JPH11244526A - Moving body control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To surely control all the moving bodies by transmitting a desired command to a moving body 5 from which a response signal is not received when a status command is transmitted to each moving body after a command is transmitted to each moving body 5 by relaying a moving body located near the moving body, in a horse racing game device. SOLUTION: When a status command is transmitted to each moving body 5 in turn after a stop order command is transmitted to each moving body 5 from a host control device 30, whether a response signal is received from the moving body 5 to which the status command is transmitted or not is confirmed in the host control device 30. In the case of YES, the position is calculated based on position information contained in the response signal and the position is controlled in a host position control circuit 31. In the case of NO, a desired moving body 5 is selected among moving bodies 5 for which response signals are confirmed, A control signal is made to be transmitted to a moving body 5 for which the response signal can not be confirmed by relaying the selected moving body 5.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

TECHNICAL FIELD The present invention relates to a movable body control device.

[0002]

2. Description of the Related Art Conventionally, as a movable body control device for controlling the traveling of a movable body by wireless communication using electromagnetic waves, there is, for example, one disclosed in Japanese Patent Laid-Open No. 9-122352. Hereinafter, the disclosed technology will be briefly described.

[0003] The traveling body disclosed herein is controlled by a system known as so-called follow-up control. More specifically, X-
The host side that sets the Y coordinate and controls the traveling of the traveling body gives a target position determined by the XY coordinates for each traveling body at regular time intervals, and sets the position of the traveling body to this target position. The running body is controlled by approaching.

[0004] The main body of the game machine that controls the running body performs wireless communication with the running body using a plurality of infrared light emitters provided on the outer periphery of a track-like running path.

[0005] Mirrors are respectively provided vertically on the outer circumference and the inner circumference of the traveling path, and the mirror provided on the outer circumference and the mirror provided on the inner circumference are arranged so that their mirror surfaces face each other. When a signal is actually transmitted to the traveling body, the same signal is simultaneously transmitted from all the infrared light emitters.
Therefore, the light emitted simultaneously from all the infrared light emitters on the game machine main body completely covers the traveling path with the light emitted directly from the infrared light emitter and the light reflected by the mirror. . Therefore, wireless communication with the game machine main body can always be performed regardless of where the traveling body is on the traveling path.

[0006]

However, in the above-described apparatus, it cannot be determined whether or not the traveling body correctly receives the signal from the host.

[0007] Therefore, for example, if a case occurs in which a signal from the host cannot be received due to an obstacle caused by another traveling body, the traveling body cannot be controlled at all.

[0008]

SUMMARY OF THE INVENTION According to the present invention, when a control unit transmits a control signal to a plurality of movable bodies, and there is a movable body for which a response signal to the control signal cannot be confirmed, the response signal is already transmitted. A desired movable body is selected from the confirmed movable bodies, the selected movable body is relayed, and the control signal is transmitted to the movable body whose response signal has not been confirmed. Therefore, the control signal can be reliably transmitted to the movable body to which the control means cannot directly transmit the control signal, and all the movable bodies can be reliably controlled.

The control means recognizes the positions of the plurality of movable bodies, and selects the movable body to be used for the relay according to the recognized positions of the plurality of movable bodies. The movable body to be used can be selected accurately.
Therefore, the control signal can be reliably transmitted to all the movable bodies, and the movable bodies can be more reliably controlled.

The control means relays a control signal to a movable body other than the desired movable body by relaying a desired one of the plurality of movable bodies, so that the control means transmits a control signal directly to the movable body. Also, the control signal can be reliably transmitted, and all the movable bodies can be reliably controlled.

The control means recognizes the positions of the plurality of movable bodies, and selects the movable body to be used for the relay according to the recognized positions of the plurality of movable bodies. The movable body to be used can be selected accurately.
Therefore, the control signal can be reliably transmitted to all the movable bodies, and the movable bodies can be more reliably controlled.

Since a plurality of movable bodies are used as the desired movable bodies used for the relay, a control signal can be reliably transmitted to all the movable bodies via a plurality of paths. Therefore, the control signal can be transmitted more securely through a secure path.

When the control means transmits a control signal corresponding to a desired movable body, the control means also transmits a control signal corresponding to a movable body other than the desired movable body.
Even when a different control signal is transmitted to each movable body, the control signal can be reliably transmitted to all movable bodies.

When a certain movable body receives a desired response signal in response to the desired control signal transmitted by another movable body without receiving a desired control signal from the control means, it receives a desired control signal. Since it is determined that the operation has been performed and the operation according to the desired control signal is performed, the movable body that cannot directly transmit the desired control signal from the control unit is controlled in the same manner as when the desired control signal is received. In this case, for example, when the desired control signal is the same control signal transmitted to a plurality of movable bodies, the maximum effect can be obtained.

In a plurality of light-emitting elements and light-receiving elements provided on a movable body for wireless communication, the plurality of light-emitting elements are disposed in an area other than the light-receiving area of the plurality of light-receiving elements, and the plurality of light-receiving elements are arranged in a plurality of light-receiving elements. Since the light-receiving element is provided in a region other than the light-emitting region, the light-receiving element does not narrow the light-emitting region of the light-emitting element, and the light-emitting element does not narrow the light-receiving region of the light-receiving element. Therefore, a blind spot of wireless communication can be reduced, and a signal from the host can be reliably received.

The plurality of light emitting elements and the plurality of light receiving elements are radially arranged, and are formed in a region formed based on the non-light emitting surfaces of the plurality of light emitting elements and based on the non-light receiving surfaces of the plurality of light receiving elements. Since the cable that the movable body has is arranged in the area to be set, the light emitting area of the light emitting element and the light receiving area of the light receiving element are not narrowed by the cable, the area that is a blind spot of wireless communication can be reduced, and Can be reliably received.

[0017]

The invention according to claim 1 of the present application comprises a plurality of movable bodies traveling in a desired area and a control means for controlling the travel of the plurality of movable bodies using wireless communication means. In the movable body control device provided, when a control signal transmitted from the control means via the wireless communication means is received from the control means, a response signal is transmitted, and the control means transmits the control signal to the control means. If there is the movable body for which the response signal cannot be confirmed after transmitting the selected movable body from the movable bodies for which the response signal has already been confirmed, and relays the selected movable body, The control signal is transmitted to the movable body for which the response signal has not been confirmed.

According to a second aspect of the present invention, in the first aspect, the control means recognizes the positions of the plurality of movable bodies, and transmits the relay to the relay according to the recognized positions of the plurality of movable bodies. The movable body to be used is selected.

According to a third aspect of the present invention, there is provided a movable body including a plurality of movable bodies traveling in a desired area, and control means for controlling travel of the plurality of movable bodies using wireless communication means. In the control device, the control means relays a desired movable body among the plurality of movable bodies and transmits a control signal to a movable body other than the desired movable body.

According to a fourth aspect of the present invention, in the third aspect, the control means recognizes the positions of the plurality of movable bodies, and transmits the relay to the relay according to the recognized positions of the plurality of movable bodies. The movable body to be used is selected.

According to a fifth aspect of the present invention, in the third aspect, the desired movable body is a plurality of movable bodies.

According to a sixth aspect of the present invention, in the third aspect, when the control means transmits the control signal corresponding to the desired movable body, the control means responds to a movable body other than the desired movable body. The above control signal is transmitted together.

According to a seventh aspect of the present invention, there is provided a movable body including a plurality of movable bodies traveling in a desired area, and control means for controlling travel of the plurality of movable bodies using wireless communication means. In the control device, when the plurality of movable bodies receive a desired control signal transmitted from the control unit via the wireless communication unit, a desired response signal is transmitted, and the desired control signal is not received. When the desired response signal transmitted by the other movable body is received, it is determined that the desired control signal has been received, and an operation according to the desired control signal is performed.

According to an eighth aspect of the present invention, there is provided a movable body having a plurality of light-emitting elements and a plurality of light-receiving elements for wireless communication, traveling in a desired area, and moving the movable body with the light-emitting element. In a movable body control device provided with a control means for controlling via an element and a light receiving element, the plurality of light emitting elements are arranged in an area other than the light receiving area of the plurality of light receiving elements, and the plurality of light receiving elements are provided. It is arranged in a region other than the light emitting region of the plurality of light emitting elements.

According to a ninth aspect of the present invention, in the eighth aspect, the plurality of light emitting elements and the plurality of light receiving elements are radially arranged, and are formed based on non-light emitting surfaces of the plurality of light emitting elements. The cable of the movable body is disposed in a region formed based on the non-light receiving surfaces of the plurality of light receiving elements.

[0026]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the embodiments shown in the drawings. In this example, a case is shown in which the present invention is applied to a horse racing game device that ranks the running horses.

Embodiment 1 FIG. 2 shows an external view of the entire horse racing game apparatus. An annular course 1 is provided on a horizontally long game table 3, on which six model horse races 2 are provided,
It is located at any position. Note that the number of model bodies 2 can be changed as appropriate. A plurality of game stations (not shown) are provided around the game table 3, and a display device for displaying odds and the like, an operation switch, a coin slot (all shown) are provided at a game station (not shown). Z) is provided. The player makes a prediction based on voting conditions such as odds displayed on a display device in the game station, inserts coins, and uses the operation switches to vote based on the prediction.

The inside of the game table 3 is hollow as shown in FIG. 3, and a running surface 8 made of transparent acrylic is provided on a separate board surface parallel to the course 1 through this hollow portion. Run between the course 1 and the running surface 8.

A magnet 20 is provided on the upper surface of the movable body 5 and is magnetically coupled to a magnet 6 provided below the model body 2 on the upper surface of the course 1. Therefore, the model body 2 also travels in accordance with the travel of the movable body 5. In this example, when the movable body 5 runs on the running surface 8 in a counterclockwise direction, the model bodies 2-2 also run in a counterclockwise direction.

As shown in FIG. 4, a plurality of power supply electrodes 9 for detecting the position of the movable body 5 in the width direction of the course 1 are provided on the lower surface of the course 1 according to the inner circumference and the outer circumference of the course 1. . Further, an identification signal for identifying each power supply electrode 9 is supplied to each power supply electrode 9.

Returning to FIG. 3, a position detecting bar code pattern 7 for detecting the position of the movable body 5 in the longitudinal direction of the course 1 is printed below the running surface 8 as shown in FIG. I have. The reading direction of the barcode pattern 7 is the goal direction in the course 1, that is, the length direction of the course 1.

Returning to FIG. 3, the power supply sensor 21 provided above the movable body 5 detects the power supply electrode 9, and the optical sensor 11 provided below the movable body 5 detects the bar code pattern 7. Therefore, the position of the movable body 5 on the course 1 can be detected by the power supply electrode 9 and the barcode pattern 7.

On the left and right sides of the movable body 5, drive wheels 13l, 13r
The driving wheels 131 and 13r are connected to running motors 121 and 12r, respectively, which will be described later. The light receiving element 16 provided on the upper surface of the communication board 18 in the movable body 5 receives a control signal such as running data transmitted from a host control device 30 described later and emits light from the light emitting element provided on the lower surface of the communication board 18. Reference numeral 17 transmits position information and the like to the host control device 30. The communication board 18 is supported by a support shaft 18a.

As described above, the light emitting element 17 and the light receiving element 16
Are arranged separately on the upper surface and the lower surface of the communication board 18, the light receiving element 16 does not narrow the light emitting area of the light emitting element 17, and the light emitting element 17 does not narrow the light receiving area of the light receiving element 16. Therefore, a blind spot of wireless communication can be reduced, and a signal from the host control device 30 can be reliably received.

The cables 19a and 19b are connected to the communication board 18
The upper part 5a and the lower part 5b of the movable body 5 are electrically connected via the. Reference numeral 15 denotes an auxiliary wheel.

The light receiving element 36 and the light emitting element 37 are provided in the course 1
The light receiving element 36 receives light from the light emitting element 17 provided on the movable body 5, and the light emitting element 37 is connected to the host control device 30.
The light is transmitted to the light receiving element 16 provided in the.

FIG. 6 shows a light receiving element 16 and a light emitting element 17 provided on a communication board 18 in the movable body 5 and a cable 1.
It is explanatory drawing which showed the example of arrangement | positioning of 9a, 19b. FIG. 6A shows the positional relationship between the light emitting element 17 and the cable 19a, and FIG. 6B shows the positional relationship between the light receiving element 16 and the cable 19b.

As shown in the figure, the light receiving element 16 and the light emitting element 17 are arranged radially so that the light receiving surface and the light emitting surface face outward. Therefore, the blind spot of wireless communication can be reduced. Light receiving element 16, light emitting element 17
Cables 19a, 19a in the region formed based on the non-light-emitting surface of FIG.
b is provided. Therefore, the light-emitting area of the light-emitting element 17 and the light-receiving area of the light-receiving element 16 are not narrowed by the cable 19, so that a blind spot of wireless communication can be reduced, and the signal from the host control device 30 can be reliably received.

FIG. 7 shows an example of the arrangement of the light emitting elements 37 in the space between the course 1 and the running surface 8. Although only the arrangement position of the light emitting element 37 is shown in the figure, in this example, as shown in FIG.
Are provided in almost the same place as one set. Therefore, the light receiving element 36 is provided at substantially the same position as the position of the light emitting element 37.

As shown in FIG. 6, ten light emitting elements 37 are provided on the outer periphery of the side surface between the course 1 and the running surface 8 and one on the inner periphery.
0 are provided at desired intervals. Each light emitting element 37 transmits light with a width of angle θ (communicable area). The light transmitted from each light emitting element 37 is transmitted to the course 1 and the running surface 8.
And the space between them is completely covered.

As described above, since the light emitting element 37 for transmission is also provided on the inner peripheral side of the side surface between the course 1 and the running surface 8,
Mirrors that were conventionally required can be eliminated. Therefore, for example, when the control is unstable, such as when the power is turned on, the movable body 5 collides with the mirror, and the communication failure due to the mirror being displaced or damaged can be solved.

As an example of the arrangement of the light emitting elements 37, the one shown in FIG. 6 of Japanese Patent Application Laid-Open No. 9-122352, which has been proposed as a conventional example, may be used.

Next, the system configuration of the control system is shown in FIG. In FIG. 1, the upper side shows the system configuration of the host control device 30, and the lower side shows the system configuration of the movable body 5.

First, the host controller 30 will be described.
The host control device 30 constituting the control means includes a CPU, an R
It has a host position management circuit 31 composed of an OM, a RAM, etc., for controlling the entire host control device 30, controlling the progress of the game, managing the positions of the movable bodies 5 to 5, and the like.

The host communication control circuit 34 includes the light emitting element 3
7. Control communication by the light receiving element 36. The host command processing circuit 35 converts between a signal for communication and a signal for internal processing.

Next, the structure of the movable body 5 will be described.

The light receiving element 16 receives a control signal such as a command and traveling data transmitted from the light emitting element 37 in the host control device 30, and receives a control signal via the movable body communication control circuit 41.
Output to the movable body command analysis circuit 42.

The movable body command analyzing circuit 42 discriminates the input control signal into running data and a command, stores the running data in the storage device 43, and outputs the command to the execution control circuit 44.

The execution control circuit 44 reads the traveling data from the storage device 43 in accordance with the input command, and specifies the target speed of the movable body 5 in accordance with the command and the traveling data. The running arithmetic circuit 45 outputs a signal for controlling the motors 12l and 12r in accordance with the target speed specified by the execution control circuit 44. At this time, the position information of the movable body 5 included in the movable body position management circuit 47 described later is also considered.
The traveling control circuit 46 supplies a driving current to the motors 12l and 12r based on the control information specified by the traveling operation circuit 45. The motors 12l, 12r are connected to both drive wheels 13l, 13r for actually moving the movable body. The rotary encoders 14l and 14r output signals corresponding to the rotation speeds of the motors 12l and 12r to the movable body position management circuit 47. This signal is used to determine the rotation speed, running distance, and position information of the motors 12l and 12r. The power supply sensor 21 and the optical sensor 11
Is connected. These rotary encoders 14l,
The position of the movable body 5 can be detected wherever it is based on information obtained from the optical sensor 14r, the optical sensor 11, and the power supply sensor 21.

When the movable body 5 receives a control signal such as running data from the host control device 30, it always sends a response signal to the host control device 30, and the movable body 5 outputs the response signal. When the rotary encoder 1
The position information of the movable body 5 obtained from the outputs of 4l and 14r is also output.

The host command analysis circuit 35 in the host control device 30 checks whether or not there are response signals from all the movable bodies 5 and, based on the position information of the movable bodies 5 transmitted together with the response signals, performs host position management. Sent to the circuit 31,
The host position management circuit 31 manages the positions of all the movable bodies 5.

Next, the outline of the operation will be described with reference to FIG.

At the start of the race, the model bodies 2 are arranged in a line at the starting point on the course 1. This means that the movable bodies 5 are located in a line on the running surface 8.

Before the start of the race, travel data is transmitted from the host control device 30 to each movable body 5 via the light emitting element 37 (step 8a). The travel data indicates a target position of the movable body 5 in each control cycle, in other words, indicates a travel schedule of each movable body 5 in a race or the like.

The traveling data transmitted from the light emitting element 37 of the host control device 30 is transmitted to the light receiving element 16 of each movable body 5.
, Through the movable body communication control circuit 41, respectively,
It is analyzed by the movable body command analysis circuit 42. The travel data analyzed there is stored in the storage device 43. At this time,
The movable body command analysis circuit 42 in the movable body 5 transmits a response signal to notify the host control device 30 that the traveling data has been received. When transmitting the response signal as described above, the position information of the movable body 5 included in the movable body position management circuit 47 is also transmitted.

After the response signals are transmitted from all the movable bodies 5, when a start command instructing the start of the race is transmitted from the host controller 30 to each movable body 5 (step 8b), the movable body communication control circuit 41, the execution control circuit 44 is activated via the movable body command analysis circuit 42.

The execution control circuit 44 operates in each control cycle, reads the running data stored in the storage device 43, and instructs the running arithmetic circuit 45 to run, specifically, target speed, acceleration, deceleration, etc. Give instructions.

The traveling arithmetic circuit 45 calculates the position of the movable body 5 based on the instruction and the movable position management circuit 47 based on the instruction.
The control information for controlling the motors 12l and 12r is calculated and determined, the determined information is sent to the travel control circuit 46, and the motors 12l and 12r are controlled to start traveling.

After the start of the race, the position information of the movable body 5 is periodically calculated by the movable body position management circuit 47 based on the information of the optical sensor 11, the power supply sensor 21, and the rotary encoders 14l and 14r.

The host control device 30
At each control cycle of 0, an information request command or the like for confirming the current state is sent from the light emitting element 37 to the movable body 5 (step 8c), and a response signal including the position information returned from the movable body 5 is received by the light receiving element 36. (Step 8d), the position information of the movable body 5 is taken out and managed.

The host position management circuit 31 determines whether or not the actual current position of the movable body 5 is in accordance with the position set in the traveling data. Is transmitted to perform correction (steps 8e and 8f).

Such an operation is performed for each control cycle of the host controller 30 until the race is completed (step 8g,
8h).

As described above, since the position of the movable body 5 is detected based on the output of the encoder provided in the movable body 5, the X does not extend to the portion where the traveling body does not actually travel, that is, the inside or outside of the course as in the related art. -It is not necessary to provide an electric wire or the like for determining the Y coordinate, the number of components can be reduced, and the cost can be reduced.

While the movable body 5 is traveling, the movable body 5 basically travels on the basis of the traveling data, so that the burden on the host control device 30 during traveling is lower than that of the conventional one. It becomes lighter. Therefore, when a host control device having the same processing capability as that of the conventional host control device is used, other processes can be performed.

Next, the operation of transmitting a control signal to the movable body 5 of the host control device 30 will be described. It is assumed that an identification number (hereinafter, referred to as ID) is assigned to each movable body 5 in advance.

The outline is that when a desired command is transmitted from the host control device 30 to each movable body 5 and then an information request command for confirming a current state (hereinafter, referred to as a status command) is transmitted. A desired command is relayed to the movable body 5 having no response signal corresponding thereto by relaying the movable body 5 which is close to the movable body 5 and transmits a response signal corresponding to the previous status command. It is to send.

Hereinafter, this operation will be described in detail with reference to FIG. In this example, a stop command is used as a desired command.

After transmitting the stop command command from the host control device 30 to each movable body 5, a status command for confirming the current state is transmitted to each movable body 5 in order (step 9a, 9b).

The host controller 30 checks whether or not there is a response signal from the movable body 5 which has transmitted the status command (step 9c). If there is a response signal, the host controller 30 calculates a position based on the position information included in the response signal. The position is managed by the host position management circuit 31 (step 9d).
If there is no response signal, the ID of the movable body 5 and the previous position are sequentially stored in a confirmation table provided in the host command processing circuit 35 (step 9e).

After performing the above operation for all the movable bodies 5 (step 9f), if there is a response signal from all the movable bodies 5, that is, the movable table 5 is moved to the confirmation table provided in the host instruction processing circuit 35. If the IDs of the bodies 5 are not stored, it is determined that all the movable bodies 5 have received the previously transmitted stop command command, and this processing is terminated (step 9).
g). As described above, since it is confirmed whether or not the movable body 5 has received the command, the operation stability is improved.

When the ID of the movable body 5 is stored in the confirmation table provided in the host command processing circuit 35, the host control device 30 causes the I
It is determined that the movable body 5 having D has not received the previously transmitted stop command command (step 9g), and by referring to the confirmation table and the like, the movable body 5 that has not responded has the top of the confirmation table. Calculate the distance between the previously stored position and the position of the movable body 5 that has responded to each response,
As a result, the mobile unit 5 with a response closest to the mobile unit 5 without a response is selected, and a relay command is transmitted to the selected mobile unit 5 (steps 9h and 9i). Note that the relay command includes data indicating the movable body transmitted via the relay, and in this case, the movable body 5 which has no response stored at the head of the confirmation table is designated.

The movable body 5 that has received the relay command transmits a command transmitted before the previous status command, in this case, a stop command command, to the movable body 5 specified by the relay command (in this case, a stop command command). Step 9j).

After transmitting the relay command, the host control device 30 determines whether or not there is a response signal from the movable body 5 transmitted via the relay specified by the relay command.
If there is a response signal, the data corresponding to the movable body 5 that has responded is deleted from the confirmation table, that is, the one at the top of the confirmation table is deleted, and the process returns to step 9g (step 9k). In the confirmation table, it is assumed that when the first data is deleted, the remaining data is sequentially moved up. Therefore, the above operation is executed for all the movable bodies 5 that have not responded.

Therefore, it is possible to reliably transmit even to the movable bodies 5 that cannot be directly transmitted from the host control device 30, and it is possible to reliably control all the movable bodies 5.

After the relay command is transmitted, if there is no response signal from the movable body 5 transmitted via the relay specified by the relay command, the mobile body having responded is referred to by referring to the result calculated in step 9h. Then, the same relay command as in step 9i is transmitted to the movable body 5 which is the next shortest in 5 and the process returns to step 9j (step 9m).

As described above, the movable body 5 used for relaying is
Selection is made in the order of proximity to the movable body 5 having no response among those having a response. In other words, those that are most suitable for relaying are used.

As described above, since the movable body used for the relay is selected based on the position of the movable body, the movable body used for the relay can be accurately selected.

In the above description, the stop command is used as a desired command, but this can be changed as appropriate. Further, the same effect as described above can be obtained even when the present invention is applied when transmitting driving data instead of a desired command.

(Embodiment 2) Next, another embodiment will be described. Note that the configuration of this example is the same as that of the above-described first embodiment, and thus the description thereof will be omitted, and the operation will be described below.

First, the outline of the operation will be described. This example is used when the host control device 30 transmits a control signal to each of the movable bodies 5, and at the time of transmission, transmits a desired control signal to the movable body 5 running at the head. At the same time, the first movable body 5 transmits a desired control signal to the subsequent movable body 5, and the movable body 5 sequentially transmits the desired control signal to the further movable body 5, A desired control signal is transmitted to all the movable bodies 5.

Next, the operation will be described with reference to FIG.

When the host control device 30 transmits a control signal to each movable body 5, the host position management circuit 31 confirms the position of each movable body 5 (step 10a).

The current order of each movable body 5 is determined based on the confirmed position, and this order is used as the relay order (step 10b). Note that the order of the movable body 5 is the order closest to the goal direction.

The host control device 30 creates a relay command for transmission based on the relay order and transmits it to the first movable body 5 (step 10c).

The relay command has a configuration as shown in FIG. 11, and includes a movable body instruction data and a control signal following the movable body instruction data, and has a plurality of the groups. Note that the control signal paired with the movable body instruction data is a control signal transmitted to the movable body specified by the paired movable body instruction data.

In this relay command, the relay order is determined by the order indicated by the movable body instruction data. That is, the movable body 5 indicated by the movable body instruction data at the head of the relay command is relayed first, the movable body 5 indicated by the next movable body instruction data is second, the third, and so on. Fourth.

The movable body 5 having received the relay command,
If the first movable body instruction data indicates itself, the control signal transmitted as a pair with the movable body instruction data is read, and the control signal read from the received relay command and the control signal are combined with the control signal. It deletes the movable body instruction data, and transmits the deleted relay command. Thereafter, each movable body 5 repeats the above operation, and finally the control data is transmitted to all the movable bodies 5 in the order specified by the relay command. When the movable body 5 receives the relay command, if the first movable body instruction data does not indicate itself, the movable body 5 does not respond to the relay command at all.

As described above, according to the present embodiment, a plurality of movable bodies can be relayed by transmitting a relay command, and control signals can be respectively transmitted. Therefore, even the movable body 5 which cannot be directly transmitted from the host control device 30 can be used. Can be sent reliably.

Since the relay order is determined based on the position of the movable body 5, the order of the movable bodies used for the relay can be accurately selected.

In the above example, the control signal is transmitted to all the movable bodies 5 through one communication path. However, the control signal may be transmitted to all the movable bodies 5 through a plurality of communication paths. Good. In this case, for example, a relay command is transmitted to each of the first and last movable bodies 5, and a control signal is provided by a relay command to be provided to the first movable body 5 from the top to the middle one in the order. Other than the above, a control signal may be given by a relay command given to the last movable body 5. In this case, in addition to the above effects, a plurality of relays can be simultaneously performed, so that the time spent for transmitting the control signal is shortened, and the speed is increased.

(Embodiment 3) Next, another embodiment will be described. Note that the configuration of this example is the same as that of the above-described first embodiment, and a description thereof will not be repeated.

This example is applied when the host control device 30 transmits a special command to all the movable bodies 5. The outline is that, when a response related to a special command of another movable body 5 is received, the received movable body executes an operation corresponding to the special command as if it received a special command related to the response. .
Note that the special command referred to in this example is a command for operating a plurality of movable bodies 5 at the same time. Specifically, a start command, an emergency stop command, and the like correspond to this.

Here, a command configuration transmitted from the host control device 30 to each movable body will be described with reference to FIG.

As shown in the figure, the command transmitted from the host control device 30 to each movable body is a command ID for identifying whether the command is a start command or a status command, and the command is a command. A command type determination flag indicating whether or not the command is a special command or a response signal (hereinafter, referred to as a response command in this example), and an all target transmission flag indicating whether or not the command is transmission for all movable objects. When the command is a command for a desired movable body, the command is composed of transmission target movable body ID bits (1) and (2) indicating which movable body is the command, and an information section transmitted in association with the command. .

FIG. 13 shows a response command to the status command from the host control device 30. As shown in the figure, the response command has the structure shown in FIG.
The received command is sent back immediately before receiving the status command.

Hereinafter, the operation will be described with reference to FIG.

When the movable body 5 receives some data from the light receiving element 16, the received data is analyzed by the movable body command analysis circuit 42. As a result of the analysis, if the special command flag is set and the response command flag is set, That is, when a special command is directly received from the host control circuit 30 (steps 14a, 14b, 14c), the command is analyzed and executed. Subsequently, a special response to the command is transmitted to the host control device 30 (steps 14d and 14).
e).

The result of analyzing the received data (step 14
a) When the special command flag and the response command flag are set, that is, when a response command related to a special command transmitted by another movable body 5 is received, the special command received immediately before the response command is given. Analyze the command and execute the command (step 14
b, 14c, 14f, 14g). In this case, no special response command is transmitted.

As described above, when a response command related to a special command transmitted by another movable body is received, the special command is processed as if it had been received. Therefore, the special command cannot be directly received from the host control device 30. The movable body is controlled in the same way as receiving the special command.

The result of analyzing the received data (step 14
a), when the special command flag is set and the response command flag is set (steps 14b and 14h), that is, the other movable body 5 for a command that is not a special command.
When no response signal is received, no processing is performed, and the operation ends. Therefore, a malfunction due to a response command unrelated to itself can be eliminated.

The result of analyzing the received data (step 14
a) In the case of a command for itself or a command for the whole transmitted by the host control device 30, the command is analyzed and executed, and then a response to the command is transmitted to the host control device 30 (steps 14b, 14h,
14i, 14j, 14h, 14m).

As a result of analyzing the received data (step 14
a) If the command is neither a command for itself nor a command for the whole transmitted by the host control device 30, no processing is performed, and the operation is terminated as it is (steps 14b, 14h, 14i, 14j).

[0103]

According to the present invention, a control signal can be reliably transmitted to a movable body to which a control means cannot directly transmit a control signal, and all movable bodies can be reliably controlled.

Since the positions of a plurality of movable bodies are recognized and the movable bodies used for relay are selected according to the recognized positions of the plurality of movable bodies, the movable bodies used for relay can be selected accurately. Therefore, the control signal can be reliably transmitted to all the movable bodies, and the movable bodies can be more reliably controlled.

Since a plurality of movable bodies are used as the desired movable bodies to be used for relaying, a control signal can be reliably transmitted to all the movable bodies via a plurality of paths. Therefore, the control signal can be transmitted more securely through a secure path.

When transmitting a control signal corresponding to a desired movable body, a control signal corresponding to a movable body other than the desired movable body is also transmitted. Therefore, a different control signal is transmitted to each movable body. Even in the case of performing, the control signal can be reliably transmitted to all the movable bodies.

When a certain movable body receives a desired response signal in response to a desired control signal transmitted by another movable body without receiving a desired control signal from the control means, a desired control signal is received. Is determined and the operation according to the desired control signal is performed, so that the movable body that cannot directly transmit the desired control signal from the control means is also controlled in the same manner as when the desired control signal is received. In this case, for example, when the desired control signal is the same control signal transmitted to a plurality of movable bodies, the maximum effect can be obtained.

It is possible to reduce a blind spot area of the wireless communication and to reliably receive a signal from the host.

[Brief description of the drawings]

FIG. 1 is a block circuit diagram showing an embodiment of the present invention.

FIG. 2 is an external view of FIG.

FIG. 3 is a sectional view showing a driving mechanism of the running body and the model horse of FIG. 1;

FIG. 4 is an explanatory view showing an example of the arrangement of power supply electrodes 9 in course 1 of FIG. 2;

FIG. 5 shows a bar code pattern 7 on the running surface 8 of FIG.
FIG. 3 is an explanatory diagram showing an example of arrangement.

FIG. 6 is a diagram showing an example of the arrangement of a light receiving element 16 and a light emitting element 17 in FIG.

FIG. 7 is an explanatory view showing an example of the arrangement of the light emitting elements 37 in FIG. 1 in course 1.

FIG. 8 is a flowchart for explaining the operation of FIG. 1;

FIG. 9 is a flowchart for explaining the operation of FIG. 1;

FIG. 10 is a flowchart for explaining the operation of another embodiment of the present invention.

FIG. 11 is a diagram showing a configuration of a relay command according to another embodiment of the present invention.

FIG. 12 is a diagram showing a command configuration according to another embodiment of the present invention.

FIG. 13 is a diagram showing a configuration of a response command to a status command in another embodiment of the present invention.

FIG. 14 is a flowchart for explaining the operation of another embodiment of the present invention.

[Explanation of symbols]

 Reference Signs List 5 movable body 16, 17, 36, 37 wireless communication means 16 light receiving element 17 light emitting element 30 control means 19 cable

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁶ Identification code FI H04L 12/28

Claims (9)

[Claims] 1. A movable body control device comprising: a plurality of movable bodies traveling in a desired area; and control means for controlling travel of the plurality of movable bodies using wireless communication means. The body transmits a response signal when receiving a control signal transmitted from the control means via the wireless communication means. The control means cannot confirm the response signal after transmitting the control signal. When the movable body is present, a desired movable body is selected from the movable bodies for which the response signal has already been confirmed, and the selected movable body is relayed. A movable body control device for transmitting the control signal to the movable body. 2. The mobile communication device according to claim 1, wherein the control means recognizes the positions of the plurality of movable bodies, and the movable means used for the relay according to the recognized positions of the plurality of movable bodies. A movable body control device for selecting a body. 3. A movable body control device comprising: a plurality of movable bodies traveling in a desired area; and control means for controlling travel of the plurality of movable bodies using wireless communication means. A movable body control device that relays a control signal to a movable body other than the desired movable body by relaying a desired movable body among the plurality of movable bodies. 4. The mobile communication device according to claim 3, wherein the control unit recognizes the positions of the plurality of movable bodies, and uses the movable unit used for the relay according to the recognized positions of the plurality of movable bodies. A movable body control device for selecting a body. 5. The movable body control device according to claim 3, wherein the desired movable body is a plurality of movable bodies. 6. The control device according to claim 3, wherein the control means transmits the control signal corresponding to the desired movable body together with the control signal corresponding to a movable body other than the desired movable body when transmitting the control signal corresponding to the desired movable body. A movable body control device for transmitting. 7. A movable body control device comprising: a plurality of movable bodies traveling in a desired area; and control means for controlling traveling of the plurality of movable bodies using wireless communication means. The body transmits a desired response signal when receiving a desired control signal transmitted from the control unit via the wireless communication unit, and receives the other control signal without receiving the desired control signal. A movable body control device that, when receiving the desired response signal transmitted by the movable body, determines that the desired control signal has been received, and performs an operation according to the desired control signal; . 8. A movable body which travels in a desired area and has a plurality of light emitting elements and a plurality of light receiving elements for wireless communication, and travels the movable body via the light emitting element and the light receiving element. A movable body control device comprising: a controller configured to control the plurality of light emitting elements, wherein the plurality of light emitting elements are arranged in a region other than a light receiving area of the plurality of light receiving elements, and the plurality of light receiving elements are the plurality of light emitting elements. A movable body control device, wherein the movable body control device is disposed in a region other than a light emitting region of the element. 9. The plurality of light emitting elements and the plurality of light receiving elements according to claim 8, wherein the plurality of light emitting elements and the plurality of light receiving elements are radially arranged, and the plurality of light emitting elements and the plurality of light receiving elements are formed based on a non-light emitting surface of the plurality of light emitting elements. A movable body control device, wherein a cable of the movable body is disposed in an area formed based on the non-light receiving surface of the light receiving element.