1302848 ， (1) . 九、發明說明 【發明所屬之技術領域】 本發明係關於使設置於行走面之自走體自走而實行賽 馬等之競賽遊戲的遊戲機。 【先前技術】 公知作爲此種之賽馬遊戲機，有利用並排於自走體之 P 左右方向的受光元件，檢測出相對於行走面上之誘導線的 自走體之偏離量，基於其所檢測出之偏離量，控制關於自 走體的寬度方向之位置的遊戲機（例如參照專利文獻1 ) 〇 【專利文獻1】日本特開2 0 0 3 - 3 3 5 6 7號公報 【發明內容】 〔發明所欲解決之課題〕 ϋ 在前述之遊戲機，係如因爲行走面的污垢、異物的附 著、誘導線的剝落等而誘導線的線寬度較原本之線寬度增 加或減少，對關於誘導線之寬度方向的自走體之位置產生 檢測誤差，因此，有產生自走體之位置的控制精度降低， 或自走體無法正常行走之不便之虞。因爲行走面的污垢之 累積而於誘導線形成類似之線狀痕、點等之狀態，有將此 誤認爲誘導線而於行走控制產生錯誤之虞。而且，因爲於 先前之遊戲機並不存在檢查行走面之手段，遊戲機的管理 者係有藉由目視檢查行走面而進行清掃等之管理作業之必 -4- 1302848 • (2) • 要，對管理者之負擔較大。而因懈怠行走面之檢查而招來 前述之不便的可能性亦不小。 在此，本發明的目的係利用自走體的誘導線檢測功能 而減輕關於行走面之管理的負擔，提供可有助於行走面之 適切的管理之遊戲機及使用於其之自走體。 〔用以解決課題之手段〕 0 本發明之遊戲機，係具備具有設置誘導線之行走面的 遊戲機本體、與可自走於前述行走面之自走體，於前述自 走體係設置有檢測前述誘導線之誘導線檢測手段、與基於 前述誘導線檢測手段之檢測結果，控制自走體的行走之行 走控制手段；作爲前述誘導線檢測手段，設置有藉由並排 於前述自走體之左右方向之受光元件群，檢測包含前述行 走面之前述誘導線的特定檢測區域中之亮度分布的線感測 器；於前述自走體係更設置，基於前述線感測器的輸出判 φ 別所檢測出之誘導線之線寬度的線寬度檢查手段，藉此， 解決前述之課題。 又，本發明之自走體，係設置有檢測設置於遊戲機的 行走面之誘導線的誘導線檢測手段、與基於前述誘導線檢 測手段之檢測結果，控制於前述行走面上之行走的行走控 制手段；作爲前述誘導線檢測手段，設置有藉由並排於前 述自走體之左右方向之受光元件群，檢測包含前述行走面 之前述誘導線的特定檢測區域中之亮度分布的線感測器之 同時，更具備基於前述線感測器的輸出判別所檢測出之誘 -5- 1302848 . (3) • 導線之線寬度的線寬度檢查手段’藉此’解決則述之課題 〇 於本發明中，自走體的行走控制手段，係藉由從作爲 誘導線檢測手段之線感測器所檢測出之亮度分布，將對應 誘導線之亮度範圍予以特定，而將於檢測區域中之誘導線 於以特定，將於其特定之誘導線的檢測區域中之位置作爲 線索而判別於誘導線的寬度方向中之自走體的位置，參照 0 其判別結果而控制自走體之行走。因爲線感測器係將多數 的受光元件以列狀並排而構成，將誘導線與其線寬度比較 ，以細微之節距檢測，可以高解析能力判別誘導線的線寬 度。因爲自走體係判別誘導線的線寬度，藉由將其判別結 果利用於行走面的檢查，可減輕關於行走面的管理之負擔 。再者，於本發明中，利用線寬度檢查手段之線寬度的判 別對象係並不僅限於本來之誘導線。因爲污垢及異物所形 成之線狀痕、點等係也包含於「檢測出之誘導線」的範疇 Φ 。關於起因於如此之污垢等之誘導線的類似物，也藉由適 用於線寬度判別，可檢測得知其發生或存在。 於本發明之一形態中，前述線寬度檢查手段係更判別 所判別之線寬度的適合與否亦可。藉由連線寬度之適合與 否也由自走體判別，可較容易掌握關於線寬度之異常的發 生。 於本發明之一形態中，於前述自走體係設置有：方向 檢測手段，檢測爲了將相對於前述誘導線之長邊方向的前 述自走體之方向的偏離予以特定之必要資訊；前述行走控 -6 - 1302848 * (4) " 制手段，係構成爲基於前述方向檢測手段的檢測 別相對於前述誘導線之長邊方向的前述自走體之 離，更參照其判別結果而控制前述自走體；前述 查手段，係亦可基於前述線感測器的檢測結果與 控制手段所判別之方向的偏離，判別前述線寬度 線感測器對於誘導線傾斜時，於線感測器的 中，對應誘導線之亮度範圍的寬度也因應線感測 φ 而增加或減少。爲此，僅基於亮度範圍的寬度而 線的線寬度時，係於其所判別之線寬度有包含因 器之傾斜的誤差。另一方面，判別相對於誘導線 向之自走體的方向偏離而於行走控制參照其判別 利用其方向偏離，線感測器可掌握對於誘導線的 有多大程度之傾斜。所以，如於線寬度之判別有 走控制所參照之方向偏離，不用重新設置線寬度 的感測器類，排除因應相對於誘導線之線感測器 φ 線寬度的誤差，可更正確判別線寬度。 於本發明之一形態中，於前述自走體係設置 方向位置檢測手段，檢測爲了將關於前述誘導線 向的前述自走體之位置予以特定之必要資訊；前 制手段，係構成爲基於前述長邊方向位置檢測手 測器的個別之檢測結果，判別於前述行走面中之 體之位置’更基於其判別結果而控制前述自走體 前述線寬度檢查手段，係亦可作成將關於前述線 測結果與前述行走控制手段所判別之自走體之位 結果，判 方向的偏 線寬度檢 前述行走 〇 檢測區域 器之傾斜 判別誘導 應線感測 的長邊方 結果時’ 長邊方向 參照在行 之判別用 的傾斜之 有：長邊 之長邊方 述行走控 段及線感 前述自走 的行走； 寬度之檢 置建立關 -7- 1302848 « (5) • 聯的檢查資料。 依據該形態，藉由參照檢查資料，可將誘導線的線寬 度或將線寬度的適合與否與行走面上之位置建立關聯並加 以掌握’藉此，可更容易管理行走面。例如，在行走面上 ’可從檢查資料而容易將特別要檢查之位置予以特定。自 走體係因爲可利用於用以行走控制而判別之誘導線的長邊 方向及寬度方向中之位置而作成檢查資料，所以，並無爲 • 了檢查資料的作成而重新設置感測器類之必要。管理者等 係可經由適切之手段參照所作成之檢查資料。而於自走體 本身設置檢查資料的顯示手段亦可。於安裝於自走體之記 憶媒體儲存檢查資料，於必要之時，從自走體拆卸記憶媒 體而讀取出檢查資料亦可。 進一步’於自走體設置將檢查資料輸出至自走體外部 之資料輸出手段亦可。藉此，在自走體外部接收檢查資料 ，可容易進行基於其資料之行走面的確認。此時，遊戲機 φ 係亦可具備：行走面管理裝置，基於從前述自走體所輸出 之檢查資料，實行用以通知前述遊戲機的管理者前述行走 面的狀態之特定處理。遊戲機的管理者係可在遊戲機之設 置處，容易確認行走面。 前述行走面管理裝置，係作爲前述特定處理，基於從 前述自走體所輸出之檢查資料，作成用以將前述線寬度爲 不適當之行走面上的位置及該當位置的檢測次數予以特定 的資料，並儲存該資料，基於所儲存之資料，亦可顯示判 別前述線寬度爲不適當之位置及揭示其位置之檢測次數的 -8- 1302848 • (6) • 行走面檢查畫面。藉由該形態，遊戲機的管理者係經由行 走面檢查畫面而掌握線寬度爲不適當之位置及關於其位置 之檢測次數，可將檢查、清掃等之必要性與行走面上之位 置建立關聯而加以判斷。 前述行走面管理裝置，係作爲前述特定處理，基於從 前述自走體所輸出之檢查資料，作成用以將前述線寬度爲 不適當之行走面上的位置或該當位置的檢測次數之至少任 φ 一方予以特定的資料，並儲存該資料，於儲存之資料超過 特定之容許量時，亦可對前述遊戲機的管理者進行特定之 警告。藉由該形態，可催促遊戲機的管理者，基於從自走 體所傳送之檢查資料的行走面之確認。 於設置行走面管理裝置之形態中，於具備對於前述自 走體的前述行走控制手段，經由特定之通訊手段傳送關於 該當自走體之行走的指示，而使特定之遊戲實行的遊戲控 制裝置之狀況，將其其遊戲控制裝置作爲前述行走面管理 φ 裝置而作用亦可。藉此，於自走體利用用以賦予行走的指 示之構成，從自走體轉送檢查資料至遊戲控制裝置，利用 其遊戲控制裝置而可掌握行走面之狀態。 前述遊戲機於經由用以管理該當遊戲機之伺服器與特 定之網路而連接之狀態中，將前述伺服器作爲前述行走面 管理裝置而作用亦可。藉此，伺服器的管理者可掌握行走 面之狀態，從其伺服器的管理者對於設置遊戲機之店舖提 供關於行走面之狀態的資訊，可催促行走面之檢查、清掃 等。 -9- (7) 1302848 〔發明之效果〕 如以上所說明，藉由本發明，檢測出設置於行走面之 誘導線，利用用以控制自走體的行走的構造，藉由判別誘 導線的線寬度或其適合與否，可檢測出行走面的污垢、異 物的附著、誘導線的剝落等之異常的發生。所以，減輕遊 戲機的管理者管理行走面時之負擔，可提供有助於行走面 φ 之適切的管理之遊戲機及使用於其之自走體。 【實施方式】 圖1係揭示組入關於本發明的一形態之遊戲機的遊戲 系統之槪略構成圖。遊戲系統1係用以實行賽馬遊戲者而 具備·經由通訊網路6而相互連接之複數之遊戲機2A、 2B、2C、與中央伺服器3、與維護伺服器4、與維護客戶 端5。於遊戲系統丨中之遊戲機2A〜2C個別爲相同構成。 φ 所以’以下，無特別區分必要時稱「遊戲機2」。再者， 於圖1揭示有3台之遊戲機2，但是，包含於遊戲系統i 之遊戲機2的台數並不限定於此。 中央伺服器3，係因應遊戲機2之要求，主要進行關 於遊戲資料之處理。維護伺服器4，係於自己之記憶部的 維護記憶部4 a，記憶關於遊戲系統1之錯誤日誌資訊等之 維護的資料而管理。維護客戶端5，係例如，將遊戲系統 1的維護設置於集中管理之維護服務部，利用記憶於維護 g己憶部4 a之資料，進行關於遊戲系統1之維護的分析及 -10- 1302848 • (8) • 解析。於通訊網路6係作爲一例而使用網際網路。 遊戲機2，係設置於店舖，作爲與經濟上價値交換進 行遊戲之商用遊戲機。遊戲機2的筐體（遊戲機本體）1〇 係具備：場域單元1 1、與包圍其場域單元1 1般地配置之 複數的遊戲站單元1 2…1 2、與配置於場域單元1 1之一端 的監視器單元1 3。場域單元1 1，係提供對應圖8所示之 個別的自走車（自走體）3 0及競賽馬之模型3 1的行走面 φ 18、19。於場域單元11上設置有複數之自走車30及模型 31，藉由其等競爭而實現賽馬遊戲。遊戲站單元12，係受 理關於賽馬遊戲之玩家的各種操作之同時，實行對玩家之 遊技價値的付出等。監視器單元1 3係具備顯示遊戲資訊 等之主監視器1 3 a。 圖2係場域單元1 1之立體圖、圖3係其側面圖。如 此等圖所示，場域單元1 1係具備：作爲下部構造體的基 座14、與作爲覆蓋於其基座之上部的上部構造體之平 φ 台1 5。基座1 4及平台1 5係皆爲組合鋼材之框體構造。於 基座14及平台15之上面係個別安裝有天板16、17。於基 座1 4之天板1 6的上面係設置有自走車3 〇行走之下段行 走面18。另一方面，於平台15之天板I?的上面係設置有 模型3 1行走之上段行走面1 9，於天板1 7之下面係設置有 對應自走車30之供電面20。 平台15係可對基座14自由升降地設置。圖2及圖3 係揭示平台1 5上升之狀態。於圖4及圖5揭示平台1 5下 降之狀態。再者，圖4係對應圖2之立體圖，圖5係對應 -11 - 1302848 - (9) • 圖3之側面圖。平台1 5之升降範圍係如下所述。如圖5 所示，平台15係在下降至接觸基座14的承接部14a的狀 態，而下段行走面18與供電面20之間空出有空間SP。 此時之空間SP的高度Hd (參照圖5 )係成適合爲了收容 自走車30之値。另一方面，平台15上升時之空間SP的 高度Hu (參照圖3 )，係擴大至至少作業者之上半身可進 入其空間SP的程度。作爲目標，高度Hu係確保400mm φ 以上爲佳。再者，爲了便利場域單元11的搬入及搬出， 如圖6所示，基座1 4及平台1 5係爲個別於前後方向可分 割的子單元14A〜14C、15A〜15C。基座14的天板16，係 配合子單元14A〜14C而3分割。子單元14A〜14C係例如 藉由螺栓等連結手段而互相接合。關於子單元15A〜15C 也相同。 如圖2及圖3所示，於場域單元1 1係設置有用以上 下方向驅動平台1 5之平台驅動裝置（升降驅動裝置）2 1 φ 。平台驅動裝置2 1係具備··複數之油壓缸（致動器）22 ，於場域單元1 1的周圍空出適宜之空間而配置、油壓產 生裝置2 3，作爲供給各油壓缸2 2油壓之動力源。油壓缸 22係將活塞桿22a朝上方般地設置。油壓缸22之數量係 於個別之子單元14A〜14C兩側設置各1個，合計設置有6 個。但是，其個數並不限定於此。對於個別之子單元 14A〜14C係至少設置各1個油壓缸22爲佳。如圖7所示 ，油壓缸22之缸管22b，係固定於基座14，活塞桿22a 之先端，係經由調節器裝置2 4而連結於平台1 5。所以， •12- 1302848 - (10) * 藉由供給油壓至油壓缸2 2使活塞桿2 2 a伸長，而平台i 5 將上升。 調節器裝置24係具備：調節器24a，固定於活塞桿 22a之先端、調節器承接部24b，固定於平台15。調節器 24a，係並不固定於調節器承接部24b而伴隨些許之裕度 插入至調節器承接部24b。所以，允許油壓缸22之動作時 中之活塞桿22a的芯偏離，使複數之油壓缸22不互相干 I 涉而動作，可使平台1 5圓滑地升降。油壓產生裝置23， 係產生適用於以供給遊戲機2之電力驅動的油壓缸2 2之 油壓。油壓產生裝置23的動作，係藉由用以管理遊戲機2 之整體動作的主控制裝置1 00 (參照圖1 9 )而控制。 圖8係揭示天板1 6、1 7之剖面、與行走其之行走面 18、19的自走車30及模型31之圖。基座14之天板16係 以白色之樹脂板構成，於其上面之下段行走面1 8設置有 線薄片3 2，於線面設置有磁鐵（永久磁鐵）3 3。如圖9所 φ 示，線薄片32係將用以誘導自走車30之複數條之誘導線 3 4，用以形成於下段行走面1 8上者。誘導線3 4係著色有 對天板1 6之底色（白）在可視光域具有對比的顏色（舉 例爲黑）。誘導線3 4之寬度Wg係誘導線3 4之相互節距 (間隔）Pg的1/2，作爲一例Wg = 6mm、Pg=12mm。如圖 1 〇所示，誘導線34係形成周回路徑3 5般地設置。周回路 徑35係接合誘導線34相互平行延伸之直線區間35a、與 誘導線3 4爲半圓狀彎曲之彎道區間3 5 b所構成。於直線 區間3 5 a及彎道區間3 5 b之任一中，誘導線3 4的寬度Wg -13- 1302848 、 （11) - 及節距PTg爲一定。於彎道區間35b中的誘導線34之曲 率中心CC係相互一致。 於遊戲機2中，誘導線3 4係被賦予作爲表示周回路 徑3 5的跑道之作用。例如，最內周之誘導線3 4係相當於 第1跑道，以下，朝外周如第2跑道、第3跑道…般地， 誘導線3 4與跑道號碼建立關聯。在遊戲機2，係藉由跑道 號碼辨識周回路徑3 5之橫斷方向（與誘導線3 4垂直方向 φ )中，自走車30的位置。自走車30，係只要無來自於主 控制裝置1 00之跑道變更指示，即沿著對應現在的跑道之 誘導線34行走般地，控制自己的動作。再者，於圖1 〇中 ，誘導線3 4之數量係有6條，但是，其數量配合在賽馬 遊戲所應使用之馬的頭數，適切地變更亦可。 如圖9所示，磁鐵3 3係S極與N極交互排列般地配 列。於直線區間35a中，磁鐵33係於橫斷方向延伸之帶 狀，在彎道區間3 5b係朝外周擴散之扇形。藉此，於下段 φ 行走面1 8，係S極與N極之邊界位置中，於周回路徑3 5 之橫斷方向延伸的多數之磁性計測線3 6，係沿著周回路徑 3 5之長邊方向重覆形成。磁性計測線3 6係利用於作爲表 示於周回路徑3 5中之自走車3 0的位置或進度之指標。即 ，於遊戲機2中，係將周回路徑3 5上之特定位置（例如 ，於圖1 0之位置Pref)作爲基準，藉由磁性計測線3 6的 條數管理周回路徑3 5之長邊方向的自走車3 0之進度。例 如，自走車30位於從基準位置Pref之第1〇〇條的磁性計 測線36上時，其自走車30之進度係作爲1〇〇而在遊戲機 -14- 1302848 、 (12) * 2被認識。 於直線區間3 5 a中之磁性計測線3 6的節 係設定爲一定値PTm。以下，稱該節距PTm 。如圖1 1所示，於彎道區間3 5 b中之磁性計i 距，係於最內周的誘導線3 4中之磁性計測線 PTin與基準節距PTm —致般地設定。所以， 3 5b中之磁性計測線36的節距係越朝外周越擴 φ 例，基準節距PTm爲8mm時，最外周之誘導 (最大節距）PTout係略30mm。 如圖1 0所示，於周回路徑3 5之適當位置 係直線區間3 5 a之兩端部及彎道區間3 5 b的頂 係設置有絕對位置指示裝置3 7。如圖8所示， 示裝置3 7係具備設置於天板1 8之下面的指示 燈3 8係使用射出紅外線之紅外線LED。如圖 示燈3 8係於各誘導線3 4之下面各設置1個， φ 裝置3 7中，指示燈3 8係並排於周回路徑3 5 。在指示燈3 8之正上，於天板18及磁鐵3 3 開口部。又，誘導線3 4，係至少於指示燈3 8 藉由透過紅外線之IR墨水所構成。 於周回路徑3 5之長邊方向中之指示燈3 8 設定於磁性計測線3 6與磁性計測線3 6之空隙 對位置指示裝置3 7的各指示燈3 8所射出之紅 疊於周回路徑3 5上之個別表示指示燈3 8的絕 道號碼的資料。即，絕對位置指示裝置3 7係 距（間隔） 爲基準節距 1線3 6的節 3 6的節距 於彎道區間 大。作爲一 線中之節距 (在圖示例 點位置）， 絕對位置指 登3 8。指示 9所示，指 於1個指示 的橫斷方向 個別設置有 之正上中， 的位置，係 間。於從絕 外線，係重 對位置及跑 作爲提供個 -15- (13) 1302848 段 測 •ef 此 36 度 置 從 置 供 白 而 手 態 段 走 圖 又 12 〇 5 屠區 別表示於周回路徑3 5中之絕對位置及跑道的資訊之手 而作用。此時，指示燈3 8的絕對位置係與使用磁性計 線3 6之進度建立關聯亦可。例如，將位於基準位置Pr 之絕對位置指示裝置3 7的位置作爲進度0，由設置於從 順時針回轉（或逆時針回轉）之第1 〇 〇條的磁性計測線 與第1 〇 1條的磁性計測線3 6之間的指示燈3 8，係將進 1〇〇作爲位置資訊送出亦可。但是，將來自於基準位 Pref之絕對位置指示裝置37的個數，作爲位置資訊而 指示燈3 8送出，利用遊戲機2的內部表格，將絕對位 指示裝置37的個數置換爲進度亦可。 如圖8所示’自走車3 0係配置於下段行走面1 8與 電面20之間，模型31係配置於上段行走面19上。於 走車3 0之上部配置有磁鐵4 0。模型3 1係經由車輪3 1 a 獨自站立在上段行走面19，但是，並不具有獨立之驅動 段，在藉由自走車30的磁鐵40而吸引自走車30之狀 ，追從自走車3 0般地行走於上段行走面1 9。即，於上 行走面1 9中之模型31的行走，係經由自走車3 〇的行 控制而實現。 圖12〜圖14係揭示自走車30的詳細構造。再者， 12及圖13之左右方向係相當於自走車3〇的前後方向。 ，圖12及圖13之右方係對應自走車30的前方。如圖 所示，自走車30係具備下部單元41A與上部單元41B 也如圖1 3所示’下部單元4 1 A係具備：一對驅動輪4 2 用以自走於下段fT走面1 8、一對電動機4 3，相互獨立 -16- 1302848 v (14) • 動驅動輪4 2、輔助輪4 4 F、4 4 R，個別配置於自走車3 0的 前端部30a及後端部3 0b。自走車30係藉由賦予電動機 43之回轉速度差，可使其移動方向變化。於下部單元41A 係設置有於上下方向延伸之4支導引軸45，上部單元41B 係沿著其導引軸45而可升降地設置。於導引軸45係設置 有螺旋彈簧46，藉由其螺旋彈簧46的斥力，上部單元 41B係其車輪47及供電刷48按壓至供電面20般地，彈 φ 推至上方。供電刷48係藉由接觸供電面20，從筐體10供 給電力至自走車3 0。但是，圖1 2係平台1 5下降之狀態， 於平台15上升之狀態，供電面20係充分離開供電刷48 等。 如圖1 2所示，下部單元4 1 A之前側的輔助輪44F， 係對驅動輪42僅配置於稍微偏離上方一點。又，上部單 元41B之前後也設置有輔助輪49F、49R，但是，後側之 輔助輪449R係配置爲較車輪47僅偏離下方些許。所以， φ 自走車3 0，係將驅動輪42作爲軸而可上下方向搖動，其 搖動係經由磁鐵40而傳達至模型3 1。藉此，競賽馬戲表 現出邊上下搖動邊奔跑的樣子。 如圖1 3所示，於自走車3 0之下面係設置有線感測器 50、絕對位置檢測感測器5 1及磁性感測器52。線感測器 50係爲了檢測誘導線34而設置，絕對位置檢測感測器5 1 係爲了檢測指示燈3 8之射出光而設置，磁性感測器52係 爲了檢測磁性計測線3 6而設置。 線感測器5 0係具備：一對發光部5 3，在自走車3 0之 -17- 1302848 、 (15) - 前端部30a左右對稱地設置、受光部54，配置於其等發光 部5 3之間。發光部5 3係朝下段行走面1 8照射特定之波 長域的可視光，受光部54係接收來自於下段行走面1 8的 反射光。而使不錯誤檢測指示燈3 8之射出光，受光部54 之檢測波長域係限制於發光部5 3之射出的可視光之波長 域。圖1 5及圖1 6係揭示線感測器5 0的詳細構造。發光 部5 3係對稱於將自走車3 0於左右方向兩等分之中心面 0 CP而設置，個別之射出方向係朝向傾斜內側。 受光部54係具備：感測器陣列5 5，挾持中心面CP， 於自走車3 0之左右方向相等延伸般地設置、與成像鏡頭 56，使藉由來自於下段行走面1 8之反射光所形成之下段 行走面1 8的像，於感測器陣列5 5上成像。感測器陣列5 5 ，係例如將多數之CMO S受光元件，並排爲一列所構成， 將關於自走車30之左右方向之亮度分布，以誘導線34之 寬度Wg爲比而使用細微之解析能力來檢測。解析能力， φ 係例如，將誘導線34之節距PTg的1.5倍寬度，分成128 點而檢測般地設定。換句話說，中心面CP位於誘導線3 4 之寬度方向的中心時，將藉由其誘導線34與鄰接於此之 空白部分而構成之區域爲檢測區域，以1 2 8點之解析能力 檢測其檢測區域般地，設定感測器陣列5 5的解析能力。 例如，誘導線3 4的節距PTg如爲1 2mm，利用感測器陣列 55之檢測寬度爲8mm，以1點爲0.14mm之解析能力檢測 売度分布。 成像鏡頭5 6係爲了將感測器陣列5 5從下段行走面1 8 -18- (16) (16)[1] In the present invention, the present invention relates to a game machine that performs a race game such as horse racing by self-propelled self-propelled body installed on a walking surface. [Prior Art] As a horse racing game machine of this type, it is known that the light-receiving elements arranged in the left-right direction of the self-propelled body are detected, and the amount of deviation from the self-propelled body of the guide line on the running surface is detected. A game machine that controls the position in the width direction of the self-propelled body (for example, see Patent Document 1) 专利 [Patent Document 1] Japanese Patent Laid-Open Publication No. H03- 3 3 5 6 7 [Invention] [Problems to be Solved by the Invention] ϋ In the above-described game machine, the line width of the induced line is increased or decreased from the original line width due to dirt on the running surface, adhesion of foreign matter, peeling of the induced line, and the like. A detection error occurs in the position of the self-propelled body in the width direction of the line. Therefore, there is a possibility that the control accuracy of the position of the self-propelled body is lowered, or the self-propelled body cannot normally walk. Because of the accumulation of dirt on the running surface and the formation of similar linear marks, spots, etc. on the induction line, this is mistaken for the induction line and the error in the walking control. Further, since the previous game machine does not have a means for inspecting the running surface, the manager of the game machine has a management operation for cleaning and the like by visually checking the running surface. -4- 1302848 • (2) • Yes, The burden on managers is greater. The possibility of inconvenience caused by the inspection of the slack side is not small. Here, the object of the present invention is to reduce the burden on the management of the running surface by using the guidance line detecting function of the self-propelled body, and to provide a game machine which can contribute to the proper management of the running surface and a self-propelled body used therefor. [Means for Solving the Problem] The game machine of the present invention includes a game machine body having a running surface on which an induction line is provided, and a self-propelled body that can be self-propelled on the running surface, and is provided in the self-propelled system. The guidance line detecting means for the induced line and the walking control means for controlling the walking of the self-propelled body based on the detection result of the induced line detecting means; and the guiding line detecting means are provided to be arranged side by side on the self-propelled body a line sensor for detecting a brightness distribution in a specific detection area of the aforementioned induced line of the traveling surface; and the line sensor is further provided in the self-propelled system, and is detected based on an output judgment of the line sensor The line width inspection means for the line width of the induction line is used to solve the above problems. Further, the self-propelled body of the present invention is provided with an inducement line detecting means for detecting an induced line provided on a running surface of the game machine, and a walking control for walking on the running surface based on the detection result by the induced line detecting means. The control means is provided with a line sensor that detects a luminance distribution in a specific detection area including the induced line of the running surface by a light receiving element group that is arranged in the left-right direction of the self-propelled body. At the same time, it is further provided with the detection of the detection based on the output of the line sensor - 5 - 1302848. (3) • The line width inspection means of the line width of the wire is "resolved" by the present invention. In the middle, the walking control means of the self-propelled body specifies the brightness range of the corresponding induction line by the brightness distribution detected by the line sensor as the detection means of the induction line, and the induction line in the detection area Determining the position of the self-propelled body in the width direction of the induction line by using a position in the detection area of the specific induction line as a clue, 0 controls the discrimination result of the self-propelled traveling body. Since the line sensor is constructed by arranging a plurality of light-receiving elements side by side, the line of induction is compared with the line width thereof, and the pitch is detected at a fine pitch, and the line width of the line of inducement can be discriminated with high resolution. Since the self-propelled system discriminates the line width of the induction line, by using the discrimination result for the inspection of the running surface, the burden on the management of the running surface can be alleviated. Further, in the present invention, the object of the line width by the line width inspection means is not limited to the original induction line. Lines, spots, etc. formed by dirt and foreign matter are also included in the category of "detected induction line" Φ. The analog derived from the induction line of such a dirt or the like can also be detected to be detected or present by being applied to the line width discrimination. In one aspect of the invention, the line width inspection means may determine whether the determined line width is appropriate or not. Whether the line width is suitable or not is also determined by the self-propelled body, and it is easier to grasp the occurrence of an abnormality in the line width. In one aspect of the present invention, the self-propelled system includes: a direction detecting means for detecting necessary information for specifying a deviation from a direction of the self-propelled body in a longitudinal direction of the induction line; -6 - 1302848 * (4) The system is configured to control the separation of the self-propelled body in the longitudinal direction of the induced line by the detection of the direction detecting means, and to control the self by referring to the determination result. The detection means may be based on the deviation between the detection result of the line sensor and the direction determined by the control means, and determine that the line width line sensor is in the line sensor when the line is tilted for the induction line. The width of the luminance range corresponding to the induced line is also increased or decreased in response to the line sensing φ. For this reason, the line width of the line is determined based on the width of the luminance range only, and the line width determined by the line width includes an error of the inclination of the factor. On the other hand, it is discriminated that the direction of the self-propelled body with respect to the induced line is deviated, and the direction of the deviation is determined by the walking control. The line sensor can grasp the degree of inclination to the induced line. Therefore, if the line width is determined by the deviation of the direction in which the control is referenced, the sensor type without re-setting the line width is excluded, and the error corresponding to the line width of the line sensor relative to the line of induction is excluded, and the line can be more correctly discriminated width. According to an aspect of the present invention, in the self-propelled system installation direction position detecting means, necessary information for specifying a position of the self-propelled body in the direction of the induced line is detected; and the pre-production means is configured based on the length The edge detection device detects the individual detection result of the hand detector, and determines the position of the body in the running surface, and controls the line width inspection means based on the determination result. As a result, the result of the position of the self-propelled body determined by the walking control means, the width of the deviation of the direction of the direction is detected, and the long-side direction of the inclination-sensing-inducing line sensing of the walking detection area is detected. The inclination for discriminating is: the long side of the long side, the walking control section and the line sense of the aforementioned self-propelled walking; the width of the inspection establishment is established - 7 - 1302848 « (5) • Joint inspection data. According to this aspect, by referring to the inspection data, the line width of the induction line or the suitability of the line width can be correlated with the position on the walking surface and can be grasped, whereby the running surface can be managed more easily. For example, on the walking surface, it is easy to specify the position to be inspected from the inspection data. Since the self-propelled system can be used for inspection data by using the position in the longitudinal direction and the width direction of the induction line which is determined by the walking control, it is not necessary to reset the sensor type for the creation of the inspection data. . Managers, etc. can refer to the inspection data made by appropriate means. It is also possible to display the inspection data on the self-propelled body itself. The memory is stored in the self-propelled body to store the inspection data, and if necessary, the memory medium can be removed from the self-propelled body to read the inspection data. Further, the data output means for outputting the inspection data to the outside of the self-propelled body may be provided in the self-propelled body. Thereby, the inspection data is received outside the self-propelled body, and the confirmation of the walking surface based on the data can be easily performed. In this case, the game machine φ may include a traveling surface management device that performs a specific process for notifying the manager of the game machine of the running surface based on the inspection data outputted from the self-propelled body. The manager of the gaming machine can easily confirm the walking surface at the setting of the gaming machine. In the above-described specific processing, the above-described specific processing is based on the inspection data outputted from the self-propelled body, and the information for specifying the position of the traveling surface on which the line width is inappropriate and the number of times of detection of the position is made. And storing the data, based on the stored data, it is also possible to display the position where the line width is inappropriate and the number of times the position is detected is detected - 8 - 1302848 • (6) • Walking surface check screen. According to this aspect, the manager of the game machine can grasp the position where the line width is inappropriate and the number of times of detection of the position through the walking surface inspection screen, and can associate the necessity of inspection, cleaning, and the like with the position on the walking surface. And judge. The traveling surface management device is configured to, based on the inspection data outputted from the self-propelled body, at least one of the position on the running surface or the number of times of detection of the position on the running surface. A party gives specific information and stores the information. When the stored data exceeds a certain allowable amount, the administrator of the aforementioned gaming machine may be given a specific warning. According to this aspect, the manager of the game machine can be urged to confirm based on the running surface of the inspection data transmitted from the self-propelled body. In the form of the running surface management device, the game control device that executes the specific game by transmitting the instruction regarding the walking of the self-propelled body via the specific communication means is provided in the traveling control means for the self-propelled body. In other cases, the game control device may function as the traveling surface management φ device. Thereby, the self-propelled body is configured to transfer the inspection data from the self-propelled body to the game control device using the configuration for giving the walking, and the state of the running surface can be grasped by the game control device. In the state in which the game machine is connected to a specific network by the server for managing the game machine, the server may function as the traveling surface management device. Thereby, the manager of the server can grasp the state of the running surface, and the manager of the server can provide information on the state of the running surface to the shop where the game machine is installed, and can urge the inspection and cleaning of the running surface. -9- (7) 1302848 [Effects of the Invention] As described above, according to the present invention, the induction line provided on the running surface is detected, and the line for determining the walking line is determined by the structure for controlling the walking of the self-propelled body. The width or its suitability or not can detect the occurrence of abnormalities such as dirt on the running surface, adhesion of foreign matter, and peeling of the induced line. Therefore, it is possible to reduce the burden on the manager of the game machine when managing the running surface, and to provide a game machine that contributes to the proper management of the running surface φ and the self-propelled body used therefor. [Embodiment] FIG. 1 is a schematic block diagram showing a game system incorporating a game machine according to an aspect of the present invention. The game system 1 is provided with a plurality of game machines 2A, 2B, and 2C connected to each other via the communication network 6, and a central server 3, a maintenance server 4, and a maintenance client 5. The game machines 2A to 2C in the game system are individually configured. φ Therefore, the following is called "game machine 2" unless otherwise specified. Further, although three game machines 2 are disclosed in FIG. 1, the number of game machines 2 included in the game system i is not limited to this. The central server 3 mainly deals with the processing of game data in response to the requirements of the game machine 2. The maintenance server 4 is managed by the maintenance memory unit 4a of the own memory unit, and memorizes the maintenance information about the error log information of the game system 1. The maintenance client 5 is configured to, for example, set the maintenance of the game system 1 to the maintenance service unit of the centralized management, and analyze the maintenance of the game system 1 by using the data stored in the maintenance unit and the -10-1302848. • (8) • Resolution. The Internet is used as an example in the communication network 6 system. The game machine 2 is installed in a store as a commercial game machine that is exchanged for economical price. The casing (game machine main body) 1 of the game machine 2 includes a field unit 1 1 and a plurality of game station units 1 2...1 2 arranged in the same manner as the field unit 1 1 is disposed, and is disposed in the field. A monitor unit 13 at one end of the unit 1 1 . The field unit 1 1 provides the running faces φ 18, 19 corresponding to the individual self-propelled vehicles (self-propelled bodies) 30 and the model 3 of the race horse shown in Fig. 8. A plurality of self-propelled vehicles 30 and models 31 are provided on the field unit 11, and the horse racing game is realized by the competition. The game station unit 12 is responsible for the various operations of the players of the horse racing game, and performs the payment of the player's skill price. The monitor unit 13 is provided with a main monitor 1 3 a for displaying game information and the like. 2 is a perspective view of the field unit 1 1 and FIG. 3 is a side view thereof. As shown in the above figures, the field unit 11 includes a base 14 as a lower structure and a flat plate 15 as an upper structure covering the upper portion of the base. Both the pedestal 1 4 and the platform 1 5 are frame structures of the combined steel. The top plates 16, 17 are individually mounted on the base 14 and the platform 15. On the upper surface of the pedestal 14 of the base 14 is provided a self-propelled vehicle 3 〇 walking lower section traveling surface 18 . On the other hand, on the upper surface of the platform I? of the platform 15, a model 3 1 is provided, and the upper traveling surface 19 is provided, and the power supply surface 20 corresponding to the self-propelled vehicle 30 is disposed below the top plate 17. The platform 15 is detachably provided to the base 14. 2 and 3 show the state in which the platform 15 is raised. The state in which the platform 15 is lowered is shown in Figs. 4 and 5. Further, Fig. 4 is a perspective view corresponding to Fig. 2, and Fig. 5 corresponds to a side view of -11 - 1302848 - (9) • Fig. 3. The lifting range of the platform 15 is as follows. As shown in Fig. 5, the platform 15 is lowered to the state of the receiving portion 14a of the contact base 14, and a space SP is left between the lower running surface 18 and the power supply surface 20. The height Hd (see Fig. 5) of the space SP at this time is suitable for accommodating the self-propelled vehicle 30. On the other hand, the height Hu (see Fig. 3) of the space SP when the platform 15 ascends is expanded to the extent that at least the upper body of the operator can enter the space SP. As a target, the height Hu system is preferably 400 mm φ or more. Further, in order to facilitate the loading and unloading of the field unit 11, as shown in Fig. 6, the susceptor 14 and the platform 15 are subunits 14A to 14C and 15A to 15C which are individually separable in the front-rear direction. The top plate 16 of the susceptor 14 is divided into three by the subunits 14A to 14C. The subunits 14A to 14C are joined to each other by, for example, a connecting means such as a bolt. The same applies to the subunits 15A to 15C. As shown in Fig. 2 and Fig. 3, the field unit 1 1 is provided with a platform driving device (elevating driving device) 2 1 φ for driving the platform 15 in the upper and lower directions. The platform driving device 2 1 is provided with a plurality of hydraulic cylinders (actuators) 22, and is disposed around the field unit 1 1 in a suitable space, and the hydraulic pressure generating device 23 is provided as a hydraulic cylinder. 2 2 power source of oil pressure. The hydraulic cylinder 22 is provided with the piston rod 22a facing upward. The number of the hydraulic cylinders 22 is one on each side of the individual subunits 14A to 14C, and a total of six are provided. However, the number is not limited to this. It is preferable that at least one hydraulic cylinder 22 is provided for each of the individual subunits 14A to 14C. As shown in Fig. 7, the cylinder tube 22b of the hydraulic cylinder 22 is fixed to the base 14, and the tip end of the piston rod 22a is coupled to the stage 15 via the regulator device 24. Therefore, • 12- 1302848 - (10) * The piston rod 2 2 a is extended by supplying oil pressure to the hydraulic cylinder 2 2, and the platform i 5 will rise. The regulator device 24 includes a regulator 24a that is fixed to the tip end of the piston rod 22a and the regulator receiving portion 24b, and is fixed to the stage 15. The adjuster 24a is not fixed to the adjuster receiving portion 24b and is inserted into the adjuster receiving portion 24b with a slight margin. Therefore, the core of the piston rod 22a during the operation of the hydraulic cylinder 22 is allowed to deviate, so that the plurality of hydraulic cylinders 22 do not interfere with each other, and the platform 15 can be smoothly raised and lowered. The hydraulic pressure generating device 23 generates a hydraulic pressure suitable for the hydraulic cylinder 2 2 driven by the electric power supplied to the gaming machine 2. The operation of the hydraulic pressure generating device 23 is controlled by the main control device 100 (see Fig. 19) for managing the overall operation of the game machine 2. Fig. 8 is a view showing the cross section of the slabs 66, 17 and the self-propelled vehicle 30 and the model 31 on which the running faces 18, 19 are walking. The slab 16 of the susceptor 14 is formed of a white resin plate, and a lower surface of the upper traveling surface 18 is provided with a wire sheet 3 2 on which a magnet (permanent magnet) 33 is disposed. As shown by φ in Fig. 9, the wire sheet 32 is used to induce a plurality of guide lines 34 of the self-propelled vehicle 30 for forming on the lower walking surface 18. The inducing line 3 4 is colored with a contrasting color (for example, black) in the visible light field for the background color (white) of the sky plate 16. The width Wg of the induction line 34 is 1/2 of the mutual pitch (interval) Pg of the induction line 34, and as an example, Wg = 6 mm and Pg = 12 mm. As shown in FIG. 1A, the inducer line 34 is formed to form a circumferential path 35. The circumferential path 35 is a straight line section 35a in which the joint induction lines 34 extend in parallel with each other, and a curved section 3 5b in which the induced line 34 is semicircularly curved. In any of the straight line section 3 5 a and the curve section 3 5 b, the widths Wg - 13 - 1302848 , (11) - and the pitch PTg of the induction line 34 are constant. The center of curvature CC of the inducer line 34 in the curve section 35b coincides with each other. In the game machine 2, the guidance line 34 is given a role as a runway indicating the circumferential circuit diameter 35. For example, the innermost induction line 34 corresponds to the first runway, and the following, as the outer circumference is like the second runway and the third runway, the inducer line 34 is associated with the runway number. In the gaming machine 2, the position of the self-propelled vehicle 30 is identified by the runway number identifying the transverse direction of the circumferential path 35 (the vertical direction φ with the induced line 3 4). The self-propelled vehicle 30 controls its own movement as long as there is no runway change instruction from the main control unit 100, that is, walking along the induction line 34 corresponding to the current runway. Further, in Fig. 1, the number of the induction lines 34 is six, but the number of the horses to be used in the horse racing game may be changed as appropriate. As shown in Fig. 9, the magnets 3 3 are arranged such that the S poles and the N poles are alternately arranged. In the straight section 35a, the magnet 33 is formed in a strip shape extending in the transverse direction, and is curved in the curved section 3 5b toward the outer circumference. Thereby, in the lower φ running surface 18, a plurality of magnetic measuring lines 3 6 extending in the transverse direction of the circumferential path 35 in the boundary position between the S pole and the N pole are along the circumference of the circumferential path 35 The side direction is repeated. The magnetic measurement line 36 is used as an index indicating the position or progress of the self-propelled vehicle 30 in the circumferential path 35. That is, in the game machine 2, the specific position on the circumferential path 35 (for example, the position Pref in FIG. 10) is used as a reference, and the long side of the circumferential path 35 is managed by the number of the magnetic measurement lines 36. The direction of the self-propelled car 3 0 progress. For example, when the self-propelled vehicle 30 is located on the magnetic measuring line 36 of the first string from the reference position Pref, the progress of the self-propelled vehicle 30 is taken as 1 〇〇 in the gaming machine-14-1302848, (12) * 2 is recognized. The coefficient of the magnetic measurement line 36 in the straight section 3 5 a is set to be 値PTm. Hereinafter, the pitch PTm is referred to. As shown in Fig. 11, the magnetic meter i in the curve section 35b, the magnetic measurement line PTin in the innermost induction line 34 is set in the same manner as the reference pitch PTm. Therefore, the pitch of the magnetic measurement line 36 in the 3 5b is expanded toward the outer circumference by φ. When the reference pitch PTm is 8 mm, the outermost circumference (maximum pitch) PTout is slightly 30 mm. As shown in Fig. 10, an absolute position indicating device 37 is provided at an appropriate position of the circumferential path 35, and both ends of the straight line section 35a and the curve section 3 5b are provided. As shown in Fig. 8, the display device 37 includes an indicator lamp 38 disposed under the top plate 18, and an infrared LED that emits infrared rays is used. The indicator lamp 8 8 is provided one below each of the induction lines 3 4 , and in the φ device 3 7 , the indicator lamps 38 are arranged side by side in the circumferential path 3 5 . On the positive side of the indicator light 38, the opening of the top plate 18 and the magnet 3 3 . Further, the induction line 34 is formed by at least the indicator lamp 38 by IR ink that transmits infrared rays. The indicator light 3 8 in the longitudinal direction of the circumferential path 35 is set to the gap between the magnetic measurement line 36 and the magnetic measurement line 36, and the red light emitted by the indicator light 38 of the position indicating device 3 7 is placed on the circumferential path. 3 5 The individual indicates the information of the road number of the indicator 3 8 . That is, the absolute position indicating means 37 has a pitch (interval) of a pitch of the reference section 1 line 3 6 which is larger than the curve section. As the pitch in the line (in the example point position of the figure), the absolute position refers to 3 8 . As indicated by the indication 9, the direction of the cross direction of one indication is individually set to the position of the upper middle, and the system. From the outside line, the weight is placed on the position and the run is provided as a -15- (13) 1302848 segment test • ef This 36 degree set is from the white and the hand is in the segment and the figure is 12 〇 5 The difference is expressed in the weekly path 3 5 in the absolute position and the information of the runway. At this time, the absolute position of the indicator lamp 38 is also associated with the progress of using the magnetic meter 36. For example, the position of the absolute position indicating device 37 at the reference position Pr is taken as the progress 0, and is set by the magnetic measuring line and the first one of the first cymbal set from the clockwise rotation (or counterclockwise rotation). The indicator light 3 8 between the magnetic measurement lines 3 6 can be sent as a position information. However, the number of the absolute position indicating devices 37 from the reference position Pref is sent as the position information and the indicator lamp 38 is sent out, and the number of the absolute position indicating means 37 is replaced with the progress by the internal table of the game machine 2. . As shown in Fig. 8, the self-propelled vehicle 30 is disposed between the lower traveling surface 18 and the electric surface 20, and the model 31 is disposed on the upper traveling surface 19. A magnet 40 is disposed above the carriage 30. The model 3 1 stands alone on the upper running surface 19 via the wheel 3 1 a , but does not have an independent driving section, and attracts the self-propelled vehicle 30 by the magnet 40 of the self-propelled vehicle 30, following the self-propelled The car walks on the upper running surface 19 in the same manner. That is, the walking of the model 31 in the upper running surface 19 is realized by the line control of the self-propelled vehicle 3 。. 12 to 14 disclose the detailed configuration of the self-propelled vehicle 30. Furthermore, the left and right directions of 12 and 13 correspond to the front-rear direction of the self-propelled vehicle. The right side of FIGS. 12 and 13 corresponds to the front of the self-propelled vehicle 30. As shown in the figure, the self-propelled vehicle 30 includes a lower unit 41A and an upper unit 41B. As shown in FIG. 3, the lower unit 4 1 A is provided with a pair of driving wheels 4 2 for self-propelled to the lower portion fT. 8. A pair of motors 4 3, independent of each other - 16 - 1302848 v (14) • Moving drive wheels 4, auxiliary wheels 4 4 F, 4 4 R, individually disposed at the front end 30a and the rear end of the self-propelled vehicle 30 Department 3 0b. The self-propelled vehicle 30 can change its moving direction by imparting a difference in the rotational speed of the motor 43. The lower unit 41A is provided with four guide shafts 45 extending in the vertical direction, and the upper unit 41B is provided to be movable up and down along the guide shaft 45. The guide shaft 45 is provided with a coil spring 46. The upper unit 41B presses the wheel 47 and the power supply brush 48 to the power supply surface 20 by the repulsive force of the coil spring 46, and the spring φ is pushed upward. The power supply brush 48 supplies power from the casing 10 to the self-propelled vehicle 30 by contacting the power supply surface 20. However, Fig. 12 is a state in which the platform 15 is lowered, and the power supply surface 20 is sufficiently separated from the power supply brush 48 and the like in a state where the platform 15 is raised. As shown in Fig. 12, the auxiliary wheel 44F on the front side of the lower unit 4 1 A is disposed only slightly offset from the upper side of the drive wheel 42. Further, the upper unit 41B is also provided with the auxiliary wheels 49F and 49R before and after, but the auxiliary wheel 449R on the rear side is disposed slightly apart from the wheel 47 only slightly below. Therefore, the φ self-propelled vehicle 30 swings the drive wheel 42 as an axis in the vertical direction, and the rocking is transmitted to the model 31 via the magnet 40. In this way, the competition circus shows the way of running up and down. As shown in Fig. 13, a wired sensor 50, an absolute position detecting sensor 51 and a magnetic sensor 52 are disposed below the self-propelled vehicle 30. The line sensor 50 is provided for detecting the induction line 34, and the absolute position detecting sensor 51 is provided for detecting the light emitted from the indicator light 38, and the magnetic sensor 52 is provided for detecting the magnetic measurement line 36. . The line sensor 205 includes a pair of light-emitting portions 5 3 that are disposed symmetrically left and right in the -17-1302848 and (15)-front end portions 30a of the self-propelled vehicle 30, and the light-receiving portion 54 is disposed in the light-emitting portion. Between 5 and 3. The light-emitting portion 5 3 illuminates the visible light of a specific wavelength range toward the lower traveling surface 18, and the light-receiving portion 54 receives the reflected light from the lower traveling surface 18. On the other hand, the light emitted from the light detecting unit 38 is not limited, and the detection wavelength range of the light receiving unit 54 is limited to the wavelength range of the visible light emitted from the light emitting unit 53. FIG. 15 and FIG. 16 show the detailed construction of the line sensor 50. The light-emitting portion 5 3 is symmetrical with respect to the center plane 0 CP which divides the self-propelled vehicle 30 into two in the left-right direction, and the individual emission directions are directed toward the inclined inner side. The light receiving unit 54 includes a sensor array 5 5 that holds the center plane CP and is provided to extend in the left-right direction of the self-propelled vehicle 30, and is provided with the imaging lens 56 so as to be reflected by the lower traveling surface 18 The image of the lower walking surface 18 formed by the light is imaged on the sensor array 55. The sensor array 5 5 is formed by arranging a plurality of CMO S light-receiving elements in a row, for example, and uses a fine analysis of the luminance distribution in the left-right direction of the self-propelled vehicle 30 with the width Wg of the induced line 34 as a ratio. Ability to detect. The analytic ability, φ is, for example, a width of 1.5 times the pitch PTg of the induction line 34, divided into 128 points and set as detected. In other words, when the center plane CP is located at the center of the width direction of the induction line 34, the region formed by the induction line 34 and the blank portion adjacent thereto is the detection region, and is detected by the resolution of 128 points. The resolution of the sensor array 55 is set in the detection area. For example, the pitch PTg of the induction line 34 is, for example, 12 mm, and the detection width of the sensor array 55 is 8 mm, and the intensity distribution is detected with an analytical power of 0.14 mm at one point. The imaging lens 5 6 is for taking the sensor array 5 5 from the lower walking surface 1 8 -18- (16) (16)
1302848 離開上方而設置。其理由是爲了抑制輔 位置的偏離所造成之自走車30的上下 度分布的檢測精度之影響。 如圖1 3所示，絕對位置指示裝置5 走車30之中心面CP上的受光部58。 器5 1係接收由指示燈3 8所送出之紅外 其紅外線之絕對位置及跑道號碼的訊號 磁性感測器52係具備於自走車30 之一定節距PTms並排之檢測部60。再 中，將檢測部60由自走車30之前端部 測部、#2檢測部…區別之狀況。各檢沏 下段行走面1 8中之磁性，輸出個別對應 號。例如，檢測部60，係於檢測出S極 ，於檢測出N極時輸出High訊號。所 60之訊號的反轉，可檢測出磁性計測線 感測器52係作爲計測線檢側手段而作月 ，檢測部60的個數及關於其等之前後力 係與磁性計測線3 6之基準節距PTm建 部60的節距PTms係設定爲磁性計測 PTm的1/2。換句話說，基準節距PTm 距P T m s的兩倍。檢測部6 0的個數， 60的節距PTms之積係設定爲：較彎道’ 的節距（最大節距）PTout大。在圖示 基準節距PTm爲8mm，最大節距PTout 功輪 44F 、 44R之 方向之搖動帶給亮 :1係具備配置於自 絕對位置檢測感測 線，輸出對應包含 〇 之前後方向以一定 者，在以下所述之 30a數，有以#1檢 I部60，係檢測於 〖S極及N極的訊 ^時輸出Low訊號 以，藉由各檢測部 I 3 6。藉此，磁性 !。如圖17A所示 「向之節距PTms， 立關聯。即，檢測 線3 6的基準節距 係檢測部60的節 係其個數與檢測部 區間3 5 b之最外周 之例子係設定爲： 作爲3 0 m m，檢測 -19- 1302848 _ (17) 、 部之節距PTms爲4mm，檢測部60的個數爲8個。 於圖17B揭示，磁性感測器52係沿著直線區間35a 之誘導線34、或彎道區間35b之第1跑道之誘導線34， 以速度Vact行走時之磁性感測器52的輸出訊號之一例。 假設在時刻11，# 1檢測部6〇係到達磁性計測線3 6，其輸 出訊號從Low反轉成High，在時刻t3，#1檢測部60係 到達下一條磁性計測線36，輸出訊號從High反轉成Low 0 。此時，在時刻11〜13之間的時刻12，# 2檢測部6 0之輸 出訊號係從Low反轉成High。#3檢測部60之輸出訊號係 在時刻t3從Low反轉成High，但是，因爲節距PTms爲 基準節距PTm之1/2，於同時刻，#1檢測部60之輸出訊 號亦反轉。所以，於圖17B之狀況，僅利用#1及#2之檢 測部6 0的輸出訊號，可以基準節距p Tm 1 /2的解析能力控 制自走車3 0的進度及速度。而無利用#3之後之檢測部60 的輸出訊號之必要。例如，將檢測部60之節距PTms除以 φ 各檢測部60之輸出訊號的反轉時間間隔（tl〜t2、t2〜t3 ) ’算出自走車60的現在速度Vact，基於其現在速度Vact 與在遊戲上所要求之目標速度之差，控制自走車30的行 走時，僅利用# 1及#2的檢測部60之輸出訊號即可。 但是，於彎道區間35b中，自走車30行走第1跑道 以外的跑道時，因爲磁性計測線3 6的節距將較基準節距 pTm擴大而與圖17B狀況相異。藉由圖18A及圖18B說 明其之一例。於圖18A中，自走車30係於彎道區間35b 中’沿著第2跑道或較其更外側之跑道的誘導線34，以速 -20- 1302848 - (18) ' 度vact行走，假設於其跑道中之磁性計測線3 6的節距爲 PTx (但是，PM < PTx S PTout )。於此狀況，如圖1 8B所 示’從# 1檢測部60係到達磁性計測線3 6而其輸出訊號從 Low反轉成High之時刻tl，至#1檢測部60係到達下一 條磁性計測線3 6而輸出訊號從High反轉成Low之時刻 t ό之則的時間間隔（11〜16 )係延至節距ρ τ X的擴大份量 。另一方面，#2檢測部60之輸出訊號係從Low反轉成 ^ High之時刻t2與時刻tl的時間間隔（tl〜t2 )係與圖17B 之狀況相同。爲此，如比較時刻11〜t2的時間間隔與時刻 t2〜t6的時間間隔，後者將會較大。所以，如從#1及#2之 檢測部60的輸出訊號的反轉時間間隔與檢測部60的節距 PTms，算出自走車30的現在速度Vact，於後者可取得之 速度係因PTms = PTm/2之前提條件不成立而含有誤差，如 利用此，將錯誤控制自走車3 0的速度。 另一方面，於圖18B中，時刻tl〜t6之間，#2〜#5檢 φ 測部60係依序到達同樣的磁性計測線3 6，從時刻t2〜時 刻t5，其等之輸出訊號會反轉。時刻t2〜t5之各時間間隔 係與將檢測部60的節距PTms除以現在速度Vact之値一 致。在此，於圖18B之狀況，如利用#1〜#5之檢測部60 的輸出訊號，檢測現在速度Vact，將不會發生前述之速度 的檢測誤差。爲了使如此之速度檢測可於全部的跑道中時 實行，如前述，將檢測部6 0的個數與節距p T m s之積’設 定爲較彎道區間3 5 b之最外周中的磁性計測線3 6之最大 節距Ptout大即可。在前述之例’因爲檢測部60的節距 -21 - 1302848 - (19) * P T m s爲4 m m ，磁性計測線3 6的最大節距P T o u t養 ’所以，如將檢測部6 0的個數設定爲8個即可滿 〇 接著，針對遊戲機2的控制系加以說明。圖] 示遊戲機2之控制系的槪略構成。遊戲機2係具備 制裝置1 0 0，控制遊戲機2之整體動作、與複數之 元1 〇 1，用以在其主控制裝置與自走車3 0之間通訊 ^ 與中繼裝置102，中繼通訊單元101與主控制裝置 間。主控制裝置1 00，係例如藉由個人電腦所構成 制裝置1 00，係遵從特定之遊戲程式控制在遊戲機 行之賽馬遊戲的進行或展開，經由通訊單元1 0 1指 走車3 0的進度及跑道。例如，於特定之單位時間 走車3 0應到達之進度及跑道號碼係從主控制裝置 示各自走車30。如前述，進度係藉由圖10之來自 位置Pref的磁性計測線3 6的數量而表現之値。自 φ ‘係附加號碼（# 1、#2 )而個別管理。 又，主控制裝置1 〇〇係如圖1所示，經由網路 中央伺服器3及維護伺服器4之間交換資訊。中 1 0 2，係例如可以交換集線器構成。如圖1 〇所示， 元1 0 1係於周回路徑3 5的周圍空出一定之間隔而 通訊單元101的個數係雖然在圖示例爲1〇個，但 此等之通訊單元1 〇 1只要可保護周回路徑3 5的全 個數適宜變更亦可。通訊單元101與自走車30之 訊係利用電波亦可，利用紅外線亦可。 i 3 0mm 足條件 [9係揭 z主控 通訊單 資訊、 100之 。主控 2所實 示各自 後，自 100指 於基準 走車30 6而在 繼裝置 通訊單 並排。 是，在 周，其 間的通 •22- 1302848 - (20) - 圖20係揭示設置於自走車30的控制系。自走車30 的控制系係具備有自走車控制裝置1 1 〇。自走車控制裝置 1 1 0係作爲具備微處理器之電腦單元而構成，遵從特定之 自走車控制程式而實行自走車3 0的行走控制、或主控制 裝置1 00之間的通訊控制。於自走車控制裝置1 1 〇，作爲 爲了行走控制的輸入裝置，前述之線感測器5 0、絕對位置 檢測感測器5 1及磁性感測器5 2係經由未圖示之介面而連 φ 接。進一步，於自走車控制裝置1 1 0，旋轉感測器1 1 1也 作爲輸入裝置而連接。旋轉感測器1 1 1係爲了檢測自走車 30的姿勢，換句話說，即爲了檢測自走車30所面向之方 向而內藏於自走車3 0。旋轉感測器1 1 1，係檢測自走車3 0 的fe回軸（作爲一例’爲通過驅動輪4 2的軸線與中心面 CP之交點的垂直軸線）之旋轉的角加速度，將其角加速 度積分2次而換算成角度變化量，將此輸出至自走車控制 裝置1 1 〇。但是，從旋轉感測器1 11輸出角加速度，在自 φ 走車控制裝置11 〇進行對角度變化量的換算亦可。1302848 Set to leave above. The reason for this is to suppress the influence of the detection accuracy of the vertical and horizontal distribution of the self-propelled vehicle 30 caused by the deviation of the auxiliary position. As shown in Fig. 13, the absolute position indicating device 5 carries the light receiving portion 58 on the center plane CP of the vehicle 30. The unit 5 1 receives the infrared light emitted from the indicator lamp 38, and the signal of the absolute position of the infrared ray and the runway number. The magnetic sensor 52 is provided with the detecting unit 60 which is arranged side by side at a constant pitch PTms of the self-propelled vehicle 30. Further, the detecting unit 60 is distinguished from the front end portion of the self-propelled vehicle 30 and the #2 detecting unit. Each of the inspections is magnetic in the lower walking surface 18, and an individual corresponding number is output. For example, the detecting unit 60 detects the S pole and outputs the High signal when the N pole is detected. The inversion of the signal of 60 can detect that the magnetic measurement line sensor 52 is used as the measurement line detection side means for the month, the number of the detection unit 60, and the front and rear force lines and the magnetic measurement line 36. The pitch PTms of the reference pitch PTm building portion 60 is set to 1/2 of the magnetic measurement PTm. In other words, the reference pitch PTm is twice the distance P T m s . The number of detection units 60 and the pitch PTms of 60 are set to be larger than the pitch (maximum pitch) PTout of the curve '. In the illustrated reference pitch PTm is 8mm, the maximum pitch PTout power wheel 44F, 44R direction of the rocking belt is bright: 1 series is arranged in the absolute position detection sensing line, the output corresponding to the front and rear direction is always, In the following 30a, there is a #1 check I unit 60, which detects the S-pole and N-pole signals, and outputs a Low signal by each detecting unit I 36 . By this, magnetic! As shown in Fig. 17A, "the pitch PTms is associated with each other. That is, the example of the number of nodes of the reference pitch detecting unit 60 of the detecting line 36 and the outermost circumference of the detecting portion section 35b is set to : As 30 mm, the detection -19-1302848 _ (17), the pitch PTms of the part is 4 mm, and the number of the detecting portions 60 is 8. As shown in Fig. 17B, the magnetic sensor 52 is along the straight line section 35a. The induction line 34 or the induction line 34 of the first runway of the curve section 35b is an example of the output signal of the magnetic sensor 52 when traveling at the speed Vact. It is assumed that at time 11, the detection unit 6 reaches the magnetic field. The measurement line 3 6 reverses the output signal from Low to High. At time t3, the #1 detection unit 60 reaches the next magnetic measurement line 36, and the output signal is inverted from High to Low 0. At this time, at time 11~ At time 12 between 13 and #2, the output signal of the detecting unit 60 is inverted from Low to High. The output signal of the #3 detecting unit 60 is inverted from Low to High at time t3, but since the pitch PTms is At the same time, the output signal of the #1 detecting unit 60 is also reversed. Therefore, in the situation of FIG. 17B, only the benefit is shown in FIG. 17B. The output signals of the detecting unit 60 of #1 and #2 can control the progress and speed of the self-propelled vehicle 30 by the analysis capability of the reference pitch p Tm 1 /2. The output signal of the detecting unit 60 after the use of #3 is not used. For example, the pitch PTms of the detecting unit 60 is divided by the inversion time interval (t1 to t2, t2 to t3) of the output signal of each detecting unit 60, and the current speed Vact of the self-propelled vehicle 60 is calculated based on The difference between the current speed Vact and the target speed required in the game, when controlling the walking of the self-propelled vehicle 30, only the output signals of the detecting units 60 of #1 and #2 can be used. However, in the curve section 35b, When the self-propelled vehicle 30 travels on a runway other than the first runway, the pitch of the magnetic measurement line 36 will be larger than the reference pitch pTm and will be different from the situation of Fig. 17B. An example of this will be described with reference to Figs. 18A and 18B. In Fig. 18A, the self-propelled vehicle 30 is in the curve section 35b, 'the induction line 34 along the second runway or the more lateral runway, walking at a speed of -20 - 1302848 - (18) 'degree vact, assuming The pitch of the magnetic measurement line 36 in the runway is PTx (however, PM < PTx S PTout ). In this case, as shown in Figure 18B The time from the time when the #1 detecting unit 60 reaches the magnetic measuring line 36 and the output signal thereof is inverted from Low to High, the #1 detecting unit 60 reaches the next magnetic measuring line 36 and the output signal is from High. The time interval (11 to 16) at which the time t is inverted to Low is extended to the expanded amount of the pitch ρ τ X . On the other hand, the time interval (t1 to t2) at which the output signal of the #2 detecting unit 60 is inverted from Low to ^High is the same as that of Fig. 17B. For this reason, if the time interval of the time 11 to t2 is compared with the time interval of the time t2 to t6, the latter will be large. Therefore, the current speed Vact of the self-propelled vehicle 30 is calculated from the reverse time interval of the output signal of the detecting unit 60 of #1 and #2 and the pitch PTms of the detecting unit 60, and the speed achievable by the latter is PTms = Before PTm/2, the condition is not established and there is an error. If this is used, the speed of the self-propelled vehicle 30 will be erroneously controlled. On the other hand, in Fig. 18B, between time t1 and t6, the #2 to #5 detecting φ detecting unit 60 sequentially arrives at the same magnetic measuring line 3 6, and outputs signals such as from time t2 to time t5. Will reverse. The time intervals from time t2 to t5 are the same as the division of the pitch PTms of the detecting unit 60 by the current speed Vact. Here, in the case of Fig. 18B, if the current speed Vact is detected by the output signal of the detecting unit 60 of #1 to #5, the detection error of the aforementioned speed will not occur. In order to enable such speed detection to be performed on all of the runways, as described above, the product of the number of detection units 60 and the pitch p T ms is set to be the magnetic force in the outermost circumference of the curve section 35b. The maximum pitch Ptout of the measurement line 36 can be large. In the foregoing example, since the pitch of the detecting portion 60 is -21 - 1302848 - (19) * PT ms is 4 mm, the maximum pitch PT of the magnetic measuring line 36 is raised, so that, as in the case of the detecting portion 60 The number is set to eight, which is sufficient. Next, the control system of the game machine 2 will be described. Figure] shows the schematic structure of the control system of the game machine 2. The gaming machine 2 includes a manufacturing device 100, and controls the overall operation of the gaming machine 2 and the plural element 1 〇1 for communicating between the main control device and the self-propelled vehicle 30 and the relay device 102. The relay communication unit 101 is interposed between the main control device. The main control device 100 is a device 100 configured by a personal computer, for example, to control the progress or development of a horse racing game in a gaming machine in accordance with a specific game program, and to refer to the car 30 via the communication unit 10 1 . Progress and runway. For example, the progress and runway number that should be reached at a specific unit time to drive 30 is indicated by the main control unit. As described above, the progress is expressed by the number of magnetic measurement lines 36 from the position Pref in Fig. 10. It is managed individually from φ ‘ is an additional number (# 1 , #2 ). Further, as shown in Fig. 1, the main control unit 1 exchanges information between the network central server 3 and the maintenance server 4. Medium 1 0 2 is, for example, a switch hub. As shown in FIG. 1A, the element 1 0 1 is spaced around the circumferential path 35 and the number of the communication units 101 is one in the figure, but the communication unit 1 is 1 As long as the number of protected cycle paths 3 5 can be appropriately changed. The communication unit 101 and the self-propelled vehicle 30 may use radio waves, and may use infrared rays. i 3 0mm foot condition [9 series uncovering z master communication list information, 100. After the main control 2 shows each, from 100 to the reference car 30 6 and the device communication list side by side. Yes, during the week, the passage between 22 and 1222848 - (20) - Fig. 20 reveals the control system provided in the self-propelled vehicle 30. The control system of the self-propelled vehicle 30 is provided with a self-propelled vehicle control device 1 1 . The self-propelled vehicle control device 1 10 is configured as a computer unit including a microprocessor, and performs walking control of the self-propelled vehicle 30 or communication control between the main control device 100 in accordance with a specific self-propelled vehicle control program. . In the self-propelled vehicle control device 1 1 〇, as the input device for the travel control, the line sensor 50, the absolute position detecting sensor 51, and the magnetic sensor 52 are connected via an interface (not shown). Connect φ. Further, in the self-propelled vehicle control device 1 10, the rotation sensor 1 1 1 is also connected as an input device. The rotation sensor 1 1 1 is built in the self-propelled vehicle 30 in order to detect the posture of the self-propelled vehicle 30, in other words, in order to detect the direction in which the self-propelled vehicle 30 faces. The rotation sensor 1 1 1 detects the angular acceleration of the rotation of the self-propelled vehicle 30 (as an example of the vertical axis passing through the intersection of the axis of the drive wheel 42 and the center plane CP), and angular acceleration The integral is converted into an angular change amount twice, and this is output to the self-propelled vehicle control device 1 1 〇. However, the angular acceleration is output from the rotation sensor 1 11 and the amount of change in the angle may be converted from the φ vehicle control device 11 .
又；於自走車控制裝置110，係在與通訊單元101之 間用以進行資訊通訊之送訊部1 1 2及收訊部1 1 3經由通訊 控制電路1 1 4而連接。如前述，從主控制裝置1 〇〇係以一 定之周期重覆賦予，指示遊戲中之自走車30的目標進度 及目標跑道的資訊。自走車控制裝置1 1 0，係基於被賦予 之目標進度及目標跑道、與各種感測器50〜52、1 1 1之輸 出訊號，運算自走車30之目標速度、方向補正量等，再 基於其等之結果，賦予電動機驅動電路1 1 5速度指示V L -23- 1302848 - (21) • 、VR。電動機驅動電路1 1 5，係可取得被賦予之速度指示 VL、VR般地，控制對各電動機43之驅動電流或電壓。 圖21係揭示利用自走車控制裝置1 1 〇之自走車3 0的 行走控制之槪念。於圖21中係假設爲，自走車3 0之現在 的進度爲ADcrt，從主控制裝置100所賦予之目標進度爲 ADtgt，跑道方向，即誘導線34之方向爲Dref，自走車 30所朝之方向爲Dgyr。自走車控制裝置1 10，係於自走 | 車3 0從現在之位置Pert至特定之時刻前，在目標跑道的 中心線與目標進度ADtgt之交點，達到被賦予之目標位置 Ptgt，且於其目標位置Ptgt，自走車30的方向Dgyr與跑 道方向Dref —致般地，控制電動機43的速度。即，自走 車控制裝置1 10，係因應現在的進度ADcrt與目標進度 ADtgt之間的進度不足量△ AD，增減各電動機43之驅動 速度之同時，自走車3 0係朝周回路徑3 5的橫斷方向，僅 移動作爲從現在位置Pert至目標跑道之中心線的距離所賦 ^ 予之跑道補正量ΔΥαιηοΙ，而且，自走車30的方向Dgyr， 係於目標位置Ptgt中，僅補正作爲對跑道方向Dref之現 在的方向Θ gyr之偏離量所賦予之方向補正量△ 0 amd般 地，控制電動機43間的速度比。 再者，因爲進度不足量△ AD係作爲磁性計測線3 6之 數量而賦予，在直線區間35a及彎道區間35b之任一狀況 ’目標進度ADtgt係可藉由減去現在的進度ADert而求出 。但是，於彎道區間3 5b中，係因爲對應進度不足量△ AD之距離Ltr係藉由於周回路徑35的橫斷方向中自走車 -24- 1302848 ， (22) Δ 標 在 現 正 將 向 Θ > 〇 線 ref 同 車 控 進 30 置 器 跑 跑 器 數 離 • 3 0的位置而變化，必須考慮此而控制速度。跑道補正量Further, in the self-propelled vehicle control device 110, the transmitting unit 1 1 2 and the receiving unit 1 1 3 for performing information communication with the communication unit 101 are connected via the communication control circuit 1 14 . As described above, the main control device 1 is repeatedly given in a predetermined cycle to indicate the target progress of the self-propelled vehicle 30 in the game and the information of the target runway. The self-propelled vehicle control device 110 calculates the target speed and direction correction amount of the self-propelled vehicle 30 based on the target progress and the target runway and the output signals of the various sensors 50 to 52 and 111. Based on the results of the equalization, the motor drive circuit 1 1 5 speed indication VL -23- 1302848 - (21) • , VR is given. The motor drive circuit 1 15 controls the drive current or voltage to the respective motors 43 in the same manner as the speed indicators VL and VR to be given. Fig. 21 is a view showing the commemoration of the walking control of the self-propelled vehicle 30 using the self-propelled vehicle control device 1 1 . In FIG. 21, it is assumed that the current progress of the self-propelled vehicle 30 is ADcrt, the target progress from the main control device 100 is ADtgt, the direction of the runway, that is, the direction of the induction line 34 is Dref, and the self-propelled vehicle 30 In the direction of Dgyr. The self-propelled vehicle control device 10 is tied to the self-propelled vehicle 30. From the current position Pert to a specific time, at the intersection of the center line of the target runway and the target progress ADtgt, the target position Ptgt is reached, and Its target position Ptgt, the direction Dgyr of the self-propelled vehicle 30 and the runway direction Dref, control the speed of the motor 43. That is, the self-propelled vehicle control device 10 10 increases or decreases the driving speed of each of the motors 43 in response to the progress shortage ΔAD between the current progress ADcrt and the target progress ADtgt, and the self-propelled vehicle 30 is directed to the circumferential path 3 In the transverse direction of 5, only the runway correction amount ΔΥαιηοΙ given as the distance from the current position Pert to the center line of the target runway is moved, and the direction Dgyr of the self-propelled vehicle 30 is in the target position Ptgt, and only the correction is made. The speed ratio between the motors 43 is controlled in the same manner as the direction correction amount Δ 0 amd given by the deviation amount of the current direction Θ gyr of the runway direction Dref. Further, since the progress shortage amount ΔAD is given as the number of the magnetic measurement lines 36, in any of the straight section 35a and the curve section 35b, the target progress ADtgt can be obtained by subtracting the current progress ADert. Out. However, in the curve section 35b, the distance Ltr due to the lack of the corresponding progress ΔAD is due to the self-propelled vehicle-24-1302848 in the transverse direction of the circumferential path 35, and the (22) Δ Θ > 〇 line ref with the car control into the 30 sets of runners from the position of the change of 30, must be considered to control the speed. Runway correction
Yamd，係可從相當於自走車30現在所行走之跑道與目 跑道之距離的跑道間隔Ychg，藉由減去自走車3 0的線 位置Pert與現在跑道之偏離量ΛΥ而求出。目標跑道與 在的跑道一致時，即，於未有跑道變更指示時，跑道補 量△Yamd = AY。跑道方向Dref及自走車方向Dgyr，係 從圖10之基準位置Pref之直進方向作爲絕對基準方 φ Dabs，可作爲對應其絕對基準方向Dabs之角度0 ref、 gyr而予以特定。於直線區間35a中，係0 ref=〇°或18(T 於彎道區間35b中，於進度ADcrt中之誘導線34的接 方向，係可將對絕對基準方向Dabs爲成角度，作爲0 而予以特定。接線方向係藉由進度而定位爲一義，如爲 一進度，不問跑道而爲一定値。 圖22係自走車控制裝置1 1 0之功能區塊圖。自走 控制裝置1 1 0係具備：遊戲資訊解析部1 20，解析從主 φ 制裝置100賦予之遊戲資訊，而判別自走車3〇的目標 度ADtgt及目標跑道、與進度計數器121，記憶自走車 的現在之進度 ADcrt、與進度管理部122，基於絕對位 檢測感測器5 1及磁性感測器52之輸出，更新進度計數 121之値之同時，運算自走車30的現在速度Vact、與 道計數器1 23，記憶自走車3 0現在行走之跑道號碼、與 道管理部124，基於線感測器50及絕對位置檢測感測 5 1之輸出，判別自走車3 0行走之跑道，而更新跑道計 器123之値，且檢測對應其跑道之自走車30的跑道偏 25- 1302848 • (23) • 量△ Y、與旋轉計數器125，記憶表示自走車30的方向之 角度0 gyr、與方向管理部1 26，基於旋轉感測器1 1 1之輸 出，判別自走車30的角度0 gyr，而更新旋轉計數器125 之値。 又，自走車控制裝置110係具備：目標速度運算部 127，基於目標進度ADtgt、進度計數器121所記憶之進度 ADcrt及跑道計數器123所記憶之跑道號碼，運算自走車 ^ 30的目標速度Vtgt、與速度設定部128，基於目標速度Yamd is obtained by subtracting the deviation of the line position Pert of the self-propelled vehicle 30 from the current runway from the runway interval Ychg which is equivalent to the distance between the runway and the target runway of the self-propelled vehicle 30. When the target runway coincides with the runway, that is, when there is no runway change indication, the runway replenishment △Yamd = AY. The runway direction Dref and the self-propelled vehicle direction Dgyr are defined as the absolute reference direction φ Dabs from the reference position Pref of Fig. 10, and can be specified as the angles 0 ref and gyr corresponding to the absolute reference direction Dabs. In the straight line section 35a, the line 0 ref=〇° or 18 (T in the curve section 35b, in the direction of the line of inducement 34 in the progress ADcrt, the absolute reference direction Dabs can be angled as 0 It is specified. The wiring direction is positioned as a meaning by progress, such as a progress, regardless of the runway. Figure 22 is a functional block diagram of the self-propelled vehicle control device 1 1 0. Self-propelled control device 1 1 0 The game information analysis unit 1 20 analyzes the game information given from the main φ system 100, and determines the target degree ADtgt of the self-propelled vehicle 3, the target runway, and the progress counter 121, and memorizes the current progress of the self-propelled vehicle. The ADcrt and the progress management unit 122 calculates the current speed Vact of the self-propelled vehicle 30 and the track counter 1 23 while updating the progress count 121 based on the outputs of the absolute position detecting sensor 51 and the magnetic sensor 52. The self-propelled vehicle 30 now walks the runway number and the road management unit 124, based on the output of the line sensor 50 and the absolute position detection sensing 51, discriminates the runway of the self-propelled vehicle 30, and updates the runway meter 123, and the test corresponds to it The track of the self-propelled car 30 is 25-1302848. • (23) • The amount Δ Y, and the rotation counter 125, the angle indicating the direction of the self-propelled vehicle 30 is 0 gyr, and the direction management unit 1 26, based on the rotation sensing The output of the device 1 1 1 determines the angle 0 gyr of the self-propelled vehicle 30 and updates the rotation counter 125. The self-propelled vehicle control device 110 includes a target speed calculation unit 127 based on the target progress ADtgt and the progress counter 121. The recorded progress ADcrt and the runway number memorized by the runway counter 123, the target speed Vtgt of the self-propelled vehicle ^30, and the speed setting unit 128, based on the target speed
Vtgt，設定自走車30的電動機42之驅動速度、與速度FB 補正部129，因應目標速度Vtgt及現在速度Vact而反饋 補正所設定之驅動速度、與跑道補正量運算部1 3 0，基於 跑目標跑道、跑道計數器1 2 3之跑道號碼及在跑道管理部 1 24所判別之自走車3 0的跑道偏離量△ Y，運算自走車3 0 的跑道補正量△ Yamd、與方向補正量運算部131，基於進 度計數器1 2 1及旋轉計數器1 2 5個別記憶之進度A D t g t及 φ 角度0gyr，運算自走車30的方向補正量Δ0 amd、與速 度比設定部133，基於跑道補正量△ Yamd及方向補正量 △ 0 amd，設定電動機43之間的速度比。以速度比設定部 133決定左右電動機43的速度指示VL、VR ’此等指示係 個別輸出至圖2 0之電動機驅動電路1 1 5 °進一步，於自走 車控制裝置1 1 〇係設置有基於線感測器5 0之輸出、進度 計數器121所記憶之進度ADcrt、及方向補正量運算部 1 3 1所運算之方向補正量△ Θ amd，檢查誘導線3 4之線寬 度的線寬度檢查部1 3 6。 -26- (24) 1302848 接著，參照圖23〜圖30而說明自走車控制裝置1 ι〇 各部的處理。圖23係揭示進度管理部丨22的處理之流 圖。進度管理部122係監視磁性感測器52的輸出，管 進度計數器121之進度ADcrt，且運算自走車30的現在 度Vact。即，進度管理部122係於初始之步驟S101中 判斷磁性感測器52之#1檢測部60的輸出是否反轉，如 轉則在步驟S102將進度計數器121之値ADcrt加算] 在接下來之步驟S1 03設定用以辨識檢測部號碼之變數 2。# 1檢測部 60的輸出未反轉時，係跳過步驟S 1 02 S 103。於接下來之步驟S1 04中，判斷#m檢測部60的 出是否反轉。反轉時前進至步驟 S1 05，運算現在速 Vact。現在速度Vact，係將從上次之檢測部（#m-l ) 的輸出反轉至這次之感測器的輸出反轉之時間間隔作 tact時，藉由將檢測部60的節距PTms除以其時間間 tact (作爲一例，圖17B之tl〜t2的時間間隔）而求出 即，Vact = PTms/tacto 算出現在速度Vact後，係在步驟S1 06將變數m力口 1。在接下來之步驟S 1 0 7，係判斷絕對位置檢測感測器 是否檢測出絕對位置，即，判斷是否檢測出來自於指示 3 8的紅外線，如未檢測出則返回步驟S 1 0 1。另一方面 在步驟S 1 07，絕對位置檢測感測器5 1檢測出來自於指 燈3 8的紅外線時，判別編碼於其紅外線之進度資訊， 判別之進度與進度計數器121之進度ADcrt —致般地， 正進度計數器121而返回步驟S101。在步驟S1 04，未 之 程 理 速 反 爲 及 輸 度 60 爲 隔 算 5 1 燈 示 使 補 判 -27- 1302848 • (25) * 斷#m之檢測部60的訊號時，係跳過步驟S105及S106而 前進至步驟S107。 藉由以上之處理，# 1檢測部60係每次計測磁性計測 線36則將進度計數器121之値ADcrt增加1。而且，其進 度ADcrt，係藉由絕對位置檢測感測器5 1檢測出來自於絕 對位置指示裝置3 7的訊號而適切地補正。藉此，從進度 計數器121之値，可掌握關於周回路徑35的長邊方向之 0 自走車30的位置。又，自走車30的現在速度Vact，係自 走車30每移動磁性感測器52的檢測部60之節距PTms而 計算出。 圖24係揭示目標速度運算部1 27運算目標速度的順 序之流程圖。目標速度運算部127，係於初始之步驟S121 中，取得進度計數器121之値ADcrt，在接下來之步驟 S 1 2 2，係判斷進度計數器1 2 1是否從上次處理時而已更新 。如未更新則返回步驟 S 1 2 1，已更新時則前進至步驟 _ S123。在步驟S123，係藉由從目標進度ADtgt減去進度 計數器値ADcrt而求出進度不足量△AD(=ADtgt-ADcrt) 。在接下來之步驟S124，係從跑道計數器123取得現在 的跑道。 在接下來之步驟S125，係基於現在的進度ADcrt與 自走車30現在行走之跑道，推定於自走車30達到接下來 之進度前所應檢測之磁性感測器5 2的出反轉的回數（反 轉計算數）Nx。即，現在的進度ADcrt與接下來之進度 ADcrt+Ι之間的磁性計測線3 6之節距P Tx，除以檢測部 -28- 1302848 • (26) • 6 0之節距P Tm s之値（商），推定作爲反轉計算數Nx。 再者，於商產生小數點以下之尾數時係除去，藉由捨去或 四捨五入修整爲整數。跑道號碼係爲了將節距PTx予以特 定而使用。於自走車30行走直線區間35a及彎道區間35b 之最內周的跑道時，圖9所示之基準節距PTm係成爲檢 測部60的節距PTx。另一方面，從進度ADcrt判斷自走 車60行走彎道區間35b時，從預先用意之表格等的資料 0 取得因應跑道號碼之節距PTx即可。 推定反轉計算數Nx後，係前進至步驟S126而計算出 反轉基準時間t X。如圖2 5所示，將自走車3 0從現在時刻 應達到目標進度ADtgt之時刻的殘留時間爲Trmn，假設 在其殘留時間Trmn內，磁性感測器5 2的各檢測部6 0之 輸出爲每一定時間tx而依序反轉時，殘留時間Trmn係藉 由時間tx與反轉計算數Nx與進度不足量△ AD之積而被 賦予。即，自走車3 0爲了於目標進度到達時刻達到目標 φ 進度ADtgt，必須以檢測部60的輸出係於每一時間tx反 轉之速度，行走對應進度不足量△ AD之距離。從如此之 關係中，反轉基準時間tx，係藉由將殘留時間Trmn除以 反轉計算數Nx與進度不足量△ AD之積所得之商（ tx = Trmn/ ( Nx · △ AD ))而求出。換句話說，在每反轉 基準時間tx檢測出Nx次之輸出反轉時，進度則前進1， 而如重覆相當於進度不足量△ AD之次數，於目標進度到 達時刻，自走車30係爲到達目標進度ADtgt。再者，目標 進度到達時刻可作爲一例係爲，從遊戲機2之主控制裝置 -29- 1302848 ^ (27) • 1 00賦予下次之目標進度及目標跑道時刻或對其時刻賦予 一定之遲到時間的時刻。但是，目標進度到達時刻，係在 同一競賽所使用之全部的自走車30之間，有一致之必要 〇 回到圖24，計算出反轉基準時間tx後係前進至步驟 S127，將檢測部60的節距PTms除以反轉基準時間tx之 商作爲目標速度Vtgt而求出。該目標速度Vtgt，係因爲 φ 磁性感測器5 2的輸出以反轉基準時間tx之間隔而依序反 轉，將成所需要之自走車30的速度。在步驟S127求出目 標速度Vtgt後，返回步驟S121。所以，每於更新進度計 數器之値ADcrt，進度不足量△ AD亦更新，基於此時的 跑道數，推定反轉計算數Nx而求出目標速度Vtgt。即， 自走車30的進度每前進1次則目標速度Vtgt亦更新。 如圖22中所說明，目標速度運算部127所運算之目 標速度Vtgt，係賦予速度設定部128及速度FB補正部 φ 129。速度設定部128係可得到被賦予之目標速度Vtgt般 地，設定電動機43的驅動速度，速度FB補正部129係對 其驅動速度，賦予因應目標速度Vtgt與現在速度Vact之 差的FB補正量。再者，利用速度差之微分値或積分値而 反饋控制速度，或藉由前饋控制提高速度之控制精度、反 應性等亦可。 圖2 6係揭示方向管理部1 2 6管理旋轉計數器1 2 5之 値的順序之流程圖。方向管理部1 2 6，係於初始之步驟 S 1 4 1中，取得旋轉感測器丨n所輸出之角度變化量，在 -30- (28) 1302848 接下來之步驟S142,係藉由於旋轉計數器125之値0gyr 加算或減算角度變化量，更新旋轉計數器125之値0 gyr 。藉此，於旋轉計數器125係記憶有表示自走車30之現 在方向的角度0 gyr。再者，爲了使自走車30朝向絕對基 準方向Dabs時的旋轉計數器125之角度0 gyr爲0°，在適 切之時序進行校正爲佳。其校正，係例如，藉由基於進度 計數器121之進度ADcrt及線感測器50之輸出，判別自 走車30是否從基準位置Pref與跑道方向平行行走直線區 間3 5a，於平行行走時重設0 gyr爲〇°而實現。如此之校 正係於賽馬遊戲之競賽中進行亦可，於競賽前之適切的時 序，例如，遊戲機2起動時亦可。 圖27係揭示方向補正量運算部131運算方向補正量 △ 0 amd的順序之流程圖。方向補正量運算部1 3 1，係於 初始之步驟S161中，取得進度計數器之値ADcrt，在接 下來之步驟S162辨別從進度ADcrt至基準方向的角度0 ref。如前述般，基準方向之角度Θ ref，係與進度AD建立 關聯而定位爲一義，在直線區間35a，係0°或180°，在彎 道區間35b係誘導線34的接線方向。如將進度AD與基 準方向0 ref之對應關係預先儲存於表格等資料，即可從 進度計數器之値ADcrt直接判別基準方向角度0 ref。在接 下來之步驟S163，係取得旋轉計數器125之値0 gyr，在 下一步驟S164，係作爲方向補正量△ 0 amd (參照圖21 ) 運算角度0ref及<9gyr的差。之後，返回步驟S161。在 此所求出之方向補正量△ 0 amd，係賦予速度比設定部 -31 - 1302848 • (29) • 1 3 3之外，也賦予跑道管理部！ 24及線寬度檢查部1 3 6。 圖28係揭示跑道管理部124的處理之流程圖。跑道 管理部1 24，係參照線感測器5 〇的輸出與方向補正量△ 0 amd而求出自走車30的跑道偏離量ΛΥ(參照圖21)之 同時，利用其跑道偏離量△ Υ管理跑道計數器1 2 3之値。 即’跑道管理部1 24 ’係於初始之步驟s 1 8 1中，從方向 補正量運算部131取得方向補正量△ 0 amci，在接下來之 φ 步驟S 1 82加入線感測器50的輸出而檢測跑道偏離量△ Y 。於圖2 9揭示線感測器5 0的輸出與跑道偏離量△ γ之關 係的一例。從線感測器5 0係輸出因應反射光強度之類比 訊號’但是，如將此以適當之閾値而二値化，可取得對應 誘導線34與其間的空白部分之矩形波。截自其矩形波之 線感測器5 0的檢測區域中心、與對應誘導線3 4之亮度値 範圍中心（跑道中心）的點數△ Ndot係對應跑道偏離量△ Y，如於其點數△ Ndot乘算1點的線寬度，可求出跑道偏 φ 離量ΛΥ。但是，自走車30的方向係從基準方向Dref (參 照圖2 1 )偏離時，線感測器5 0也對與誘導線3 4直交之方 向傾斜，其結果，點數△ Ndot也因應傾斜而增加。爲此， 有從點數△ Ndot所求出之跑道偏離量ΛΥ乘上方向補正量 的餘弦値cosA0amd而取得正確之跑道偏離量ΛΥ的必 要。爲此，在圖28之步驟S181，取得方向補正量Λθ amd。再者，於圖29中，藉由將包含於對應誘導線34之 亮度値範圍的點數△ Ndot，利用△ 0 amd同樣地補正，可 檢測誘導線34的寬度Wg (參照圖9 )。 -32- 1302848 . (30) . 回到圖2 8，在步驟S 1 8 2檢測跑道偏離量△ Y後’係 前進至步驟S183，判斷自走車30是否移動至下個跑道。 例如，跑道偏離量△ γ較誘導線3 4的節距p T S的1 /2大 時，可判斷自走車3 0移動至鄰接之跑道。或，比較於線 感測器50之中心的兩側個別檢測出之至誘導線34的距離 大小，其大小關係逆轉時，判斷跑道移動亦可。在步驟 S1 83，判斷移動至下個跑道時，更新跑道計數器123之値 | 爲對應下個跑道之値。在步驟S 1 8 3爲否定判斷時，則跳 過步驟S 1 8 4。 於接下來之步驟S 1 8 5中，判斷絕對位置檢測感測器 5 1是否檢測出絕對位置。如未檢測出絕對位置則返回步驟 S 1 8 1。另一方面，在步驟S 1 85，判斷檢測出絕對位置時 ，判別編碼於來自絕對位置指示裝置3 7的紅外線之跑道 號碼，使判別之跑道號碼與跑道計數器1 2 3之値一致般地 ，補正跑道計數器1 2 3之値而返回步驟s 1 8 1。於以上之 φ 處理中所求出之跑道偏離量△ Y係賦予跑道補正量運算部 130° 圖3 0係揭不跑道補正量運算部i 3 〇運算跑道補正量 △ Yamd的順序之流程圖。跑道補正量運算部丨3 〇，係於 初始之步驟S 2 0 1中’從遊戲資訊解析部1 2 〇取得目標跑 道’在接下來之步驟S202’取得跑道計數器123之値（ 現在的跑道號碼）’更在步驟S 2 0 3，取得來自步驟跑道 管理部124之跑道偏離量ΛΥ。然後，在步驟S2〇4判斷目 標跑道與現在的跑道是否一致。於一致時前進至步驟 -33- 1302848 • (31) ， S205，將跑道偏離量△ Y設定爲跑道補正量△ Yamd而返 回步驟S201。另一方面，在步驟S204跑道不一致時係前 進至步驟S206，於跑道偏離量△ Y加算跑道間隔Ychg ( 參照圖21)之値作爲跑道補正量△ Yamd而設定並返回步 驟S201。跑道偏離量Ychg，係藉由目標跑道與現在的跑 道之間的號碼差乘算誘導線34的節距PTg (參照圖10 ) 所取得。 ^ 藉由圖3 0的處理，於目標跑道自走車3 0應移動之橫 斷方向的距離係作爲跑道補正量△ Yamd而運算。如於圖 22中所說明，運算出之跑道補正量△ Yamd係賦予速度比 設定部1 3 3。速度比設定部1 3 3，係基於被賦予之跑道補 正量△ Yamd及方向補正量△ 0 amd，決定於電動機43間 應產生之速度比，因應其速度比，使從速度FB補正部 129賦予之驅動速度增加或減少，決定對左右之電動機43 的速度指示VL、VR。此時，於各電動機43係產生因應速 φ 度比之速度差，且合成其等速度所取得之驅動速度與從速 度FB補正部1 29賦予之驅動速度一致般地，產生速度指 示VL、VR。所產生之速度指示VL、VR係賦予圖19所示 之電動機驅動電路1 1 5。藉由以從其等之驅動電路1 1 5指 示之速度驅動電動機4 3，自走車3 0係於特定之時刻到達 目標進度ADtgt，且其方向Dgyr與基準方向Dref —致般 地被控制。再者，利用跑道補正量△ Yamd及方向補正量 △ 0 amd的微分値、積分値、以旋轉感測器1 1 1檢測出之 角加速度，反饋控制或前饋控制速度比，提高對目標跑道 -34- 1302848 ， (32) ^ 之追從及方向補正之控制精度、反應性等亦可。 藉由以上說明之一連的處理，自走車3 0的進 增加1則自走車30被賦予目標速度Vtgt，而且， 走車30的現在速度Vact係每於自走車30移動相 部60的節距PTms時而逐次運算，所以可迅速且有 第控制自走車3 0的速度。進一步，因爲於磁性感ί 設置有可涵蓋磁性計測線3 6的最大節距PTms之個 | 測部60，即使自走車30行走彎道區間35b中任一 可不拘磁性計測線3 6的節距PTx而可以因應節S 之高解析能力檢測出現在速度Vact。所以，可抑制 在速度Vact之速度控制的誤差爲較小，並有效果 自走車30行走彎道區間35b時之速度的變動。 又，設置旋轉感測器1 1 1而檢測出自走車30 ，因爲將其方向與目標跑道的方向之偏離作爲方向 △ 0 amd而賦予速度比設定部1 3 3，所以，基於僅 0 感測器5 0的輸出，與控制自走車3 0的橫斷方向之 方向之狀況比較，控制精度係提高。進一步，利用 測器1 1 1的輸出，判別角度變化量、角速度的變化 速度，藉由將其等物理量利用於自走車3 0的方向 成爲可使自走車3 0更圓滑且迅速地收束於目標跑 使其面向方向正確且迅速地一致。 進一步，可直接從旋轉感測器1 1的輸出辨識 走車30的方向目標之方向補正量A0 amd，於利用 器5 0的輸出之跑道偏離量△ γ的辨識中，利用其 度係每 因爲自 當檢測 高精度 ®器52 數的檢 跑道， :PTms 利用現 地抑制 的方向 補正量 基於線 位置及 旋轉感 或角加 控制， 道，並 對應自 線感測 方向補 -35- 1302848 - (33) . 正量△ 0 amd而可正確地檢測出偏離量ίμΥ。所以，可提 高自走車30的跑道追從精度或往目標跑道之移動控制的 精度。 圖31係揭示線寬度檢查部1 3 6中之處理之流程圖。 線寬度檢查部136，係於圖31初始之步驟S221中，取得 進度計數器121之値ADcrt，在接下來之步驟S222，係取 得跑道計數器123之値，更於步驟S223取得方向補正量 0 △ 0 amd。在接下來之步驟S224，係從線感測器50的輸 出運算現在的跑道中的線寬度。如圖29中所說明，爲了 求出線寬度，從線感測器50的輸出求出點數△ Ndot而乘 算1點的線寬度，賦予此因應方向補正量△ 0 amd之補正 即可。在接下來之步驟S225，判斷運算之線寬度是否爲 特定之容許範圍內，如爲容許範圍內則返回步驟S221。 另一方面，線寬度超過容許範圍時則前進至步驟S226， 將檢測出之線寬度與檢測位置，即進度計數器之値ADcrt φ 及跑道計數器之値建立關聯的資料作爲線寬度檢查資料而 記憶於自走車控制裝置11 0的記憶裝置，之後返回步驟 S 2 2 1。線寬度的容許範圍，係考慮誘導線3 4的線寬度對 於原本的線寬度W §藉由增加或減少所致之自走車3 0的 行走控制之錯誤的發生頻率而界定即可。例如，誘導線3 4 之原本的寬度W g爲6 m m，如實際的線寬度在土 2 m m以內 而自走車3 0的行走控制於實用上不發生障害時，將行走 控制設定爲4〜8mm即可。 藉由進行以上之處理，可檢測出起因於下段行走面1 8 -36- 1302848 • (34) - 的污垢、異物的混入、誘導線3 4的剝落等之誘導線3 4的 外觀上的寬度之增加或減少。或者，作爲誘導線而被錯誤 地檢測出之線狀的污垢、傷痕等之發生也可作爲線寬度的 異常而檢測出。又，利用記憶之資料，藉由周回路徑3 5 中之進度及跑道，可將線寬度的異常部分予以特定。在本 形態係因爲於跑道偏離量△Y的檢測、現在的跑道之判斷 、跑道補正量△ Yamd的運算中，因爲參照線感測器50的 ^ 輸出，所以，於誘導線3 4的寬度因污垢等而變化之狀況 ，因其影響對自走車30的誘導線34之追從性惡化，跑道 變更時之動作有產生錯誤動作之虞，爲此有定期檢查、清 掃下段行走面1 8之必要。關於如此之作業，可有效活用 線寬度檢查部1 3 6作成之資料。 再者，於前述將點數△ Ndot換算成線寬度，但是，利 用將點數△ Ndot以角度△ 0 amd補正之値，判斷線寬度是 否於容許範圍內亦可。省略角度補正而藉由點數△ Ndot判 φ 斷是否於容許範圍內亦可。例如，進行限制自走車3 0的 方向補正量△ 0 amd於一定之範圍的行走控制時，預先求 出對應其方向補正量△ 0 amd爲最大値時之誘導線寬度 Wg的線感測器5 0上之點數△ Ndot，於檢測出之點數超過 此時，判斷超過容許範圍亦可。該狀況係也不需要利用方 向補正量△ β amd之傾斜補正。另一方面，關於線寬度的 下限値，將相當於自走車3 0沿著誘導線3 4而直線前進時 之線寬度Wg的檢測點數作爲基準，所檢測出之點數△ Ndot較其基準値少時，判斷線寬度未至容許範圍亦可 •37- (35) 1302848 利用線寬度檢查部1 3 6之線寬度的檢查，係於賽馬 戲之競賽中隨時實行亦可，於競賽之外的適宜之時期實 亦可。例如，於競賽未進行之適當的時期，從主控制裝 1 00指示線寬度檢查的實行，藉由自走車3 0沿著周回路 3 5以特定之行走模式行走，而實施線寬度檢查亦可。在 述之形態，將從線感測器5 0輸出之訊號二値化，辨識 走面1 8之黑色部分及白色部分，但是，從線感測器5 0 出類比訊號波形，將此例如檢測出以256階調數位化而 或黑以外之著色部分，將其著色部分作爲污垢識別亦可 接著，說明關於活用藉由線寬度檢查部1 3 6所取得 線寬度檢查資料的適宜形態。自走車3 0，係因爲不具有 示線寬度檢查資料之功能，將其資料從自走車3 0傳送 主控制裝置1 00，更藉由因應需要而經由網路6傳送至 護伺服器4等，可有效活用線寬度檢查資料。以下揭示 活用方法。 圖3 2係揭示從自走車3 0傳送線寬度檢查資料至主 制裝置1 00的順序之流程圖。自走車控制裝置1 1 0，係 步驟S241判斷是否爲線寬度檢查資料之送訊時期，於 斷爲送訊時期時，前進至步驟S 242，將線寬度檢查資 向主控制裝置1 〇〇傳送。另一方面，主控制裝置1 00係 步驟S 3 0 1判斷從自走車3 0是否已傳送檢查資料。然後 判斷有送訊時，前進至步驟S 3 02，將傳送之線寬度檢 資料儲存於自己的記憶裝置而返回步驟S 3 0 1。線寬度 查資料之送訊時期，係設定於對賽馬遊戲之控制並無影 遊 行 置 徑 前 行 輸 白 〇 之 顯 至 維 其 控 在 判 料 在 查 檢 響 -38- 1302848 * (36) ^ 的時期即可，作爲一例，可將競賽結束後之適當的時期設 定作爲送訊時期。 圖3 3係揭示爲了管理從自走車3 0所傳送之線寬度檢 查資料，主控制裝置1 00係於線寬度檢查資料之收訊結束 後的適當之時期所實行之線寬度檢查資料管理的處理順序 之流程圖。圖3 3之初始步驟S 3 2 1中，主控制裝置1 〇 〇係 解析從自走車3 0接收之線寬度檢查資料，而作成行走面 φ 警告資料，在接下來之步驟S3 22，將其行走面警告資料 記憶於主控制裝置1 00的記憶裝置。於線寬度檢查資料， 係因爲包含有辨識爲容許範圍外之線寬度、及線寬度的檢 測位置（進度及跑道號碼），於每一檢測位置計算檢測次 數，作成將檢測位置與檢測次數建立關聯的資料，將此作 爲行走面警告資料而記憶。省略檢測次數的計算，僅將檢 測位置保持於行走面警告資料亦可。或者，省略檢測位置 的計算’僅將檢測次數保持於行走面警告資料亦可。關於 Φ 檢測位置，並不一定有與磁性計測線3 6爲1 : 1對應之必 女，將W接之2條或以上之磁性計測線3 6集中而作爲1 個檢測位置辨識亦可。於該狀況，可將行走面警告資料的 資料量輕量化。或者’如圖1 0以虛線所示，將周回路徑 3 5區分爲Z 1〜Z 1 0，計算每區域之檢測次數，將其檢測次 數與區域建立關聯之資料作爲行走面警告資料作成亦可。 回到圖33，記憶行走面警告資料後，前進至步驟 S3 23，確δ忍行走面警告資料的資料量，在接下來之步驟 S324，判斷其資料量是否超過特定的容許量。於超過容許 ·* 39 - (37) 1302848 量時，在步驟S3 25於警告標誌設定1，在接下來之步驟 S326，將行走面警告資料傳送至維護伺服器4，之後結束 處理。另一方面，在步驟 S3 24爲否定判斷時，在步驟 S 3 27將警告標誌設定爲0而結束處理。 圖34係揭示，爲了將基於行走面警告資料之行走面 檢查畫面顯示給遊戲機2的操作員（管理者），主控制裝 置1 〇〇實行之行走面檢查管理的處理順序之流程圖。該處 理，係例如遊戲機2控制於爲了維護管理之模式時，基於 操作員指示而實行。圖34之初始步驟S341中，主控制裝 置1 00係判斷於警告標誌是否設定有1，如設定有1，則 前進至步驟S342，進行特定之警告顯示。警告顯示，係 例如包含催促操作員進行行走面的檢查或清掃之訊息。如 於警告標誌未設定1，則跳過步驟S342。在接下來之步驟 S 343，係讀取出行走面警告資料，更在步驟S344顯示基 於行走面警告資料的行走面檢查畫面而結束處理。 行走面檢查畫面，係可如例如圖3 5所示般地構成。 在該例，於畫面顯示平面地表示周回路徑35之賽道整體 圖8 0之同時，於其賽道整體圖8 0的檢測位置重疊點而顯 示。藉由將點8 1的顯示樣態因應檢測次數而變化，使檢 測次數爲可辨識亦可。在圖3 5，係檢測次數越增加，則越 擴大點8 1的直徑。但是，因應檢測次數而使點8丨的顏色 變化亦可。進一步，藉由以與其他區域不同樣態揭示檢測 次數超過特定閾値之區域，更明確地揭示需要操作員檢查 或清掃之區域亦可。在圖35之例，係藉由區域Z4、Z9及 -40 - 1302848 • (38) - Z 1 0以與其他區域不同樣態表示，揭示於此等之區域Z4、 Z9及Z10中，需要檢查或清掃之必要性較高。進一步， 藉由區域Z4及Z9與Z10以不同樣態表示，揭示對於區域 Z4及Z9需要檢查或清掃之必要性更較區域Z10高。 再者，行走面檢查畫面係不限於圖3 5之例。省略點 8 1，僅揭示需要檢查或清掃之區域亦可。將每區域之顯示 變更省略，僅揭示點81所致檢測位置亦可。檢測位置係 φ 不限於點，藉由適切之指標表示亦可。將賽道整體圖80 作爲立體圖顯示，於檢測位置係顯示因應檢測次數之高度 的條形圖亦可。 在圖3 4，係藉由操作員指示行走面檢查畫面之顯示時 ，檢查警告標誌而判斷警告顯示之要否，但是，警告顯示 係不限於此而以適當之時序進行亦可。例如，遊戲機2起 動時，判別行走面警告資料的資料量，超過容許量時，實 行警告顯示亦可。進行警告顯示時，配合此，向操作員確 φ 認是否顯示行走面檢查畫面亦可。 圖3 6係揭示，將下段行走面1 8的檢查、清掃等作爲 目的，操作員指示維護模式時，主控制裝置1 〇 〇實行之維 護模式的處理順序之流程圖。維護模式被指示時，主控制 裝置1 0 0係在初始之步驟S 3 6 1，賦予平台驅動裝置2 1 ( 參照圖3)起動指示，使平台15上升。藉由使平台15上 升，因爲下段行走面1 8與供電面20之間產生充分之空間 ，操作員係可容易進行下段行走面1 8的檢查及清掃。 在接下來之步驟S 3 62，係判斷操作員是否指示維護 -41 - 1302848 . (39) . 結束，有指示時則前進至判斷步驟S3 63，使平台1 5下降 。在接下來之步驟S364，係對操作員確認行走面警告資 料是否清除，在下一步驟S 3 6 5判斷是否已指示清除。如 有指示，在步驟S 3 66清除行走面警告資料，即，刪除資 料而結束處理。另一方面，在步驟S3 65未指示清除時， 則跳過步驟S 3 6 6而結束處理。 再者，在圖33之步驟S326，將行走面警告資料傳送 $ 至於維護伺服器4，但是，於接收其行走面警告資料之維 護伺服器4中，藉由實行與主控制裝置1 00相同的處理， 顯示如圖3 5所示之行走面檢查畫面，使行走面1 8之狀態 爲可確認亦可。或在維護伺服器4更詳細解析行走面警告 資料亦可。在維護伺服器4確認下段行走面1 8之狀態， 從伺服器管理者對設置有遊戲機2之店舖的操作員催促清 掃等亦可。傳送線寬度檢查資料至維護伺服器4，在維護 伺服器4作成行走面警告資料，進行基於此之行走面檢查 φ 畫面的顯示或警告的顯示亦可。 在以上之形態，線感測器（5 0 )相當於誘導線檢測手 段，旋轉感測器11 1相當於方向檢測手段，磁性感測器5 2 相當於長邊方向位置檢測手段，自走車控制裝置1 1 〇相當 於行走控制手段，行走控制裝置3 0、通訊控制電路1 1 4及 送訊部1 1 2之組合相當於資料輸出手段，主控制裝置1 00 相當於遊戲控制裝置，通訊單元101、中繼裝置102、送 訊部11 2、收訊部1 1 3及通訊控制電路丨丨4之組合相當於 通訊手段，主控制裝置1 1 0及維護伺服器4相當於行走面 -42- 1302848 • (40) ^ 管理裝置。又，自走車控制裝置1 1 〇的線寬度檢查部1 3 6 係作爲線寬度檢查手段而作用。 在前述之形態，藉由磁性感測器5 2檢測出磁性計測 線3 6而判別關於誘導線3 4之長邊方向的自走車3 0之位 置，但是，關於誘導線之長邊方向的位置之判別係並不限 定於使用如此之手段。例如，積算驅動輪42的回轉量而 判別自走車3 0的位置亦可。關於自走車3 0之方向的檢測 φ ，也並不限定於利用旋轉感測器111者，可有各種的變更 ，作爲一例，可基於驅動輪42的回轉速度差，檢測出方 向。 本發明係並不限定於具有下段行走面與上段行走面之 遊戲機，於具備單一行走面的遊戲機，只要爲檢測出誘導 線而控制自走體的行走即可適用。在遊戲機所實行之遊戲 係並不限定於賽馬遊戲。誘導線係並不限定於形成周回路 徑般地設置者，構成直線路徑般地設置亦可。本發明係不 φ 限於與網路連接之遊戲機，對於與網路分離之獨立（ stand-alone)型的遊戲機亦可適用。 【圖式簡單說明】 [圖1 ]揭示組入關於本發明的一形態之遊戲機的遊戲 系統之槪略構成圖。 [圖2]平台上升時之場域單元的立體圖。 [圖3 ]平台上升時之場域單元的側面圖。 [圖4]平台下降時之場域單元的立體圖。 -43- (41) 1302848 [圖5]平台下降時之場域單元的側面圖。 [圖6]場域單元的分解立體圖。 [圖7]揭示由下往上看圖2的VII部之狀態的立體圖 〇 [圖8]揭示設置於場域單元之天板的剖面、及行走其 等之行走面的自走車及模型之圖。 [圖9]揭示設置於下段行走面上之誘導線及磁性計測 線之圖。 [圖10]設置於下段行走面的周回路徑之平面圖。 [圖1 1 ]周回路徑的彎道區間之擴大圖。 [圖12]揭示自走體的內部構造之圖。 [圖13]自走體之仰視圖。 [圖14]沿圖13之XIV-XIV線之剖面圖。 [圖15]線感測器之擴大前視圖。 [圖16]線感測器之擴大仰視圖。 [圖1 7 A]揭示自走體行走直線區間時，磁性感測器之 輸出與磁性計測線的關係之圖，亦爲揭示磁性感測器與磁 性計測線的關係之圖。 [圖1 7B]揭示自走體行走直線區間時，磁性感測器之 輸出與磁性計測線的關係之圖，亦爲揭示磁性感測器與各 檢測部之輸出的關係之圖。 [圖1 8 A]揭示自走體行走彎道區間之最內周以外的跑 道時，磁性感測器之輸出與磁性計測線的關係之圖，亦爲 揭示磁性感測器與磁性計測線的關係之圖。 -44- 1302848 • (42) • [圖18B]揭示自走體行走彎道區間之最內周以外的跑 道時，磁性感測器之輸出與磁性計測線的關係之圖，亦爲 揭示磁性感測器與各檢測部之輸出的關係之圖。 [圖19]揭示遊戲機之控制系的槪略構成之圖。 [圖20]揭示設置於自走車的控制系之區塊圖。 [圖21]揭示關於自走車的進度、橫斷方向之位置及方 向之控制的槪念之圖。 φ [圖22]自走車控制裝置之功能區塊圖。 [圖23]揭示於進度管理部中之進度管理的順序之流程 圖。 [圖24]揭示於目標速度運算部中之目標速度的運算順 序之流程圖。 [圖25]揭示反轉計算數、反轉基準時間、殘留時間及 進度不足量的關係之圖。 [圖26]揭示於方向管理部中之方向管理的順序之流程 • 圖。 [圖2 7]揭示於方向補正量運算部中之方向補正量的運 算順序之流程圖。 [圖28]揭示於跑道管理部中之跑道管理的順序之流程 圖。 [圖29]揭示相對於誘導線之線感測器的位置的偏離與 線感測器之輸出的關係之圖。 [圖3 0]揭示於跑道補正量運算部中之跑道補正量的運 算順序之流程圖。 -45- (43) 1302848 [Η 3 1]揭示於線寬度檢查部中之線寬度的檢查順序之 流程圖。 [圖32]揭示從自走車控制裝置傳送線寬度檢查資料至 主控制裝置的順序之流程圖。 [圖3 3 ]揭示於主控制裝置中之線寬度檢查資料管理的 順序之流程圖。 [圖3 4]揭示於主控制裝置中之行走面檢查管理的順序 之流程圖。 [圖35]揭示行走面檢查畫面的一例之圖。 [圖36]揭示於主控制裝置中之維護模式時的處理之流 程圖。 【主要元件符號說明】 1 :遊戲系統 2Α〜2C :遊戲機 3 :中央伺服器 4 :維護伺服器 4a :維護記憶部 5 :維護客戶端 6 :通訊網路 1〇:筐體（遊戲機本體） 1 1 :場域單元 1 2 :遊戲站單元 1 3 :監視器單元 -46- (44) (44)1302848 13a :主監視器 14 :基座 1 4 a :承接部 14A〜14C、1 5A〜15C :子單元 15 :平台 1 6、1 7 :天板 1 8 :下段行走面 1 9 :上段行走面 SP :空間 2 0 :供電面 2 1 :平台驅動裝置（升降驅動裝置） 22 :油壓缸（致動器） 22a :活塞桿 22b :缸管 23 :油壓產生裝置 24 :調節器裝置 24a :調節器 2 4 b :調節器承接部 30 :自走體 3 0a :前端部 3 0b :後端部 3 1 :模型 3 2 :線薄片 3 3、4 0 :磁鐵（永久磁鐵） -47- (45) (45)1302848 34 :誘導線 3 5 :周回路徑 3 5 a :直線區間 35b :彎道區間 3 6 :磁性計測線 3 7 :絕對位置指示裝置 3 8 :指示燈 4 1 A :下部單元 4 1 B :上部單元 42 :驅動輪 44F、44R、49F、49R:輔助輪 4 3 :電動機 45 :導引軸 46 :螺旋彈簧 4 7 :車輪 48 :供電刷 50 :線感測器 5 1 :絕對位置檢測感測器 52 :磁性感測器 5 3 :發光部 5 4、5 8 :受光部 55 :感測器陣列 5 6 :成像鏡頭 60 :檢測部 -48- (46) 1302848Vtgt, the drive speed of the motor 42 of the self-propelled vehicle 30, and the speed FB correction unit 129 are fed back and corrected by the target speed Vtgt and the current speed Vact, and the runway correction amount calculation unit 1300 is based on the running. The runway number of the target runway, the runway counter 1 2 3, and the runway deviation amount Δ Y of the self-propelled vehicle 30 determined by the runway management unit 1 24, calculate the runway correction amount Δ Yamd and the direction correction amount of the self-propelled vehicle 30 The calculation unit 131 calculates the direction correction amount Δ0 amd of the self-propelled vehicle 30 and the speed ratio setting unit 133 based on the runway correction amount based on the progress AD tgt and the φ angle 0gyr which are individually stored in the progress counter 1 2 1 and the rotation counter 1 2 5 . Δ Yamd and the direction correction amount Δ 0 amd set the speed ratio between the motors 43. The speed ratio setting unit 133 determines that the speed indicators VL and VR' of the left and right motors 43 are individually output to the motor drive circuit 1 1 5 of FIG. 20, and is further provided based on the self-propelled vehicle control device 1 1 . The output of the line sensor 50, the progress ADcrt memorized by the progress counter 121, and the direction correction amount Δ Θ amd calculated by the direction correction amount calculation unit 1 3 1 , and the line width inspection unit for checking the line width of the induction line 34 1 3 6. -26- (24) 1302848 Next, the processing of each unit of the self-propelled vehicle control device 1 will be described with reference to Figs. 23 to 30 . Fig. 23 is a flow chart showing the processing of the schedule management unit 丨22. The progress management unit 122 monitors the output of the magnetic sensor 52, controls the progress ADcrt of the progress counter 121, and calculates the current Vact of the vehicle 30. That is, the progress management unit 122 determines in the initial step S101 whether or not the output of the #1 detecting unit 60 of the magnetic sensor 52 is reversed, and if it is changed, the 値ADcrt of the progress counter 121 is added in step S102] Step S1 03 sets a variable 2 for identifying the detection unit number. When the output of the #1 detecting unit 60 is not inverted, the steps S 1 02 S 103 are skipped. In the next step S1 04, it is judged whether or not the output of the #m detecting unit 60 is reversed. When inverting, proceed to step S1 05 to calculate the current speed Vact. The current speed Vact is obtained by dividing the pitch PTms of the detecting portion 60 by the time interval from the output of the last detecting portion (#ml) to the time interval at which the output of the sensor is reversed. In the time tact (for example, the time interval of t1 to t2 in Fig. 17B), Vact = PTms/tacto, after calculating the current speed Vact, the variable m is made to be 1 in step S106. In the next step S107, it is judged whether or not the absolute position detecting sensor detects the absolute position, i.e., whether or not the infrared rays from the indication 38 are detected, and if not detected, the processing returns to step S1 01. On the other hand, in step S107, when the absolute position detecting sensor 51 detects the infrared rays from the finger light 38, it discriminates the progress information encoded in its infrared rays, and the progress of the discrimination is determined by the progress ADcrt of the progress counter 121. In general, the progress counter 121 returns to step S101. In step S1 04, the process speed is reversed and the transmission 60 is a step of dividing the signal of the detection unit 60 of the -27-1302848 • (25) * break #m. S105 and S106 proceed to step S107. By the above processing, the #1 detecting unit 60 increases the 値ADcrt of the progress counter 121 by one every time the magnetic meter line 36 is measured. Further, the progress ADcrt is appropriately corrected by detecting the signal from the absolute position indicating device 37 by the absolute position detecting sensor 51. Thereby, from the progress counter 121, the position of the self-propelled vehicle 30 in the longitudinal direction of the circumferential path 35 can be grasped. Further, the current speed Vact of the self-propelled vehicle 30 is calculated by the pitch PTms of the detecting unit 60 of the self-propelled vehicle 30 moving by the self-propelled vehicle 30. Fig. 24 is a flow chart showing the order of the target speed calculation unit 127 to calculate the target speed. The target speed calculation unit 127 obtains the 値ADcrt of the progress counter 121 in the initial step S121, and determines whether the progress counter 1 2 1 has been updated since the last processing in the next step S 1 2 2 . If not updated, return to step S 1 2 1. When updated, proceed to step _S123. In step S123, the progress shortage amount ΔAD (= ADtgt - ADcrt) is obtained by subtracting the progress counter 値 ADcrt from the target progress ADtgt. At the next step S124, the current runway is obtained from the runway counter 123. In the next step S125, based on the current progress ADcrt and the runway in which the self-propelled vehicle 30 is currently traveling, it is estimated that the magnetic sensor 5 is detected before the self-propelled vehicle 30 reaches the next progress. Number of turns (inverse calculation number) Nx. That is, the pitch P Tx of the magnetic measurement line 36 between the current progress ADcrt and the next progress ADcrt+Ι is divided by the detection section -28- 1302848 • (26) • 60 pitch P Tm s値 (quotient), presumed as the inverse calculation number Nx. Furthermore, when the quotient produces a mantissa below the decimal point, it is removed and rounded to an integer by rounding off or rounding off. The runway number is used to specify the pitch PTx. When the self-propelled vehicle 30 travels the runway of the innermost circumference of the straight section 35a and the curved section 35b, the reference pitch PTm shown in Fig. 9 becomes the pitch PTx of the detecting unit 60. On the other hand, when it is determined from the progress ADcrt that the self-propelled vehicle 60 is traveling in the curve section 35b, the pitch PTx corresponding to the runway number can be obtained from the data 0 of the pre-intentional form or the like. After the inversion calculation number Nx is estimated, the process proceeds to step S126 to calculate the inversion reference time t X . As shown in Fig. 25, the residual time at the time when the self-propelled vehicle 30 should reach the target progress ADtgt from the current time is Trmn, and it is assumed that the detection unit 60 of the magnetic sensor 52 is within the residual time Trmn. When the output is sequentially inverted every predetermined time tx, the residual time Trmn is given by the product of the time tx and the inversion calculation number Nx and the progress shortage amount ΔAD. That is, in order for the target vehicle arrival time to reach the target φ progress ADtgt, the self-propelled vehicle 30 must travel the distance corresponding to the progress shortage amount ΔAD at the speed at which the output of the detecting unit 60 is reversed at each time tx. From such a relationship, the inversion reference time tx is obtained by dividing the residual time Trmn by the product of the product of the inverse calculation number Nx and the progress shortage amount ΔAD (tx = Trmn / (Nx · Δ AD )). Find out. In other words, when the output reversal of Nx times is detected every inversion reference time tx, the progress advances by 1, and if the repetition is equal to the number of progress shortages ΔAD, at the target progress arrival time, the self-propelled vehicle 30 Is the target progress ADtgt. Furthermore, the target progress arrival time can be given as an example, from the main control device of the game machine 2 -29-1302848 ^ (27) • 100 to the next target progress and the target runway time or to give a certain lateness to the time. The moment of time. However, the target progress arrival time is between all the self-propelled vehicles 30 used in the same competition. If there is a match, return to FIG. 24, calculate the reverse reference time tx, and then proceed to step S127, and the detection unit The quotient of the pitch PTms of 60 divided by the inversion reference time tx is obtained as the target speed Vtgt. The target speed Vtgt is because the output of the φ magnetic sensor 52 is sequentially reversed at intervals of the inversion reference time tx, which will become the required speed of the self-propelled vehicle 30. After the target speed Vtgt is obtained in step S127, the flow returns to step S121. Therefore, the progress shortage amount ΔAD is updated every time the ADcrt of the update progress counter is updated, and based on the number of runways at this time, the inversion calculation number Nx is estimated to obtain the target speed Vtgt. That is, the target speed Vtgt is also updated every time the progress of the self-propelled vehicle 30 progresses. As described in Fig. 22, the target speed Vtgt calculated by the target speed calculation unit 127 is given to the speed setting unit 128 and the speed FB correction unit φ129. The speed setting unit 128 sets the drive speed of the motor 43 in the same manner as the target speed Vtgt to be given, and the speed FB correction unit 129 gives the FB correction amount to the difference between the target speed Vtgt and the current speed Vact. Further, the differential speed or the integral 値 of the speed difference is used to feedback the control speed, or the feed control can be used to improve the control accuracy and response of the speed. Fig. 2 is a flow chart showing the sequence in which the direction management unit 1 2 6 manages the rotation counter 1 2 5 . The direction management unit 1 2 6 obtains the angular change amount output by the rotation sensor 丨n in the initial step S 1 4 1 at -30-(28) 1302848, and the next step S142 is performed by the rotation.计数器0gyr of counter 125 adds or subtracts the amount of angular change, updating 旋转0 gyr of rotation counter 125. Thereby, the rotation counter 125 stores an angle of 0 gyr indicating the current direction of the self-propelled vehicle 30. Further, in order to make the angle 0 gyr of the rotation counter 125 when the self-propelled vehicle 30 is directed to the absolute reference direction Dabs is 0, it is preferable to perform correction at an appropriate timing. The correction is determined by, for example, based on the progress ADcrt of the progress counter 121 and the output of the line sensor 50, whether the self-propelled vehicle 30 is traveling parallel to the runway direction from the reference position Pref to the straight line section 35a, and is reset during parallel walking. 0 gyr is achieved by 〇°. Such a correction is also possible in the competition of the horse racing game, and the appropriate timing before the competition, for example, when the game machine 2 is started. Fig. 27 is a flowchart showing the procedure of calculating the direction correction amount Δ 0 amd by the direction correction amount calculation unit 131. The direction correction amount calculation unit 1 3 1 acquires the progress counter 値ADcrt in the initial step S161, and discriminates the angle 0 ref from the progress ADcrt to the reference direction in the next step S162. As described above, the angle Θ ref of the reference direction is positioned in association with the progress AD, and is 0° or 180° in the straight section 35a, and the wiring direction of the line 34 is induced in the curve section 35b. If the correspondence between the progress AD and the reference direction 0 ref is stored in advance in a table or the like, the reference direction angle 0 ref can be directly determined from the progress counter 値ADcrt. In the next step S163, 値0 gyr of the rotation counter 125 is obtained, and in the next step S164, the angle 0ref is calculated as the direction correction amount Δ 0 amd (refer to Fig. 21). <9gyr difference. Thereafter, the process returns to step S161. The direction correction amount Δ 0 amd obtained here is given to the runway management unit in addition to the speed ratio setting unit -31 - 1302848 • (29) • 1 3 3! 24 and line width inspection unit 1 3 6 . FIG. 28 is a flowchart showing the processing of the runway management unit 124. The runway management unit 1 24 determines the runway deviation amount ΛΥ (see FIG. 21) of the self-propelled vehicle 30 by referring to the output of the line sensor 5 与 and the direction correction amount Δ 0 amd, and uses the runway deviation amount Δ Υ Manage runway counters 1 2 3 . That is, the "runway management unit 1 24" is in the initial step s 1 8 1 , and the direction correction amount calculation unit 131 obtains the direction correction amount Δ 0 amci, and in the next φ step S 1 82, the line sensor 50 is added. The output is detected and the runway deviation amount Δ Y is detected. An example of the relationship between the output of the line sensor 50 and the runway deviation amount Δγ is shown in Fig. 29. The analog signal of the intensity of the reflected light is outputted from the line sensor 50. However, if this is doubled with an appropriate threshold, a rectangular wave corresponding to the blank portion of the induced line 34 and the blank portion thereof can be obtained. The number of points Δ Ndot corresponding to the center of the detection area of the rectangular wave line sensor 50 and the brightness 値 range center (runway center) corresponding to the induction line 34 corresponds to the runway deviation amount ΔY, as in the number of points thereof △ Ndot multiplies the line width of 1 point to obtain the runway deviation ΛΥ. However, when the direction of the self-propelled vehicle 30 deviates from the reference direction Dref (refer to FIG. 21), the line sensor 50 is also inclined to the direction orthogonal to the induction line 34, and as a result, the number of points ΔNdot is also inclined. And increase. For this reason, it is necessary to obtain the correct runway deviation amount 之 by multiplying the runway deviation amount ΛΥ obtained from the point Δ Ndot by the cosine 値 cosA0amd of the direction correction amount. For this reason, in step S181 of Fig. 28, the direction correction amount Λ θ amd is obtained. Further, in Fig. 29, the width Wg of the induction line 34 can be detected by correcting the number of points Δ Ndot included in the luminance 値 range of the corresponding induction line 34 by Δ 0 amd (see Fig. 9). -32- 1302848. (30). Returning to Fig. 2, after detecting the runway deviation amount ΔY in step S1 8 2, the process proceeds to step S183, and it is judged whether or not the self-propelled vehicle 30 has moved to the next runway. For example, when the runway deviation amount Δγ is larger than 1/2 of the pitch p T S of the induction line 34, it can be judged that the self-propelled vehicle 30 moves to the adjacent runway. Or, the distance to the induction line 34 is detected individually on both sides of the center of the line sensor 50, and when the magnitude relationship is reversed, the runway movement can be judged. In step S1 83, it is judged that when moving to the next runway, the 跑道 | of the runway counter 123 is updated to correspond to the next runway. When the determination in step S188 is negative, then step S18.4 is skipped. In the next step S 1 8 5, it is judged whether or not the absolute position detecting sensor 51 detects the absolute position. If the absolute position is not detected, the process returns to step S1 8 1. On the other hand, when it is judged in step S185, the absolute position is detected, the runway number encoded in the infrared rays from the absolute position indicating means 37 is discriminated, and the determined runway number coincides with the runway counter 1 2 3, After correcting the runway counter 1 2 3, return to step s 1 8 1 . The runway deviation amount Δ Y obtained in the above φ processing is given to the runway correction amount calculation unit 130°. Fig. 30 is a flow chart showing the sequence of calculating the runway correction amount Δ Yamd. The runway correction amount calculation unit 丨3 ' is in the initial step S 2 0 1 'Get the target runway from the game information analysis unit 1 2 '', and after the runway counter 123 is obtained in the next step S202 ′ (the current runway number) Further, in step S203, the runway deviation amount 来自 from the step runway management unit 124 is obtained. Then, it is judged at step S2〇4 whether or not the target runway coincides with the current runway. When it is coincident, proceed to step -33- 1302848. (31), S205, set the runway deviation amount ΔY to the runway correction amount Δ Yamd and return to step S201. On the other hand, when the runway does not match in step S204, the process proceeds to step S206, and after the runway deviation amount ΔY is added to the runway interval Ychg (refer to Fig. 21), it is set as the runway correction amount Δ Yamd, and the flow returns to step S201. The runway deviation amount Ychg is obtained by multiplying the pitch PTg (see Fig. 10) of the induction line 34 by the number difference between the target runway and the current runway. ^ By the processing of Fig. 30, the distance in the transverse direction in which the target runway self-propelled vehicle 30 should move is calculated as the runway correction amount Δ Yamd. As explained in Fig. 22, the calculated runway correction amount Δ Yamd is given to the speed ratio setting unit 133. The speed ratio setting unit 1 3 3 determines the speed ratio to be generated between the motors 43 based on the supplied runway correction amount Δ Yamd and the direction correction amount Δ 0 amd , and gives the speed FB correction unit 129 in response to the speed ratio. The driving speed is increased or decreased, and the speed indications VL, VR of the left and right motors 43 are determined. At this time, in each of the motors 43, a speed difference corresponding to the speed ratio φ is generated, and the drive speed obtained by synthesizing the same speed is the same as the drive speed given from the speed FB correction unit 129, and the speed indication VL, VR is generated. . The generated speed indication VL, VR is given to the motor drive circuit 1 15 shown in Fig. 19. By driving the motor 43 at a speed indicated by its driving circuit 115, the self-propelled vehicle 30 reaches the target progress ADtgt at a specific timing, and its direction Dgyr is controlled in a manner similar to the reference direction Dref. Furthermore, using the runway correction amount Δ Yamd and the direction correction amount Δ 0 amd differential 値, integral 値, angular acceleration detected by the rotation sensor 1 1 1 , feedback control or feedforward control speed ratio, improve the target runway -34- 1302848, (32) ^ The control accuracy and reactivity of the follow-up and direction correction may also be used. By the processing of one of the above descriptions, the self-propelled vehicle 30 is incremented by one, the self-propelled vehicle 30 is given the target speed Vtgt, and the current speed Vact of the carriage 30 is moved to the phase 60 of the self-propelled vehicle 30. The pitch PTms is operated successively, so that the speed of the self-propelled vehicle 30 can be controlled quickly. Further, since the magnetic detecting unit is provided with a measuring unit 60 that can cover the maximum pitch PTms of the magnetic measuring line 36, even if the self-propelled vehicle 30 travels in any of the curved section 35b, the section of the non-magnetic measuring line 36 It is PTx and can be detected at the speed Vact in response to the high resolution capability of the section S. Therefore, it is possible to suppress the error of the speed control at the speed Vact to be small, and it is effective to change the speed when the self-propelled vehicle 30 travels in the curve section 35b. Further, the rotation sensor 1 1 1 is provided to detect the self-propelled vehicle 30, and the deviation from the direction of the target track is given to the speed ratio setting unit 1 3 3 as the direction Δ 0 amd, so that only the 0 sensing is performed. The output of the device 50 is improved in comparison with the state in which the direction of the traverse direction of the self-propelled vehicle 30 is controlled. Further, by using the output of the detector 1 1 1 , the amount of change in the angle of change and the rate of change of the angular velocity are determined, and by using the physical quantity such as the direction of the self-propelled vehicle 30, the self-propelled vehicle 30 can be more smoothly and quickly collected. The beam runs on the target so that it faces the direction correctly and quickly. Further, the direction correction amount A0 amd of the direction target of the carriage 30 can be directly recognized from the output of the rotation sensor 1 , and the degree of runway deviation Δ γ of the output of the user 50 is utilized. Since the detection of the number of high-precision controllers 52, the :PTms uses the local suppression of the direction correction amount based on the line position and the rotation sense or angle plus control, the road, and corresponding to the line sensing direction complement -35- 1302848 - (33 The positive amount △ 0 amd can correctly detect the deviation amount ίμΥ. Therefore, the accuracy of the runway following the self-propelled vehicle 30 or the accuracy of the movement control to the target runway can be improved. Fig. 31 is a flow chart showing the processing in the line width inspection unit 136. The line width inspection unit 136 acquires the 値ADcrt of the progress counter 121 in the initial step S221 of Fig. 31, and obtains the estimator counter 123 after the next step S222, and obtains the direction correction amount 0 Δ 0 in step S223. Amd. At the next step S224, the line width in the current runway is calculated from the output of the line sensor 50. As shown in Fig. 29, in order to obtain the line width, the line Δ Ndot is obtained from the output of the line sensor 50 to multiply the line width of one point, and the correction of the corresponding direction correction amount Δ 0 amd is given. In the next step S225, it is judged whether or not the calculated line width is within a specific allowable range, and if it is within the allowable range, the flow returns to step S221. On the other hand, if the line width exceeds the allowable range, the process proceeds to step S226, and the detected line width and the detected position, that is, the data of the progress counter 値ADcrt φ and the runway counter are stored as line width check data. The memory device of the vehicle control device 110 is returned to step S 2 2 1 . The allowable range of the line width is defined by considering the line width of the induction line 34 for the frequency of occurrence of the error of the walking control of the self-propelled vehicle 30 by the increase or decrease of the original line width W. For example, the original width W g of the induction line 3 4 is 6 mm, and if the actual line width is within 2 mm of the soil and the walking control of the self-propelled vehicle 30 is practically free from obstacles, the walking control is set to 4~ 8mm can be. By performing the above processing, it is possible to detect the width of the appearance of the induction line 34 due to dirt, foreign matter incorporation, and peeling of the induction line 34 due to the lower walking surface 1 8 - 36 - 1302848 • (34) - Increase or decrease. Alternatively, the occurrence of linear dirt, flaws, and the like which are erroneously detected as the induction line can be detected as an abnormality in the line width. Also, using the data of the memory, the abnormal portion of the line width can be specified by the progress and the runway in the cycle path 35. In this embodiment, since the runway deviation amount ΔY is detected, the current runway determination, and the runway correction amount Δ Yamd are calculated, since the output of the line sensor 50 is referred to, the width of the induced line 34 is The situation in which the dirt or the like changes is deteriorated due to the influence on the induction line 34 of the self-propelled vehicle 30, and the operation at the time of the change of the runway may cause an erroneous operation. For this purpose, the lower walking surface is periodically inspected and cleaned. necessary. With regard to such an operation, the information created by the line width inspection unit 1 3 6 can be effectively utilized. Further, although the number of points Δ Ndot is converted into the line width as described above, it is also possible to determine whether or not the line width is within the allowable range by correcting the number of points Δ Ndot by the angle Δ 0 amd. It is also possible to omit the angle correction and determine whether the φ break is within the allowable range by the number of points Δ Ndot . For example, when the travel control for limiting the direction correction amount Δ 0 amd of the self-propelled vehicle 30 to a certain range is performed, the line sensor corresponding to the induced line width Wg when the direction correction amount Δ 0 amd is the maximum 预先 is obtained in advance. The number of points on the 50 △ Ndot may be judged to exceed the allowable range when the number of detected points exceeds this. In this case, it is not necessary to use the tilt correction of the direction correction amount Δβ amd. On the other hand, regarding the lower limit 线 of the line width, the number of detected points corresponding to the line width Wg when the self-propelled vehicle 30 is linearly advanced along the induction line 34 is used as a reference, and the number of points detected ΔNdot is compared with When the number of references is small, it is judged that the line width is not within the allowable range. • 37- (35) 1302848 The inspection of the line width of the line width inspection unit 1 3 6 is performed at any time in the race of the circus. The appropriate period of time is also acceptable. For example, in the appropriate period when the competition is not performed, the execution of the line width check from the main control unit 100 is performed by the self-propelled vehicle 30 along the peripheral circuit 35 in a specific walking mode, and the line width check is also performed. can. In the form described, the signal output from the line sensor 50 is deciphered to identify the black portion and the white portion of the running surface 18. However, the analog signal waveform is output from the line sensor 50, for example, detecting A coloring portion other than 256-step digits or black is used, and the colored portion is identified as dirt. Next, a suitable form of the line width inspection data obtained by the line width inspection unit 136 can be described. The self-propelled vehicle 30 transmits the data from the self-propelled vehicle 30 to the main control unit 100 because it does not have the function of checking the line width inspection data, and transmits it to the server 4 via the network 6 as needed. Etc., can effectively use the line width inspection data. The method of utilization is disclosed below. Fig. 3 is a flow chart showing the sequence of transferring the line width inspection data from the self-propelled vehicle 30 to the master unit 100. The self-propelled vehicle control device 110 performs a step S241 to determine whether it is the transmission period of the line width inspection data. When the communication period is off, the process proceeds to step S242, and the line width inspection is directed to the main control device 1 Transfer. On the other hand, the main control unit 100 determines whether or not the inspection data has been transmitted from the self-propelled vehicle 30 in step S301. Then, when it is judged that there is a transmission, the process proceeds to step S032, and the line width detection data of the transmission is stored in its own memory device, and the process returns to step S301. The line width check data transmission period is set in the control of the horse racing game without a shadow of the parade to the front of the line to the visual control of the Wei Qi control in the judgment of the detection of the sound -38- 1302848 * (36) ^ The period may be, for example, an appropriate period after the end of the competition may be set as the communication period. Figure 3 3 shows that in order to manage the line width inspection data transmitted from the self-propelled vehicle 30, the main control device 100 is configured to manage the line width inspection data at an appropriate time after the end of the reception of the line width inspection data. Flow chart of the processing sequence. In the initial step S 3 2 1 of FIG. 3, the main control device 1 analyzes the line width inspection data received from the self-propelled vehicle 30, and creates a running surface φ warning data, and in the next step S3 22, The walking surface warning data is stored in the memory device of the main control device 100. For the line width inspection data, the detection position (progress and runway number) including the line width and the line width recognized as the allowable range is included, and the number of detections is calculated at each detection position, and the detection position is associated with the number of detections. The information is recorded as a walking warning material. The calculation of the number of detections is omitted, and only the detection position is held on the walking surface warning data. Alternatively, the calculation of the detection position is omitted. It is also possible to keep the number of detections on the walking surface warning data. Regarding the Φ detection position, it is not necessary to have a corresponding requirement that the magnetic measurement line 36 is 1:1, and two or more magnetic measurement lines 36 connected to each other may be collectively recognized as one detection position. In this case, the amount of data of the walking warning data can be reduced. Or, as shown by the dotted line in FIG. 10, the circumferential path 3 5 is divided into Z 1~Z 1 0, and the number of detections per area is calculated, and the data whose detection times are associated with the area is used as the walking surface warning data. . Referring back to Fig. 33, after the walking surface warning data is memorized, the processing proceeds to step S3 23, where the amount of data of the warning surface data of the walking surface is confirmed, and in the next step S324, it is judged whether or not the amount of data exceeds a certain allowable amount. When the allowable amount of *3 - (37) 1302848 is exceeded, the warning flag is set to 1 in step S3 25. In the next step S326, the running surface warning data is transmitted to the maintenance server 4, and the processing is terminated. On the other hand, when the determination is negative in the step S32, the warning flag is set to 0 in the step S329, and the processing is ended. Fig. 34 is a flow chart showing the processing procedure of the running surface inspection management performed by the main control unit 1 in order to display the running surface inspection screen based on the running surface warning data to the operator (manager) of the gaming machine 2. This processing is performed, for example, when the game machine 2 is controlled in a mode for maintenance management based on an operator's instruction. In the initial step S341 of Fig. 34, the main control unit 100 determines whether or not the warning flag is set to 1. If the setting is 1, the process proceeds to step S342 to perform a specific warning display. The warning display, for example, contains a message prompting the operator to check or clean the walking surface. If the warning flag is not set to 1, step S342 is skipped. In the next step S 343, the running surface warning data is read, and in step S344, the running surface inspection screen based on the running surface warning data is displayed to end the processing. The walking surface inspection screen can be constructed as shown, for example, in FIG. In this example, the entire track of the track path 35 is displayed on the screen display plane, and the detection position of the track map 80 is superimposed and displayed. By changing the display state of the point 81 to the number of detections, the number of detections can be made identifiable. In Fig. 35, the more the number of detections increases, the larger the diameter of the point 81 is. However, depending on the number of times of detection, the color of the dot 8 变化 may be changed. Further, by revealing an area where the number of detections exceeds a certain threshold 不 in a state different from other areas, it is possible to more clearly reveal an area requiring an operator to inspect or clean. In the example of Fig. 35, it is indicated by the regions Z4, Z9 and -40 - 1302848 • (38) - Z 1 0 which are different from other regions, and it is necessary to check in the regions Z4, Z9 and Z10. Or the need for cleaning is higher. Further, by the regions Z4 and Z9 and Z10 being expressed in different states, it is revealed that the necessity of inspection or cleaning for the regions Z4 and Z9 is higher than that of the region Z10. Furthermore, the walking surface inspection screen is not limited to the example of FIG. Omit point 8 1 and only reveal areas that need to be inspected or cleaned. The display change of each area is omitted, and only the detection position caused by the point 81 is revealed. The detection position system φ is not limited to a point, and may be represented by an appropriate index. The overall track map 80 is displayed as a perspective view, and a bar graph indicating the height of the number of detections may be displayed at the detection position. In Fig. 34, when the operator instructs the display of the running surface inspection screen, the warning flag is checked to determine whether or not the warning display is required. However, the warning display is not limited thereto and may be performed at an appropriate timing. For example, when the game machine 2 is started, the amount of data of the warning information on the running surface is discriminated, and when the allowable amount is exceeded, the warning display may be performed. When the warning display is performed, the operator can confirm whether or not the running surface inspection screen is displayed. Fig. 3 is a flow chart showing the processing procedure of the maintenance mode performed by the main control unit 1 when the operator instructs the maintenance mode for the purpose of inspection, cleaning, and the like of the lower traveling surface 18. When the maintenance mode is instructed, the main control unit 100 is given an initial command to the platform drive unit 2 1 (see Fig. 3) to raise the platform 15 in the initial step S 362. By raising the platform 15, a sufficient space is created between the lower running surface 18 and the power supply surface 20, and the operator can easily perform inspection and cleaning of the lower running surface 18. In the next step S 3 62, it is judged whether the operator instructs to maintain -41 - 1302848. (39) . When the instruction is completed, the process proceeds to decision step S3 63 to lower the platform 15 . In the next step S364, it is checked whether the running surface warning data is cleared by the operator, and it is judged in the next step S365 whether or not the clearing has been instructed. If there is an instruction, the walking surface warning data is cleared in step S3 66, i.e., the data is deleted and the processing is ended. On the other hand, when the clearing is not instructed in step S3 65, the processing is terminated by skipping step S36 6 . Further, in step S326 of Fig. 33, the traveling surface warning data is transmitted as the maintenance server 4, but in the maintenance server 4 that receives the warning information of the running surface, by performing the same operation as the main control device 100 In the processing, the walking surface inspection screen shown in Fig. 35 is displayed, and the state of the running surface 18 can be confirmed. Or, the maintenance server 4 can analyze the walking surface warning data in more detail. When the maintenance server 4 confirms the state of the lower running surface 18, the server manager may urge the operator of the shop in which the gaming machine 2 is installed to perform cleaning or the like. The transmission line width inspection data is sent to the maintenance server 4, and the maintenance server 4 creates a running surface warning data, and displays the display or warning of the φ screen based on the walking surface inspection. In the above form, the line sensor (50) corresponds to the induction line detecting means, the rotation sensor 11 1 corresponds to the direction detecting means, and the magnetic sensor 5 2 corresponds to the longitudinal direction position detecting means, and the self-propelled vehicle The control device 1 1 〇 corresponds to the travel control means, and the combination of the travel control device 30, the communication control circuit 1 14 and the communication unit 1 1 2 corresponds to a data output means, and the main control device 100 corresponds to a game control device, and communication The combination of the unit 101, the relay device 102, the transmitting unit 11, the receiving unit 1 13 and the communication control circuit 丨丨4 is equivalent to the communication means, and the main control unit 1 10 and the maintenance server 4 correspond to the running surface - 42- 1302848 • (40) ^ Management device. Further, the line width inspection unit 1 3 6 of the self-propelled vehicle control device 1 1 作用 functions as a line width inspection means. In the above-described form, the position of the self-propelled vehicle 30 in the longitudinal direction of the guidance line 34 is discriminated by the magnetic sensor 45 detecting the magnetic measurement line 36, but the longitudinal direction of the induction line is The discrimination of the position is not limited to the use of such means. For example, the amount of rotation of the drive wheel 42 may be integrated to determine the position of the self-propelled vehicle 30. The detection φ of the direction of the self-propelled vehicle 30 is not limited to the one using the rotation sensor 111, and various modifications are possible. For example, the direction can be detected based on the difference in the rotational speed of the drive wheels 42. The present invention is not limited to a game machine having a lower running surface and an upper running surface, and a game machine having a single running surface can be applied as long as the walking of the self-propelled body is controlled to detect the induced line. The game played on the game machine is not limited to the horse racing game. The guidance line system is not limited to the one in which the circumferential path is formed, and may be provided in the form of a straight path. The present invention is not limited to a game machine connected to a network, and is also applicable to a stand-alone type game machine that is separate from the network. BRIEF DESCRIPTION OF THE DRAWINGS [Fig. 1] A schematic block diagram of a game system incorporating a game machine according to an aspect of the present invention is disclosed. [Fig. 2] A perspective view of a field unit when the platform is raised. [Fig. 3] A side view of the field unit when the platform is raised. [Fig. 4] A perspective view of a field unit when the platform is lowered. -43- (41) 1302848 [Fig. 5] Side view of the field unit when the platform is lowered. [Fig. 6] An exploded perspective view of a field unit. 7] FIG. 8 is a perspective view showing a state in which the portion VII of FIG. 2 is viewed from the bottom up. FIG. 8 discloses a cross section of a sky plate provided in a field unit, and a self-propelled vehicle and a model for walking the walking surface thereof. Figure. Fig. 9 is a view showing a guide line and a magnetic measurement line provided on a lower running surface. [Fig. 10] A plan view of a circumferential path provided on the lower traveling surface. [Fig. 1 1] An enlarged view of the curve section of the circumferential path. Fig. 12 is a view showing the internal structure of the self-propelled body. [Fig. 13] A bottom view of the self-propelled body. Fig. 14 is a cross-sectional view taken along line XIV-XIV of Fig. 13. [Fig. 15] An enlarged front view of the line sensor. [Fig. 16] An enlarged bottom view of the line sensor. [Fig. 1 7 A] reveals the relationship between the output of the magnetic sensor and the magnetic measurement line when the self-propelled body travels in a straight section, and also shows the relationship between the magnetic sensor and the magnetic measurement line. [Fig. 1 7B] A diagram showing the relationship between the output of the magnetic sensor and the magnetic measurement line when the self-propelled body travels in a straight section, and also shows the relationship between the magnetic sensor and the output of each detection unit. [Fig. 1 8 A] reveals the relationship between the output of the magnetic sensor and the magnetic measurement line when the runway outside the innermost circumference of the self-propelled walking curve section is also revealed to reveal the magnetic sensor and the magnetic measurement line. Diagram of the relationship. -44- 1302848 • (42) • [Fig. 18B] Reveals the relationship between the output of the magnetic sensor and the magnetic measurement line when the runway outside the innermost circumference of the self-propelled walking curve section is revealed. A diagram of the relationship between the detector and the output of each detection unit. Fig. 19 is a diagram showing a schematic configuration of a control system of a game machine. FIG. 20 is a block diagram showing a control system provided in a self-propelled vehicle. Fig. 21 is a diagram showing the complication of the progress of the self-propelled vehicle, the position of the traverse direction, and the direction. φ [Fig. 22] Functional block diagram of the self-propelled vehicle control device. Fig. 23 is a flow chart showing the sequence of progress management in the progress management unit. Fig. 24 is a flow chart showing the operational sequence of the target speed in the target speed computing unit. Fig. 25 is a diagram showing the relationship between the number of inversion calculations, the inversion reference time, the residual time, and the amount of progress shortage. [Fig. 26] A flow chart showing the order of direction management in the direction management unit. [Fig. 27] A flowchart showing the operation sequence of the direction correction amount in the direction correction amount calculation unit. Fig. 28 is a flow chart showing the sequence of runway management in the runway management unit. [Fig. 29] A diagram showing the relationship between the deviation of the position of the line sensor with respect to the induction line and the output of the line sensor. [Fig. 30] A flow chart showing the operational sequence of the runway correction amount in the runway correction amount calculation unit. -45- (43) 1302848 [Η 3 1] A flowchart showing the procedure for checking the line width in the line width inspection unit. Fig. 32 is a flow chart showing the sequence of transferring line width inspection data from the self-propelled vehicle control device to the main control device. [Fig. 3 3] A flow chart showing the sequence of line width inspection data management in the main control unit. [Fig. 34] A flow chart showing the sequence of the running surface inspection management in the main control unit. FIG. 35 is a view showing an example of a walking surface inspection screen. Fig. 36 is a flow chart showing the processing in the maintenance mode in the main control unit. [Description of main component symbols] 1 : Game system 2Α~2C: Game machine 3: Central server 4: Maintenance server 4a: Maintenance memory unit 5: Maintenance client 6: Communication network 1〇: Case (game machine body) 1 1 : Field unit 1 2 : Game station unit 1 3 : Monitor unit - 46- (44) (44) 1302848 13a: Main monitor 14: Base 1 4 a : Receiving portions 14A to 14C, 1 5A~ 15C : Subunit 15 : Platform 1 6 , 1 7 : Sky 1 8 : Lower walking surface 1 9 : Upper running surface SP : Space 2 0 : Power supply surface 2 1 : Platform drive (lifting drive) 22 : Oil pressure Cylinder (actuator) 22a: piston rod 22b: cylinder tube 23: oil pressure generating device 24: regulator device 24a: regulator 2 4b: regulator receiving portion 30: self-propelled body 3 0a: front end portion 3 0b: Rear end portion 3 1 : Model 3 2 : Line sheet 3 3, 4 0 : Magnet (permanent magnet) - 47 - (45) (45) 1302848 34 : Induction line 3 5 : Cycle path 3 5 a : Straight line interval 35b: Curved section 3 6 : Magnetic measurement line 3 7 : Absolute position indicating device 3 8 : Indicator light 4 1 A : Lower unit 4 1 B : Upper unit 42 : Drive wheels 44F, 44R, 49F, 49R: Auxiliary wheel 4 3 : Motivation 45: Guide shaft 46: Coil spring 4 7 : Wheel 48: Power supply brush 50: Line sensor 5 1 : Absolute position detecting sensor 52: Magnetic sensor 5 3 : Light-emitting portion 5 4, 5 8 : Light receiving portion 55: sensor array 5 6 : imaging lens 60 : detecting portion - 48 - (46) 1302848
80 :賽； 81 :點 100 ：主 101 ：通 102 ：中 111 :旋 1 12 :送 1 1 3 :收 1 1 4 :通 1 1 5 :電 120 ：遊 121 ：進 122 ：進 123 :跑 124 ：跑 125 :旋 126 :方 127 ： g 128 :速 129 ：速 130 :跑 131 :方 133 :速 136 :線 直整體圖 控制裝置 訊單元 繼裝置 轉感測器 訊部 訊部 訊控制電路 動機驅動電路 戲資訊解析部 度計數器 度管理部 道計數器 道管理部 轉計數器 向管理部 標速度運算部 度設定部 度FB補正部 道補正量運算部 向補正量運算部 度比設定部 寬度檢查部 -49-80: Match; 81: Point 100: Main 101: Pass 102: Medium 111: Spin 1 12: Send 1 1 3: Receive 1 1 4: Pass 1 1 5: Electricity 120: Tour 121: Enter 122: Enter 123: Run 124: Run 125: Cyclo 126: Square 127: g 128: Speed 129: Speed 130: Run 131: Square 133: Speed 136: Line straight overall control device, unit, relay, sensor, signal, control circuit Motivation-driven circuit information analysis unit counter-counter management unit counter-track management unit-turn counter to management unit standard speed calculation unit setting unit FB correction unit correction amount calculation unit to correction amount calculation unit ratio setting unit width inspection unit -49-