 determines the duty ratio of the drive signal based on the speed data 441 acquired via the communication circuit 11 and the detection signal from the rotary encoder 4. The control circuit 13 notifies the drive signal generation circuit 14 of the determined target rotation amount, rotation direction, and duty ratio.

The control circuit 13 is the amount of rotation from the current position corresponding to the current position data 161 stored in the register 12 to the movement destination position corresponding to the movement destination position data 443 on the outward route when the movable body is reciprocated. The DC motor 2 is controlled so as to match the target rotation amount. Further, the control circuit 13 reverses the rotation direction on the outward path to obtain the target rotation amount from the movement destination position corresponding to the movement destination position data 443 to the current position corresponding to the current position data 161 stored in the register 12. The DC motor 2 is controlled so as to match.

The drive signal generation circuit 14 is, for example, either a variable pulse generation circuit capable of changing the width of the output pulse or a periodic pulse signal generated by the variable pulse generation circuit, which is a drive signal, in the motor drive circuit 3. It has a switch circuit that switches whether to output to the switch of. The drive signal generation circuit 14 generates a drive signal for driving the DC motor 2 according to the PWM method according to the duty ratio notified from the control circuit 13, and outputs the drive signal to any switch of the motor drive circuit 3. To do. The length of one cycle of the drive signal is, for example, 50 μsec. For example, when the rotation direction notified from the control circuit 13 is forward rotation, the drive signal generation circuit 14 outputs a periodic pulse signal to the switches TR1 and TR4 of the motor drive circuit 3. On the other hand, when the rotation direction notified from the control circuit 13 is reversed, the drive signal generation circuit 14 outputs a periodic pulse signal to the switches TR2 and TR3 of the motor drive circuit 3.

The sensor interface circuit 15 has an interface circuit that receives a detection signal from the rotary encoder 4. Each time the sensor interface circuit 15 receives a detection signal, the sensor interface circuit 15 outputs the detection signal to the control circuit 13.

FIG. 5 is a flowchart showing a DC motor control process executed by the DC motor control device 1.

First, the control circuit 13 has a target rotation speed, a control instruction flag, and a movement corresponding to each of the speed data 441, the reciprocating control mode flag 442, and the movement destination position data 443 from the operation command 400 acquired via the communication circuit 11. Acquire the tip position (S101). Next, the control circuit 13 acquires the current position corresponding to the current position data 161 stored in the return register 16 of the register 12 and the round trip number N corresponding to the round trip number data 171 stored in the number register 17. S102). Next, the control circuit 13 calculates the target rotation amount indicating the rotation amount of the DC motor 2 from the current position to the movement destination position from the difference between the movement destination position and the current position, and determines the rotation direction of the DC motor 2. It is calculated from the positional relationship between the movement destination position and the current position (S103). Next, the control circuit 13 notifies the drive signal generation circuit 14 of the rotation direction calculated in S103 (S104).

Next, the control circuit 13 determines the duty ratio from the target rotation speed corresponding to the speed data 441, and notifies the drive signal generation circuit 14 of the determined duty ratio (S105). The control circuit 13 determines the duty ratio with reference to a speed table (not shown) showing the relationship between the target rotation speed acquired in S101 and the duty ratio of the drive signal. The drive signal generation circuit 14 generates a drive signal having a pulse width corresponding to the rotation direction and the duty ratio notified in S104 and S105, and outputs the drive signal to the motor drive circuit 3.

Next, the control circuit 13 determines whether the repeat flag included in the control instruction flag acquired in S101 is either '0' or '1' (S106). When the control circuit 13 determines that the repetition flag is '0' (S106-Yes), the control circuit 13 determines whether the reciprocating flag included in the control instruction flag acquired in S101 is either '0' or '1'. Judgment (S107). When the control circuit 13 determines that the reciprocating flag is '0' (S107-Yes), the control circuit 13 executes a one-way process of moving the movable body from the current position to the target position (S108). When the control circuit 13 determines that the reciprocating flag is '1' (S107-No), the control circuit 13 moves the movable body from the current position to the target position, and then returns the movable body from the target position to the current position. The process is executed (S109). Further, in S106, when the control circuit 13 determines that the repetition flag is '1' (S106-No), the control circuit 13 executes the repetition process of executing the reciprocating process a plurality of times (S110).

FIG. 6 is a detailed flowchart of the one-way processing executed in S108.

First, the control circuit 13 determines whether or not the detection signal from the rotary encoder 4 has been received via the sensor interface circuit 15 (S201). If the detection signal has not been received, the control circuit 13 repeats the process of step S201 until the detection signal is received. When the control circuit 13 receives the detection signal, that is, when the DC motor 2 rotates by the rotation angle of one step, the total rotation amount from the start of rotation of the DC motor 2 for the command set being executed is equivalent to one step. The total rotation amount is updated by adding the rotation angles (S202). The control circuit 13 calculates the remaining rotation amount by subtracting the total rotation amount from the target rotation amount specified in the command set (S203).

When the remaining rotation amount is calculated, the control circuit 13 determines whether or not the remaining rotation amount is 0 or less (S204). If the remaining rotation amount is more than 0, that is, if the total rotation amount of the DC motor 2 does not reach the target rotation amount (S204-No), the control circuit 13 corresponds the duty ratio of the drive signal to the target rotation speed. The duty ratio is set (S205), and the set duty ratio is notified to the drive signal generation circuit 14. The drive signal generation circuit 14 generates a drive signal having a pulse width corresponding to the notified duty ratio, and outputs the generated drive signal to the motor drive circuit 3. The control circuit 13 repeats the processes of steps S201 to S205 until the remaining rotation amount becomes 0 or less (S204-Yes).

When the remaining rotation amount becomes 0 or less, that is, when the total rotation amount of the DC motor 2 reaches the target rotation amount (S204-Yes), the control circuit 13 sets the duty ratio of the drive signal to 0 and sets it to 0. The driven duty ratio is notified to the drive signal generation circuit 14 (S206). When the drive signal generation circuit 14 is notified that the duty ratio is 0, the drive signal generation circuit 14 outputs a brake signal to the motor drive circuit 3. Next, the control circuit 13 updates the current position data 161 indicating the current position stored in the register 12 by rewriting the movement destination position data 443 acquired in S101 (S207). Then, the control circuit 13 reports the completion of the one-way processing by transmitting the response signal 420 to the host control device via the communication circuit 11 (S208). After that, the control circuit 13 ends the one-way processing.

FIG. 7A is a detailed flowchart of the round-trip processing executed in S109, and FIG. 7B is a detailed flowchart of the processing executed in S301 and S303 shown in FIG. 7A.

First, the control circuit 13 executes the outbound one-way processing by executing the processing shown in FIG. 7B (S301). Next, the control circuit 13 executes the one-way processing of the return route by executing the processing shown in FIG. 7B after reversing the rotation direction of the DC motor 2 (S302) (S303). Then, the control circuit 13 reports the completion of the reciprocating process by transmitting the response signal 420 to the host control device via the communication circuit 11 (S304). After that, the control circuit 13 ends the reciprocating process. Since the processing of S401 to S406 shown in FIG. 7B is the same as the processing of S201 to S206 described with reference to FIG. 6, detailed description thereof will be omitted here.

FIG. 8 is a detailed flowchart of the iterative process executed in S110.

First, the control circuit 13 executes the outbound one-way processing by executing the processing shown in FIG. 7B (S501). Next, the control circuit 13 executes the one-way processing of the return route by executing the processing shown in FIG. 7B after reversing the rotation direction of the DC motor 2 (S502) (S503). Next, the control circuit 13 decrements the number of round trips N by 1, and rewrites the number of round trips data 171 stored in the number register 17 with data indicating the decremented number of round trips N (S504). Next, the control circuit 13 determines whether or not the decremented number of round trips N is 0 (S505). When the control circuit 13 determines that the number of round trips N decremented is not 0 (S106-No), the process returns to S501. The control circuit 13 repeats the processes of S501 to S505 until it is determined that the decremented number of round trips N is 0 (S106-Yes).

Then, when the control circuit 13 determines that the decremented number of round trips N is 0 (S106-Yes), the control circuit 13 transmits the response signal 420 to the host control device via the communication circuit 11 to perform the iterative processing. Report the completion (S506). After that, the control circuit 13 ends the iterative process. Since the processing of S401 to S406 shown in FIG. 7B is the same as the processing of S201 to S206 described with reference to FIG. 6, detailed description thereof will be omitted here.

When the drive device control device according to the embodiment receives a control command including a bit indicating that the movable body is reciprocated, the drive device is controlled so as to reciprocate the movable body with fewer control commands. , Realizes the reciprocating movement of the movable body. Further, since the drive device control device according to the embodiment further includes a bit indicating that the repetitive operation is instructed, the repetitive operation of the movable body can be realized with fewer control commands.

Further, since the drive device control device according to the embodiment further includes a bit indicating the moving destination position of the movable body, the movable body can be reciprocated with a desired amplitude. Further, since the control command further includes a bit indicating the target rotation speed of the movable body, the movable body can be reciprocated at a desired speed. Since the drive device control device according to the embodiment can reciprocate the movable body at a desired amplitude and speed, a more advanced effect for enhancing the interest of the player becomes possible.

Although the DC motor control device 1 is configured to control the DC motor 2, the drive device control device according to the embodiment may be configured to control other drive devices such as a stepping motor.

Further, the DC motor control device 1 is configured to control a single DC motor 2, but the drive equipment control device according to the embodiment may be configured to control a plurality of DC motors. Further, the drive device control device according to the embodiment may be configured to control various drive devices such as a DC motor and a stepping motor. Further, the reciprocating motion of the movable object may be a reciprocating motion between the current position arranged on a straight line and the moving destination position, and the reciprocating motion between the current position arranged on the arc and the moving destination position. It may be an operation.

Further, the DC motor control device 1 is configured so that a movable object reciprocates between the current position and the destination position, but the drive device control device according to the embodiment receives a control command including a reciprocating instruction. Occasionally, the movable object may be configured to reciprocate in a predetermined section. Further, in the drive device control device according to the embodiment, the section in which the movable object reciprocates may be stored in a register in advance or may be set by a control command.

Further, the DC motor control device 1 receives the speed data 441 indicating the target rotation speed and the movement destination position data 443 indicating the movement destination position together with the reciprocating control mode flag 442 by the operation command 400. However, the drive device control device according to the embodiment receives the speed data indicating the target rotation speed and the movement destination position data indicating the movement destination position by another control command different from the operation command including the reciprocating control mode flag 442. You may. Further, the DC motor control device 1 receives the round trip number data 447 indicating the number of round trips N by the setting command 410, but the drive device control device according to the embodiment receives the round trip number data indicating the number of round trips with the round trip control mode flag 442. It may be received by the same control command as.

Further, the DC motor control device 1 calculates the target rotation amount and rotation direction of the DC motor 2 from the movement destination position data 443 indicating the movement destination position and the current position data 161 indicating the current position of the movable body. However, the drive device control device according to the embodiment may receive a control command including data indicating the target rotation amount and the rotation direction of the DC motor 2 from the host control device.

The DC motor control device according to the above embodiment or modification may be mounted on a gaming machine such as a ball gaming machine or a spinning machine.

FIG. 9 is a schematic perspective view of the bullet gaming machine 100 provided with the DC motor control device according to the above embodiment or the modification, and FIG. 10 is a schematic rear view of the bullet gaming machine 100. As shown in FIG. 9, the ball game machine 100 is provided in most of the area from the upper part to the central part, and is a game board 101 which is a game machine main body and a ball receiving portion arranged below the game board 101. It has a 102, an operation unit 103 provided with a handle, and a display device 104 provided substantially in the center of the game board 101.

Further, the ball game machine 100 is located between the fixed accessory portion 105 arranged below the game board 101 on the front surface of the game board 101 and between the display device 104 and the fixed accessory portion 105 for the purpose of producing a game. It has an effect opening / closing door 106 which is an arranged movable accessory portion. Further, rails (not shown) are arranged on the side of the game board 101. Further, a large number of obstacle nails (not shown) and at least one winning device 107 are provided on the game board 101.

The operation unit 103 launches a game ball with a predetermined force from a launching device (not shown) according to the amount of rotation of the handle operated by the player. The launched game ball moves upward along the rail and falls between a large number of obstacle nails. When it is detected by a sensor (not shown) that the game ball has entered any of the winning devices 107, the main control circuit 110 provided on the back surface of the game board 101 is a predetermined number according to the winning device 107 containing the game ball. The game ball is paid out to the ball receiving portion 102 via a ball payout device (not shown). Further, the main control circuit 110 causes the display device 104 to display various images via the effect CPU 111 provided on the back surface of the game board 101.

The effect opening / closing door 106 is an example of a movable body that moves according to the state of the game, and is controlled by the DC motor control device 112 according to the embodiment of the present invention or a modification thereof provided on the back surface of the game board 101. It is driven by a DC motor (not shown).

FIG. 11 is a diagram showing the configuration of the effect opening / closing door 106. The effect opening / closing door 106 includes a left door 120, a right door 121, a first motor shaft 122, a second motor shaft 123, a first rack 124, a second rack 125, a first pinion 126, and a first pinion 126. It has 2 pinions 127 and. Further, the effect opening / closing door 106 further includes a first sensor 128 and a second sensor 129. Each of the first motor shaft 122 and the second motor shaft 123 is rotated by being driven by a DC motor (not shown) controlled by the DC motor control device 112.

The first rack 124 is fitted to the first motor shaft 122 and rotates in accordance with the rotation of the first motor shaft 122 that is rotated by a DC motor (not shown). In the first pinion 126, the left door 120 is joined and fitted to the first pinion 126, and the left door 120 moves horizontally in response to the rotation of the first pinion 126. The second rack 125 is fitted to the second motor shaft 123, and is rotated by a DC motor (not shown) in accordance with the rotation of the second motor shaft 123. The second pinion 127 is joined to the right door 121 and fitted to the second pinion 127, and moves the right door 121 in the horizontal direction in accordance with the rotation of the second pinion 127.

The first sensor 128 detects the current position of the left door 120 and outputs the detected current position to the effect CPU 111, and the second sensor 129 detects the current position of the right door 121 and outputs the detected current position to the effect CPU 111. Output to.

FIG. 12A is a front view of the ball game machine 100 showing a state in which both the left door 120 and the right door 121 are located at the current positions, and FIG. 12B is a front view of both the left door 120 and the right door 121. Is a front view of the ball game machine 100 showing a state in which is located at the moving destination position.

In the ball game machine 100, the DC motor is repeatedly operated by the DC motor control device 112, so that both the left door 120 and the right door 121 have the current position shown in FIG. 12 (a) and the current position shown in FIG. 12 (b). It reciprocates multiple times with the destination position. In the ball game machine 100, both the left door 120 and the right door 121 reciprocate between the current position and the destination position a plurality of times to enhance the player's interest. To realize.

FIG. 13 is a schematic perspective view of a pachinko / pachislot machine 200 provided with a DC motor control device according to the above embodiment or a modification, and FIG. 14 is a block diagram of a control box housed in the pachinko / pachislot machine 200. .. The pachinko / pachislot machine 200 has a main body housing 201 which is a main body of the gaming machine, light emitting drums 202a to 202c, a start lever 203, stop buttons 204a to 204c, and a display device 205. Further, in the pachinko / pachislot machine 200, for example, a main control circuit 220, a sub control circuit 221 and a DC motor control device 222 are housed in a control box housed in the main body housing 201. The main control circuit 220 controls the entire spinning machine 200, and the sub control circuit 221 controls each part related to the production of the game, such as the display device 205 and the speaker (not shown). The DC motor control device 222 controls a motor (not shown) that rotates the light emitting drums 202a to 202c. Further, the pachinko / pachislot machine 200 has a medal storage / discharge mechanism for temporarily storing medals in response to a control signal from the main control circuit 220 and discharging medals in the main body housing 201.

In the pachinko / pachislot machine 200, an opening 211 is formed in the upper center of the front surface of the main body housing 201, and the light emitting drums 202a to 202c can be visually recognized through the opening 211. Further, a medal insertion slot 213 for inserting medals is formed on the upper surface of the frame 212 below the opening 211. The light emitting drums 202a to 202c rotate around a rotation axis (not shown) substantially parallel to and substantially horizontal to the front surface of the main body housing 201 in response to a control signal from the DC motor control device 222 according to the embodiment or a modification. As each, it can be rotated separately. The surfaces of the light emitting drums 202a to 202c are each divided into a plurality of regions having substantially the same width along the rotation direction, and various patterns are drawn for each region. The start lever 203 is provided on the left side of the main body housing 201 when facing the front surface of the frame 212. Further, stop buttons 204a to 204c are provided substantially in the center of the front surface of the frame 212. Each of the stop buttons 204a to 204c corresponds to the light emitting drums 202a to 202c.

A display device 205 is provided as a lower panel at the lower part of the front surface of the main body housing 201. Further, below the display device 205, the main body housing 201 is formed with a medal ejection port 214 for ejecting medals. Below the medal ejection port 214, a medal tray 215 for preventing the ejected medals from falling is attached.

When the start lever 203 is operated after the medal has been inserted into the medal insertion slot 213, a signal indicating that the start lever 203 has been operated is transmitted to the main control circuit 220. The main control circuit 220 starts the rotation of the light emitting drums 202a to 202c. After that, when any of the stop buttons 204a to 204c provided at substantially the center of the front surface of the frame 212 of the main body housing 201 is pressed, the main control circuit 220 sends a signal indicating that the pressed switch is pressed. Receives and stops the rotation of the light emitting drum corresponding to the pressed switch. Alternatively, the main control circuit 220 stops the light emitting drums 202a to 202c, of which the corresponding stop switch is not pressed by the time when the predetermined period elapses after the start of rotation, after the elapse of the predetermined period. .. When all the light emitting drums are stopped, if the same symbols are lined up in a row across all the light emitting drums, the main control circuit 220 discharges a predetermined number of medals corresponding to the symbols through the medal ejection port 214. To do.

FIG. 15A is a front view of a ball game machine showing a state in which the light emitting drum 202a is located at the current position, and FIG. 15B is a ball game showing a state in which the light emitting drum 202a is located at the moving destination position. It is a front view of the machine.

In the pachinko / pachislot machine 200, the DC motor is repeatedly operated by the DC motor control device 222, so that the light emitting drum 202a is between the current position shown in FIG. 15 (a) and the moving destination position shown in FIG. 15 (b). Is reciprocated multiple times. In the pachinko / pachislot machine 200, the light emitting drum 202a reciprocates between the current position and the destination position a plurality of times to realize a more advanced effect for enhancing the interest of the player.

Further, the DC motor control device according to the embodiment may be mounted on various electronic devices other than the gaming machine. For example, the DC motor control device according to the embodiment may be used to control a motor for an industrial robot that reciprocates and rotates an arm or the like a plurality of times.

As described above, a person skilled in the art can make various changes within the scope of the present invention according to the embodiment.

1 DC motor control device (drive device control device)
2 DC motor (drive equipment)
3 Motor drive circuit 4 Rotary encoder 11 Communication circuit (communication unit)
12 registers (storage unit)
13 Control circuit (control unit)
14 Drive signal generation circuit 15 Sensor interface circuit 100 Ball game machine 101 Game board 102 Ball receiving part 103 Operation part 104 Display device 105 Fixed accessory part 106 Opening and closing door for production (movable object)
107 Winning device 110 Main control circuit 111 Production CPU
112 DC motor control device 200 times body game machine 201 Main body housing 202a to 202c Light emitting drum (movable object)
203 Start lever 204a to 204c Stop button 220 Main control circuit 221 Sub control circuit 222 DC motor control device

Claims (4)

It is a drive device control device that controls a DC motor that drives a movable body by receiving a control command from a higher-level control device.
A single including a reciprocating instruction for reciprocating the movable body by a repetitive flag indicating an instruction for the repetitive operation of the movable body and a reciprocating flag indicating an instruction for a reciprocating operation from the current position to the destination position of the movable body. The communication unit that receives control commands and
It has a control unit that controls the DC motor in response to the control command, and has.
The control unit
When the repeat flag indicates that the movable body is reciprocated a plurality of times, the DC motor is controlled so that the movable body reciprocates a predetermined number of times.
When the repeat flag does not indicate that the movable body is reciprocated a plurality of times, and the reciprocating flag indicates that the movable body is reciprocated, the movable body performs a single reciprocating operation. Control the DC motor so as to
When the repeat flag does not indicate that the movable body is reciprocated a plurality of times and the reciprocating flag does not indicate that the movable body is reciprocated, the movable body is made to perform a one-way operation. A drive device control device that controls the DC motor. Further having a storage unit for storing the current position of the movable body,
The drive device control device according to claim 1, wherein the control unit controls the DC motor so that the movable body reciprocates between the current position and the movement destination position. The drive device control device according to claim 2, wherein the control command further includes the movement destination position. The control command further includes the target rotation speed of the DC motor.
The drive device control device according to any one of claims 1 to 3, wherein the control unit controls the DC motor so that the movable body rotates at the target rotation speed when the movable body reciprocates.

Images