JPH09206474A - Game device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To induce the interest of a player over the long period of time and to change a course at a low cost and in a short time by providing a traveling control means for making a mobile object travel on one of the plural courses in a game device provided with the mobile object which travels on the course. SOLUTION: For this game device, a self-traveling vehicle 1 is made to travel on a base 3 for which a circuit is imaged where the course 2 is written on an upper surface and a course plate 21 where the course 2 is written is freely attachably and detachably mounted on the upper surface of the base 3 formed approximately in a rectangular parallelopiped shape. The plural course plates 21 are provided and the course where the self-traveling vehicle 1 is made to travel is changed by exchanging the course plate 21. In the meantime, a device main body side is constituted of a control part 4, a monitor 5, a CCD camera (area sensor) 6 and a transmission LED 7, plural course data are stored inside a ROM 412 and data relating to race development for the respective courses 2 are stored in the ROM 412.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a game device for causing a moving body imitating, for example, an automobile or a racehorse to run on a course.

[0002]

2. Description of the Related Art This type of game device is well known (for example, see Japanese Patent Laid-Open No. 1-94884). JP 1
Taking the game device disclosed in Japanese Patent Publication No. 94884 as an example, this game device allows a plurality of model horses imitating a racehorse to run on the course, and the player predicts the order to bet a medal on hand. It is a format for enjoying games. In the game device disclosed in Japanese Patent Application Laid-Open No. 1-94884, each model horse is configured to freely run on the course, but in addition to that, the truck on which each mobile body runs is fixed on the course. There is also a game device of this type.

[0003]

However, in the above-mentioned conventional game device, the course on which the moving body such as the model horse runs is always fixed, and the variation of the game played is on the fixed course. How the moving body is (at least one of the width direction and the front-back direction of the moving body)
It was decided only from the viewpoint of whether to move. Therefore, it cannot be said that it is a model of an actual car race or horse racing, and it may be difficult to continue the interest of the player.

For this reason, it is conceivable to change the course design periodically (for example, every several months) in the above-mentioned conventional game device, but the change of the course design starts from the design change of the housing itself and the entire internal specifications. Requires a great deal of cost and time,
Not realistic.

The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to make the player's interest continue for a long time, and to change the course design at low cost and in a short period of time. It is to provide a possible game device.

[0006]

The invention according to claim 1 of the present invention is applied to a game machine which runs on a course and is provided with a moving body imitating an automobile, a racehorse or the like. And the above-mentioned object is achieved by providing the traveling control means for traveling the moving body on any one of the plurality of courses.

Any mobile body can be applied as long as it travels on the course, and examples thereof include those simulating horses, bicycles, boats, automobiles and the like. The content of the game device also changes depending on what kind of running body is applied. As an example, when a running object that imitates a horse is used, it becomes a horse racing game device, and when a running object that imitates an automobile is used, it becomes a racing game device.

The traveling control means controls traveling of the moving body on the selected course, and the traveling control means basically determines what trajectory the moving body travels on this course. Make decisions autonomously. The manager (operator) of the game device may appropriately select which of the plurality of courses is selected and the moving body is to travel on the selected course, or at a predetermined time interval or number of times. May be selected by the game device itself.

Therefore, the traveling control means causes the moving body to travel on the course selected from any one of the plurality of courses, whereby the moving body runs on the selected course.

According to a second aspect of the present invention, a course data storage means for storing course data corresponding to a plurality of courses is provided, and the traveling control means is arranged to move the moving body based on the course data corresponding to the course on which the moving body is to travel. Is like driving a car.

The course data stored in the course data storage means is for traveling control of the moving body based on the course data corresponding to a plurality of courses, and as will be described later, the traveling route of each moving body. Examples of data include data for specifying the course and data for specifying the coordinates of the course. The course data may include data related to the width of the course (that is, the length along the width direction of the moving body). When the data related to the width of the course is provided, the moving body also moves in the width direction by this course width. The traveling control means may control so that the vehicle can move.

The present invention is also applicable to a game apparatus in which a plurality of trajectories are preset on a course, a moving body travels along any of the trajectories, and the trajectories can move between the trajectories at a point set at a predetermined position. Is applicable, the course data in this case is data on which position on the course the point exists.

Therefore, when the course in which the moving body is to be run is selected from the plurality of courses, the running control means corresponds to the course corresponding to the course in which the moving body is to be run from the course data stored in the course data storage means. The data is referred to, and the mobile body is caused to travel based on this course data.

According to a third aspect of the present invention, a plurality of moving bodies travel on the course, and the course data is data for individually traveling each moving body.

The data for individually traveling each moving body includes, for example, data that specifies a traveling route of each moving body and data that specifies the coordinates of a course that is the traveling range of the moving body, as will be described later. To be The term "run individually" as used herein means that, when a plurality of fixed tracks are set on the course as described above, as an example, the travel distance along the track of a specific moving body at a specific time, And which track the vehicle is traveling at that time is set for each moving body. When the moving body can freely travel in the course, it means that the position of the specific moving body on the course at a specific time is set for each moving body, as an example.

Therefore, when the traveling control means refers to the course data corresponding to the course on which the moving body is to be traveled from the course data storage means to control the traveling of the moving body, the traveling control means refers to the course data for each moving body. .

The invention of claim 4 is such that the course data is data for designating a traveling route of each moving body. Therefore, the travel control means refers to the course data corresponding to the course on which the mobile body is to travel from the course data storage means, and specifies the travel route of each mobile body to control the travel of the mobile body.

According to a fifth aspect of the present invention, the course data includes data relating to a plurality of target points arranged in time series on the traveling route of each moving body, and the traveling control means causes each moving body to travel on its traveling route. It is like controlling a moving body so that it travels toward a target point.

The term "time-series" simply means every predetermined time interval, but it does not necessarily have to be at equal intervals. Therefore, the traveling control means controls the moving bodies so that each moving body travels toward the target point arranged in time series on the traveling route, and the moving body follows the traveling route connecting the target points. To run.

The invention of claim 6 is such that the course data is data for designating the coordinates of the corresponding course. Therefore, the traveling control means refers to the course data corresponding to the course on which the moving body should travel from the course data storage means, and controls the traveling of each moving body based on the course coordinates.

According to a seventh aspect of the present invention, the traveling control means controls the moving bodies so that each moving body does not deviate from the course. Therefore, the travel control means refers to the course data corresponding to the course on which the mobile body should travel, from the course data storage means, and controls the travel of each mobile body based on the course coordinates so that the mobile body does not deviate from the course. .

According to the invention of claim 8, a position detecting means for detecting the position of each moving body on the course is provided, and the traveling control means controls the moving bodies based on the distance between the moving bodies. It is a thing.

The position detecting means is a means for detecting at which position on the course each moving body is located. For example, image data from an image pickup means such as a camera capable of picking up an arbitrary position on the course is imaged. Besides the device that processes and detects the position,
Examples include a device that detects a position by a proximity sensor such as an ultrasonic wave and a device that directly detects a coordinate position such as a tablet. Therefore, the traveling control means controls the traveling of each moving body based on the position detection signal on the course of each moving body detected by the position detecting means.

According to a ninth aspect of the present invention, a course is provided on a replacement member which is detachable from the game apparatus main body. Therefore, the course on which the traveling body should travel is selected by attaching and detaching the replacement member, and the moving body is controlled to travel on the selected course.

According to a tenth aspect of the present invention, the traveling control means is provided with a selection means for selecting a course on which the moving body should travel from a plurality of courses. Therefore, the traveling control means controls the moving body so that the traveling body travels on the course selected by the selecting means.

According to the invention of claim 11, a sheet-shaped display member provided with a plurality of courses, and an exposing means for selecting a course on which the moving body should travel by exposing a predetermined region of the display member. It is like being provided in the selection means.

The display member is made of, for example, a flexible material, and examples thereof include those having a course layout printed on the surface thereof. A plurality of course layouts may be arranged side by side in one direction of the display member, in which case the display member is formed in a relatively elongated shape. Alternatively, the course layout may be provided vertically and horizontally on the surface of the display member.

The exposing means exposes a predetermined area of the display member to select a course on which the moving body should travel. For example, the sheet-like display member is exposed for a certain length and the display is performed. An example is a device provided with a mechanism capable of sending out the working member in the length direction.

Therefore, the exposure means exposes a predetermined area of the display member to select the course on which the moving body should travel, and the traveling control means controls the traveling of the moving body on this course.

According to the twelfth aspect of the present invention, the selecting means is provided with a display means for displaying, on the traveling surface of the moving body, the course on which the moving body should travel among the plurality of courses.

The display means displays the course on which the mobile body should travel on the traveling surface of the mobile body. As an example,
An image display device such as a CRT or a liquid crystal display device can be used.
However, in consideration of wear and the like caused by traveling of the moving body, it is preferable that a plate body made of a transparent material such as a glass plate is provided on the image display device and the surface of the plate body is used as the traveling surface of the moving body. When a course is provided over a wide area, a plurality of image display devices may be arranged in a plane with their display surfaces aligned. As another example of the display means, in addition to an image projecting device such as a projector that projects an image on a traveling surface of a moving body, a light emitting device arranged in each contour portion of a plurality of courses is driven to emit light in accordance with a course selection. Etc.

Therefore, the traveling control means controls the traveling body so that the traveling body travels on the course displayed on the traveling surface of the traveling body.

According to a thirteenth aspect of the present invention, the position detecting means for detecting the position of each moving body on the course and the target position of each moving body based on the position of each moving body detected by the position detecting means. Target position calculating means for calculating
The game device is provided with target control means for controlling the movement of each moving body toward the target position of each moving body calculated by the target position calculating means.

Therefore, the target position calculation means calculates the target position of each moving body based on the detection signal from the position detection means, and the target control means calculates each target position based on the calculation signal from the target position calculation means. Control the movement of the moving body.

[0035]

DETAILED DESCRIPTION OF THE INVENTION Embodiments of the present invention will be described in detail below with reference to the drawings. 1 is an overall perspective view of a game device according to an embodiment of the present invention, FIG. 2 is a perspective view showing a base, and FIG. 3 is a block configuration diagram. This game device is composed of a self-propelled vehicle 1 as a moving body and a device main body side. The self-propelled vehicle 1 is provided with wheels at the front and rear, and is capable of traveling on a base 3 in the image of a circuit having a course 2 on its upper surface.

As shown in FIG. 2, the base 3 is formed in a substantially rectangular parallelepiped shape, and a course plate 21 on which the above-mentioned course 2 is shown is detachably mounted on the upper surface thereof. In the present embodiment, a plurality of course boards 21 are provided, and each course board 21 is labeled with a course 2 having a different course layout. To change the course on which the self-propelled vehicle 1 should travel, the course plate 21 placed on the base 3 may be replaced.

A unique identification number is given to each course 2, and when the course board 21 is placed on the base 3, the identification number of the course 2 written on the course board 21 is on the apparatus main body side. It is configured to be recognized by. The configuration for recognizing the identification number of the course 2 is arbitrary, and one example is a configuration in which a barcode is printed on one surface of the course board 21 and a barcode reading means is provided on the base 3 side. Alternatively, the course plate 21 may be provided with a unique unevenness on one surface, and the unevenness may be detected by a microswitch or a proximity sensor provided on the base 3 side. Of course, the configuration for automatically recognizing the identification number is omitted, and the course 2
It may be set by the administrator each time.

On the other hand, the main body of the apparatus has a control unit 4, a monitor 5,
The control unit 4 includes a CCD camera 6 as an area sensor and a transmission LED 7 as a transmission unit.
A transmission unit 8 is provided between the transmission LED 7 and the transmission LED 7.

The control unit 4 controls the entire operation of the game apparatus, and has a computer (microcomputer) 41 inside.
And an electric circuit (collectively indicated by 4A in the drawing) as hardware for detecting the frame memory 40 and the self-propelled vehicle 1, a game program, course data, race development, etc. are stored in advance. ROM412,
Also, the RAM 413 is provided for reading an image in the frame memory 40 at the initial stage, temporarily storing data in the middle of calculation, and storing required parameters. Also,
It is equipped with a required counting counter. This microcomputer 41
Calculates the position, speed, and direction from the detection result, as will be described later. The configuration of the control unit 4 will be described later with reference to FIG.

In this embodiment, the ROM 412 stores a plurality of course data. As the course data, position data as an arbitrary orbit on the race track 2 written on the base 3 is stored at every H-coordinate and V-coordinate at predetermined intervals. In the case of, the orbital position data is formed correspondingly.

FIG. 9 is a diagram showing an example of course data stored in the ROM 412 of the control unit 4. In the present embodiment, the travel route for each self-propelled vehicle 1 on the course 2 is designated, and the target position on the travel route of each self-propelled vehicle 1 at each predetermined time is stored in the ROM 412 as course data. In the example shown in FIG. 9, travel routes R1, R2, R3 for three self-propelled vehicles 1 are shown, and on these travel routes R1 to R3, target positions P11 to 11 of each self-propelled vehicle 1 at predetermined time intervals are shown. P18, P21 to P28, P3
1 to P38 are designated. A method of designating the target position, that is, a method of storing the course data is arbitrary, but an example is a method of setting orthogonal coordinates on the course 2 and storing the coordinate value of each target position as the course data. Further, the ROM 412 also stores target speed data of each self-propelled vehicle 1 at each target position.

In the present embodiment, data regarding race development for each course 2 is also stored in the ROM 412.
The data related to race development determines the race ranking, and there are multiple types of race development in advance. Which race development is adopted at each race start is determined using a random generator or the like. It has become. Alternatively, in one race development, the position data may be randomly assigned to different self-propelled vehicles at each race start. The control unit 4 grasps the race development set for each self-propelled vehicle, and gives a travel control signal according to the set race development to the self-propelled vehicle as described later.

The monitor 5, which is not particularly required during the game, displays the detection status of the self-propelled vehicle 1 during manufacturing or maintenance. Although not shown in the figure, for example, calculation of a payout (odds) and its display device, which are generally required for a medal game in this game device,
It has a general well-known configuration such as a medal slot, a medal detecting means, an input device for a game participant's expected winning car and its detecting means, a winning / non-winning judging means, a converted medal number calculating section and its converting means. ing.

In the case of one CCD camera 6, the base 3
The image pickup direction is oriented downward at a predetermined height above the center of the base 3, and the entire upper surface of the base 3 is included in the visual field. Therefore, CCD
The shape of the base 3 is preferably square or circular in consideration of the field frame of the camera 6, but various shapes other than the above shapes can be adopted depending on the shape of the race track and the type of game.

As is well known, the CCD camera 6 is constructed by arranging a large number of light receiving elements which are solid-state image pickup elements in a matrix and for a predetermined time, for example, 1 field 1/60.
In the specification in which the second scanning cycle and the 1/30 second scanning cycle can be selected, an image is picked up with one field as the scanning cycle. Then, an electric signal converted to a level corresponding to the amount of light received from each light receiving element is transferred and output. CCD applied to this embodiment
An infrared transmission filter is arranged on the light receiving surface of the camera 6 so as to face it, and only the infrared light in a predetermined frequency band is received to prevent malfunction due to outside light. Note that C
It is also possible to use a plurality of CCD cameras instead of the CD camera 6, divide the surface of the base 3 into a plurality of surfaces, and have each CCD take charge of each surface. The position detection accuracy can be improved.

The transmission LED 7 is, for example, a light emitting element that emits infrared light, and is arranged at a predetermined height position on the upper surface of the base 3 with the transmission direction facing downward, like the CCD camera 6. is there. The infrared light signal from the transmission LED 7 is transmitted to the self-propelled vehicle 1 traveling on the race track 2 with a required spread angle, and the number thereof may be one at the center position. From the viewpoint of ensuring the reliability of signal transmission, two bases 3 may be provided so as to cover each of the two areas. In this embodiment, four pieces are arranged so as to cover each area obtained by dividing the base 3 into four.

In the configuration in which a plurality of transmission LEDs 7 are arranged, the transmission unit 8 is adapted to transmit synchronized optical pulse signals from the transmission LEDs 7 connected in parallel. As a result, even if the areas covered by the respective transmission LEDs 7 partially overlap, there is no interference, and malfunctions are prevented. As a connection method of the transmission LED 7, instead of the connection method of FIG. 3, a structurally simple method of serial connection, or serial connection in order to suppress the influence of impedance and prevent noise generation, and A method in which a driver is used for each (using a shield wire) may be adopted. The connection method shown in FIG. 3 has an advantage that the influence of impedance is smaller than that in the case of serial connection.

FIG. 4 is a block diagram showing a state in which the self-propelled vehicle is viewed two-dimensionally from the construction surface. The self-propelled vehicle 1 has a vehicle body (not shown), and wheels 111 and 112 are provided on the front left and right sides.
Is rotatably mounted on the rear (or front) side
Has a sphere (ball caster) not shown in the center
And has a so-called three-point support structure. This sphere is fitted into a partially spherical hole formed in the lower surface of the vehicle body, into which at least half of the volume can be fitted.
It is rotatable in a 60 ° direction. By adopting the three-point support structure, it becomes possible to effectively bring out a sense of vehicle slip. It should be noted that a rotatable wheel may be provided on the left and right instead of the sphere.

The self-propelled vehicle 1 has wheels 11 made of resin or the like.
It has motors 113 and 114 for rotating and driving 1,112. DC motors are used as the motors 113 and 114, and speed control is performed by duty control and back traveling (by polarity reversal of the supply current) is performed as necessary. Further, a pulse motor whose speed can be controlled by a pulse frequency may be used. A plurality of reduction gears are interposed between the rotation shafts of the motors 113 and 114 and the rotation shafts of the wheels 111 and 112 so that a required speed range can be obtained.
Further, rotation speed detection means 115, 116 for detecting the rotation speeds of the motors 113, 114 are provided in order to feedback-adjust the speed of the self-propelled vehicle 1. The rotation speed detecting means 115, 116 are provided for the motors 113, 114.
Rotating plates 115a and 116a that are provided so as to be rotatable integrally with the rotating shaft of the device and have small holes formed at regular intervals in the circumferential direction, and a photo interrupter 115b that detects the small holes by sandwiching the rotating plates 115a and 116a. And 116b.

Reference numeral 117 denotes a one-chip microcomputer as a control unit on the side of the self-propelled vehicle 1, which analyzes a transmission signal from the transmission LED 7 on the side of the apparatus main body to generate a traveling control signal for the self-propelled vehicle 1, Front and rear LEDs 118, 119 that emit infrared light
(Only one side is shown in FIG. 4, see FIG. 3). The ROM 120 stores an operation program for that purpose. Note that 113a, 1
An amplifier 14a amplifies the speed control signal output from the microcomputer 117 for driving the motor and supplies the amplified power to the motors 113 and 114.

As shown in FIG. 3, the front LED 118 is disposed in the center of the front portion of the vehicle 1, and the rear LED 119 is disposed in the center of the rear portion, both of which are directed right above. The frequency band of infrared light generated by lighting the front and rear LEDs 118 and 119 matches the transmission frequency band of the infrared transmission filter on the front surface of the CCD camera 6, and the CCD camera 6 arranged above
It is designed to be imaged in. Front and rear LEDs 118, 1
Reference numeral 19 is configured so that the light emitting direction has a wide angle, and the CCD camera 6 can capture an image at any position on the base 3.

Returning to FIG. 4, reference numeral 121 denotes an infrared receiving unit, which comprises a photodiode or the like for receiving the optical pulse signal transmitted from the transmitting LED 7, and as shown in FIG.
The self-propelled vehicle 1 is disposed, for example, in the upper center part of the vehicle 1 so as to face upward. This photodiode is also exposed, for example, to receive light from a wide direction. Reference numeral 122 is a chargeable / dischargeable storage battery made of, for example, a Ni—Cd battery, and is used as a battery of the vehicle 1. 123 is the storage battery 1
22 is a stabilized power supply circuit that generates a level 5v required for the operation of the microcomputer 119 and a voltage 6v required for the operation of the motors 113 and 114 as necessary.

FIG. 5 is a block diagram of the control unit 4 of the portion for detecting the position of the vehicle. The binarization processing circuit 42 converts the image on the base 3 captured by the CCD camera 6 into binary data of high and low, and leads it to the frame memory 40. Details of the binarization processing circuit 42 will be described later with reference to FIG. The frame memory 40 is provided with frame memories 401 and 402 each having a storage capacity that corresponds to or corresponds to the number of pixels of the CCD camera 6, and is switched alternately for each field cycle (1/2 of the frame cycle) or each frame cycle depending on the selection. Image data is stored.

Reference numeral 43 is a write address generation circuit for generating a write address of the frame memory 40, and a reference clock generation circuit 4 for outputting a reference clock pulse of 14 MHz, for example.
31 and H / V counter 432 for generating H / V address
It is composed of The H / V counter 432 outputs a write address for scanning all addresses of the frame memory 40 at a speed synchronized with the field cycle.
The binary data from the binarization processing circuit 42 is transferred to the frame memory 4
It is arranged such that one of 01 and 402 can be written alternately.

Reference numeral 44 is a read address generation circuit for creating a read address for a predetermined area (hereinafter referred to as a tracking block) in the frame memory 40, and a start setting circuit 441 for setting the start position of the tracking block and an H, V counter 442. It consists of The read address generation circuit 44 operates after the initial position recognition processing described later, and determines the read address of the tracking block based on the start address (Hs, Vs) of the tracking block and the tracking block size data supplied from the microcomputer 41. Occur. As a result, only the binary data in the tracking block is read.

Reference numeral 45 is a data fetching circuit for fetching into the microcomputer 41 the binary data read from the read address of the frame memory 40 output from the microcomputer 41 at the time of initial position recognition. The multiplexer 451 and the buffer 45
And 2. In the initial position recognition, noise may be mixed in addition to the data of the front and rear LEDs 118 and 119. Therefore, binary data of the entire one surface of the frame memory 40 is processed by the microcomputer 41. The data acquisition circuit 45 is provided for this purpose. That is, when the PC address is sent from the microcomputer 41, the binary data of the designated address is sequentially read out via the multiplexer 451 and guided to the microcomputer 41 via the buffer 452. The buffer 452 is for outputting, for example, 8-bit parallel data to the PC address.

Further, the CCD camera controller 46 generates a synchronizing signal and a camera synchronizing signal based on the reference clock from the reference clock generating circuit 431, and these synchronizing signals are used for switching the frame memory and generating the address of the frame memory. On the other hand, the scanning cycle of the CCD camera 6 and their timings are synchronized.

Reference numerals 471 and 472 are multiplexers as switching circuits, and the multiplexer 471 is an H / V counter 4
32, 442 and the PC address from the microcomputer 41 are appropriately switched to lead to the frame memory 40,
The multiplexer 472 is a frame memory 401, 402.
The output side is switched.

Reference numeral 48 is a data accumulation circuit, which is an addition circuit 48.
1, a latch circuit 482 and a dot counter 483. The cumulative result is guided to the microcomputer 41, and the position, the tracking block and the traveling control data of the self-propelled vehicle 1 are calculated from the cumulative result as described later.

FIG. 6 is a circuit diagram showing details of the binarization processing circuit 42, and FIG. 7 is a time chart showing its operation. In FIG. 5, reference numeral 421 is an amplifier for amplifying an NTSC signal including image data input from the CCD camera 6, and the amplified NTSC signal is converted into a signal of a required voltage level by a circuit 422 including an AC coupling circuit. It is led to the non-inverting input terminal of the comparison circuit 423 composed of an operational amplifier. The D / A converter 424 is a digital-analog conversion circuit, which converts, for example, 8-bit threshold value data input from the microcomputer 41 into an analog signal and compares it with a comparison circuit 423.
To the inverting input terminal of. The comparison circuit 423 is N
If the level of the TSC signal is equal to or higher than the threshold level, a high level signal is output, and the output data is guided to the serial / parallel converter 425. The serial-parallel converter 425 converts the input binary data into 8-bit data based on the sample clock and outputs it to the latch circuit 426. The latch circuit 426 latches this signal and outputs it to the frame memory 40. Then, the binary parallel data is written in the frame memory 40 at the transmission timing of the write pulse (bar WR) that is output within the capturing time of 8 pixels.

Therefore, as shown in FIG. 7, the data of the first pixel (data of ADD0) is the corresponding address AD.
D0, ADD1 data to address ADD1, AD
The data of D2 is written in the address ADD2 in correspondence with the pixel of the CCD camera 6 and the address of the frame memory 40. D / to the binarization processing circuit 42
By adopting the A converter 424 and performing the level comparison operation in an analog manner, it is possible to generate threshold data of more bits than that of the conventional configuration in which the digital data is compared with each other for the NTSC signal in the high frequency band. Since it can be used, there is an advantage that the resolution of level comparison can be increased accordingly. It should be noted that the present invention does not limit the adoption of the conventional circuit configuration for comparing digital data to each other, and any configuration can be adopted in consideration of the required resolution accuracy and the like.

FIG. 8 is a diagram for explaining the operation of the data acquisition circuit 48. FIG. 8A shows a state in which the base 3 in the field of view of the CCD camera 6 is viewed from above, and FIG. The contents in the frame memory 40 when the base 3 shown in (a) is imaged, and (c) is an enlarged view of the tracking block BL1.

In FIG. 8 (a), one self-propelled vehicle 1 has a base 3
It is on the top and the front and rear LEDs 118 and 119 are lit.
In FIG. 8B, LED pixel data D1 and D2 corresponding to the front and rear LEDs 118 and 119 are stored at a high level. BL1 and BL2 indicate tracking blocks.

In FIG. 8C, the tracking block BL1
Each of the squares indicates a pixel of the CCD camera 6, that is, each address of the frame memory 40. In this embodiment, a square tracking block is adopted, and one side of the square tracking block is one field cycle (one frame cycle). By setting the length at least twice as long as the moving distance of the self-propelled vehicle 1 within 1/2), it is possible to more reliably track the traveling of the self-propelled vehicle 1 in the 360 ° direction. The upper left end (Hs, Vs) of the tracking block BL1 is the start address of the tracking block and is set by the start setting circuit 441. Further, the H, V counter 442 is (Hs + 1, Vs), ..., (Hs + d, V) in the column direction (the direction indicated by the arrow in FIG. 8C) from the start address (Hs, Vs).
s), and each time one line is completed, the process sequentially proceeds to the next line, and the end address (Hs + d,
Vs + d). This allows
A tracking block BL1 having a pixel width of d × d is designated.

By selecting the shape of the lens provided on the image pickup surface of the CCD camera 6 and the front and rear LEDs 118 and 119, a plurality of LED data D1 (as shown by the hatched portion in FIG. 8C) can be obtained. It is possible to make the LED data distinguishable from other noises by obtaining a plurality of dots in this way.

Next, the integration process will be described with reference to FIGS.
An explanation will be given using (c). By addressing the tracking block BL1 from the read address generation circuit 44, the stored contents of the addresses are sequentially read from the frame memory 401 (or 402), and the read address at this time is guided to the adder circuit 481.

LED data D from the frame memory 401
Every time a dot as 1 (high level data) is read, the count value of the dot counter 483 is incremented by this dot data and the latch circuit 4
It is led to 82. The latch circuit 482 latches the address value output from the adder circuit 481 only when the dot data is input, and re-adds this value again.
Lead to 81. In this way, every time dot data is output from the frame memory 401, the address value storing the dot data is output to the adder circuit 481 and accumulated.

As a result, the dot counter 483 fetches the number of dots existing in the tracking block BL1, and the latch circuit 482 fetches the cumulative value of the addresses where the dots exist. Then, the microcomputer 41 uses the tracking block BL1.
When the address designation is completed, the data obtained by the latch circuit 482 and the dot counter 483 is fetched, it is judged from the number of dots whether it is LED data or noise, and the cumulative value is divided by the number of dots to determine the central address of the dot (Hc , V
c) is calculated. Then, this center address is set as the position of the front LED 118, and the setting of the tracking block and the generation process of the traveling control signal of the self-propelled vehicle are executed based on this position data.

The judgment as to whether the LED data or the noise is
For example, a method may be used in which a threshold value is set for the number of dots and the number of dots that is equal to or greater than the threshold value is used as LED data. Alternatively, with the LED off, the binarization processing circuit 42
The threshold level, that is, the threshold level may be gradually raised from the minimum value, and the threshold level when the natural light can be completely cut may be set as the threshold to be set.

The center address may be calculated by hardware and the microcomputer 41 may be notified of only the calculation results of H and V. Further, instead of using the absolute coordinates as the cumulative value of the coordinates, the relative coordinates from the reference coordinates may be used and finally added to the reference coordinates to obtain the target coordinates. This has the advantage that the number of bits to be handled is reduced and the speed of hardware addition processing can be increased.

10 and 11 are main flow charts for explaining the operation of the game device according to the embodiment of the present invention. In this game device, for example, eight self-propelled cars are used, and each self-propelled car has a DIP switch provided with IDNoi (i = 0 to 7) as a unique number in the self-propelled car. It is attached in advance.

This flow chart starts when a predetermined operation, for example, insertion of a medal, input of an expected winning car, etc. is detected. First, after the race development is set, the entire system is initialized, and the communication port of the microcomputer 41 is further initialized (steps S2 and S4). To set the race development, first, the identification number of the course 2 is recognized (the recognition method is described above), the race development of the course 2 corresponding to the recognized identification number is extracted from the ROM 42, and the extracted race development is performed. It may be performed by randomly selecting from Next, the extinguishing commands for the front and rear LEDs 118 and 119 of the ID Nos. 0 to 7, that is, all the self-propelled vehicles 1 are generated and sent from the transmission LED 7 to all the self-propelled vehicles (step S6).

Next, the counter i is set to 0 (step S8), a lighting command for the front LED 118 of the self-propelled vehicle of ID No. 0 is generated and transmitted from the transmission LED 7 (step S10). The microcomputer 117 of the self-propelled vehicle 1 with ID No. 0 recognizes that the transmission command is its own vehicle and turns on only the front LED 118. On the other hand, the microcomputer 41 waits for the time required for the front LED 118 to reach the required brightness, for example, two frame periods after the lighting command is transmitted (step S12), and then executes the center of gravity calculation for initial position recognition (step S14). The details of the initial position recognition operation will be described later. Then, the obtained center-of-gravity position data (Hc, Vc) is stored in R
It is stored in AM or the like as FH [i] and FV [i] (however, F is an abbreviation for forward) (step S16).

When the storage of the center-of-gravity position data is completed, subsequently, a lighting command for the rear LED 119 of the self-propelled vehicle of ID No. 0 is generated and transmitted from the transmission LED 7 (step S18). Microcomputer 11 of self-propelled vehicle 1 with ID No. 0
7 recognizes that the transmission command is its own car, and
Only the ED 119 is turned on (that is, the front LED 118 is turned off). On the other hand, the microcomputer 41 waits for two frame periods from the transmission of the lighting command (step S20)
After that, the center of gravity calculation for initial position recognition is executed (step S22). Then, the obtained center-of-gravity position data (Hc,
Vc) is stored in RAM or the like as BH [i], BV [i] (B
Is stored as an abbreviation for bag (step S24).
When the storage of the center-of-gravity position data of the front and rear LEDs 118, 119 is completed, the front and rear LEDs 118, 1 of the vehicle with ID No.
An extinguishing command for 19 is generated and transmitted from the transmission LED 7 (step S26). The front and rear LEDs 118 and 119 of the self-propelled vehicle 1 with ID No. 0 are turned off.

Then, the counter i is incremented by 1 (step S28), and then it is judged whether or not the numerical value of the counter i exceeds the value 7 (step S3).
0). If the value does not exceed 7, the process returns to step S10, the same processing as described above is executed for the self-propelled vehicle of ID No. 1, the center-of-gravity position data is sequentially obtained and stored for each of the self-propelled vehicles of ID No. 2 to ID No. To do. When the value exceeds 7 (step S30), ID Nos. 0 to 7, that is, front and rear LEDs 118 and 119 for all the self-propelled vehicles.
Is generated and transmitted from the transmission LED 7 to all the self-propelled vehicles (step S32).

When the initial processing is completed in this way, preparation for the tracking processing is performed. First, the frame memory 40
1, 402 are cleared, then the size of the tracking block is set, the field counter for switching the frame memories 401, 402 is cleared, interrupt permission is given, and a wait state is set (step S).
34-38).

FIG. 12 is a subroutine for initial position recognition in steps S14 and S22. As will be described later, when the self-propelled vehicle 1 is tracked, the process is performed by the interruption and by the data accumulating circuit 48.
The process of extracting the position of the center of gravity in the initial position recognition in S14 and S22 is performed in this subroutine in order to reliably prevent erroneous extraction due to the presence of unnecessary reflected light or the like.

First, when the frame memory is designated to be switched,
The captured image data is read into the RAM of the microcomputer 41 (steps S70, 72). The microcomputer 41 scans the read image data, detects dot continuity using a known method, performs labeling processing on each area where continuity is seen, and counts the number of labels. Then, the count value is stored (step S7).
4).

Next, it is judged whether or not the number of labels is 1 (step S76). When the number of labels is 2 or more, the noise level value in the system parameter is set, and further,
The effective label number counter L is 0, and the label counter j is 0.
Is set to (steps S78 to S82). And
First, the number of dots is counted for the label of the label counter 0 (step S84), and it is determined whether the counted number of dots is less than the noise level (step S86). If the number of dots is above the noise level,
Considering it as a valid label, the valid label counter L is incremented and the process proceeds to step S90. If not, the process proceeds directly to step S90. In step S90, the label counter j is incremented, and it is further determined whether or not the numerical value of the label counter j has reached the total number of labels (step S92). If the total number of labels has not been reached, the process returns to step S84 and the detection of the number of valid labels is repeated. If the total number of labels is reached, it is determined whether the value of the valid label number counter L is 1 (step S94). If the value of the valid label counter L exceeds 1, it is determined that noise is still included, and a new noise level having a higher threshold level is set by adding 1 to the previous noise level (step S96). ), And returns to step S80, and the same processing as described above is executed. Then, when the value of the effective label counter L matches 1,
It proceeds to step S98. In step S98, valid 1
1 label for front LED 118 (or rear LED 119)
As a result, the barycentric coordinates Hc, Vc are calculated, and the result is stored in the buffer (step S100). The barycentric coordinates are calculated from Hc = total H coordinate value / dot number and Vc = total V coordinate value / dot number. Then, the noise level at this time is stored as a system parameter (step S102), and the process returns.

On the other hand, if the number of labels is 1 in step S76, this label is set to the front LED 118 (or the rear LED).
119), the barycentric coordinates Hc, Vc are calculated, and the result is stored in the buffer (steps S98, 10).
Along with 0), the noise level at this time is stored as a system parameter (step S102), and the process returns.

FIG. 11 shows the processing after the interrupt I and the interrupt II are taken, especially after the interrupt permission in step S38. Here, the flowchart of the interrupt I will be described with reference to FIG. The interrupt I is the frame memory 401 (or 4
02) is started by an interrupt signal generated every time the reading of the image data into 02) is completed. First, IDNoi
Is set to 0, and the frame memory 401 (or 402) for which the writing of the image data has been completed is switched to (steps S110 and S112). Next, ID
The start address (Hs, Vs) of the tracking block to be labeled for the No. 0 vehicle is set (step S114). That is,

## EQU1 ## Hs = FH [i]-(tracking block size / 2) + correction amount Vs = FV [i]-(tracking block size / 4) + correction amount The correction amount is given by executing the interrupt II flowchart.

Note that the quotient is set to a value of 4 at the address Vs because the number of scanning lines is 1/2 that of an image of a frame memory which fetches binarized data on a frame-by-frame basis as shown in FIG. In consideration of that,
Thereby, a square tracking block is obtained.

The values Hs and Vs are determined by the start setting circuit 44.
It is output to 1. Then, the flag FBFLG for identifying which of the front and rear LEDs 118 and 119 is set to 0, that is, the front LED 118 (step S11).
6) After the data reading in the tracking block is started (step S118), the process returns. This ID No
The data accumulating circuit 48 performs the data fetching process for the front LED 118 of the self-propelled vehicle 1 having the number 0.

In this way, the start address (Hs, V
By setting s) so that the LED 118 (or 119) position is at the center position of the tracking block,
Even if the vehicle runs in any direction of 60 °, it can be surely captured after one frame period.

Especially, since the correction amount set from the factors of the traveling speed and the direction is taken into consideration as described later, the tracking becomes more reliable. Note that the correction amount is not the method of setting a predetermined correction amount that can be tracked from the maximum speed of the self-propelled vehicle 1 set in advance, but the current traveling speed of the self-propelled vehicle 1 (the detection position of the past two frames). According to the magnitude of (the difference and the frame period), the setting may be made such that the setting can be changed in real time each time, and by doing so, the front and rear LEDs 118 and 119 are placed in the center of the tracking block as much as possible. Since it can be guided to a close position, tracking mistakes can be prevented.

14 and 15 are flowcharts of the interrupt II. The interrupt II is started by an interrupt signal generated every time the H, V counter 442 finishes addressing the tracking block. First, the value of the counter i is 7
It is determined whether or not it is less than (step S130), and if it is 7 or more, it is determined that the tracking processing in one frame is completed, and the process directly returns.

If the value of the counter i is less than 7, the number of dots is read from the dot counter 483 (step S
132), it is determined here whether the number of dots is 0 (step S134). If the number of dots is 0, the position tracking failure flag PEF is set (step S13).
6), (Hc, Vc) = (-as specific position data
1, -1) is set (step S138). In addition,
By observing this data or the above failure flag PEF, it is possible to recognize the position tracking failure, and accordingly an alarm is issued, or the tracking block is set to a predetermined value which is preset for such a case. I am trying to change to a larger size to ensure continued tracking.

On the other hand, if the number of dots is not 0, it is determined that the tracking has been completed, and the H-direction and V-direction coordinate cumulative data from the latch circuit 482 is read (step S14).
0). At this time, if the latch circuit 483 overflows (NO in step S142), the coordinate cumulative data is corrected (step S144). This fix
For example, from the previous position of the center of gravity of the LED 118 (or 119) and the traveling speed of the self-propelled vehicle 1, or the fact that the coordinate value is large as it overflows is performed. On the other hand, if there is no overflow, the H-direction gravity center coordinate Hc and the V-direction gravity center coordinate Vc are calculated as follows: Hc = H-direction cumulative value /
The number of dots, Vc = cumulative value in V direction / number of dots, is obtained (step S146). Here, the front-back flag FBFL
It is determined whether G = 0 or not (step S148).

If the front / rear flag FBFLG = 0, the previous L
Since the ED 118 was the detection target, step S146
Hc and Vc obtained in the above, and the previous calculated value F corresponding thereto.
Using H [i] and FV [i], the correction amounts AFH [i] and AFV [i] of the tracking block in the H and V directions are A
FH [i] = H-direction movement amount × α, AFV [i] = V-direction movement amount × β are calculated (step S15).
0). The amount of movement in each direction is FH [i] -H
c, FV [i] −Vc. In addition, the correction coefficient α,
β is a numerical value from 0 to 1 and is set to a required value in consideration of the set speed of the self-propelled vehicle 1, the size of the tracking block, and the like.

Next, the values Hc and Vc are set to the front LED 11
It is stored in FH [i] and FV [i] corresponding to 8 (step S152). When the storage is completed, the front-back flag FBF
LG = 1, that is, the rear LED 119 is set (step S154), and the start address (Hs, Vs) of the tracking block for the rear LED 119 is set (step S156). That is,

[Equation 2] Hs = BH [i] − (tracking block size / 2) + correction amount Vs = BV [i] − (tracking block size / 4) + correction amount Step S158).

On the other hand, in step S148, the front / rear flag F
If BFLG = 1, since the rear LED 119 is the detection target, H, V is obtained by using Hc, Vc obtained in S146 and the previous calculated values BH [i], BV [i] corresponding thereto. Correction amount ABH of tracking block for direction
[I] and ABV [i] are calculated as follows: ABH [i] = H direction movement amount × α, ABV [i] = V direction movement amount × β (step S160). Note that the amount of movement in each direction is obtained from BH [i] -Hc and BV [i] -Vc. Next, the values Hc and Vc are stored in BH [i] and BV [i] corresponding to the rear LED 119 (step S).
162).

Here, the front and rear LEDs 1 corresponding to IDNoi
Since the detection of 18, 119 has ended, the obtained calculated value F
H [i], FV [i], BH [i], and BV [i] are collectively transferred to a buffer readable by the main routine, and RFH [i], RFV [i], RBH [i], and RH [i]
It is stored as BV [i] (step S164).

When the transfer and storage are completed, the front / rear flag FBFLG = 0, that is, the front LED 118 is set (step S166), and the start address (Hs, Vs) of the tracking block for the front LED 118 is set (step S168). That is,

[Equation 3] Hs = FH [i] − (tracking block size / 2) + correction amount Vs = FV [i] − (tracking block size / 4) + correction amount Then, the value of the counter i is incremented (step S170), the count is started (step S158), and the same processing as described above is repeated for the tracking block of the next vehicle 1.

Returning to FIG. 11, when the flowchart of interrupt II is completed and the calculated value is transferred to the buffer, IDN
oi is set to 0 (step S40). Then
Interruption is prohibited (step S42), and front and rear LEDs 1
Position data RFH [i], RFV [i] of 18, 119
And RBH [i], RBV [i] are read from the buffer (step S44), and the interruption prohibition is released by the end of the reading (step S46). This is because the data transfer by the interrupt II is repeatedly performed during the steps S38 to S60. Therefore, by providing the steps S42 and S46, the data read from the buffer and the data transfer accompanying the interrupt II are performed. Even if the timing is the same, it is possible to prevent reading wrong data.

The position of the vehicle 1 and the front and rear LEDs 11
The relationship with the arrangement position of 8, 119 is preset,
For example, if the vehicle 1
The position can also be. When the position of the self-propelled vehicle 1 is determined, next, race development data, that is, target position data and speed data are set (step S4).
8).

Then, the direction in which the self-propelled vehicle 1 should travel is calculated from the current target position and the detected position of the self-propelled vehicle 1 (step S50). Further, the direction correction amount of the vehicle 1 is calculated from this direction (target direction) and the direction of the vehicle (calculated from the positions of the front LED 118 and the rear LED 119 of the vehicle). If the direction of the target is calculated by using data of three points of the current position, the next position, and the next position, it is possible to specify a direction along the course more smoothly. Speed and direction instructions for the self-propelled vehicle 1 are performed only with target speed data as follows. That is, the speed instruction is given to one specific wheel, for example, the motor 113 that drives the wheel 111, and the direction instruction is given as a speed difference with respect to the rotation speed of the motor 113 on the specific side. Note that the direction control can be performed in the same manner by instructing each of the motors 113 and 114 to have an independent rotation speed.

The obtained target speed data is transmitted from the transmission LED 7 to the self-propelled vehicle 1 of the corresponding IDNoi (step S52). Next, the value of the counter i is incremented by 1 (step S54), and the value of IDNoi becomes 7.
It is determined whether or not the value exceeds (step S56). I
If the value of DNoi is 7 or less, the process returns to step 42. On the other hand, if the value of IDNoi exceeds 7, the system reset signal is checked (step S58). The system reset signal is output when an abnormality occurs in the system or when the race is completed.

If the system reset signal is not reset (NO in step S60), the process returns to step 40 and the value of IDNoi is set to 0, whereby the traveling control for the self-propelled vehicle 1 is continued until the race is completed. It On the other hand, if the system reset signal has been reset, it is determined that the race has ended, and this flowchart ends.

In the present embodiment, the initial position recognition (steps S14, 22) and the position detection at the time of tracking are performed by different circuit units, but the initial position recognition is the same circuit unit as the position detection at the time of tracking. You may make it perform in. In the initial position recognition, the front and rear LEDs 118 and 119 are individually turned on for position recognition.
Only 18 is turned on, and the front and rear LEDs 11 are turned on at the next timing.
8 LED 119 is turned on, and the front LED 11 previously recognized
It is also possible to adopt a method of recognizing the position of the rear LED 119 by excluding the position of 8 and by doing so, as a control signal of the front and rear LEDs 118 and 119,
Both can be turned off, only the front LED 118 can be turned on, and both can be turned on. Furthermore, front and rear LEDs 118,
The standby time may be set by a factor other than the frame in order to prevent a discrepancy between the lighting timing of 119 and the imaging timing and to perform reliable imaging in the lighting state.

Further, although the course is changed by exchanging the course board 21 in the above-mentioned embodiment, the present invention is not limited to this, and any configuration can be used as long as the course displayed on the game device can be changed. Can be adopted.

FIG. 16 is a view showing a game machine according to another embodiment of the present invention, and is a perspective view showing a base taken out. In the present embodiment, a plurality of courses 2 are written on the sheet 22, and the courses 2 are displayed by exposing a predetermined portion on the surface of the base 3. For this reason,
A window 31 is cut out on the surface of the base 3. Seat 22
Has flexibility, and is formed of, for example, plastic or metal in a thin plate shape. Both ends of the sheet 22 are rolls 2
The rolls 23 and 24 are wound in a shape of 3, 24 and are arranged in the base 3 at a predetermined interval, so that a region between the rolls 23 and 24 is a traveling region of the self-propelled vehicle 1. .

Although not shown in FIG. 16,
A transfer mechanism is provided that transfers the sheet 22 in the direction of the arrow, that is, in the direction in which it is sent out from one roll 23 and wound on the other roll 24. The transfer mechanism includes, for example, a drive mechanism such as a motor that drives the roll 24 in the winding direction and a guide mechanism that guides the sheet 22. The drive mechanism described above may be a mechanism in which an administrator or the like manually winds the drive mechanism if there is no problem with speed or the like.

Since the sheet 22 is made of a flexible material, a supporting plate (not shown) for supporting the sheet 22 from the back is provided on the base 3 facing the window 31. In order to prevent abrasion of the sheet 22 or prevent dust from entering the base 3, it is preferable to insert a plate material made of a light-transmitting material (glass) into the window 31. .

Although the course data is designated by the target position of each self-propelled vehicle in the above-described embodiment, the present invention is not limited to this, and any data that allows the self-propelled vehicle to travel on the course may be used. As an example, it has coordinate values indicating the extension of the course as course data, detects the distance between each self-propelled vehicle at predetermined time intervals, each self-propelled vehicle does not collide, and all self-propelled vehicles deviate from the course. The self-propelled vehicle may be controlled not to do so. The coordinate value of the course is not limited to the actual coordinate value, but a virtual coordinate value may be set and converted into the actual coordinate value by coordinate conversion. As an example, a course may be converted into an actual coordinate value by setting a virtual coordinate value with a straight line and performing coordinate conversion in consideration of curvature and the like.

[0105]

As described above in detail, according to the invention of claim 1, the traveling control means for traveling the traveling body on any one of the plurality of courses is provided.
By selecting a course as required, it becomes possible to run the moving body on a plurality of courses. As a result, a wide variety of games can be executed, and the player's interest can be continued for a long time.

According to the second aspect of the invention, the course data storage means for storing the course data corresponding to the plurality of courses is provided, and the traveling control is performed based on the course data corresponding to the course on which the moving body is to travel. Since the moving body is made to run by the means, if the course data is stored in advance in the course data storage means corresponding to a plurality of courses, the moving body can be made to run appropriately according to the course selection.

Further, according to the invention of claim 3, since a plurality of moving bodies travel on the course and the course data is data for individually moving each moving body, the plurality of moving bodies can be used. You can run a competition game that competes for the ranking.

Further, according to the invention of claim 4, since the course data is data for designating the traveling route of each moving body, it is possible to individually control the traveling of each moving body, which is complicated. A competitive game having various running patterns can be executed, an interesting game can be provided, and the player's interest can be continued for a longer period of time.

Further, according to the invention of claim 5, the course data includes data on a plurality of target points arranged in time series on the traveling route of each moving body, and the traveling control means comprises:
Since the moving bodies are controlled so that each moving body travels toward the target point on the travel route, the mobile body can travel along the travel route connecting the target points.

Further, according to the invention of claim 6, since the course data is the data for designating the coordinates of the corresponding course, by using the position detecting mechanism or the like for detecting the position of each moving body, The moving body can be controlled to travel along the course.

Further, according to the invention of claim 7, since the traveling control means controls the moving bodies so that each moving body does not deviate from the course, a position detecting mechanism or the like for detecting the position of each moving body is provided. By using it, the traveling of each moving body can be controlled more smoothly and realistically along the course.

Further, according to the invention of claim 8, a position detecting means for detecting the position of each moving body on the course is provided, and the traveling control means determines the moving body based on the distance between the moving bodies. Since the control is performed, it is possible to control the traveling of each moving body by using the detection signal from the position detecting unit so that the moving bodies do not collide with each other, and the moving bodies can be smoothly and realistically along the course. The traveling can be controlled.

Further, according to the invention of claim 9, since the course is provided in the exchange member which is attachable / detachable to / from the game apparatus main body, the course on which the traveling body is to be run is selected by attaching / detaching the exchange member. It is possible to change the course design at low cost and in a short period of time.

On the other hand, according to the invention of claim 10, since the traveling control means is provided with the selecting means for selecting the course on which the moving body should travel from the plurality of courses, the moving body moves on the course selected by this selecting means. The body can be controlled to travel.

Further, according to the invention of claim 11, a sheet-shaped display member provided with a plurality of courses and a predetermined region of the display member are exposed to select a course on which the moving body should travel. Since the exposure means and the selection means are provided, the course in which the traveling body is to travel can be selected by changing the exposed area of the display member by the exposure means, and the course design can be changed at low cost and in a short period of time. It will be possible.

Therefore, the exposure means exposes a predetermined area of the display member to select the course on which the moving body should travel, and the traveling control means controls the traveling of the moving body on this course.

Further, according to the twelfth aspect of the invention, the display means for displaying the course to be traveled by the mobile body on the traveling surface of the mobile body out of the plurality of courses is provided in the selection means. By displaying on the traveling surface, the course on which the traveling body should travel can be selected, and the course design can be changed at low cost and in a short period of time.

The invention according to claim 13 is position detecting means for detecting the position of each moving body on the course,
To the target position calculating means for calculating the target position of each moving body based on the position of each moving body detected by the position detecting means, and toward the target position of each moving body calculated by the target position calculating means Since the game apparatus is provided with the target control means for controlling the movement of each moving body, it is possible to control the movement of each moving body based on the detection signal from the position detecting means, and to move each moving body along the course. It is possible to control the traveling more smoothly and realistically.

[Brief description of drawings]

FIG. 1 is an overall perspective view of a game device according to an embodiment of the present invention.

FIG. 2 is a perspective view showing an example of a base of the game device.

FIG. 3 is a block diagram of the game device shown in FIG.

FIG. 4 is a block diagram showing a state in which the self-propelled vehicle is viewed two-dimensionally from a configuration surface.

FIG. 5 is a block configuration diagram of a control unit of a portion that detects the position of the vehicle.

FIG. 6 is a circuit diagram showing details of a binarization processing circuit.

FIG. 7 is a time chart showing the operation of the circuit diagram of FIG.

FIG. 8 is a diagram for explaining the operation of the data acquisition circuit;
(A) shows the base in the field of view of the CCD camera,
(B) is the contents in the frame memory in the state of (a),
(C) is an enlarged view of the tracking block BL1.

FIG. 9 is a diagram showing an example of course data.

FIG. 10 is a main flowchart for explaining the operation of the game device to which the remote control device for a moving body according to the present invention is applied.

FIG. 11 is a main flowchart for explaining the operation of the game device to which the remote control device for a moving body according to the present invention is applied.

FIG. 12 is a flowchart showing a subroutine of initial position recognition.

FIG. 13 is a flowchart of interrupt I.

FIG. 14 is a flowchart of interrupt II.

FIG. 15 is a flowchart of interrupt II.

FIG. 16 is a perspective view showing another example of the base of the game device.

[Explanation of symbols]

 1 Self-propelled vehicle 2 Course 21 Course board 3 Base 4 Control unit 40 Frame memory 41 Microcomputer 411 ROM 412 RAM 5 Monitor 6 CCD camera 7 Transmission LED 8 Transmission unit

Claims (13)

[Claims] 1. A game device provided with a moving body that travels on a course: a game characterized by comprising running control means for running the moving body on any one of the plurality of courses. apparatus. 2. The game device according to claim 1, wherein:
A course data storage unit that stores course data corresponding to the plurality of courses is provided, and the travel control unit causes the mobile body to travel based on the course data corresponding to the course on which the mobile body should travel. Characteristic game device. 3. The game device according to claim 2, wherein:
A game device, wherein a plurality of the moving bodies are traveling on the course, and the course data is data for individually traveling the respective moving bodies. 4. The game device according to claim 3, wherein:
The game device, wherein the course data is data for designating a traveling route of each of the moving bodies. 5. The game device according to claim 4, wherein:
The course data includes data relating to a plurality of target points arranged in time series on the travel route of each of the moving bodies, and the travel control means is configured to provide the target points where each of the mobile bodies is on the travel route. A game device, characterized in that the moving body is controlled so as to run toward. 6. The game device according to claim 3, wherein:
The game device, wherein the course data is data for designating the coordinates of the corresponding course. 7. The game device according to claim 6, wherein:
The game machine, wherein the traveling control means controls the moving bodies so that the moving bodies do not deviate from the course. 8. The game device according to claim 7, wherein:
A game device comprising position detecting means for detecting a position of each of the moving bodies on the course, wherein the traveling control means controls the moving bodies based on a distance between the moving bodies. . 9. The game device according to claim 1, wherein:
The game device, wherein the course is provided on a replacement member that is detachable from the game device main body. 10. The game device according to claim 1, wherein the travel control means includes selection means for selecting the course to be traveled by the moving body from a plurality of the courses. . 11. The game device according to claim 10, wherein the selection means is a sheet-shaped display member provided with a plurality of the courses; and the moving is performed by exposing a predetermined region of the display member. A game device comprising: an exposure unit that selects the course on which the body should run. 12. The game device according to claim 10, wherein the selection means includes a display means for displaying, on a traveling surface of the moving body, the course which the moving body should travel among the plurality of courses. A game device characterized by the above. 13. The game apparatus according to claim 1, wherein: position detecting means for detecting a position of each of the moving bodies on the course; and a position of each of the moving bodies detected by the position detecting means. Target position calculation means for calculating the target position of each of the moving bodies based on the above; target control for controlling the movement of each of the moving bodies toward the target position of each of the moving bodies calculated by the target position calculating means A game device comprising means and;