US20090011816A1 - Game Machine and Self-Running Body For Use Therein - Google Patents
Game Machine and Self-Running Body For Use Therein Download PDFInfo
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- US20090011816A1 US20090011816A1 US11/814,711 US81471106A US2009011816A1 US 20090011816 A1 US20090011816 A1 US 20090011816A1 US 81471106 A US81471106 A US 81471106A US 2009011816 A1 US2009011816 A1 US 2009011816A1
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- running
- running body
- line
- game machine
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Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F9/00—Games not otherwise provided for
- A63F9/14—Racing games, traffic games, or obstacle games characterised by figures moved by action of the players
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F9/00—Games not otherwise provided for
- A63F9/14—Racing games, traffic games, or obstacle games characterised by figures moved by action of the players
- A63F9/143—Racing games, traffic games, or obstacle games characterised by figures moved by action of the players electric
Definitions
- the present invention relates to a game machine enabling a self-running body placed on a running surface to run thereon so as to perform a racing game such as a horse-racing game.
- a game machine in which a shift amount of a self-running body is measured with respect to a guide line on a running surface by using light-receiving elements arranged in the lateral direction of the self-running body, and the position of the self-running in the lateral direction is controlled according to the measured shift amount (see Patent Document 1, for example).
- Patent Document 1 Japanese Patent Application Laid-Open No. 2003-33567.
- the conventional game machine has no means for inspecting the running surface, it is necessary for a game machine manager to visually inspect the running surface to perform maintenance work such as cleaning, so that a large burden is put on the manager. Therefore, omission of the inspection of the running surface possibly invites the above problems.
- an object of the invention is to provide a game machine and a self-running body for use therein, wherein the load of the maintenance of a running surface can be reduced by using the guide line function of detecting the self-running body, thereby to contribute to proper maintenance of the running surface.
- a game machine includes a game machine body ( 10 ) having a running surface ( 18 ) on which a guide line ( 34 ) is provided; and a self-running body ( 30 ) capable of self-running on the running surface ( 18 ) and having a guide line detecting device for detecting the guide line ( 34 ) and a run control device ( 110 ) for controlling the running of the self-running body according to the result of detection by the guide line detecting device, wherein the guide line detecting device is a line sensor ( 50 ) having light-receiving elements arranged in the lateral direction of the self-running body ( 30 ) for detecting the luminance distribution in a predetermined detection region including the guide line ( 34 ) of the running surface ( 18 ), and the self-running body ( 30 ) is provided with a line width inspection device ( 136 ) for determining the line width of the detected guide line ( 34 ) according to the output of the line sensor ( 50 ).
- the guide line detecting device is a line sensor ( 50 ) having
- a self-running body includes a guide line detecting device for detecting a guide line provided on a running surface of a game machine; and a run control device for controlling the running of the self-running body on the running surface according to the result of detection by the guide line detecting device, wherein the guide line detecting device is a line sensor ( 50 ) having light-receiving elements arranged in the lateral direction of the self-running body ( 30 ) for detecting the luminance distribution in a predetermined detection region including the guide line ( 34 ) of the running surface ( 18 ), and the self-running body ( 30 ) is provided with a line width inspection device ( 136 ) for determining the line width of the detected guide line ( 34 ) according to the output of the line sensor ( 50 ).
- the guide line detecting device is a line sensor ( 50 ) having light-receiving elements arranged in the lateral direction of the self-running body ( 30 ) for detecting the luminance distribution in a predetermined detection region including the guide line ( 34 )
- the run control device of the self-running body identifies the guide line in the detection region by identifying the luminous region corresponding to the guide line from the luminance distribution detected by the line sensor which acts as the guide line detecting device. Then, the run control device determines the position of the self-running body in the width direction of the guide line using the position of the identified guide line in the detection region, and controls the running of the self-running body based on the result of the determination. Because the line sensor is configured by arranging many light-receiving elements in line, the guide line is detected with a finer pitch than the line width, and the line width of the guide line can be determined with a high resolution.
- the target object for the line width to be determined by the line width inspection device is not limited to the original guide line.
- the term “detected guide line” includes a linear trail or a dot formed by smear or a foreign matter. The generation or existence of the object similar to the guide line, which appears due to smear or the like, can be detected by applying the line width determination to the object.
- the line width inspection device may further determine suitability of the determined line width. Since the line width inspection device further determines the suitability of the determined line width, anomaly relating to the line width can be easily recognized.
- the self-running body may include a direction detecting device for detecting information necessary to specify a directional shift of the self-running body in the longitudinal direction of the guide line.
- the run control device may be configured to determine the directional shift of the self-running body with respect to the longitudinal direction of the guide line based on the result of detection by the direction detecting device, and further to control the running of the self-running body by referring to the result of the determination.
- the line width inspection device may determine the line width based on the result of detection by the guide line detecting device and the directional shift determined by the run control device.
- the width of the luminous region corresponding to the guide line in the detection region of the line sensor also increases or decreases according to the inclination of the line sensor. Therefore, when the line width of the guide line is determined only based on the width of the luminous region, the determined line width sometimes includes an error corresponding to the inclination of the line sensor.
- the directional shift of the self-running body with respect to the longitudinal direction of the guide line is determined and the result of the determination is referred to for running control, the inclination of the line sensor with respect to the longitudinal direction of the guide line can be recognized using the directional shift.
- the error of the line width corresponding to the inclination of the line sensor with respect to the guide line can be eliminated and the line width can be determined more precisely without having a new sensor for determining the line width.
- the self-running body may include a longitudinal-direction position detecting device for detecting information necessary to specify a position of the self-running body in the longitudinal direction of the guide line.
- the run control device may be configured to determine the position of the self-running body on the running surface based on the results of detection by the longitudinal direction position detecting device and the line sensor, and to control the running of the self-running body based on the result of the determination.
- the line width inspection device may generate inspection data in which the result of the determination of the line width is correlated with the position of the self-running body determined by the run control device.
- the line width of the guide line or the suitability of the line width can be recognized in a correlated manner with the position on the running surface by referring to the inspection data, whereby the running surface can be maintained more easily.
- the position on the running surface where the inspection is particularly required can be easily identified from the inspection data.
- the inspection data can be generated by using the positions in the longitudinal and width directions of the guide line which are determined by the self-running body for its running control, it is not necessary to have a new sensor to generate the inspection data.
- the manager or the like can refer to the generated inspection data through appropriate means.
- the self-running body itself may have means for displaying the inspection data.
- the inspection data may be stored in a storage medium attached to the self-running body, and the inspection data may be read if necessary by detaching the storage medium from the self-running body.
- the self-running body may further include a data output device for outputting the inspection data to the outside of the self-running body. Accordingly, the inspection data can be received outside the self-running body, and then the running surface is easily checked based on the inspection data.
- the game machine may further include a running surface maintenance device which performs a predetermined process based on the inspection data outputted from the self-running body so as to notify the game machine manager of the state of the running surface. Therefore, the game machine manager can easily check the running surface at the installation place of the game machine.
- the running surface maintenance device may generate data for specifying the position on the running surface where the line width is unsuitable and for specifying the number of detection times of the position based on the inspection data outputted from the self-running body; collects the data, and displays a running surface check screen indicating the position on the running surface where the line width is unsuitable and the number of detection times of the position based on the collected data.
- the game machine manager can recognize the position on the running surface where the line width is unsuitable and the number of detection times of the position through the running surface check screen, and determine the necessity of the inspection or cleaning in a correlated manner with the position on the running surface.
- the running surface maintenance device may generate data for specifying at least one of the position on the running surface where the line width is unsuitable and the number of detection times of the position based on the inspection data outputted from the self-running body, collect the data, and provide a predetermined warning to the game machine manager when amount of the collected data exceeds a predetermined allowable amount.
- the game machine manager is urged to check the running surface based on the inspection data transmitted from the self-running body.
- the game machine includes a game control device which makes the run control device of the self-running body to perform a predetermined game by transmitting to the run control device an instruction for the running of the self-running body through predetermined communication means
- the game control device may act as the running surface maintenance device. Accordingly, the inspection data can be transferred from the self-running body to the game control device using the configuration for providing the self-running body with instructions for the running of the self-running body, and thereby to recognize the condition of the running surface using the game control device.
- the server may act as the running surface maintenance device. This enables a server manager to recognize the state of the running surface, and the server manager can provide information on the state of the running surface to a store or the like where the game machine is installed to promote the inspection, cleaning or the like of the running surface.
- the line width of the guide line or the suitability of the line width is determined using the configuration in which the guide line provided on the running surface is detected to control the running of the self-running body, so that the generation of the anomaly such as the dirt of the running surface, the adhesion of the foreign matter, and the peel-off of the guide line can be detected. Accordingly, the invention can provide the game machine and self-running body in which the burden to the game machine manager is reduced in managing the running surface and the running surface can properly be managed.
- FIG. 1 is a diagram showing a schematic configuration of a game system into which a game machine according to an embodiment of the invention is incorporated;
- FIG. 2 is a perspective view showing a field unit when a stage is raised
- FIG. 3 is a side view showing the field unit when the stage is raised
- FIG. 4 is a perspective view showing the field unit when the stage is lowered
- FIG. 5 is a side view showing the field unit when the stage is lowered
- FIG. 6 is an exploded perspective view of the field unit
- FIG. 7 is a perspective view showing the part VII of FIG. 2 viewed from the below;
- FIG. 8 is a view showing cross sections of top boards provided in the field unit and a motor vehicle and a model which run on running surfaces formed on the top boards;
- FIG. 9 is a view showing a guide line and a magnetic measurement line formed on a lower-stage running surface
- FIG. 10 is a plan view showing a round track formed on the lower-stage running surface
- FIG. 11 is an enlarged view showing a corner section of the round track
- FIG. 12 is a view showing an internal structure of the self-running body
- FIG. 13 is a bottom view of the self-running body
- FIG. 14 is a sectional view taken along the line XIV-XIV of FIG. 13 ;
- FIG. 15 is an enlarged front view of a line sensor
- FIG. 16 is an enlarged bottom view of the line sensor
- FIG. 17A is a view showing a relationship between an output of a magnetic sensor and a magnetic measurement line when the self-running body runs in a straight section, and showing a relationship between the magnetic sensor and the magnetic measurement line;
- FIG. 17B is a view showing a relationship between the output of the magnetic sensor and the magnetic measurement line when the self-running body runs in a straight section, and showing output s of detecting elements of the magnetic sensor;
- FIG. 18A is a view showing a relationship between the output of the magnetic sensor and the magnetic measurement line when the self-running body runs in a corner section of a lane except for an innermost lane, and showing a relationship between the magnetic sensor and the magnetic measurement line;
- FIG. 18B is a view showing a relationship between the output of the magnetic sensor and the magnetic measurement line when the self-running body runs in the corner section of the lane except for the innermost lane, and showing the outputs of the detecting elements of the magnetic sensor;
- 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 to a motor vehicle
- FIG. 21 is a view showing a degree of progress of the motor vehicle, a position in a transverse direction, and a concept of control concerning a direction;
- FIG. 22 is a functional block diagram of a motor vehicle control device
- FIG. 23 is a flowchart showing a procedure of progress management in a progress management device
- FIG. 24 is a flowchart showing a procedure of computing a target speed in a target speed computation device
- FIG. 25 is a view showing a relationship among the number of counted inversions, an inversion reference time, a remaining time, and a progress shortage amount;
- FIG. 26 is a flowchart showing a procedure of managing a direction in a direction management device
- FIG. 27 is a flowchart showing a procedure of computing a direction correction amount in a direction correction amount computation device
- FIG. 28 is a flowchart showing a procedure of managing a lane in a lane management device
- FIG. 29 is a view showing a correlation between position shift of the line sensor to the guide line and the output of the line sensor;
- FIG. 30 is a flowchart showing a procedure of computing a lane correction amount in a lane correction amount computation device
- FIG. 31 is a flowchart showing a procedure of inspecting a line width in a line width inspection device
- FIG. 32 is a flowchart showing a procedure of transmitting line width inspection data from the motor vehicle control device to a main control device;
- FIG. 33 is a flowchart showing a procedure of managing the line width inspection data in the main control device
- FIG. 34 is a flowchart showing a procedure of managing running surface check in the main control device
- FIG. 35 is a view showing an example of a running surface check screen.
- FIG. 36 is a flowchart showing a process in a maintenance mode at the main control device.
- FIG. 1 is a diagram showing a schematic configuration of a game system into which a game machine according to an embodiment of the invention is incorporated.
- a game system 1 is used to perform a horse-racing game.
- the game system 1 includes plural game machines 2 A, 2 B, and 2 C, a center server 3 , a maintenance server 4 , and a maintenance client 5 which are connected to each another through a communication network 6 .
- the plural game machines 2 A to 2 C have the same configuration in the game system 1 . Accordingly, the plural game machines 2 A to 2 C are collectively referred to as game machine 2 unless distinction is necessary.
- the three game machines 2 are shown in FIG. 1 , the number of game machines 2 included in the game system 1 is not limited to three.
- the center server 3 mainly processes data concerning a game according to a request of the game machine 2 .
- the maintenance server 4 stores data concerning the maintenance such as error log information on the game system 1 in a maintenance storage device 4 a which is a storage device of the maintenance server 4 , and manages the data concerning the maintenance.
- the maintenance client 5 is installed in, e.g., a maintenance service division which collectively manages the maintenance of the game system 1 , and the maintenance client 5 performs analysis and study of the maintenance of the game system 1 using the data stored in the maintenance storage device 4 a .
- the Internet is used as the communication network 6 .
- the game machine 2 is configured in the form of a commercial game machine installed in a store and allowing a user to play the game in exchange for an economic value.
- a chassis (game machine main body) 10 of the game machine 2 includes a field unit 11 , plural station devices 12 , . . . , 12 arranged so as to surround the field unit 11 , and a monitor device 13 arranged at one end of the field unit 11 .
- the field unit 11 provides running surfaces 18 and 19 to a motor vehicle (self-running body) 30 and a race-horse model 31 shown in FIG. 8 , respectively.
- the motor vehicle 30 and the race-horse model 31 are shown in FIG. 8 .
- the plural motor vehicles 30 and the models 31 are placed on the field unit 11 , and the horse-racing game is realized by competition of the plural motor vehicles 30 and the models 31 .
- the station device 12 performs paying out of a game value for a player while accepting various operations of the player concerning the horse-racing game.
- the monitor device 13 includes a main monitor 13 a which displays game information and the like.
- FIG. 2 is a perspective view of the field unit 11
- FIG. 3 is a side view thereof.
- the field unit 11 includes a base 14 which is a lower structure and a stage 15 which is an upper structure placed over the base 14 .
- Both the base 14 and the stage 15 have a frame-work structure formed by a combination of steel products.
- Top boards 16 and 17 are attached to upper surfaces of the base 14 and stage 15 , respectively.
- a lower-stage running surface 18 on which the motor vehicle 30 runs is formed on the upper surface of the top board 16 of the base 14 .
- An upper-stage running surface 19 on which the model 31 runs is formed on the upper surface of the top board 17 of the stage 15
- a power supply surface 20 for the motor vehicle 30 is formed on the lower surface of the top board 17 .
- the stage 15 is liftably provided to the base 14 .
- FIGS. 2 and 3 show the stage 15 in the raised state.
- FIGS. 4 and 5 show the stage 15 in the lowered state.
- FIG. 4 is a perspective view corresponding to FIG. 2
- FIG. 5 is a side view corresponding to FIG. 3 .
- the lift range of the stage 15 is as follows. As shown in FIG. 5 , when the stage 15 is lowered to come into contact with a receiving section 14 a of the base 14 a , a space SP exists between the lower-stage running surface 18 and the power supply surface 20 . Then, the height Hd (see FIG. 5 ) of the space SP at this point is a suitable value for accommodating the motor vehicle 30 .
- the base 14 and the stage 15 can be respectively divided into three sub-devices 14 A to 14 C and 15 A to 15 C in a horizontal direction, as shown in FIG. 6 .
- the top board 16 of the base 14 is divided into three parts in accordance with the sub-devices 14 A to 14 C.
- the sub-devices 14 A to 14 C are coupled to one another with coupling means such as a bolt. The same holds for the sub-devices 15 A to 15 C.
- a stage drive device (lift drive device) 21 is provided in the field unit 11 to drive the stage 15 vertically.
- the stage drive device 21 includes plural hydraulic cylinders (actuator) 22 arranged around the field unit 11 at an appropriate interval, and an oil pressure generating device 23 serving as a power source for supplying oil pressure to each hydraulic cylinder 22 .
- the hydraulic cylinder 22 is provided such that a piston rod 22 a is orientated upwardly.
- One hydraulic cylinder 22 is provided to each of both sides of the sub-devices 14 A to 14 C, namely, six hydraulic cylinders 22 are provided in total. However, the number of hydraulic cylinders 22 is not limited to six.
- At least one hydraulic cylinder 22 may be provided for each of the sub-devices 14 A to 14 C.
- a cylinder tube 22 b of the hydraulic cylinder 22 is fixed to the base 14 , and a leading end of the piston rod 22 a is coupled to the stage 15 through an adjuster device 24 . Accordingly, the stage 15 is raised by supplying oil pressure to the hydraulic cylinder 22 to extend the piston rod 22 a.
- the adjuster device 24 includes an adjuster 24 a fixed to the leading end of the piston rod 22 a and an adjuster receiver 24 b fixed to the stage 15 .
- the adjuster 24 a is not fixed to the adjuster receiver 24 b but inserted into the adjuster receiver 24 b with some play. Consequently, shift of an axis of the piston rod 22 a is allowed in the operation of the hydraulic cylinder 22 , and thus the plural hydraulic cylinders 22 can be operated without interference to raise and lower the stage 15 smoothly.
- the oil pressure generating device 23 is driven by electric power supplied to the game machine 2 so as to generate oil pressure suitable to the hydraulic cylinder 22 .
- the operation of the oil pressure generating device 23 is controlled by a main control device 100 (see FIG. 19 ) which controls the whole operation of the game machine 2 .
- FIG. 8 is a view showing cross sections of the top boards 16 and 17 and the motor vehicle 30 and model 31 which run on the running surfaces 18 and 19 of the top boards 16 and 17 .
- the top board 16 of the base 14 is constructed from a white resin board
- a line sheet 32 is provided on the lower-stage running surface 18 of the upper surface of the top board 16
- a magnet (permanent magnet) 33 is provided on the lower surface of the top board 16 .
- the line sheet 32 is used to form plural guide lines 34 for guiding the motor vehicle 30 on the lower-stage running surface 18 .
- the guide line 34 is colored with a color (for example, black) having a contrast in a visible range to a base color of the top board 16 .
- a width Wg of the guide line 34 is set to a half of a pitch (interval) Pg between the adjacent guide lines 34 .
- the width Wg is set to 6 mm
- the pitch Pg is set to 12 mm.
- the guide lines 34 are provided so as to form a round track 35 .
- the round track 35 is formed by connecting straight sections 35 a in which the guide lines 34 extending parallel to one another and corner sections 35 b in which the guide lines 34 are curved in a semi-circle shape.
- the width Wg and pitch PTg of the guide line 34 are constant.
- the guide lines 34 have the same center of curvature CC.
- the guide line 34 is rated as a mark indicating a lane of the round track 35 .
- the innermost guide line 34 corresponds to a first lane, and subsequently the guide lines 34 are correlated with the lane numbers: a second lane, a third lane, . . . toward the outer circumference.
- a position of the motor vehicle 30 in a transverse direction (direction orthogonal to the guide line 34 ) of the round track 35 is recognized with the lane number.
- the motor vehicle 30 controls its operation so as to run along the guide line 34 corresponding to the current lane unless it is instructed to change lanes by the main control device 100 .
- the number of guide lines 34 is six in FIG. 10 , the number of guide lines 34 may appropriately be changed according to the number of horses to be used in the horse-racing game.
- the magnets 33 are arranged such that an S pole and an N pole are arranged alternately.
- the magnet 33 in the straight section 35 a has a strip shape extending in the transverse direction
- the magnet 33 in the corner section 35 b has an arc shape expanding toward the outer circumference. Therefore, on the lower-stage running surface 18 , many magnetic measurement lines 36 extending in the transverse direction of the round track 35 are formed repeatedly along a longitudinal direction of the round track 35 at a boundary section between the S pole and the N pole.
- the magnetic measurement line 36 is used as a mark indicating the position or a degree of progress of the motor vehicle 30 on the round track 35 .
- the degree of progress of the motor vehicle 30 in the longitudinal direction of the round track 35 is managed by the number of magnetic measurement lines 36 with reference to a particular position on the round track 35 (for example, the position Pref in FIG. 10 ). For example, when the motor vehicle 30 is placed on a hundredth magnetic measurement line 36 from the reference position Pref, the degree of progress of the motor vehicle 30 is recognized as 100 by the game machine 2 .
- the pitch (interval) between the magnetic measurement lines 36 in the straight section 35 a is set to a constant value PTm.
- the pitch PTm is referred to as reference pitch.
- the pitch between the magnetic measurement lines 36 in the corner section 35 b is set such that a pitch Ptin between the magnetic measurement lines 36 along the innermost guide line 34 is equal to the reference pitch PTm. Accordingly, the pitch between the magnetic measurement lines 36 in the corner section 35 b is enlarged toward the outer circumference.
- a pitch (maximum pitch) PTout on the outermost guide line 34 is about 30 mm.
- absolute-position indicating devices 37 are provided at appropriate positions on the round track 35 (in the example of FIG. 10 , at both end zones of the straight section 35 a and at the center of the corner section 35 b ).
- the absolute-position indicating device 37 includes an indication lamp 38 arranged on the lower surface of the top board 18 .
- An infrared LED which emits an infrared ray is used as the indication lamp 38 .
- the indication lamp 38 is provided on the lower surface of each guide line 34 .
- the indication lamps 38 are arranged in the transverse direction of the round track 35 . Openings are formed in the top board 18 and in the magnet 33 right above the indication lamps 38 .
- the guide lines 34 are formed with an IR ink which is transparent to the infrared ray.
- the position of the indication lamp 38 in the longitudinal direction of the round track 35 is set in a gap between the magnetic measurement lines 36 .
- the absolute-position indicating device 37 On the infrared ray emitted from each indication lamp 38 of the absolute-position indicating device 37 , data respectively indicating an absolute position and the lane number of the indication lamp 38 on the round track 35 are superposed. That is, the absolute-position indicating device 37 functions as a device for providing information respectively indicating the absolute position and the lane on the round track 35 .
- the absolute position of the indication lamp 38 may be correlated with the degree of progress using the magnetic measurement lines 36 .
- the absolute-position indicating device 37 located at the reference position Pref is set to the degree of progress of 0, and the degree of progress of 100 may be transmitted as the position information from the indication lamp 38 arranged between the clockwise (or counterclockwise) 100th magnetic measurement line 36 and the 101st magnetic measurement line 36 .
- the number of absolute-position indicating devices 37 counted from the reference position Pref may be transmitted as the position information from the indication lamp 38 , and then the number of absolute-position indicating devices 37 may be substituted with the degree of progress-using an internal table of the game machine 2 .
- the motor vehicle 30 is placed between the lower-stage running surface 18 and the power supply surface 20 , and the model 31 is placed on the upper-stage running surface 19 .
- a magnet 40 is provided on top of the motor vehicle 30 .
- the model 31 stands itself on the upper-stage running surface 19 through a wheel 31 a .
- the model 31 has no self drive device, and runs on the upper-stage running surface 19 so as to follow up the motor vehicle 30 while attracted to the motor vehicle 30 by the magnet 40 of the motor vehicle 30 . That is, the running of the model 31 on the upper-stage running surface 19 is realized through the running control of the motor vehicle 30 .
- FIGS. 12 to 14 show the detail of the motor vehicle 30 .
- the horizontal direction in FIGS. 12 and 13 correspond to the longitudinal direction of the motor vehicle 30 .
- the right side of FIGS. 12 and 13 corresponds to the front side of the motor vehicle 30 .
- the motor vehicle 30 includes a lower device 41 A and an upper device 41 B.
- the lower device 41 A includes a pair of drive wheels 42 used for self-running on the lower-stage running surface 18 , a pair of motors 43 used to drive the drive wheels 42 independently, and assist wheels 44 F and 44 R arranged in front end section 30 a and rear end section 30 b of the motor vehicle 30 , respectively.
- a moving direction of the motor vehicle 30 can be changed by imparting a difference in rotating speed between the motors 43 .
- Four vertically extended guide shafts 45 are provided in the lower device 41 A, and the upper device 41 B is provided along the guide shafts 45 while being able to be raised and lowered.
- a helical spring 46 is provided in the guide shaft 45 , and the upper device 41 B is biased upward by a repulsion force of the helical spring 46 such that a wheel 47 and a power supply brush 48 of the upper device 41 B are pressed against the power supply surface 20 .
- the power supply brush 48 is brought into contact with the power supply surface 20 , which allows the electric power to be supplied from the chassis 10 to the motor vehicle 30 .
- FIG. 12 shows the state in which the stage 15 is lowered, and the power supply surface 20 is sufficiently separated from the power supply brush 48 and the like when the stage 15 is raised.
- the assist wheel 44 F in the front side of the lower device 41 A is arranged slightly biased upward with respect to the drive wheel 42 .
- Assist wheels 49 F and 49 R are also arranged on the front and rear sides of the upper device 41 B, and the assist wheel 49 R is arranged while slightly biased downward with respect to the drive wheel 47 . Accordingly, the motor vehicle 30 can vibrate vertically with the drive wheel 42 as the axis, and the vibration of the motor vehicle 30 is transmitted to the model 31 through the magnet 40 . As a consequence, the situation is expressed in which the race horse runs while vibrating vertically.
- a line sensor 50 As shown in FIG. 13 , a line sensor 50 , an absolute position detecting sensor 51 , and a magnetic sensor 52 are arranged in the lower surface of the motor vehicle 30 .
- the line sensor 50 is provided to detect the guide line 34
- the absolute position detecting sensor 51 is provided to detect the light emitted from the indication lamp 38
- the magnetic sensor 52 is provided to detect the magnetic measurement line 36 .
- the line sensor 50 includes a pair of light emitting devices 53 provided in a symmetrical manner in the front end section 30 a of the motor vehicle 30 , and a light-receiving device 54 arranged between the light emitting devices 53 .
- the light emitting device 53 emits visible light having a predetermined wavelength range to the lower-stage running surface 18
- the light-receiving device 54 accepts the light reflected from the lower-stage running surface 18 .
- the detection wavelength range of the light-receiving device 54 is restricted to the wavelength range of the visible light emitted from the light emitting device 53 such that the light emitted from the indication lamp 38 is not wrongly detected.
- FIGS. 15 and 16 show the detailed line sensor 50 .
- the light emitting devices 53 are symmetrically provided in relation to a center plane PC which divides the motor vehicle 30 laterally into two equal portions, and the light emitting directions of the light emitting devices 53 are orientated obliquely inward.
- the light-receiving device 54 includes a sensor array 55 which is provided so as to be equally extended across the center plane CP in the lateral direction of the motor vehicle 30 , and an imaging lens 56 which focuses the image on the lower-stage running surface 18 , formed by the light reflected from the lower-stage running surface 18 , onto the sensor array 55 .
- the sensor array 55 is formed by arranging many CMOS light-receiving elements in line.
- the sensor array 55 detects a luminance distribution in the lateral direction of the motor vehicle 30 with fine resolution relative to the width Wg of the guide line 34 .
- the resolution is set such that the width 1.5 times the pitch PTg of the guide line 34 is detected while divided into 128 dots.
- the center plane CP when the center plane CP is located in the center of the width direction of the guide line 34 , a region formed by the guide line 34 and a blank portion adjacent to the guide line 34 is set to a detection region, and the resolution of the sensor array 55 is set such that the detection region is detected with the resolution of 128 dots.
- the sensor array 55 when the pitch PTg of the guide line 34 is set to 12 mm, the sensor array 55 has the detection width of 18 mm, and the sensor array 55 detects the luminance distribution with the resolution of 0.14 mm per one dot.
- the imaging lens 56 is provided to upwardly separate the sensor array 55 from the lower-stage running surface 18 . This is because the vertical vibration of the motor vehicle 30 caused by the position shift of the assist wheels 44 F and 44 R is prevented from influencing the accuracy of detecting the luminance distribution.
- the absolute position detecting sensor 51 includes a light-receiving device 58 which is arranged on the center plane PC of the motor vehicle 30 .
- the absolute position detecting sensor 51 accepts the infrared light emitted from the indication lamp 38 , and the absolute position detecting sensor 51 outputs a signal corresponding to the absolute position and lane number included in the infrared light.
- the magnetic sensor 52 includes plural detecting elements 60 arranged at a constant pitch PTms in the longitudinal direction of the motor vehicle 30 .
- the detecting element 60 is divided into a detecting element # 1 , a detecting element # 2 , and . . . in the order from the front end portion 30 a of the motor vehicle 30 .
- Each detecting element 60 detects a magnetic field in the lower-stage running surface 18 , and outputs signals corresponding to the S pole and N pole, respectively.
- the detecting element 60 outputs a Low signal when detecting the S pole, and outputs a High signal when detecting the N pole. Accordingly, the magnetic measurement line 36 can be detected by the inversion of the signal of each detecting element 60 .
- the magnetic sensor 52 functions as a measurement line detecting device.
- the number of detecting elements 60 and a pitch PTms between the detecting elements 60 in the longitudinal direction are correlated with the reference pitch PTm of the magnetic measurement line 36 . That is, the pitch PTms of the detecting element 60 is set to a half of the reference pitch PTm of the magnetic measurement line 36 . In other words, the reference pitch PTm is double the pitch PTms of the detecting element 60 .
- the number of detecting elements 60 is set such that a product of the number of detecting elements 60 and the pitch PTms is larger than the outermost pitch (maximum pitch) PTout of the corner section 35 b .
- the reference pitch PTm is set to 8 mm
- the maximum pitch PTout is set to 30 mm
- the pitch PTms of the detecting elements is set to 4 mm
- the number of detecting elements 60 is set to eight.
- FIG. 17B shows an example of the output signal of the magnetic sensor 52 when the magnetic sensor 52 runs at a speed Vact along the guide line 34 of the straight section 35 a or the guide line 34 of the first lane of the corner section 35 b .
- the detecting element # 1 ( 60 ) reaches the magnetic measurement line 36 at time t 1 and the output signal is inverted from Low to High
- the detecting element # 1 ( 60 ) reaches the next magnetic measurement line 36 at time t 3 and the output signal is inverted from High to Low.
- the output signal of the detecting element # 2 ( 60 ) is inverted from Low to High at time t 2 between time t 1 and time t 3 .
- the output signal of the detecting element # 3 ( 60 ) is inverted from Low to High at time t 3
- the output signal of the detecting element # 1 ( 60 ) is inverted at the same time because the pitch PTms is the half of the reference pitch PTm. Accordingly, in the case of FIG. 17B , the degree of progress and the speed of the motor vehicle 30 can be controlled with the resolution of the half of the reference pitch PTm using only the output signals of the detecting elements # 1 and # 2 ( 60 ). It is not necessary to use the output signals of the detecting element # 2 ( 60 ) and subsequent detecting elements 60 .
- the output signals of the detecting elements # 1 and # 2 ( 60 ) may be used in the case when the running of the motor vehicle 30 is controlled based on a difference between the current speed Vact of the motor vehicle 30 and a target speed required on the game.
- the current speed Vact is obtained by dividing the pitch PTms of the detecting element 60 by inverting time interval (t 1 and t 2 , t 2 and t 3 ) of the output signal of each detecting element 60 .
- the time interval (t 1 and t 6 ) between time t 1 , at which the detecting element # 1 ( 60 ) reaches the magnetic measurement line 36 to invert the output signal from Low to High, and time t 6 , at which the detecting element # 1 ( 60 ) reaches the next magnetic measurement line 36 to invert the output signal from High to Low, is extended by the extended pitch PTx.
- the time interval (t 1 and t 2 ) between time t 1 and time t 2 , at which the output signal of the detecting element # 2 ( 60 ) is inverted from Low to High is equal to the time interval of FIG. 17B .
- the detecting elements # 2 to # 5 ( 60 ) sequentially reach the same magnetic measurement line 36 in the time interval between time t 1 and time t 6 , and the output signals of the detecting elements # 2 to # 5 ( 60 ) are inverted in the time interval between time t 2 and time t 5 .
- the time intervals between time t 2 and time t 3 , time t 3 and time t 4 , and time t 4 and time t 5 are equal to a value obtained by dividing the pitch PTms of the detecting elements 60 by the current speed Vact. Therefore, in the case of FIG.
- the error is not generated in the speed detection.
- the product of the number of detecting elements 60 and the pitch PTms is set larger than the outermost maximum pitch PTout of the magnetic measurement line 36 in the corner section 35 b .
- the pitch PTms of the detecting elements 60 is 4 mm and the maximum pitch PTout of the magnetic measurement line 36 is 30 mm, so that the condition is satisfied when the number of detecting elements 60 is set to eight.
- FIG. 19 shows a schematic configuration of the control system of the game machine 2 .
- the game machine 2 includes the main control device 100 for controlling the whole operation of the game machine 2 , plural communication devices 101 for performing communication between the main control device 100 and the motor vehicle 30 , and a relay device 102 which relays communication between the communication device 101 and the main control device 100 .
- the main control device 100 is configured by a personal computer, for example.
- the main control device 100 controls the progress and development of the horse-racing game performed in the game machine 2 according to a predetermined game program, and provides instructions of the degree of progress and the lane of each motor vehicle 30 through the communication device 101 .
- the main control device 100 provides, to each motor vehicle 30 , the instructions of the degree of progress and the lane number which the motor vehicle 30 should reach after a predetermined device time.
- the degree of progress is a value expressed by the number of magnetic measurement lines 36 from the reference position Pref of FIG. 10 .
- the motor vehicle 30 is individually managed while numbered (# 1 , # 2 , and . . . ).
- the main control device 100 exchanges the information with the center server 3 and the maintenance server 4 through the network 6 of FIG. 1 .
- the relay device 102 can be configured by a switching hub, for example.
- the communication devices 101 are arranged around the round track 35 at predetermined intervals. Although the ten communication devices 101 are arranged in the drawing, the number of communication devices 101 may be arbitrarily changed as long as all the circumferences of the round track 35 are covered with the communication devices 101 .
- a radio wave or the infrared ray may be used in the communication between the communication device 101 and the motor vehicle 30 .
- FIG. 20 shows a control system provided in the motor vehicle 30 .
- the control system of the motor vehicle 30 includes a motor vehicle control device 110 .
- the motor vehicle control device 110 is configured as a computer device including a microprocessor.
- the motor vehicle control device 110 controls the running of the motor vehicle 30 according to a predetermined motor vehicle control program, and also controls the communication with the main control device 100 .
- the line sensor 50 , the absolute position detecting sensor 51 , and the magnetic sensor 52 which act as the input device for running control, are connected to the motor vehicle control device 110 through an interface (not shown).
- a gyro sensor 111 which acts as the input device is also connected to the motor vehicle control device 110 .
- the gyro sensor 111 is incorporated into the motor vehicle 30 to detect an attitude of the motor vehicle 30 , i.e., an orientation of the motor vehicle 30 .
- the gyro sensor 111 detects an angular velocity about a turning axis (for example, a vertical axis line passing through an intersection point of an axis line of the drive wheel 42 and the center plane PC) of the motor vehicle 30 , integrates the angular velocity twice to convert the angular velocity into an angle change amount, and outputs the angle change amount to the motor vehicle control device 110 .
- the gyro sensor 111 may output an angular acceleration to allow the motor vehicle control device 110 to convert the angular acceleration into the angle change amount.
- a transmitter 112 and a receiver 113 are connected to the motor vehicle control device 110 through a communication control circuit 114 to conduct communication with the communication device 101 .
- the main control device 100 gives the information for instructing the target progress and target lane of the motor vehicle 30 at predetermined intervals during the game.
- the motor vehicle control device 110 computes a target speed, a direction correction amount, and the like of the motor vehicle 30 based on the given target progress and target lane and the output signals of various sensors 50 to 52 and 111 , so as to provide speed instructions VL and VR to the motor drive circuit 115 based on the computation results.
- the motor drive circuit 115 controls the drive current or voltage supplied to each motor 43 such that the given speed instructions VL and VR are obtained.
- FIG. 21 shows a concept of running control of the motor vehicle 30 by the motor vehicle control device 110 .
- ADcrt is the current degree of progress of the motor vehicle 30
- ADtgt is the target progress given from the main control device 100
- Dref is the lane direction, i.e., the direction of the guide line 34
- Dgyr is the direction in which the motor vehicle 30 is orientated.
- the motor vehicle control device 110 controls the speed of the motor 43 such that the motor vehicle 30 reaches a target position Ptgt given by the intersection point of the center line of the target lane and the target progress ADtgt by predetermined time from the current position Pcrt and such that the direction Dgyr of the motor vehicle 30 is in agreement with the lane direction Dref.
- the motor vehicle control device 110 increases or decreases the drive speed of each motor 43 according to a progress shortage amount ⁇ AD between the current degree of progress ADcrt and the target progress ADtgt, and also controls a speed ratio between the motors 43 such that the motor vehicle 30 is moved in the transverse direction of the round track 35 by a lane correction amount ⁇ Yamd which is given as a distance from the current position Pcrt to the center line of the target lane and such that the direction Dgyr of the motor vehicle 30 is corrected by an angle correction amount ⁇ amd which is given as a shift amount of a current direction ⁇ gyr to the lane direction Dref at the target position Ptgt.
- a lane correction amount ⁇ Yamd which is given as a distance from the current position Pcrt to the center line of the target lane
- an angle correction amount ⁇ amd which is given as a shift amount of a current direction ⁇ gyr to the lane direction Dref at the target position Ptgt.
- the progress shortage amount ⁇ AD is given as the number of magnetic measurement lines 36 , the progress shortage amount ⁇ AD is determined by subtracting the current degree of progress ADcrt from the target progress ADtgt in both the straight section 35 a and the corner section 35 b .
- a distance Ltr corresponding to the progress shortage amount ⁇ AD is changed by the position of the motor vehicle 30 in the transverse direction of the round track 35 , and thus, it is necessary to control the speed in consideration of the changed progress shortage amount ⁇ AD.
- the lane correction amount ⁇ Yamd is determined by subtracting the shift amount ⁇ Y between the current position Pcrt of the motor vehicle 30 and the current lane from a lane interval Ychg corresponding to a distance between the target lane and the lane on which the motor vehicle 30 runs currently.
- the lane correction amount ⁇ Yamd is equal to the shift amount ⁇ Y.
- angles ⁇ ref and ⁇ gyr are set with respect to the absolute reference direction Dabs, which allows the lane direction Dref and the motor vehicle direction Dgyr to be specified.
- the angle ⁇ ref is 0° or 180°.
- the angle formed by a tangential direction of the guide line 34 in the degree of progress ADcrt and the absoluter reference direction Dabs can be specified as ⁇ ref.
- the tangential direction is uniquely determined by the degree of progress, and the tangential direction is kept constant irrespective of the lane in the case of the same degree of progress.
- FIG. 22 is a functional block diagram of the motor vehicle control device 110 .
- the motor vehicle control device 110 includes a game information analysis device 120 which analyzes the game information given from the main control device 100 to make the determination of the target progress ADtgt and the target lane of the motor vehicle 30 ; a progress counter 121 which stores therein the current degree of progress ADcrt of the motor vehicle 30 ; a progress management device 122 which computes the current speed Vact of the motor vehicle 30 while updating a value of the progress counter 121 according to the outputs of the absolute position detecting sensor 51 and the magnetic sensor 52 ; a lane counter 123 which stores therein the lane number on which the motor vehicle 30 runs currently; a lane management device 124 which, on the basis of the output of the line sensor 50 and the absolute position detecting sensor 51 to update the value of the lane counter 123 , and detects the lane shift amount ⁇ Y of the motor vehicle 30 relative to the lane; a gyro counter 125 which stores therein the angle ⁇
- the motor vehicle control device 110 also includes a target speed computation device 127 which computes the target speed Vtgt of the motor vehicle 30 based on the target progress ADtgt, the degree of progress ADcrt stored in the progress counter 121 , and the lane number stored in the lane counter 123 ; a speed setting device 128 which sets the drive speed of the motor 43 of the motor vehicle 30 based on the target speed Vtgt; a speed FB-correction device 129 which performs feedback correction to the set drive speed according to a difference between the target speed Vtgt and the current speed Vact; a lane correction amount computation device 130 which computes the lane correction amount ⁇ Yamd of the motor vehicle 30 based on the target lane, the lane number of the lane counter 123 , and the lane shift amount ⁇ Y of the motor vehicle 30 determined by the lane management device 124 ; a direction correction amount computation device 131 which computes the direction correction amount ⁇ amd of the motor vehicle 30 based on the degree of progress AD
- the speed-ratio setting device 133 determines the speed instructions VL and VR of the right and left motors 43 , and the instructions are outputted to the motor drive circuit 115 of FIG. 20 .
- the motor vehicle control device 110 further includes a line width inspection device 136 which inspects the line width of the guide line 34 based on the output of the line sensor 50 , the degree of progress ADcrt stored in the progress counter 121 , and the direction correction amount ⁇ amd computed by the direction correction amount computation device 131 .
- FIG. 23 is a flowchart showing a process at the progress management device 122 .
- the progress management device 122 monitors the output of the magnetic sensor 52 to mange the degree of progress ADcrt of the progress counter 121 , and computes the current speed Vact of the motor vehicle 30 . That is, in Step S 101 , the progress management device 122 determines whether or not the output of the detecting element # 1 ( 60 ) of the magnetic sensor 52 is inverted. When the output of the detecting element # 1 ( 60 ) is inverted, the progress management device 122 adds one to the value ADcrt of the progress counter 121 in Step S 102 .
- Step S 103 the progress management device 122 sets a variable m for identifying a detecting element's number to two.
- the flow skips Steps S 102 and S 103 .
- Step S 104 the progress management device 122 determines whether or not the output of the detecting element #m ( 60 ) is inverted.
- Step S 105 the flow goes to Step S 105 to compute the current speed Vact.
- Step S 107 the progress management device 122 determines whether or not the absolute position detecting sensor 51 detects the absolute position, namely, whether or not the absolute position detecting sensor 51 detects the infrared light from the indication lamp 38 .
- the absolute position detecting sensor 51 does not detect the infrared light from the indication lamp 38 , the flow returns to Step S 101 .
- the progress management device 122 determines the progress information coded in the infrared light, and corrects the progress counter 121 such that the determined progress matches with the degree of progress ADcrt of the progress counter 121 . Then, the flow returns to Step S 101 .
- the output of the detecting element #m ( 60 ) is not inverted in Step S 104 , the flow skips Steps S 105 and S 106 to go to Step S 107 .
- the value ADcrt of the progress counter 121 is incremented by one in each time the detecting element # 1 ( 60 ) measures the magnetic measurement line 36 .
- the absolute position detecting sensor 51 detects the signal from the absolute-position indicating device 37 , which appropriately corrects the degree of progress ADcrt. Therefore, the position of the motor vehicle 30 in the longitudinal direction of the round track 35 can be recognized from the value of the progress counter 121 .
- the current speed Vact of the motor vehicle 30 is computed in each time the motor vehicle 30 moves by the pitch PTms of the detecting element 60 of the magnetic sensor 52 .
- FIG. 24 is a flowchart showing a procedure of computing a target speed performed by the target speed computation device 127 .
- the target speed computation device 127 obtains the value ADcrt of the progress counter 121 .
- the target speed computation device 127 determines whether or not the progress counter 121 is updated after the previous process. When the progress counter 121 is not updated, the flow returns to Step S 121 . When the progress counter 121 is updated, the flow goes to Step S 123 .
- the current lane is obtained from the lane counter 123 .
- the target speed computation device 127 estimates the number of times Nx of the output inversion of the magnetic sensor 52 (number of counted inversions), which should be detected before the motor vehicle 30 reaches the next degree of progress on the basis of the current degree of progress ADcrt and the lane on which the motor vehicle 30 runs currently. That is, the target speed computation device 127 estimates, as the number of counted inversions Nx, a value (quotient) obtained by dividing the pitch PTx of the magnetic measurement line 36 between the current degree of progress ADcrt and the next degree of progress ADcrt+1 by the pitch PTms of the detecting element 60 .
- the quotient When a fraction after decimal point is included in the quotient, the quotient is rounded to the whole number by counting the fraction as one or zero or rounding it off.
- the lane number is used to specify the pitch PTx.
- the reference pitch PTm of FIG. 9 is equal to the pitch PTx of the detecting element 60 .
- the target speed computation device 127 determines that the motor vehicle 30 runs on the corner section 35 b base on the degree of progress ADcrt, the target speed computation device 127 can obtain the pitch PTx corresponding to the lane number from previously prepared data such as a table.
- Step S 126 the flow goes to Step S 126 to compute an inversion reference time tx.
- Trmn is a remaining time from the current time to the time when the motor vehicle 30 should reach the target progress ADtgt and that the output of each of the detecting elements 60 of the magnetic sensor 52 is sequentially inverted in a constant interval of time tx in the remaining time Trmn
- the remaining time Trmn is given by a product of time tx multiplied by the number of counted inversions Nx and the progress shortage amount ⁇ AD.
- the motor vehicle 30 reaches the target progress ADtgt at the time to attain the target progress.
- the time to attain the target progress can be set to a time when the next target progress and target lane are given by the main control device 100 of the game machine 2 or a constantly delayed time relative to the above time.
- it is necessary that the times to attain the target progress are equally set for all the motor vehicles 30 used in a same race.
- Step S 127 the quotient is obtained as the target speed Vtgt by dividing the pitch PTms of the detecting element 60 by the inversion reference time tx.
- the target speed Vtgt is the speed of the motor vehicle 30 necessary to invert the outputs of the magnetic sensor 52 sequentially at the interval of inversion reference time tx.
- the progress shortage amount ⁇ AD is updated in each time the value ADcrt of the progress counter is updated, and the number of counted inversions Nx is estimated based on the number of lanes at that time so as to determine the target speed Vtgt. That is, the target speed Vtgt is updated in each time the progress of the motor vehicle 30 is incremented by one.
- the target speed Vtgt computed by the target speed computation device 127 is given to the speed setting device 128 and the speed FB-correction device 129 .
- the speed setting device 128 sets the drive speed of the motor 43 such that the given target speed Vtgt is obtained, and the speed FB-correction device 129 gives an FB-correction amount according to the difference between the target speed Vtgt and the current speed Vact with respect to the drive speed.
- feedback control or feed forward control of the speed may be performed to enhance the accuracy of speed control, response and the like using a derivative value or an integration value of the speed difference.
- FIG. 26 is a flowchart showing a procedure of managing the value of the gyro counter 125 , which is performed by the direction management device 126 .
- the direction management device 126 obtains the angle change amount outputted from the gyro sensor 111 .
- Step S 142 the direction management device 126 updates the value ⁇ gyr of the gyro counter 125 by adding the angle change amount to the value ⁇ gyr of the gyro counter 125 or by subtracting the angle change amount from the value ⁇ gyr of the gyro counter 125 .
- the angle ⁇ gyr indicating the current direction of the motor vehicle 30 is stored in the gyro counter 125 .
- the calibration is performed at proper timing in order that the angle ⁇ gyr of the gyro counter 125 is set to 0° when the motor vehicle 30 is orientated toward the absolute reference direction Dabs.
- the calibration is realized as follows. The determination whether or not the motor vehicle 30 runs on the straight section 35 a from the reference position Pref in parallel with the lane direction is made based on the degree of progress ADcrt of the progress counter 121 and the output of the line sensor 50 , and the angle ⁇ gyr is reset to 0° when the motor vehicle 30 runs in parallel with the lane direction.
- the calibration may be performed during the horse-racing game or the calibration may be performed at proper timing before the race, e.g., in starting up the game machine 2 .
- FIG. 27 is a flowchart showing a procedure of computing the direction correction amount ⁇ amd, which is performed by the direction correction amount computation device 131 .
- the direction correction amount computation device 131 obtains the value ADcrt of the progress counter.
- the direction correction amount computation device 131 determines the angle ⁇ ref of the reference direction from the degree of progress ADcrt. As described above, the angle ⁇ ref of the reference direction is uniquely determined while correlated with the degree of progress AD.
- the angle ⁇ ref of the reference direction is 0° or 180° in the straight section 35 a , and is the tangential direction of the guide line 34 in the corner section 35 b .
- the angle ⁇ ref of the reference direction can immediately be determined from the value ADcrt of the progress counter.
- the direction correction amount computation device 131 obtains the value ⁇ gyr of the gyro counter 125 .
- the direction correction amount computation device 131 computes the difference between the angle ⁇ ref and the angle ⁇ gyr as the direction correction amount ⁇ amd (see FIG. 21 ). Then, the flow returns to Step S 161 .
- the determined direction correction amount ⁇ amd is given to the speed-ratio setting device 133 , and the direction correction amount ⁇ amd is also given to the lane management device 124 and the line width inspection device 136 .
- FIG. 28 is a flowchart showing a process performed by the lane management device 124 .
- the lane management device 124 determines the lane shift amount ⁇ Y (see FIG. 21 ) by referring to the output of the line sensor 50 and the direction correction amount ⁇ amd, and also manages the value of the lane counter 123 using the lane shift amount ⁇ Y.
- Step S 181 the lane management device 124 obtains the direction correction amount ⁇ amd from the direction correction amount computation device 131 .
- Step S 182 the lane management device 124 captures the output of the line sensor 50 to detect the lane shift amount ⁇ Y.
- FIG. 29 shows an example of a correlation between the output of the line sensor 50 and the lane shift amount ⁇ Y.
- An analog signal is outputted from the line sensor 50 according to intensity of the reflected light, and a rectangular wave corresponding to the guide line 34 and the blank portion between the guidelines 34 is obtained when the analog signal is binarized with a proper threshold.
- the number of dots ⁇ Ndot between the center of the detection region of the line sensor 50 and the center of the luminous region corresponding to the guide line 34 (the center of the lane) is determined from the rectangular wave.
- the number of dots ⁇ Ndot corresponds to the lane shift amount ⁇ Y, and the line width per one dot can be multiplied by the number of dots ⁇ Ndot to determine the lane shift amount ⁇ Y.
- Dref see FIG.
- the line sensor 50 is also inclined with respect to the direction orthogonal to the guide line 34 .
- the number of dots ⁇ Ndot is also increased according to the inclination. Therefore, it is necessary that the correct lane shift amount ⁇ Y be obtained by multiplying the lane shift amount ⁇ Y obtained from the number of dots ⁇ Ndot by a cosine value cos ⁇ amd of the direction correction amount. Accordingly, it is necessary to obtain the direction correction amount ⁇ amd in Step S 181 of FIG. 28 .
- the width Wg (see FIG. 9 ) of the guide line 34 can be detected by similarly correcting the number of dots ⁇ Ndot included in the luminous region corresponding to the guide line 34 using the direction correction amount ⁇ amd.
- Step S 183 the lane management device 124 determines whether or not the motor vehicle 30 is moved to the next lane. For example, in the case when the lane shift amount ⁇ Y is larger than the half of the pitch PTg of the guide line 34 , the lane management device 124 can determine that the motor vehicle 30 is moved to the next lane. Alternatively, the distances to the guide line 34 detected on both sides of the center of the line sensor 50 are compared to each other, and the lane management device 124 may determine that the motor vehicle 30 is moved to the next lane when the magnitude correlation is inverted.
- Step S 183 the value of the lane counter 123 is updated to the value corresponding to the next lane.
- Step S 184 the flow skips Step S 184 .
- Step S 185 the lane management device 124 determines whether or not the absolute position detecting sensor 51 detects the absolute position. When the absolute position detecting sensor 51 does not detect the absolute position, the flow returns to Step S 181 . On the other hand, when the lane management device 124 determines that the absolute position detecting sensor 51 detects the absolute position in Step S 185 , the lane management device 124 determines the lane number coded in the infrared light from the absolute-position indicating device 37 , and corrects the value of the lane counter 123 such that the determined lane number is equal to the value of the counter 123 . Then, the flow returns to Step S 181 .
- the lane shift amount ⁇ Y determined in the above process is given to the lane correction amount computation device 130 .
- FIG. 30 is a flowchart showing a procedure in which the lane correction amount computation device 130 computes the lane correction amount ⁇ Yamd.
- Step S 201 the lane correction amount computation device 130 obtains the target lane from the game information analysis device 120 .
- Step S 202 the lane correction amount computation device 130 obtains the value (current lane number) of the lane counter 123 .
- Step S 203 the lane correction amount computation device 130 obtains the lane shift amount ⁇ Y from the lane management device 124 .
- the lane correction amount computation device 130 determines whether or not the target lane is matched with the lane. When the target lane is matched with the lane, the flow goes to Step S 205 .
- Step S 205 the lane correction amount computation device 130 sets the lane shift amount ⁇ Y to the lane correction amount ⁇ Yamd. Then, the flow returns to Step S 201 .
- Step S 206 the lane correction amount computation device 130 sets the value obtained by adding the lane interval Ychg (see FIG. 21 ) to the lane shift amount ⁇ Y, to the lane correction amount ⁇ Yamd. Then, the flow returns to Step S 201 .
- the lane shift amount Ychg is obtained by multiplying the difference in number between the target lane and the current lane by the pitch PTg (see FIG. 10 ) of the guide line 34 .
- the distance in the transverse direction in which the motor vehicle 30 should be moved to the target lane is computed as the lane correction amount ⁇ Yamd.
- the computed lane correction amount ⁇ Yamd is given to the speed-ratio setting device 133 .
- the speed-ratio setting device 133 determines the speed ratio, generated between the motors 43 , based on the given lane correction amount ⁇ Yamd and the direction correction amount ⁇ amd.
- the speed-ratio setting device 133 increases or decreases the drive speed, given from the speed FB-correction device 129 , according to the speed ratio to determine the speed instructions VL and VR to the right and left motors 43 .
- a difference in speed between the motors 43 is generated according to the speed ratio, and the speed instructions VL and VR are generated such that the drive speed obtained by combining the speeds is equal to the drive speed given from the speed FB-correction device 129 .
- the generated speed instructions VL and VR are given to the motor drive circuits 115 of FIG. 19 .
- the drive circuits 115 drive the motors 43 at instructed speeds, whereby the motor vehicle 30 reaches the target progress ADtgt in a predetermined time and the control is performed such that the direction Dgyr of the motor vehicle 30 is matched with the reference direction Dref.
- the feedback control or the feed forward control may be performed to the speed ratio to enhance a tracking property to the target lane, the accuracy of direction correction control, the responsibility and the like using the derivative values and integration values of the lane correction amount ⁇ Yamd and direction correction amount ⁇ amd and the angular acceleration detected by the gyro sensor 111 .
- the target speed Vtgt of the motor vehicle 30 is given in each time the degree of progress of the motor vehicle 30 is incremented by one, and the current speed Vact of the motor vehicle 30 is sequentially computed in each time the motor vehicle 30 is moved by the distance corresponding to the pitch PTms of the detecting element 60 . Therefore, the speed of the motor vehicle 30 can be controlled rapidly and accurately.
- the detecting elements 60 enough to cover the maximum pitch PTms of the magnetic measurement line 36 therewith are provided in the magnetic sensor 52 .
- the current speed Vact can be detected with high resolution according to the pitch PTms irrespective of the pitch PTx of the magnetic measurement line 36 even if the motor vehicle 30 runs in any lane of the corner section 35 b . Accordingly, the error of the speed control in which the current speed Vact is used can be restrained to a low level, and a speed fluctuation can effectively be restrained when the motor vehicle 30 runs on the corner section 35 b.
- the gyro sensor 111 is provided to detect the direction of the motor vehicle 30 , and the shift between the detected direction and the direction of the target lane is given as the direction correction amount ⁇ amd to the speed-ratio setting device 133 . Therefore, the accuracy of control is improved compared with the case in which the position and direction in the transverse direction of the motor vehicle 30 are controlled based on only the output of the line sensor 50 .
- the angle change amount, the angular velocity change, or the angular acceleration is determined using the output of the gyro sensor 111 to be used in the direction control of the motor vehicle 30 . Therefore, the motor vehicle 30 is converged to the target lane more smoothly and rapidly, and the orientation of the motor vehicle 30 can be matched with the target direction correctly and rapidly.
- the direction correction amount ⁇ amd to the target direction of the motor vehicle 30 can immediately be determined from the output of the gyro sensor 111 .
- the shift amount ⁇ Y can correctly be detected using the direction correction amount ⁇ amd. Accordingly, it is possible to improve the accuracy of lane tracking of the motor vehicle 30 or the accuracy of moving control to the target lane.
- FIG. 31 is a flowchart showing a process in a line width inspection device 136 .
- the line width inspection device 136 obtains the value ADcrt of the progress counter 121 .
- the line width inspection device 136 obtains the value of the lane counter 123 in Step S 222 , and obtains the direction correction amount ⁇ amd in Step S 223 .
- the line width inspection device 136 computes the line width of the current lane from the output of the line sensor 50 . As described in FIG.
- Step S 225 the line width inspection device 136 determines whether or not the computed line width exists within a predetermined allowable range. When the computed line width exists within the predetermined allowable range, the flow returns to Step S 221 . When the computed line width exists exceeds the predetermined allowable range line width, the flow goes to Step S 226 .
- Step S 226 the data in which the detected line width is correlated the detection position, i.e., the value ADcrt of the progress counter and the value of the lane counter is stored as the line width inspection data in the storage device of the motor vehicle control device 110 . Then, the flow returns to Step S 221 .
- the allowable range of the line width can be determined in consideration of an error generation frequency in the running control of the motor vehicle 30 , which is obtained by increasing or decreasing the line width of the guide line 34 with respect to the original line width Wg.
- the allowable range can be set in the range of 4 to 8 mm in the case when a trouble is not actually generated in the running control of the motor vehicle 30 .
- the apparent increase or decrease in width of the guide line 34 due to, for example, the dirt of the lower-stage running surface 18 , the mixture of the foreign matter, and the peel-off of the guide line 34 can be detected through the above process.
- the generation of the dirt, flaw or the like in the linear shape which is wrongly detected as the guide line can be detected as the anomaly of the line width.
- the abnormal point of the line width can also be detected by the degree of progress and lane of the round track 35 using the stored data.
- the output of the line sensor 50 is referred to in the detection of the lane shift amount ⁇ Y, the determination of the current lane, and the computation of the lane correction amount ⁇ Yamd.
- the tracking property of the motor vehicle 30 to the guide line 34 is degraded by the influence of the changed width, and malfunction such as unstable behavior in changing the lane is possibly generated. Accordingly, the periodic check and cleaning of the lower-stage running surface 18 are required.
- the data produced by the line width inspection device 136 can effectively be used in such work operations.
- the number of dots Ndot is converted into the line width in the above process, it may be determined whether or not the line width exists within the allowable range using the value in which the number of dots Ndot is corrected by the angle ⁇ amd.
- the angle correction may be neglected to determine whether or not the line width exists within the allowable range using the number of dots Ndot.
- the number of dots Ndot on the line sensor 50 is previously determined, and it may be determined that the line width exceeds the allowable range when the detected number of dots exceeds the number of dots Ndot on the line sensor 50 .
- the number of dots Ndot on the line sensor 50 corresponds to the guide line width Wg in the case when the direction correction amount ⁇ amd becomes the maximum. In this case, it is not necessary that the inclination be corrected with the direction correction amount ⁇ amd.
- the lower limit value of the line width on the basis of the detected number of dots corresponding to the line width Wg in the case when the motor vehicle 30 proceeds straight along the guide line 34 , it may be determined that the line width is lower than the allowable range when the detected number Ndot of dots is lower than the reference value.
- the line width inspection may be performed during the horse-racing game by the line width inspection device 136 as needed or may appropriately be performed when the race is not performed. For example, in a proper period during which the race is not performed, the line width inspection may be performed such that the main control device 100 provides the instruction for performing line width inspection to cause the motor vehicle 30 to run along the round track 35 in a predetermined running pattern.
- the signal outputted from the line sensor 50 is binarized to distinguish the black portion in the running surface 18 from the white portion.
- the line sensor 50 outputs an analog signal waveform, and the analog signal waveform is digitalized with 256 levels of gray to detect colored portions except for the white and black portions, and the colored portion may be recognized as the dirt and the like.
- the motor vehicle 30 does not have the function of displaying the line width inspection data, the motor vehicle 30 transmits the line width inspection data to the main control device 100 , and the line width inspection data is transmitted to the maintenance server 4 and the like through the network 6 as necessary, which allows the line width inspection data to be effectively used.
- the method of utilizing the line width inspection data will be described below.
- FIG. 32 is a flowchart showing a procedure of transmitting the line width inspection data from the motor vehicle 30 to the main control device 100 .
- Step S 241 the motor vehicle control device 110 determines whether or not it is good time the line width inspection data is transmitted. When the motor vehicle control device 110 determines it is good time the line width inspection data is transmitted, the flow goes to Step S 242 .
- Step 242 the motor vehicle control device 110 transmits the line width inspection data to the main control device 100 .
- Step S 301 the main control device 100 determines whether or not the inspection data is transmitted from the motor vehicle 30 . When the main control device 100 determines that the inspection data is transmitted, the flow goes to Step S 302 .
- Step S 302 the main control device 100 stores the line width inspection data in the storage device thereof. Then, the flow returns to Step S 301 .
- the time the line width inspection data is transmitted can be set to the time the transmission of the line width inspection data has no influence on the control of the horse-racing game, and the proper time after the race is ended can be set to the transmission time.
- FIG. 33 is a flowchart showing a procedure of managing the line width inspection data.
- the procedure is performed by the main control device 100 to manage the line width inspection data transmitted from the motor vehicle 30 at an appropriate time after the main control device 100 receives the line width inspection data.
- the main control device 100 analyzes the line width inspection data received from the motor vehicle 30 , and produces running surface warning data.
- the main control device 100 stores the running surface warning data in the storage device of the main control device 100 .
- the line width inspection data includes the line width which is determined as out of allowable range and the detection position (degree of progress and lane number) of the line width which is determined as out of allowable range
- the number of detection times is counted in each detection position, and the data in which the detection position is correlated with the number of detection times is produced and stored as the running surface warning data.
- the counting of the number of detection times may be neglected to retain only the detection position in the running surface warning data.
- the detection position may be neglected to retain only the number of detection times in the running surface warning data. It is not always necessary that the detection position be correlated with the magnetic measurement line 36 one by one, but at least two adjacent magnetic measurement lines 36 may collectively be regard as one detection position. In this case, the amount of running surface warning data can be reduced.
- the round track 35 is divided into plural zones Z 1 to Z 10 , the number of detection times is counted in each zone, and the data in which the number of detection times is correlated with the zone may be produced as the running surface warning data.
- Step S 323 the main control device 100 confirms the amount of running surface warning data.
- Step S 324 the main control device 100 determines whether or not the amount of running surface warning data exceeds a predetermined allowable amount.
- the main control device 100 sets the warning flag to one in Step S 325 , when the amount of running surface warning data exceeds the predetermined allowable amount.
- Step S 326 the main control device 100 transmits the running surface warning data to the maintenance server 4 . Then, the process is ended.
- the main control device 100 sets the warning flag to one in Step S 325 , when the amount of running surface warning data does not exceed a predetermined allowable amount in Step S 324 . Then, the process is ended.
- FIG. 34 is a flowchart showing a procedure of running surface check management performed by the main control device 100 to display a running surface check screen based on the running surface warning data to an operator (manager) of the game machine 2 .
- the process of FIG. 34 is performed based on the instruction of the operator, for example, when the game machine 2 is controlled in a maintenance mode.
- Step S 341 of FIG. 34 the main control device 100 determines whether or not the warning flag is 1. When the warning flag is 1, the flow goes to Step S 342 to display a predetermined warning. It is assumed that the warning display includes a message for urging the operator to inspect or clean the running surface. When the warning flag is not 1, the flow skips Step S 342 .
- Step S 343 the main control device 100 reads the running surface warning data.
- Step S 344 the main control device 100 displays the running surface check screen based on the running surface warning data. Then, the process is ended.
- the running surface check screen can be configured as shown in FIG. 35 .
- a course whole view 80 in which the round track 35 is illustrated in a planar manner is displayed on the screen while dots 81 are superposed on the detection position of the course whole view 80 .
- the number of detection times may be recognized by changing the display aspect of the dot 81 according to the number of detection times.
- a diameter of the dot 81 is enlarged as the number of detection times is increased.
- the color of the dot 81 may be changed according to the number of detection times.
- the zone where the inspection or cleaning is required may be indicated more clearly to the operator by showing the zone where the number of detection times exceeds the predetermined threshold in the mode different from other zones.
- FIG. 35 a course whole view 80 in which the round track 35 is illustrated in a planar manner is displayed on the screen while dots 81 are superposed on the detection position of the course whole view 80 .
- the number of detection times may be recognized by changing the display aspect of the dot 81 according to the number of detection
- the zones Z 4 , Z 9 , and Z 10 are displayed in the mode different from other zones, whereby it is shown that the necessity of the inspection or cleaning is enhanced in the zones Z 4 , Z 9 , and Z 10 . Furthermore, the zones Z 4 and Z 9 are displayed in the mode different from the zone Z 10 , whereby it is shown that the necessity of the inspection or cleaning is further enhanced in the zones Z 4 and Z 9 compared with the zone Z 10 .
- the running surface check screen is not limited to the example shown in FIG. 35 .
- the dot 81 may be neglected to show only the zone where the inspection or cleaning is required.
- the display change in each zone may be neglected to show only the detection position with the dot 81 .
- the detection position is not limited to the dot, but the detection position may be indicated by an appropriate index.
- the course overall view 80 is displayed as a perspective view, and a bar graph of a height according to the number of detection times may be displayed in the detection position.
- the warning flag is checked to determine whether or not the warning display is required.
- the warning display is not limited to the example of FIG. 34 , but the warning display may be performed at appropriate timing.
- the amount of running surface warning data is recognized in starting up the game machine 2 , and the warning display may be performed when the amount of running surface warning data exceeds the allowable amount.
- the operator may be asked whether or not the running surface check screen is displayed along with the warning display.
- FIG. 36 is a flowchart showing a procedure of processing a maintenance mode which is performed by the main control device 100 when the operator instructs the maintenance mode for the purpose of the inspection, cleaning or the like of the lower-stage running surface 18 .
- the main control device 100 provides for starting up the stage drive device 21 (see FIG. 3 ) to raise the stage 15 . Because the sufficient space is generated between the lower-stage running surface 18 and the power supply surface 20 by raising the stage 15 , the operator can easily inspect or clean the lower-stage running surface 18 .
- Step S 362 the main control device 100 determines whether or not the operator provides the instruction for ending the maintenance.
- the flow goes to Step S 363 .
- Step S 363 the main control device 100 lowers the stage 15 .
- Step S 364 the main control device 100 makes a confirmation to the operator whether or not the running surface warning data is deleted.
- Step S 365 the main control device 100 determines whether or not the operator provides the instruction for deleting the running surface warning data.
- the main control device 100 deletes the running surface warning data, namely, the main control device 100 deletes the running surface warning data in Step S 366 . Then, the process is ended.
- the flow skips Step S 366 , and the process is ended.
- the running surface warning data is transmitted to the maintenance server 4 in Step S 326 of FIG. 33 .
- the running surface check screen shown in FIG. 35 may be displayed to confirm the state of the running surface 18 by performing the process similar to that of the main control device 100 even in the maintenance server 4 which receives the running surface warning data.
- the running surface warning data may be analyzed more finely with the maintenance server 4 .
- the state of the lower-stage running surface 18 is confirmed with the maintenance server 4 , and the server manager may urge the operator of the store where the game machine 2 is installed to perform the cleaning and the like.
- the line width inspection data is transmitted to the maintenance server 4 , the maintenance server 4 produces the running surface warning data, and the running surface check screen or the warning may be displayed based on the running surface warning data.
- the line sensor ( 50 ) corresponds to the guide line detecting device
- the gyro sensor 111 corresponds to the direction detecting device
- the magnetic sensor 52 corresponds to the longitudinal direction position detecting device
- the motor vehicle control device 110 corresponds to the run control device.
- the combination of the run control device 30 , the communication control circuit 114 , and the transmitter 112 corresponds to the data output device
- the main control device 100 corresponds to the game control device.
- the combination of the communication device 101 , the relay device 102 , the transmitter 112 , the receiver 113 , and the communication control circuit 114 corresponds to the communication means.
- the main control device 100 and the maintenance server 4 correspond to the running surface maintenance device.
- the line width inspection device 136 of the motor vehicle control device 110 acts as the line width inspection means.
- the magnetic measurement line 36 is detected by the magnetic sensor 52 to determine the position of the motor vehicle 30 in the longitudinal direction of the guide line 34 .
- the determination of the position in the longitudinal direction of the guide line is not limited to the method using the above means.
- a rotation amount of the drive wheel 42 may be accumulated to determine the position of the motor vehicle 30 .
- the direction detection of the motor vehicle 30 is not limited to the method using the gyro sensor 111 , but various changes may be made.
- the direction may be detected based on the difference in rotation speed between the drive wheels 42 .
- the invention is not limited to a game machine having a lower-stage running surface and an upper-stage running surface.
- the invention can be applied to the game machine having a single running surface as long as the guide line is detected to control the running of the self-running body.
- the game performed in the game machine is not limited to a horse-racing game.
- the guide line is not limited to the guide line which is provided so as to form the round track, but the guide line may be provided so as to form a straight track.
- the invention can be applied not only to a network-connected game machine but also to a stand-alone type game machine which is disconnected from the network.
Abstract
The invention provides a game machine enabling to reduce the load of the maintenance of a running surface by using the guide line detecting function of a self-running body.
The game machine includes a game machine main body (10) having a running surface (18) on which a guide line (34) is provided and a self-running body (30) capable of self-running on the running surface (18) and having a guide line detecting device for detecting the guide line (34) and a traveling control device (110) for controlling the running of the self-running body according to the result of detection by the guide line detecting device. The guide line detecting unit is a line sensor (50) having light-receiving elements arranged in the lateral direction of the self-running body (30) to detect the luminance distribution in a predetermined detection region including the guide line (34) of the running surface (18). The self-running body (30) is provided with the line width inspecting device (136) for determining the line width of the detected guide line (34) according to the output of the line sensor (50).
Description
- The present invention relates to a game machine enabling a self-running body placed on a running surface to run thereon so as to perform a racing game such as a horse-racing game.
- In this type of horse-racing game machine, a game machine is well known in which a shift amount of a self-running body is measured with respect to a guide line on a running surface by using light-receiving elements arranged in the lateral direction of the self-running body, and the position of the self-running in the lateral direction is controlled according to the measured shift amount (see
Patent Document 1, for example). - Patent Document 1: Japanese Patent Application Laid-Open No. 2003-33567.
- In the above conventional game machine, when the line width of the guide line increases or decreases relative to the original line width due to smear of the running surface, adhesion of a foreign matter, and peel-off of the guide line or the like, a detection error relating to the position of the self-running body is generated in the width direction of the guide line, which possibly results in such a problem that control accuracy of the position of the self-running body is decreased or the self-running body cannot run properly. When a linear trail, a dot, or the like similar to the guide line is formed by aggregation of the smear of the running surface, the linear trail or the dot is erroneously recognized as the guide line, and an error is possibly generated in running control. Because the conventional game machine has no means for inspecting the running surface, it is necessary for a game machine manager to visually inspect the running surface to perform maintenance work such as cleaning, so that a large burden is put on the manager. Therefore, omission of the inspection of the running surface possibly invites the above problems.
- Thus, an object of the invention is to provide a game machine and a self-running body for use therein, wherein the load of the maintenance of a running surface can be reduced by using the guide line function of detecting the self-running body, thereby to contribute to proper maintenance of the running surface.
- In order to solve the above problem, a game machine according to the invention includes a game machine body (10) having a running surface (18) on which a guide line (34) is provided; and a self-running body (30) capable of self-running on the running surface (18) and having a guide line detecting device for detecting the guide line (34) and a run control device (110) for controlling the running of the self-running body according to the result of detection by the guide line detecting device, wherein the guide line detecting device is a line sensor (50) having light-receiving elements arranged in the lateral direction of the self-running body (30) for detecting the luminance distribution in a predetermined detection region including the guide line (34) of the running surface (18), and the self-running body (30) is provided with a line width inspection device (136) for determining the line width of the detected guide line (34) according to the output of the line sensor (50).
- In order to solve the above problem, a self-running body according to the invention includes a guide line detecting device for detecting a guide line provided on a running surface of a game machine; and a run control device for controlling the running of the self-running body on the running surface according to the result of detection by the guide line detecting device, wherein the guide line detecting device is a line sensor (50) having light-receiving elements arranged in the lateral direction of the self-running body (30) for detecting the luminance distribution in a predetermined detection region including the guide line (34) of the running surface (18), and the self-running body (30) is provided with a line width inspection device (136) for determining the line width of the detected guide line (34) according to the output of the line sensor (50).
- In the invention, the run control device of the self-running body identifies the guide line in the detection region by identifying the luminous region corresponding to the guide line from the luminance distribution detected by the line sensor which acts as the guide line detecting device. Then, the run control device determines the position of the self-running body in the width direction of the guide line using the position of the identified guide line in the detection region, and controls the running of the self-running body based on the result of the determination. Because the line sensor is configured by arranging many light-receiving elements in line, the guide line is detected with a finer pitch than the line width, and the line width of the guide line can be determined with a high resolution. Because the self-running body determines the line width of the guide line, the work load of the maintaining the running surface can be reduced using the result of the determination for inspection of the running surface. In the invention, the target object for the line width to be determined by the line width inspection device is not limited to the original guide line. The term “detected guide line” includes a linear trail or a dot formed by smear or a foreign matter. The generation or existence of the object similar to the guide line, which appears due to smear or the like, can be detected by applying the line width determination to the object.
- In one aspect of the invention, the line width inspection device may further determine suitability of the determined line width. Since the line width inspection device further determines the suitability of the determined line width, anomaly relating to the line width can be easily recognized.
- In one aspect of the invention, the self-running body may include a direction detecting device for detecting information necessary to specify a directional shift of the self-running body in the longitudinal direction of the guide line. The run control device may be configured to determine the directional shift of the self-running body with respect to the longitudinal direction of the guide line based on the result of detection by the direction detecting device, and further to control the running of the self-running body by referring to the result of the determination. The line width inspection device may determine the line width based on the result of detection by the guide line detecting device and the directional shift determined by the run control device.
- In a case when the line sensor is obliquely inclined with respect to the guide line, the width of the luminous region corresponding to the guide line in the detection region of the line sensor also increases or decreases according to the inclination of the line sensor. Therefore, when the line width of the guide line is determined only based on the width of the luminous region, the determined line width sometimes includes an error corresponding to the inclination of the line sensor. On the other hand, when the directional shift of the self-running body with respect to the longitudinal direction of the guide line is determined and the result of the determination is referred to for running control, the inclination of the line sensor with respect to the longitudinal direction of the guide line can be recognized using the directional shift. Accordingly, when the directional shift which is referred to in running control is also referred to in the determination of the line width, the error of the line width corresponding to the inclination of the line sensor with respect to the guide line can be eliminated and the line width can be determined more precisely without having a new sensor for determining the line width.
- In one aspect of the invention, the self-running body may include a longitudinal-direction position detecting device for detecting information necessary to specify a position of the self-running body in the longitudinal direction of the guide line.
- The run control device may be configured to determine the position of the self-running body on the running surface based on the results of detection by the longitudinal direction position detecting device and the line sensor, and to control the running of the self-running body based on the result of the determination.
- The line width inspection device may generate inspection data in which the result of the determination of the line width is correlated with the position of the self-running body determined by the run control device.
- In the aspect, the line width of the guide line or the suitability of the line width can be recognized in a correlated manner with the position on the running surface by referring to the inspection data, whereby the running surface can be maintained more easily. For example, the position on the running surface where the inspection is particularly required can be easily identified from the inspection data. Because the inspection data can be generated by using the positions in the longitudinal and width directions of the guide line which are determined by the self-running body for its running control, it is not necessary to have a new sensor to generate the inspection data. The manager or the like can refer to the generated inspection data through appropriate means. The self-running body itself may have means for displaying the inspection data. The inspection data may be stored in a storage medium attached to the self-running body, and the inspection data may be read if necessary by detaching the storage medium from the self-running body.
- The self-running body may further include a data output device for outputting the inspection data to the outside of the self-running body. Accordingly, the inspection data can be received outside the self-running body, and then the running surface is easily checked based on the inspection data. In this case, the game machine may further include a running surface maintenance device which performs a predetermined process based on the inspection data outputted from the self-running body so as to notify the game machine manager of the state of the running surface. Therefore, the game machine manager can easily check the running surface at the installation place of the game machine.
- In the predetermined process, the running surface maintenance device may generate data for specifying the position on the running surface where the line width is unsuitable and for specifying the number of detection times of the position based on the inspection data outputted from the self-running body; collects the data, and displays a running surface check screen indicating the position on the running surface where the line width is unsuitable and the number of detection times of the position based on the collected data. In this aspect, the game machine manager can recognize the position on the running surface where the line width is unsuitable and the number of detection times of the position through the running surface check screen, and determine the necessity of the inspection or cleaning in a correlated manner with the position on the running surface.
- In the predetermined process, the running surface maintenance device may generate data for specifying at least one of the position on the running surface where the line width is unsuitable and the number of detection times of the position based on the inspection data outputted from the self-running body, collect the data, and provide a predetermined warning to the game machine manager when amount of the collected data exceeds a predetermined allowable amount. In this aspect, the game machine manager is urged to check the running surface based on the inspection data transmitted from the self-running body.
- In the aspect of including the running surface maintenance device and in a case the game machine includes a game control device which makes the run control device of the self-running body to perform a predetermined game by transmitting to the run control device an instruction for the running of the self-running body through predetermined communication means, the game control device may act as the running surface maintenance device. Accordingly, the inspection data can be transferred from the self-running body to the game control device using the configuration for providing the self-running body with instructions for the running of the self-running body, and thereby to recognize the condition of the running surface using the game control device.
- In the case when the game machine is connected to a server for managing the game machine through a predetermined network, the server may act as the running surface maintenance device. This enables a server manager to recognize the state of the running surface, and the server manager can provide information on the state of the running surface to a store or the like where the game machine is installed to promote the inspection, cleaning or the like of the running surface.
- As described above, according to the invention, the line width of the guide line or the suitability of the line width is determined using the configuration in which the guide line provided on the running surface is detected to control the running of the self-running body, so that the generation of the anomaly such as the dirt of the running surface, the adhesion of the foreign matter, and the peel-off of the guide line can be detected. Accordingly, the invention can provide the game machine and self-running body in which the burden to the game machine manager is reduced in managing the running surface and the running surface can properly be managed.
-
FIG. 1 is a diagram showing a schematic configuration of a game system into which a game machine according to an embodiment of the invention is incorporated; -
FIG. 2 is a perspective view showing a field unit when a stage is raised; -
FIG. 3 is a side view showing the field unit when the stage is raised; -
FIG. 4 is a perspective view showing the field unit when the stage is lowered; -
FIG. 5 is a side view showing the field unit when the stage is lowered; -
FIG. 6 is an exploded perspective view of the field unit; -
FIG. 7 is a perspective view showing the part VII ofFIG. 2 viewed from the below; -
FIG. 8 is a view showing cross sections of top boards provided in the field unit and a motor vehicle and a model which run on running surfaces formed on the top boards; -
FIG. 9 is a view showing a guide line and a magnetic measurement line formed on a lower-stage running surface; -
FIG. 10 is a plan view showing a round track formed on the lower-stage running surface; -
FIG. 11 is an enlarged view showing a corner section of the round track; -
FIG. 12 is a view showing an internal structure of the self-running body; -
FIG. 13 is a bottom view of the self-running body; -
FIG. 14 is a sectional view taken along the line XIV-XIV ofFIG. 13 ; -
FIG. 15 is an enlarged front view of a line sensor; -
FIG. 16 is an enlarged bottom view of the line sensor; -
FIG. 17A is a view showing a relationship between an output of a magnetic sensor and a magnetic measurement line when the self-running body runs in a straight section, and showing a relationship between the magnetic sensor and the magnetic measurement line; -
FIG. 17B is a view showing a relationship between the output of the magnetic sensor and the magnetic measurement line when the self-running body runs in a straight section, and showing output s of detecting elements of the magnetic sensor; -
FIG. 18A is a view showing a relationship between the output of the magnetic sensor and the magnetic measurement line when the self-running body runs in a corner section of a lane except for an innermost lane, and showing a relationship between the magnetic sensor and the magnetic measurement line; -
FIG. 18B is a view showing a relationship between the output of the magnetic sensor and the magnetic measurement line when the self-running body runs in the corner section of the lane except for the innermost lane, and showing the outputs of the detecting elements of the magnetic sensor; -
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 to a motor vehicle; -
FIG. 21 is a view showing a degree of progress of the motor vehicle, a position in a transverse direction, and a concept of control concerning a direction; -
FIG. 22 is a functional block diagram of a motor vehicle control device; -
FIG. 23 is a flowchart showing a procedure of progress management in a progress management device; -
FIG. 24 is a flowchart showing a procedure of computing a target speed in a target speed computation device; -
FIG. 25 is a view showing a relationship among the number of counted inversions, an inversion reference time, a remaining time, and a progress shortage amount; -
FIG. 26 is a flowchart showing a procedure of managing a direction in a direction management device; -
FIG. 27 is a flowchart showing a procedure of computing a direction correction amount in a direction correction amount computation device; -
FIG. 28 is a flowchart showing a procedure of managing a lane in a lane management device; -
FIG. 29 is a view showing a correlation between position shift of the line sensor to the guide line and the output of the line sensor; -
FIG. 30 is a flowchart showing a procedure of computing a lane correction amount in a lane correction amount computation device; -
FIG. 31 is a flowchart showing a procedure of inspecting a line width in a line width inspection device; -
FIG. 32 is a flowchart showing a procedure of transmitting line width inspection data from the motor vehicle control device to a main control device; -
FIG. 33 is a flowchart showing a procedure of managing the line width inspection data in the main control device; -
FIG. 34 is a flowchart showing a procedure of managing running surface check in the main control device; -
FIG. 35 is a view showing an example of a running surface check screen; and -
FIG. 36 is a flowchart showing a process in a maintenance mode at the main control device. -
FIG. 1 is a diagram showing a schematic configuration of a game system into which a game machine according to an embodiment of the invention is incorporated. Agame system 1 is used to perform a horse-racing game. Thegame system 1 includesplural game machines center server 3, amaintenance server 4, and amaintenance client 5 which are connected to each another through acommunication network 6. Theplural game machines 2A to 2C have the same configuration in thegame system 1. Accordingly, theplural game machines 2A to 2C are collectively referred to asgame machine 2 unless distinction is necessary. Although the threegame machines 2 are shown inFIG. 1 , the number ofgame machines 2 included in thegame system 1 is not limited to three. - The
center server 3 mainly processes data concerning a game according to a request of thegame machine 2. Themaintenance server 4 stores data concerning the maintenance such as error log information on thegame system 1 in amaintenance storage device 4 a which is a storage device of themaintenance server 4, and manages the data concerning the maintenance. Themaintenance client 5 is installed in, e.g., a maintenance service division which collectively manages the maintenance of thegame system 1, and themaintenance client 5 performs analysis and study of the maintenance of thegame system 1 using the data stored in themaintenance storage device 4 a. For example, the Internet is used as thecommunication network 6. - The
game machine 2 is configured in the form of a commercial game machine installed in a store and allowing a user to play the game in exchange for an economic value. A chassis (game machine main body) 10 of thegame machine 2 includes afield unit 11,plural station devices 12, . . . , 12 arranged so as to surround thefield unit 11, and amonitor device 13 arranged at one end of thefield unit 11. Thefield unit 11 provides runningsurfaces horse model 31 shown inFIG. 8 , respectively. Themotor vehicle 30 and the race-horse model 31 are shown inFIG. 8 . Theplural motor vehicles 30 and themodels 31 are placed on thefield unit 11, and the horse-racing game is realized by competition of theplural motor vehicles 30 and themodels 31. Thestation device 12 performs paying out of a game value for a player while accepting various operations of the player concerning the horse-racing game. Themonitor device 13 includes amain monitor 13 a which displays game information and the like. -
FIG. 2 is a perspective view of thefield unit 11, andFIG. 3 is a side view thereof. As shown inFIGS. 2 and 3 , thefield unit 11 includes a base 14 which is a lower structure and astage 15 which is an upper structure placed over thebase 14. Both thebase 14 and thestage 15 have a frame-work structure formed by a combination of steel products.Top boards base 14 andstage 15, respectively. A lower-stage running surface 18 on which themotor vehicle 30 runs is formed on the upper surface of thetop board 16 of thebase 14. An upper-stage running surface 19 on which themodel 31 runs is formed on the upper surface of thetop board 17 of thestage 15, and apower supply surface 20 for themotor vehicle 30 is formed on the lower surface of thetop board 17. - The
stage 15 is liftably provided to thebase 14.FIGS. 2 and 3 show thestage 15 in the raised state.FIGS. 4 and 5 show thestage 15 in the lowered state.FIG. 4 is a perspective view corresponding toFIG. 2 , andFIG. 5 is a side view corresponding toFIG. 3 . The lift range of thestage 15 is as follows. As shown inFIG. 5 , when thestage 15 is lowered to come into contact with a receiving section 14 a of the base 14 a, a space SP exists between the lower-stage running surface 18 and thepower supply surface 20. Then, the height Hd (seeFIG. 5 ) of the space SP at this point is a suitable value for accommodating themotor vehicle 30. On the other hand, when thestage 15 is raised up, the height Hu (seeFIG. 3 ) of the space SP is enlarged to such an extent that an operator can put his/her upper half body into the space SP. Preferably, the height Hu of at least 400 mm is ensured as a rough measure. Furthermore, for the sake of carrying in and out thefield unit 11, thebase 14 and thestage 15 can be respectively divided into threesub-devices 14A to 14C and 15A to 15C in a horizontal direction, as shown inFIG. 6 . Thetop board 16 of thebase 14 is divided into three parts in accordance with the sub-devices 14A to 14C. The sub-devices 14A to 14C are coupled to one another with coupling means such as a bolt. The same holds for the sub-devices 15A to 15C. - As shown in
FIGS. 2 and 3 , a stage drive device (lift drive device) 21 is provided in thefield unit 11 to drive thestage 15 vertically. Thestage drive device 21 includes plural hydraulic cylinders (actuator) 22 arranged around thefield unit 11 at an appropriate interval, and an oilpressure generating device 23 serving as a power source for supplying oil pressure to eachhydraulic cylinder 22. Thehydraulic cylinder 22 is provided such that apiston rod 22 a is orientated upwardly. Onehydraulic cylinder 22 is provided to each of both sides of the sub-devices 14A to 14C, namely, sixhydraulic cylinders 22 are provided in total. However, the number ofhydraulic cylinders 22 is not limited to six. but at least onehydraulic cylinder 22 may be provided for each of the sub-devices 14A to 14C. As shown inFIG. 7 , acylinder tube 22 b of thehydraulic cylinder 22 is fixed to thebase 14, and a leading end of thepiston rod 22 a is coupled to thestage 15 through anadjuster device 24. Accordingly, thestage 15 is raised by supplying oil pressure to thehydraulic cylinder 22 to extend thepiston rod 22 a. - The
adjuster device 24 includes anadjuster 24 a fixed to the leading end of thepiston rod 22 a and anadjuster receiver 24 b fixed to thestage 15. Theadjuster 24 a is not fixed to theadjuster receiver 24 b but inserted into theadjuster receiver 24 b with some play. Consequently, shift of an axis of thepiston rod 22 a is allowed in the operation of thehydraulic cylinder 22, and thus the pluralhydraulic cylinders 22 can be operated without interference to raise and lower thestage 15 smoothly. The oilpressure generating device 23 is driven by electric power supplied to thegame machine 2 so as to generate oil pressure suitable to thehydraulic cylinder 22. The operation of the oilpressure generating device 23 is controlled by a main control device 100 (seeFIG. 19 ) which controls the whole operation of thegame machine 2. -
FIG. 8 is a view showing cross sections of thetop boards motor vehicle 30 andmodel 31 which run on the running surfaces 18 and 19 of thetop boards top board 16 of thebase 14 is constructed from a white resin board, aline sheet 32 is provided on the lower-stage running surface 18 of the upper surface of thetop board 16, and a magnet (permanent magnet) 33 is provided on the lower surface of thetop board 16. As shown inFIG. 9 , theline sheet 32 is used to formplural guide lines 34 for guiding themotor vehicle 30 on the lower-stage running surface 18. Theguide line 34 is colored with a color (for example, black) having a contrast in a visible range to a base color of thetop board 16. A width Wg of theguide line 34 is set to a half of a pitch (interval) Pg between the adjacent guide lines 34. For example, the width Wg is set to 6 mm, and the pitch Pg is set to 12 mm. As shown inFIG. 10 , the guide lines 34 are provided so as to form around track 35. Theround track 35 is formed by connectingstraight sections 35 a in which the guide lines 34 extending parallel to one another andcorner sections 35 b in which the guide lines 34 are curved in a semi-circle shape. In both thestraight section 35 a and thecorner section 35 b, the width Wg and pitch PTg of theguide line 34 are constant. In thecorner section 35 b, the guide lines 34 have the same center of curvature CC. - In the
game machine 2, theguide line 34 is rated as a mark indicating a lane of theround track 35. For example, theinnermost guide line 34 corresponds to a first lane, and subsequently the guide lines 34 are correlated with the lane numbers: a second lane, a third lane, . . . toward the outer circumference. In thegame machine 2, a position of themotor vehicle 30 in a transverse direction (direction orthogonal to the guide line 34) of theround track 35 is recognized with the lane number. Themotor vehicle 30 controls its operation so as to run along theguide line 34 corresponding to the current lane unless it is instructed to change lanes by themain control device 100. Although the number ofguide lines 34 is six inFIG. 10 , the number ofguide lines 34 may appropriately be changed according to the number of horses to be used in the horse-racing game. - As shown in
FIG. 9 , themagnets 33 are arranged such that an S pole and an N pole are arranged alternately. Themagnet 33 in thestraight section 35 a has a strip shape extending in the transverse direction, whereas themagnet 33 in thecorner section 35 b has an arc shape expanding toward the outer circumference. Therefore, on the lower-stage running surface 18, manymagnetic measurement lines 36 extending in the transverse direction of theround track 35 are formed repeatedly along a longitudinal direction of theround track 35 at a boundary section between the S pole and the N pole. Themagnetic measurement line 36 is used as a mark indicating the position or a degree of progress of themotor vehicle 30 on theround track 35. That is, in thegame machine 2, the degree of progress of themotor vehicle 30 in the longitudinal direction of theround track 35 is managed by the number ofmagnetic measurement lines 36 with reference to a particular position on the round track 35 (for example, the position Pref inFIG. 10 ). For example, when themotor vehicle 30 is placed on a hundredthmagnetic measurement line 36 from the reference position Pref, the degree of progress of themotor vehicle 30 is recognized as 100 by thegame machine 2. - The pitch (interval) between the
magnetic measurement lines 36 in thestraight section 35 a is set to a constant value PTm. Hereinafter the pitch PTm is referred to as reference pitch. As shown inFIG. 11 , the pitch between themagnetic measurement lines 36 in thecorner section 35 b is set such that a pitch Ptin between themagnetic measurement lines 36 along theinnermost guide line 34 is equal to the reference pitch PTm. Accordingly, the pitch between themagnetic measurement lines 36 in thecorner section 35 b is enlarged toward the outer circumference. For example, in the case of the reference pitch PTm of 8 mm, a pitch (maximum pitch) PTout on theoutermost guide line 34 is about 30 mm. - As shown in
FIG. 10 , absolute-position indicating devices 37 are provided at appropriate positions on the round track 35 (in the example ofFIG. 10 , at both end zones of thestraight section 35 a and at the center of thecorner section 35 b). As shown inFIG. 8 , the absolute-position indicating device 37 includes anindication lamp 38 arranged on the lower surface of thetop board 18. An infrared LED which emits an infrared ray is used as theindication lamp 38. As shown inFIG. 9 , theindication lamp 38 is provided on the lower surface of eachguide line 34. In one absolute-position indicating device 37, theindication lamps 38 are arranged in the transverse direction of theround track 35. Openings are formed in thetop board 18 and in themagnet 33 right above theindication lamps 38. At least right above theindication lamps 38, the guide lines 34 are formed with an IR ink which is transparent to the infrared ray. - The position of the
indication lamp 38 in the longitudinal direction of theround track 35 is set in a gap between the magnetic measurement lines 36. On the infrared ray emitted from eachindication lamp 38 of the absolute-position indicating device 37, data respectively indicating an absolute position and the lane number of theindication lamp 38 on theround track 35 are superposed. That is, the absolute-position indicating device 37 functions as a device for providing information respectively indicating the absolute position and the lane on theround track 35. In this case, the absolute position of theindication lamp 38 may be correlated with the degree of progress using the magnetic measurement lines 36. For example, the absolute-position indicating device 37 located at the reference position Pref is set to the degree of progress of 0, and the degree of progress of 100 may be transmitted as the position information from theindication lamp 38 arranged between the clockwise (or counterclockwise) 100thmagnetic measurement line 36 and the 101stmagnetic measurement line 36. Furthermore, the number of absolute-position indicating devices 37 counted from the reference position Pref may be transmitted as the position information from theindication lamp 38, and then the number of absolute-position indicating devices 37 may be substituted with the degree of progress-using an internal table of thegame machine 2. - As shown in
FIG. 8 , themotor vehicle 30 is placed between the lower-stage running surface 18 and thepower supply surface 20, and themodel 31 is placed on the upper-stage running surface 19. Amagnet 40 is provided on top of themotor vehicle 30. Themodel 31 stands itself on the upper-stage running surface 19 through awheel 31 a. However, themodel 31 has no self drive device, and runs on the upper-stage running surface 19 so as to follow up themotor vehicle 30 while attracted to themotor vehicle 30 by themagnet 40 of themotor vehicle 30. That is, the running of themodel 31 on the upper-stage running surface 19 is realized through the running control of themotor vehicle 30. -
FIGS. 12 to 14 show the detail of themotor vehicle 30. The horizontal direction inFIGS. 12 and 13 correspond to the longitudinal direction of themotor vehicle 30. The right side ofFIGS. 12 and 13 corresponds to the front side of themotor vehicle 30. As shown inFIG. 12 , themotor vehicle 30 includes alower device 41A and anupper device 41B. As shown inFIG. 13 , thelower device 41A includes a pair ofdrive wheels 42 used for self-running on the lower-stage running surface 18, a pair ofmotors 43 used to drive thedrive wheels 42 independently, and assistwheels front end section 30 a andrear end section 30 b of themotor vehicle 30, respectively. A moving direction of themotor vehicle 30 can be changed by imparting a difference in rotating speed between themotors 43. Four vertically extendedguide shafts 45 are provided in thelower device 41A, and theupper device 41B is provided along theguide shafts 45 while being able to be raised and lowered. Ahelical spring 46 is provided in theguide shaft 45, and theupper device 41B is biased upward by a repulsion force of thehelical spring 46 such that awheel 47 and apower supply brush 48 of theupper device 41B are pressed against thepower supply surface 20. Thepower supply brush 48 is brought into contact with thepower supply surface 20, which allows the electric power to be supplied from thechassis 10 to themotor vehicle 30. However,FIG. 12 shows the state in which thestage 15 is lowered, and thepower supply surface 20 is sufficiently separated from thepower supply brush 48 and the like when thestage 15 is raised. - As shown in
FIG. 12 , theassist wheel 44F in the front side of thelower device 41A is arranged slightly biased upward with respect to thedrive wheel 42.Assist wheels upper device 41B, and theassist wheel 49R is arranged while slightly biased downward with respect to thedrive wheel 47. Accordingly, themotor vehicle 30 can vibrate vertically with thedrive wheel 42 as the axis, and the vibration of themotor vehicle 30 is transmitted to themodel 31 through themagnet 40. As a consequence, the situation is expressed in which the race horse runs while vibrating vertically. - As shown in
FIG. 13 , aline sensor 50, an absoluteposition detecting sensor 51, and amagnetic sensor 52 are arranged in the lower surface of themotor vehicle 30. Theline sensor 50 is provided to detect theguide line 34, the absoluteposition detecting sensor 51 is provided to detect the light emitted from theindication lamp 38, and themagnetic sensor 52 is provided to detect themagnetic measurement line 36. - The
line sensor 50 includes a pair of light emittingdevices 53 provided in a symmetrical manner in thefront end section 30 a of themotor vehicle 30, and a light-receivingdevice 54 arranged between the light emittingdevices 53. Thelight emitting device 53 emits visible light having a predetermined wavelength range to the lower-stage running surface 18, and the light-receivingdevice 54 accepts the light reflected from the lower-stage running surface 18. The detection wavelength range of the light-receivingdevice 54 is restricted to the wavelength range of the visible light emitted from thelight emitting device 53 such that the light emitted from theindication lamp 38 is not wrongly detected.FIGS. 15 and 16 show thedetailed line sensor 50. Thelight emitting devices 53 are symmetrically provided in relation to a center plane PC which divides themotor vehicle 30 laterally into two equal portions, and the light emitting directions of thelight emitting devices 53 are orientated obliquely inward. - The light-receiving
device 54 includes asensor array 55 which is provided so as to be equally extended across the center plane CP in the lateral direction of themotor vehicle 30, and animaging lens 56 which focuses the image on the lower-stage running surface 18, formed by the light reflected from the lower-stage running surface 18, onto thesensor array 55. For example, thesensor array 55 is formed by arranging many CMOS light-receiving elements in line. Thesensor array 55 detects a luminance distribution in the lateral direction of themotor vehicle 30 with fine resolution relative to the width Wg of theguide line 34. For example, the resolution is set such that the width 1.5 times the pitch PTg of theguide line 34 is detected while divided into 128 dots. In other words, when the center plane CP is located in the center of the width direction of theguide line 34, a region formed by theguide line 34 and a blank portion adjacent to theguide line 34 is set to a detection region, and the resolution of thesensor array 55 is set such that the detection region is detected with the resolution of 128 dots. For example, when the pitch PTg of theguide line 34 is set to 12 mm, thesensor array 55 has the detection width of 18 mm, and thesensor array 55 detects the luminance distribution with the resolution of 0.14 mm per one dot. - The
imaging lens 56 is provided to upwardly separate thesensor array 55 from the lower-stage running surface 18. This is because the vertical vibration of themotor vehicle 30 caused by the position shift of theassist wheels - As shown in
FIG. 13 , the absoluteposition detecting sensor 51 includes a light-receivingdevice 58 which is arranged on the center plane PC of themotor vehicle 30. The absoluteposition detecting sensor 51 accepts the infrared light emitted from theindication lamp 38, and the absoluteposition detecting sensor 51 outputs a signal corresponding to the absolute position and lane number included in the infrared light. - The
magnetic sensor 52 includes plural detectingelements 60 arranged at a constant pitch PTms in the longitudinal direction of themotor vehicle 30. In the following description, sometimes the detectingelement 60 is divided into a detectingelement # 1, a detectingelement # 2, and . . . in the order from thefront end portion 30 a of themotor vehicle 30. Each detectingelement 60 detects a magnetic field in the lower-stage running surface 18, and outputs signals corresponding to the S pole and N pole, respectively. For example, the detectingelement 60 outputs a Low signal when detecting the S pole, and outputs a High signal when detecting the N pole. Accordingly, themagnetic measurement line 36 can be detected by the inversion of the signal of each detectingelement 60. Therefore, themagnetic sensor 52 functions as a measurement line detecting device. As shown inFIG. 17A , the number of detectingelements 60 and a pitch PTms between the detectingelements 60 in the longitudinal direction are correlated with the reference pitch PTm of themagnetic measurement line 36. That is, the pitch PTms of the detectingelement 60 is set to a half of the reference pitch PTm of themagnetic measurement line 36. In other words, the reference pitch PTm is double the pitch PTms of the detectingelement 60. The number of detectingelements 60 is set such that a product of the number of detectingelements 60 and the pitch PTms is larger than the outermost pitch (maximum pitch) PTout of thecorner section 35 b. InFIG. 17A , the reference pitch PTm is set to 8 mm, the maximum pitch PTout is set to 30 mm, the pitch PTms of the detecting elements is set to 4 mm, and the number of detectingelements 60 is set to eight. -
FIG. 17B shows an example of the output signal of themagnetic sensor 52 when themagnetic sensor 52 runs at a speed Vact along theguide line 34 of thestraight section 35 a or theguide line 34 of the first lane of thecorner section 35 b. It is assumed that the detecting element #1 (60) reaches themagnetic measurement line 36 at time t1 and the output signal is inverted from Low to High, and that the detecting element #1 (60) reaches the nextmagnetic measurement line 36 at time t3 and the output signal is inverted from High to Low. In this case, the output signal of the detecting element #2 (60) is inverted from Low to High at time t2 between time t1 and time t3. Although the output signal of the detecting element #3 (60) is inverted from Low to High at time t3, the output signal of the detecting element #1 (60) is inverted at the same time because the pitch PTms is the half of the reference pitch PTm. Accordingly, in the case ofFIG. 17B , the degree of progress and the speed of themotor vehicle 30 can be controlled with the resolution of the half of the reference pitch PTm using only the output signals of the detectingelements # 1 and #2 (60). It is not necessary to use the output signals of the detecting element #2 (60) and subsequent detectingelements 60. For example, only the output signals of the detectingelements # 1 and #2 (60) may be used in the case when the running of themotor vehicle 30 is controlled based on a difference between the current speed Vact of themotor vehicle 30 and a target speed required on the game. The current speed Vact is obtained by dividing the pitch PTms of the detectingelement 60 by inverting time interval (t1 and t2, t2 and t3) of the output signal of each detectingelement 60. - However, in the case when the
motor vehicle 30 runs in the lane except for the first lane of thecorner section 35 b, circumstances differ from those ofFIG. 17B because the pitch between themagnetic measurement lines 36 is extended larger than the reference pitch PTm. An example thereof will be described with reference toFIGS. 17 and 18 . InFIG. 18A , it is assumed that themotor vehicle 30 runs at the speed Vact along theguide line 34 in the second lane or the lane outside the second lane of thecorner section 35 b and the pitch between themagnetic measurement lines 36 in the lane is PTx (however, Pm<PTx≦PTout). In this case, as shown inFIG. 18B , the time interval (t1 and t6) between time t1, at which the detecting element #1 (60) reaches themagnetic measurement line 36 to invert the output signal from Low to High, and time t6, at which the detecting element #1 (60) reaches the nextmagnetic measurement line 36 to invert the output signal from High to Low, is extended by the extended pitch PTx. On the other hand, the time interval (t1 and t2) between time t1 and time t2, at which the output signal of the detecting element #2 (60) is inverted from Low to High, is equal to the time interval ofFIG. 17B . Therefore, the time interval between time t2 and time t1 is smaller than the time interval between time t2 and time t6. Accordingly, when the current speed Vact of themotor vehicle 30 is determined from the inversion time intervals of the output signals of the detectingelements # 1 and #2 (60) and the pitch PTms of the detectingelements 60, the speed obtained in the time interval between time t2 and time t6 includes an error because the precondition of PTms=PTm/2 does not hold, and the speed of themotor vehicle 30 is wrongly controlled when the speed obtained in the time interval between time t2 and time t6 is used. - On the other hand, in
FIG. 18B , the detectingelements # 2 to #5 (60) sequentially reach the samemagnetic measurement line 36 in the time interval between time t1 and time t6, and the output signals of the detectingelements # 2 to #5 (60) are inverted in the time interval between time t2 and time t5. The time intervals between time t2 and time t3, time t3 and time t4, and time t4 and time t5 are equal to a value obtained by dividing the pitch PTms of the detectingelements 60 by the current speed Vact. Therefore, in the case ofFIG. 18B , when the current speed Vact is detected using the output signals of the #1 to #5 detectingelements 60, the error is not generated in the speed detection. In order to enable the speed detection in all the lanes, as described above, it is only necessary that the product of the number of detectingelements 60 and the pitch PTms is set larger than the outermost maximum pitch PTout of themagnetic measurement line 36 in thecorner section 35 b. In the above example, the pitch PTms of the detectingelements 60 is 4 mm and the maximum pitch PTout of themagnetic measurement line 36 is 30 mm, so that the condition is satisfied when the number of detectingelements 60 is set to eight. - Then, a control system of the
game machine 2 will be described.FIG. 19 shows a schematic configuration of the control system of thegame machine 2. Thegame machine 2 includes themain control device 100 for controlling the whole operation of thegame machine 2,plural communication devices 101 for performing communication between themain control device 100 and themotor vehicle 30, and arelay device 102 which relays communication between thecommunication device 101 and themain control device 100. Themain control device 100 is configured by a personal computer, for example. Themain control device 100 controls the progress and development of the horse-racing game performed in thegame machine 2 according to a predetermined game program, and provides instructions of the degree of progress and the lane of eachmotor vehicle 30 through thecommunication device 101. For example, themain control device 100 provides, to eachmotor vehicle 30, the instructions of the degree of progress and the lane number which themotor vehicle 30 should reach after a predetermined device time. As described above, the degree of progress is a value expressed by the number ofmagnetic measurement lines 36 from the reference position Pref ofFIG. 10 . Themotor vehicle 30 is individually managed while numbered (#1, #2, and . . . ). - The
main control device 100 exchanges the information with thecenter server 3 and themaintenance server 4 through thenetwork 6 ofFIG. 1 . Therelay device 102 can be configured by a switching hub, for example. As shown inFIG. 10 , thecommunication devices 101 are arranged around theround track 35 at predetermined intervals. Although the tencommunication devices 101 are arranged in the drawing, the number ofcommunication devices 101 may be arbitrarily changed as long as all the circumferences of theround track 35 are covered with thecommunication devices 101. A radio wave or the infrared ray may be used in the communication between thecommunication device 101 and themotor vehicle 30. -
FIG. 20 shows a control system provided in themotor vehicle 30. The control system of themotor vehicle 30 includes a motorvehicle control device 110. The motorvehicle control device 110 is configured as a computer device including a microprocessor. The motorvehicle control device 110 controls the running of themotor vehicle 30 according to a predetermined motor vehicle control program, and also controls the communication with themain control device 100. Theline sensor 50, the absoluteposition detecting sensor 51, and themagnetic sensor 52, which act as the input device for running control, are connected to the motorvehicle control device 110 through an interface (not shown). Agyro sensor 111 which acts as the input device is also connected to the motorvehicle control device 110. Thegyro sensor 111 is incorporated into themotor vehicle 30 to detect an attitude of themotor vehicle 30, i.e., an orientation of themotor vehicle 30. Thegyro sensor 111 detects an angular velocity about a turning axis (for example, a vertical axis line passing through an intersection point of an axis line of thedrive wheel 42 and the center plane PC) of themotor vehicle 30, integrates the angular velocity twice to convert the angular velocity into an angle change amount, and outputs the angle change amount to the motorvehicle control device 110. Alternatively, thegyro sensor 111 may output an angular acceleration to allow the motorvehicle control device 110 to convert the angular acceleration into the angle change amount. - A
transmitter 112 and areceiver 113 are connected to the motorvehicle control device 110 through acommunication control circuit 114 to conduct communication with thecommunication device 101. As described above, themain control device 100 gives the information for instructing the target progress and target lane of themotor vehicle 30 at predetermined intervals during the game. The motorvehicle control device 110 computes a target speed, a direction correction amount, and the like of themotor vehicle 30 based on the given target progress and target lane and the output signals ofvarious sensors 50 to 52 and 111, so as to provide speed instructions VL and VR to themotor drive circuit 115 based on the computation results. Themotor drive circuit 115 controls the drive current or voltage supplied to eachmotor 43 such that the given speed instructions VL and VR are obtained. -
FIG. 21 shows a concept of running control of themotor vehicle 30 by the motorvehicle control device 110. InFIG. 21 , it is assumed that ADcrt is the current degree of progress of themotor vehicle 30, ADtgt is the target progress given from themain control device 100, Dref is the lane direction, i.e., the direction of theguide line 34, and Dgyr is the direction in which themotor vehicle 30 is orientated. The motorvehicle control device 110 controls the speed of themotor 43 such that themotor vehicle 30 reaches a target position Ptgt given by the intersection point of the center line of the target lane and the target progress ADtgt by predetermined time from the current position Pcrt and such that the direction Dgyr of themotor vehicle 30 is in agreement with the lane direction Dref. That is, the motorvehicle control device 110 increases or decreases the drive speed of eachmotor 43 according to a progress shortage amount ΔAD between the current degree of progress ADcrt and the target progress ADtgt, and also controls a speed ratio between themotors 43 such that themotor vehicle 30 is moved in the transverse direction of theround track 35 by a lane correction amount ΔYamd which is given as a distance from the current position Pcrt to the center line of the target lane and such that the direction Dgyr of themotor vehicle 30 is corrected by an angle correction amount Δθamd which is given as a shift amount of a current direction θgyr to the lane direction Dref at the target position Ptgt. - Because the progress shortage amount ΔAD is given as the number of
magnetic measurement lines 36, the progress shortage amount ΔAD is determined by subtracting the current degree of progress ADcrt from the target progress ADtgt in both thestraight section 35 a and thecorner section 35 b. In thecorner section 35 b, however, a distance Ltr corresponding to the progress shortage amount ΔAD is changed by the position of themotor vehicle 30 in the transverse direction of theround track 35, and thus, it is necessary to control the speed in consideration of the changed progress shortage amount ΔAD. The lane correction amount ΔYamd is determined by subtracting the shift amount ΔY between the current position Pcrt of themotor vehicle 30 and the current lane from a lane interval Ychg corresponding to a distance between the target lane and the lane on which themotor vehicle 30 runs currently. In the case when the target lane is in agreement with the current lane, namely, in the case when the instruction for changing the lane is not provided, the lane correction amount ΔYamd is equal to the shift amount ΔY. A straight-ahead direction from the reference position Pref ofFIG. 10 is set to an absolute reference direction Dabs, and angles θref and θgyr are set with respect to the absolute reference direction Dabs, which allows the lane direction Dref and the motor vehicle direction Dgyr to be specified. In thestraight section 35 a, the angle θref is 0° or 180°. In thecorner section 35 b, the angle formed by a tangential direction of theguide line 34 in the degree of progress ADcrt and the absoluter reference direction Dabs can be specified as θref. The tangential direction is uniquely determined by the degree of progress, and the tangential direction is kept constant irrespective of the lane in the case of the same degree of progress. -
FIG. 22 is a functional block diagram of the motorvehicle control device 110. The motorvehicle control device 110 includes a gameinformation analysis device 120 which analyzes the game information given from themain control device 100 to make the determination of the target progress ADtgt and the target lane of themotor vehicle 30; aprogress counter 121 which stores therein the current degree of progress ADcrt of themotor vehicle 30; aprogress management device 122 which computes the current speed Vact of themotor vehicle 30 while updating a value of theprogress counter 121 according to the outputs of the absoluteposition detecting sensor 51 and themagnetic sensor 52; alane counter 123 which stores therein the lane number on which themotor vehicle 30 runs currently; alane management device 124 which, on the basis of the output of theline sensor 50 and the absoluteposition detecting sensor 51 to update the value of thelane counter 123, and detects the lane shift amount ΔY of themotor vehicle 30 relative to the lane; agyro counter 125 which stores therein the angle θgyr indicating the direction of themotor vehicle 30; and adirection management device 126 which determines the angle θgyr of themotor vehicle 30 to update a value of thegyro counter 125 based on the output of thegyro sensor 111. - The motor
vehicle control device 110 also includes a targetspeed computation device 127 which computes the target speed Vtgt of themotor vehicle 30 based on the target progress ADtgt, the degree of progress ADcrt stored in theprogress counter 121, and the lane number stored in thelane counter 123; aspeed setting device 128 which sets the drive speed of themotor 43 of themotor vehicle 30 based on the target speed Vtgt; a speed FB-correction device 129 which performs feedback correction to the set drive speed according to a difference between the target speed Vtgt and the current speed Vact; a lane correctionamount computation device 130 which computes the lane correction amount ΔYamd of themotor vehicle 30 based on the target lane, the lane number of thelane counter 123, and the lane shift amount ΔY of themotor vehicle 30 determined by thelane management device 124; a direction correctionamount computation device 131 which computes the direction correction amount Δθamd of themotor vehicle 30 based on the degree of progress ADtgt stored in theprogress counter 121 and the angle θgyr stored in thegyro counter 125; and a speed-ratio setting device 133 which sets a speed ratio between themotors 43 based on the lane correction amount ΔYamd and the direction correction amount Δθamd. The speed-ratio setting device 133 determines the speed instructions VL and VR of the right and leftmotors 43, and the instructions are outputted to themotor drive circuit 115 ofFIG. 20 . The motorvehicle control device 110 further includes a linewidth inspection device 136 which inspects the line width of theguide line 34 based on the output of theline sensor 50, the degree of progress ADcrt stored in theprogress counter 121, and the direction correction amount Δθamd computed by the direction correctionamount computation device 131. - Processes of the devices in the motor
vehicle control device 110 will be described below with reference toFIGS. 23 to 30 .FIG. 23 is a flowchart showing a process at theprogress management device 122. Theprogress management device 122 monitors the output of themagnetic sensor 52 to mange the degree of progress ADcrt of theprogress counter 121, and computes the current speed Vact of themotor vehicle 30. That is, in Step S101, theprogress management device 122 determines whether or not the output of the detecting element #1 (60) of themagnetic sensor 52 is inverted. When the output of the detecting element #1 (60) is inverted, theprogress management device 122 adds one to the value ADcrt of theprogress counter 121 in Step S102. In Step S103, theprogress management device 122 sets a variable m for identifying a detecting element's number to two. When the output of the detecting element #1 (60) is not inverted, the flow skips Steps S102 and S103. In Step S104, theprogress management device 122 determines whether or not the output of the detecting element #m (60) is inverted. When the output of the detecting element #m (60) is inverted, the flow goes to Step S105 to compute the current speed Vact. Assuming that tact is the time interval between the previous output inversion of the detecting element # (m−1) (60) and the output inversion of the sensor at this time, the current speed Vact can be computed by dividing the pitch PTms of the detectingelement 60 by the time interval tact (for example, the time interval between t1 and t2 inFIG. 17B ). That is, Vact=PTms/tact. - After the current speed Vact is computed, the variable m is incremented by one in Step S106. In Step S107, the
progress management device 122 determines whether or not the absoluteposition detecting sensor 51 detects the absolute position, namely, whether or not the absoluteposition detecting sensor 51 detects the infrared light from theindication lamp 38. When the absoluteposition detecting sensor 51 does not detect the infrared light from theindication lamp 38, the flow returns to Step S101. On the other hand, when the absoluteposition detecting sensor 51 detects the infrared light from theindication lamp 38 in Step S107, theprogress management device 122 determines the progress information coded in the infrared light, and corrects theprogress counter 121 such that the determined progress matches with the degree of progress ADcrt of theprogress counter 121. Then, the flow returns to Step S101. When the output of the detecting element #m (60) is not inverted in Step S104, the flow skips Steps S105 and S106 to go to Step S107. - According to the above process, the value ADcrt of the
progress counter 121 is incremented by one in each time the detecting element #1 (60) measures themagnetic measurement line 36. Additionally, the absoluteposition detecting sensor 51 detects the signal from the absolute-position indicating device 37, which appropriately corrects the degree of progress ADcrt. Therefore, the position of themotor vehicle 30 in the longitudinal direction of theround track 35 can be recognized from the value of theprogress counter 121. The current speed Vact of themotor vehicle 30 is computed in each time themotor vehicle 30 moves by the pitch PTms of the detectingelement 60 of themagnetic sensor 52. -
FIG. 24 is a flowchart showing a procedure of computing a target speed performed by the targetspeed computation device 127. In Step S121, the targetspeed computation device 127 obtains the value ADcrt of theprogress counter 121. In Step S122, the targetspeed computation device 127 determines whether or not theprogress counter 121 is updated after the previous process. When theprogress counter 121 is not updated, the flow returns to Step S121. When theprogress counter 121 is updated, the flow goes to Step S123. In Step S123, the progress shortage amount ΔAD (=ADtgt−ADcrt) is determined by subtracting the value ADcrt of the progress counter from the target progress ADtgt. In Step S124, the current lane is obtained from thelane counter 123. - In Step S125, the target
speed computation device 127 estimates the number of times Nx of the output inversion of the magnetic sensor 52 (number of counted inversions), which should be detected before themotor vehicle 30 reaches the next degree of progress on the basis of the current degree of progress ADcrt and the lane on which themotor vehicle 30 runs currently. That is, the targetspeed computation device 127 estimates, as the number of counted inversions Nx, a value (quotient) obtained by dividing the pitch PTx of themagnetic measurement line 36 between the current degree of progress ADcrt and the next degree of progress ADcrt+1 by the pitch PTms of the detectingelement 60. When a fraction after decimal point is included in the quotient, the quotient is rounded to the whole number by counting the fraction as one or zero or rounding it off. The lane number is used to specify the pitch PTx. In a case when themotor vehicle 30 runs in thestraight section 35 a and on the innermost lane of thecorner section 35 b, the reference pitch PTm ofFIG. 9 is equal to the pitch PTx of the detectingelement 60. On the other hand, when the targetspeed computation device 127 determines that themotor vehicle 30 runs on thecorner section 35 b base on the degree of progress ADcrt, the targetspeed computation device 127 can obtain the pitch PTx corresponding to the lane number from previously prepared data such as a table. - After the number of counted inversions Nx is estimated, the flow goes to Step S126 to compute an inversion reference time tx. As shown in
FIG. 25 , assuming that Trmn is a remaining time from the current time to the time when themotor vehicle 30 should reach the target progress ADtgt and that the output of each of the detectingelements 60 of themagnetic sensor 52 is sequentially inverted in a constant interval of time tx in the remaining time Trmn, the remaining time Trmn is given by a product of time tx multiplied by the number of counted inversions Nx and the progress shortage amount ΔAD. That is, in order that themotor vehicle 30 reaches the target progress ADtgt at a time to attain the target progress, themotor vehicle 30 has to run a distance corresponding to the progress shortage amount ΔAD at such a speed that the output of the detectingelement 60 is inverted at the interval of time tx. Due to the above relationship, the inversion reference time tx is determined by dividing the remaining time Trmn by the product of the number of counted inversions Nx and the progress shortage amount ΔAD (tx=Trmn/(Nx·ΔAD)). In other words, when the progress is incremented by one when the output inversions are detected N-times in the inversion reference time tx, and this is repeated the number of times corresponding to the progress shortage amount ΔAD, themotor vehicle 30 reaches the target progress ADtgt at the time to attain the target progress. For example, the time to attain the target progress can be set to a time when the next target progress and target lane are given by themain control device 100 of thegame machine 2 or a constantly delayed time relative to the above time. However, it is necessary that the times to attain the target progress are equally set for all themotor vehicles 30 used in a same race. - Returning to
FIG. 24 , after the inversion reference time tx is computed, the flow goes to Step S127, the quotient is obtained as the target speed Vtgt by dividing the pitch PTms of the detectingelement 60 by the inversion reference time tx. The target speed Vtgt is the speed of themotor vehicle 30 necessary to invert the outputs of themagnetic sensor 52 sequentially at the interval of inversion reference time tx. After the target speed Vtgt is obtained in Step S127, the flow returns to Step S121. Accordingly, the progress shortage amount ΔAD is updated in each time the value ADcrt of the progress counter is updated, and the number of counted inversions Nx is estimated based on the number of lanes at that time so as to determine the target speed Vtgt. That is, the target speed Vtgt is updated in each time the progress of themotor vehicle 30 is incremented by one. - As described in
FIG. 22 , the target speed Vtgt computed by the targetspeed computation device 127 is given to thespeed setting device 128 and the speed FB-correction device 129. Thespeed setting device 128 sets the drive speed of themotor 43 such that the given target speed Vtgt is obtained, and the speed FB-correction device 129 gives an FB-correction amount according to the difference between the target speed Vtgt and the current speed Vact with respect to the drive speed. Alternatively, feedback control or feed forward control of the speed may be performed to enhance the accuracy of speed control, response and the like using a derivative value or an integration value of the speed difference. -
FIG. 26 is a flowchart showing a procedure of managing the value of thegyro counter 125, which is performed by thedirection management device 126. In Step S141, thedirection management device 126 obtains the angle change amount outputted from thegyro sensor 111. In Step S142, thedirection management device 126 updates the value θgyr of thegyro counter 125 by adding the angle change amount to the value θgyr of thegyro counter 125 or by subtracting the angle change amount from the value θgyr of thegyro counter 125. As a consequence, the angle θgyr indicating the current direction of themotor vehicle 30 is stored in thegyro counter 125. Desirably the calibration is performed at proper timing in order that the angle θgyr of thegyro counter 125 is set to 0° when themotor vehicle 30 is orientated toward the absolute reference direction Dabs. The calibration is realized as follows. The determination whether or not themotor vehicle 30 runs on thestraight section 35 a from the reference position Pref in parallel with the lane direction is made based on the degree of progress ADcrt of theprogress counter 121 and the output of theline sensor 50, and the angle θgyr is reset to 0° when themotor vehicle 30 runs in parallel with the lane direction. The calibration may be performed during the horse-racing game or the calibration may be performed at proper timing before the race, e.g., in starting up thegame machine 2. -
FIG. 27 is a flowchart showing a procedure of computing the direction correction amount Δθamd, which is performed by the direction correctionamount computation device 131. In Step S161, the direction correctionamount computation device 131 obtains the value ADcrt of the progress counter. In Step S162, the direction correctionamount computation device 131 determines the angle θref of the reference direction from the degree of progress ADcrt. As described above, the angle θref of the reference direction is uniquely determined while correlated with the degree of progress AD. The angle θref of the reference direction is 0° or 180° in thestraight section 35 a, and is the tangential direction of theguide line 34 in thecorner section 35 b. When the correlation between the degree of progress AD and the reference direction θref is previously stored in data such as a table, the angle θref of the reference direction can immediately be determined from the value ADcrt of the progress counter. In Step S163, the direction correctionamount computation device 131 obtains the value θgyr of thegyro counter 125. In Step S164, the direction correctionamount computation device 131 computes the difference between the angle θref and the angle θgyr as the direction correction amount Δθamd (seeFIG. 21 ). Then, the flow returns to Step S161. The determined direction correction amount Δθamd is given to the speed-ratio setting device 133, and the direction correction amount Δθamd is also given to thelane management device 124 and the linewidth inspection device 136. -
FIG. 28 is a flowchart showing a process performed by thelane management device 124. Thelane management device 124 determines the lane shift amount ΔY (seeFIG. 21 ) by referring to the output of theline sensor 50 and the direction correction amount Δθamd, and also manages the value of thelane counter 123 using the lane shift amount ΔY. In Step S181, thelane management device 124 obtains the direction correction amount Δθamd from the direction correctionamount computation device 131. In Step S182, thelane management device 124 captures the output of theline sensor 50 to detect the lane shift amount ΔY.FIG. 29 shows an example of a correlation between the output of theline sensor 50 and the lane shift amount ΔY. An analog signal is outputted from theline sensor 50 according to intensity of the reflected light, and a rectangular wave corresponding to theguide line 34 and the blank portion between theguidelines 34 is obtained when the analog signal is binarized with a proper threshold. The number of dots ΔNdot between the center of the detection region of theline sensor 50 and the center of the luminous region corresponding to the guide line 34 (the center of the lane) is determined from the rectangular wave. The number of dots ΔNdot corresponds to the lane shift amount ΔY, and the line width per one dot can be multiplied by the number of dots ΔNdot to determine the lane shift amount ΔY. However, in the case when the direction of themotor vehicle 30 is shifted from the reference direction Dref (seeFIG. 21 ), theline sensor 50 is also inclined with respect to the direction orthogonal to theguide line 34. As a result, the number of dots ΔNdot is also increased according to the inclination. Therefore, it is necessary that the correct lane shift amount ΔY be obtained by multiplying the lane shift amount ΔY obtained from the number of dots ΔNdot by a cosine value cos Δθamd of the direction correction amount. Accordingly, it is necessary to obtain the direction correction amount Δθamd in Step S181 ofFIG. 28 . InFIG. 29 , the width Wg (seeFIG. 9 ) of theguide line 34 can be detected by similarly correcting the number of dots ΔNdot included in the luminous region corresponding to theguide line 34 using the direction correction amount Δθamd. - Returning to
FIG. 28 , after the lane shift amount ΔY is detected in Step S182, the flow goes to Step S183. In Step S183, thelane management device 124 determines whether or not themotor vehicle 30 is moved to the next lane. For example, in the case when the lane shift amount ΔY is larger than the half of the pitch PTg of theguide line 34, thelane management device 124 can determine that themotor vehicle 30 is moved to the next lane. Alternatively, the distances to theguide line 34 detected on both sides of the center of theline sensor 50 are compared to each other, and thelane management device 124 may determine that themotor vehicle 30 is moved to the next lane when the magnitude correlation is inverted. When thelane management device 124 determines that themotor vehicle 30 is moved to the next lane in Step S183, the value of thelane counter 123 is updated to the value corresponding to the next lane. When thelane management device 124 determines that themotor vehicle 30 is not moved to the next lane in Step S183, the flow skips Step S184. - In Step S185, the
lane management device 124 determines whether or not the absoluteposition detecting sensor 51 detects the absolute position. When the absoluteposition detecting sensor 51 does not detect the absolute position, the flow returns to Step S181. On the other hand, when thelane management device 124 determines that the absoluteposition detecting sensor 51 detects the absolute position in Step S185, thelane management device 124 determines the lane number coded in the infrared light from the absolute-position indicating device 37, and corrects the value of thelane counter 123 such that the determined lane number is equal to the value of thecounter 123. Then, the flow returns to Step S181. The lane shift amount ΔY determined in the above process is given to the lane correctionamount computation device 130. -
FIG. 30 is a flowchart showing a procedure in which the lane correctionamount computation device 130 computes the lane correction amount ΔYamd. In Step S201, the lane correctionamount computation device 130 obtains the target lane from the gameinformation analysis device 120. In Step S202, the lane correctionamount computation device 130 obtains the value (current lane number) of thelane counter 123. In Step S203, the lane correctionamount computation device 130 obtains the lane shift amount ΔY from thelane management device 124. In Step S204, the lane correctionamount computation device 130 determines whether or not the target lane is matched with the lane. When the target lane is matched with the lane, the flow goes to Step S205. In Step S205, the lane correctionamount computation device 130 sets the lane shift amount ΔY to the lane correction amount ΔYamd. Then, the flow returns to Step S201. When the target lane is not matched with the lane in Step S204, the flow goes to Step S206. In Step S206, the lane correctionamount computation device 130 sets the value obtained by adding the lane interval Ychg (seeFIG. 21 ) to the lane shift amount ΔY, to the lane correction amount ΔYamd. Then, the flow returns to Step S201. The lane shift amount Ychg is obtained by multiplying the difference in number between the target lane and the current lane by the pitch PTg (seeFIG. 10 ) of theguide line 34. - Through the process of
FIG. 30 , the distance in the transverse direction in which themotor vehicle 30 should be moved to the target lane is computed as the lane correction amount ΔYamd. As described inFIG. 22 , the computed lane correction amount ΔYamd is given to the speed-ratio setting device 133. The speed-ratio setting device 133 determines the speed ratio, generated between themotors 43, based on the given lane correction amount ΔYamd and the direction correction amount Δθamd. The speed-ratio setting device 133 increases or decreases the drive speed, given from the speed FB-correction device 129, according to the speed ratio to determine the speed instructions VL and VR to the right and leftmotors 43. At this point, a difference in speed between themotors 43 is generated according to the speed ratio, and the speed instructions VL and VR are generated such that the drive speed obtained by combining the speeds is equal to the drive speed given from the speed FB-correction device 129. The generated speed instructions VL and VR are given to themotor drive circuits 115 ofFIG. 19 . Thedrive circuits 115 drive themotors 43 at instructed speeds, whereby themotor vehicle 30 reaches the target progress ADtgt in a predetermined time and the control is performed such that the direction Dgyr of themotor vehicle 30 is matched with the reference direction Dref. The feedback control or the feed forward control may be performed to the speed ratio to enhance a tracking property to the target lane, the accuracy of direction correction control, the responsibility and the like using the derivative values and integration values of the lane correction amount ΔYamd and direction correction amount Δθamd and the angular acceleration detected by thegyro sensor 111. - According to the series of processes described above, the target speed Vtgt of the
motor vehicle 30 is given in each time the degree of progress of themotor vehicle 30 is incremented by one, and the current speed Vact of themotor vehicle 30 is sequentially computed in each time themotor vehicle 30 is moved by the distance corresponding to the pitch PTms of the detectingelement 60. Therefore, the speed of themotor vehicle 30 can be controlled rapidly and accurately. The detectingelements 60 enough to cover the maximum pitch PTms of themagnetic measurement line 36 therewith are provided in themagnetic sensor 52. As a consequence, the current speed Vact can be detected with high resolution according to the pitch PTms irrespective of the pitch PTx of themagnetic measurement line 36 even if themotor vehicle 30 runs in any lane of thecorner section 35 b. Accordingly, the error of the speed control in which the current speed Vact is used can be restrained to a low level, and a speed fluctuation can effectively be restrained when themotor vehicle 30 runs on thecorner section 35 b. - The
gyro sensor 111 is provided to detect the direction of themotor vehicle 30, and the shift between the detected direction and the direction of the target lane is given as the direction correction amount Δθamd to the speed-ratio setting device 133. Therefore, the accuracy of control is improved compared with the case in which the position and direction in the transverse direction of themotor vehicle 30 are controlled based on only the output of theline sensor 50. The angle change amount, the angular velocity change, or the angular acceleration is determined using the output of thegyro sensor 111 to be used in the direction control of themotor vehicle 30. Therefore, themotor vehicle 30 is converged to the target lane more smoothly and rapidly, and the orientation of themotor vehicle 30 can be matched with the target direction correctly and rapidly. - The direction correction amount Δθamd to the target direction of the
motor vehicle 30 can immediately be determined from the output of thegyro sensor 111. In the determination of the lane shift amount ΔY with the output of theline sensor 50, the shift amount ΔY can correctly be detected using the direction correction amount Δθamd. Accordingly, it is possible to improve the accuracy of lane tracking of themotor vehicle 30 or the accuracy of moving control to the target lane. -
FIG. 31 is a flowchart showing a process in a linewidth inspection device 136. In Step S221 ofFIG. 31 , the linewidth inspection device 136 obtains the value ADcrt of theprogress counter 121. The linewidth inspection device 136 obtains the value of thelane counter 123 in Step S222, and obtains the direction correction amount Δθamd in Step S223. In Step S224, the linewidth inspection device 136 computes the line width of the current lane from the output of theline sensor 50. As described inFIG. 29 , in order to determine the line width, the number of dots Ndot is determined from the output of theline sensor 50, the line width per dot is multiplied by the number of dots Ndot, and the correction is performed to the computed line width according to the direction correction amount Δθamd. In Step S225, the linewidth inspection device 136 determines whether or not the computed line width exists within a predetermined allowable range. When the computed line width exists within the predetermined allowable range, the flow returns to Step S221. When the computed line width exists exceeds the predetermined allowable range line width, the flow goes to Step S226. In Step S226, the data in which the detected line width is correlated the detection position, i.e., the value ADcrt of the progress counter and the value of the lane counter is stored as the line width inspection data in the storage device of the motorvehicle control device 110. Then, the flow returns to Step S221. The allowable range of the line width can be determined in consideration of an error generation frequency in the running control of themotor vehicle 30, which is obtained by increasing or decreasing the line width of theguide line 34 with respect to the original line width Wg. For example, when the original width Wg of theguide line 34 is 6 mm while the actual line width is in the range of ±2 mm, the allowable range can be set in the range of 4 to 8 mm in the case when a trouble is not actually generated in the running control of themotor vehicle 30. - The apparent increase or decrease in width of the
guide line 34 due to, for example, the dirt of the lower-stage running surface 18, the mixture of the foreign matter, and the peel-off of theguide line 34 can be detected through the above process. The generation of the dirt, flaw or the like in the linear shape which is wrongly detected as the guide line can be detected as the anomaly of the line width. The abnormal point of the line width can also be detected by the degree of progress and lane of theround track 35 using the stored data. In the embodiment, the output of theline sensor 50 is referred to in the detection of the lane shift amount ΔY, the determination of the current lane, and the computation of the lane correction amount ΔYamd. Therefore, in the case when the width of theguide line 34 is changed due to the dirt or the like, the tracking property of themotor vehicle 30 to theguide line 34 is degraded by the influence of the changed width, and malfunction such as unstable behavior in changing the lane is possibly generated. Accordingly, the periodic check and cleaning of the lower-stage running surface 18 are required. The data produced by the linewidth inspection device 136 can effectively be used in such work operations. - Although the number of dots Ndot is converted into the line width in the above process, it may be determined whether or not the line width exists within the allowable range using the value in which the number of dots Ndot is corrected by the angle Δθamd. The angle correction may be neglected to determine whether or not the line width exists within the allowable range using the number of dots Ndot. For example, in the case when the running control is performed such that the direction correction amount Δθamd of the
motor vehicle 30 is restricted to a constant range, the number of dots Ndot on theline sensor 50 is previously determined, and it may be determined that the line width exceeds the allowable range when the detected number of dots exceeds the number of dots Ndot on theline sensor 50. The number of dots Ndot on theline sensor 50 corresponds to the guide line width Wg in the case when the direction correction amount Δθamd becomes the maximum. In this case, it is not necessary that the inclination be corrected with the direction correction amount Δθamd. On the other hand, for the lower limit value of the line width, on the basis of the detected number of dots corresponding to the line width Wg in the case when themotor vehicle 30 proceeds straight along theguide line 34, it may be determined that the line width is lower than the allowable range when the detected number Ndot of dots is lower than the reference value. - The line width inspection may be performed during the horse-racing game by the line
width inspection device 136 as needed or may appropriately be performed when the race is not performed. For example, in a proper period during which the race is not performed, the line width inspection may be performed such that themain control device 100 provides the instruction for performing line width inspection to cause themotor vehicle 30 to run along theround track 35 in a predetermined running pattern. In the above embodiment, the signal outputted from theline sensor 50 is binarized to distinguish the black portion in the runningsurface 18 from the white portion. Alternatively, theline sensor 50 outputs an analog signal waveform, and the analog signal waveform is digitalized with 256 levels of gray to detect colored portions except for the white and black portions, and the colored portion may be recognized as the dirt and the like. - The preferable mode in which the line width inspection data obtained by the line
width inspection device 136 is utilized will be described below. Because themotor vehicle 30 does not have the function of displaying the line width inspection data, themotor vehicle 30 transmits the line width inspection data to themain control device 100, and the line width inspection data is transmitted to themaintenance server 4 and the like through thenetwork 6 as necessary, which allows the line width inspection data to be effectively used. The method of utilizing the line width inspection data will be described below. -
FIG. 32 is a flowchart showing a procedure of transmitting the line width inspection data from themotor vehicle 30 to themain control device 100. In Step S241, the motorvehicle control device 110 determines whether or not it is good time the line width inspection data is transmitted. When the motorvehicle control device 110 determines it is good time the line width inspection data is transmitted, the flow goes to Step S242. In Step 242, the motorvehicle control device 110 transmits the line width inspection data to themain control device 100. On the other hand, in Step S301, themain control device 100 determines whether or not the inspection data is transmitted from themotor vehicle 30. When themain control device 100 determines that the inspection data is transmitted, the flow goes to Step S302. In Step S302, themain control device 100 stores the line width inspection data in the storage device thereof. Then, the flow returns to Step S301. The time the line width inspection data is transmitted can be set to the time the transmission of the line width inspection data has no influence on the control of the horse-racing game, and the proper time after the race is ended can be set to the transmission time. -
FIG. 33 is a flowchart showing a procedure of managing the line width inspection data. The procedure is performed by themain control device 100 to manage the line width inspection data transmitted from themotor vehicle 30 at an appropriate time after themain control device 100 receives the line width inspection data. In Step S321 ofFIG. 33 , themain control device 100 analyzes the line width inspection data received from themotor vehicle 30, and produces running surface warning data. In Step S322, themain control device 100 stores the running surface warning data in the storage device of themain control device 100. Because the line width inspection data includes the line width which is determined as out of allowable range and the detection position (degree of progress and lane number) of the line width which is determined as out of allowable range, the number of detection times is counted in each detection position, and the data in which the detection position is correlated with the number of detection times is produced and stored as the running surface warning data. The counting of the number of detection times may be neglected to retain only the detection position in the running surface warning data. The detection position may be neglected to retain only the number of detection times in the running surface warning data. It is not always necessary that the detection position be correlated with themagnetic measurement line 36 one by one, but at least two adjacentmagnetic measurement lines 36 may collectively be regard as one detection position. In this case, the amount of running surface warning data can be reduced. As shown by an alternate long and short dash line inFIG. 10 , theround track 35 is divided into plural zones Z1 to Z10, the number of detection times is counted in each zone, and the data in which the number of detection times is correlated with the zone may be produced as the running surface warning data. - Returning to
FIG. 33 , after the running surface warning data is stored; the flow goes to Step S323. In Step S323, themain control device 100 confirms the amount of running surface warning data. In Step S324, themain control device 100 determines whether or not the amount of running surface warning data exceeds a predetermined allowable amount. Themain control device 100 sets the warning flag to one in Step S325, when the amount of running surface warning data exceeds the predetermined allowable amount. In Step S326, themain control device 100 transmits the running surface warning data to themaintenance server 4. Then, the process is ended. Themain control device 100 sets the warning flag to one in Step S325, when the amount of running surface warning data does not exceed a predetermined allowable amount in Step S324. Then, the process is ended. -
FIG. 34 is a flowchart showing a procedure of running surface check management performed by themain control device 100 to display a running surface check screen based on the running surface warning data to an operator (manager) of thegame machine 2. The process ofFIG. 34 is performed based on the instruction of the operator, for example, when thegame machine 2 is controlled in a maintenance mode. In Step S341 ofFIG. 34 , themain control device 100 determines whether or not the warning flag is 1. When the warning flag is 1, the flow goes to Step S342 to display a predetermined warning. It is assumed that the warning display includes a message for urging the operator to inspect or clean the running surface. When the warning flag is not 1, the flow skips Step S342. In Step S343, themain control device 100 reads the running surface warning data. In Step S344, themain control device 100 displays the running surface check screen based on the running surface warning data. Then, the process is ended. - For example, the running surface check screen can be configured as shown in
FIG. 35 . In this example, a coursewhole view 80 in which theround track 35 is illustrated in a planar manner is displayed on the screen whiledots 81 are superposed on the detection position of the coursewhole view 80. The number of detection times may be recognized by changing the display aspect of thedot 81 according to the number of detection times. InFIG. 35 , a diameter of thedot 81 is enlarged as the number of detection times is increased. Alternatively, the color of thedot 81 may be changed according to the number of detection times. The zone where the inspection or cleaning is required may be indicated more clearly to the operator by showing the zone where the number of detection times exceeds the predetermined threshold in the mode different from other zones. InFIG. 35 , the zones Z4, Z9, and Z10 are displayed in the mode different from other zones, whereby it is shown that the necessity of the inspection or cleaning is enhanced in the zones Z4, Z9, and Z10. Furthermore, the zones Z4 and Z9 are displayed in the mode different from the zone Z10, whereby it is shown that the necessity of the inspection or cleaning is further enhanced in the zones Z4 and Z9 compared with the zone Z10. - The running surface check screen is not limited to the example shown in
FIG. 35 . Thedot 81 may be neglected to show only the zone where the inspection or cleaning is required. The display change in each zone may be neglected to show only the detection position with thedot 81. The detection position is not limited to the dot, but the detection position may be indicated by an appropriate index. The courseoverall view 80 is displayed as a perspective view, and a bar graph of a height according to the number of detection times may be displayed in the detection position. - In
FIG. 34 , when the display of the running surface check screen is instructed by the operator, the warning flag is checked to determine whether or not the warning display is required. The warning display is not limited to the example ofFIG. 34 , but the warning display may be performed at appropriate timing. For example, the amount of running surface warning data is recognized in starting up thegame machine 2, and the warning display may be performed when the amount of running surface warning data exceeds the allowable amount. In performing the warning display, the operator may be asked whether or not the running surface check screen is displayed along with the warning display. -
FIG. 36 is a flowchart showing a procedure of processing a maintenance mode which is performed by themain control device 100 when the operator instructs the maintenance mode for the purpose of the inspection, cleaning or the like of the lower-stage running surface 18. In the case when the instruction of the maintenance mode is provided, in Step S361, themain control device 100 provides for starting up the stage drive device 21 (seeFIG. 3 ) to raise thestage 15. Because the sufficient space is generated between the lower-stage running surface 18 and thepower supply surface 20 by raising thestage 15, the operator can easily inspect or clean the lower-stage running surface 18. - In Step S362, the
main control device 100 determines whether or not the operator provides the instruction for ending the maintenance. When the operator provides the instruction, the flow goes to Step S363. In Step S363, themain control device 100 lowers thestage 15. In Step S364, themain control device 100 makes a confirmation to the operator whether or not the running surface warning data is deleted. In Step S365, themain control device 100 determines whether or not the operator provides the instruction for deleting the running surface warning data. When the operator provides the instruction, themain control device 100 deletes the running surface warning data, namely, themain control device 100 deletes the running surface warning data in Step S366. Then, the process is ended. On the other hand, when the operator does not provide the instruction in Step S365, the flow skips Step S366, and the process is ended. - The running surface warning data is transmitted to the
maintenance server 4 in Step S326 ofFIG. 33 . Alternatively, the running surface check screen shown inFIG. 35 may be displayed to confirm the state of the runningsurface 18 by performing the process similar to that of themain control device 100 even in themaintenance server 4 which receives the running surface warning data. The running surface warning data may be analyzed more finely with themaintenance server 4. The state of the lower-stage running surface 18 is confirmed with themaintenance server 4, and the server manager may urge the operator of the store where thegame machine 2 is installed to perform the cleaning and the like. The line width inspection data is transmitted to themaintenance server 4, themaintenance server 4 produces the running surface warning data, and the running surface check screen or the warning may be displayed based on the running surface warning data. - In the above embodiments, the line sensor (50) corresponds to the guide line detecting device, the
gyro sensor 111 corresponds to the direction detecting device, themagnetic sensor 52 corresponds to the longitudinal direction position detecting device, and the motorvehicle control device 110 corresponds to the run control device. The combination of therun control device 30, thecommunication control circuit 114, and thetransmitter 112 corresponds to the data output device, and themain control device 100 corresponds to the game control device. The combination of thecommunication device 101, therelay device 102, thetransmitter 112, thereceiver 113, and thecommunication control circuit 114 corresponds to the communication means. Themain control device 100 and themaintenance server 4 correspond to the running surface maintenance device. The linewidth inspection device 136 of the motorvehicle control device 110 acts as the line width inspection means. - In the above embodiments, the
magnetic measurement line 36 is detected by themagnetic sensor 52 to determine the position of themotor vehicle 30 in the longitudinal direction of theguide line 34. However, the determination of the position in the longitudinal direction of the guide line is not limited to the method using the above means. For example, a rotation amount of thedrive wheel 42 may be accumulated to determine the position of themotor vehicle 30. The direction detection of themotor vehicle 30 is not limited to the method using thegyro sensor 111, but various changes may be made. For example, the direction may be detected based on the difference in rotation speed between thedrive wheels 42. - The invention is not limited to a game machine having a lower-stage running surface and an upper-stage running surface. The invention can be applied to the game machine having a single running surface as long as the guide line is detected to control the running of the self-running body. The game performed in the game machine is not limited to a horse-racing game. The guide line is not limited to the guide line which is provided so as to form the round track, but the guide line may be provided so as to form a straight track. The invention can be applied not only to a network-connected game machine but also to a stand-alone type game machine which is disconnected from the network.
Claims (20)
1. A game machine comprising:
a game machine main body having a running surface on which a guide line is provided; and
a self-running body capable of self-running on the running surface and having a guide line detecting device for detecting the guide line and a run control device for controlling the running of the self-running body according to the result of detection by the guide line detecting device, wherein
the guide line detecting device is a line sensor having light-receiving elements arranged in the lateral direction of the self-running body for detecting the luminance distribution in a predetermined detection region including the guide line of the running surface, and
the self-running body is further provided with a line width inspection device for determining the line width of the detected guide line according to the output of the line sensor.
2. The game machine according to claim 1 , wherein the line width inspection device further determines suitability of the determined line width.
3. The game machine according to claim 1 , wherein
the self-running body includes a direction detecting device for detecting information necessary to specify a directional shift of the self-running body in the longitudinal direction of the guide line,
the run control device being configured to determine the directional shift of the self-running body with respect to the longitudinal direction of the guide line based on the result of detection by the direction detecting device, and further to control the running of the self-running body by referring to the result of the determination, and
the line width inspection device determines the line width based on the result of detection by the guide line detecting device and the directional shift determined by the run control device.
4. The game machine according to claim 1 , wherein
the self-running body includes a longitudinal-direction position detecting device for detecting information necessary to specify a position of the self-running body in the longitudinal direction of the guide line,
the run control device is configured to determine the position of the self-running body on the running surface based on the results of detection by the longitudinal direction position detecting device and the line sensor, and to control the running of the self-running body based on the result of the determination, and
the line width inspection device generates inspection data in which the result of the determination of the line width is correlated with the position of the self-running body determined by the run control device.
5. The game machine according to claim 4 , wherein
the self-running body includes a data output device for outputting the inspection data to the outside of the self-running body.
6. The game machine according to claim 4 , further comprising a running surface maintenance device which performs a predetermined process based on the inspection data outputted from the self-running body so as to notify the game machine manager of the state of the running surface.
7. The game machine according to claim 6 , wherein
in the predetermined process, the running surface maintenance device produces data for specifying the position on the running surface where the line width is unsuitable and for specifying the number of detection times of the position based on the inspection data outputted from the self-running body; collects the data; and displays a running surface check screen indicating the position on the running surface where the line width is unsuitable and the number of detection times of the position based on the collected data.
8. The game machine according to claim 6 , wherein
in the predetermined process, the running surface maintenance device generates data for specifying at least one of the position on the running surface where the line width is unsuitable and the number of detection times of the position based on the inspection data outputted from the self-running body, collects the data, and provide a predetermined warning to the game machine manager when amount of the collected data exceeds a predetermined allowable amount.
9. The game machine according to claim 6 , comprising:
a game control device which makes the run control device of the self-running body to perform a predetermined game by transmitting to the run control device an instruction for the running of the self-running body through predetermined communication means, wherein
the game control device acts as the running surface maintenance device.
10. The game machine according to claim 6 , wherein
the game machine is connected to a server for managing the game machine through a predetermined network, and
the server acts as the running surface maintenance device.
11. A self-running body comprising:
a guide line detecting device for detecting the guide line provided on a running surface of a game machine; and
a run control device for controlling the running of the self-running body according to the result of detection by the guide line detecting device, wherein
the guide line detecting device is a line sensor having light-receiving elements arranged in the lateral direction of the self-running body for detecting the luminance distribution in a predetermined detection region including the guide line of the running surface, and
the self-running body is further provided with a line width inspection device for determining the line width of the detected guide line according to the output of the line sensor.
12. The self-running body according to claim 11 , wherein the line width inspection device further determines suitability of the determined line width.
13. The self-running body according to claim 11 , wherein
the self-running body includes a direction detecting device for detecting information necessary to specify a directional shift of the self-running body in the longitudinal direction of the guide line,
the run control device being configured to determine the directional shift of the self-running body with respect to the longitudinal direction of the guide line based on the result of detection by the direction detecting device, and further to control the running of the self-running body by referring to the result of the determination, and
the line width inspection device determines the line width based on the result of detection by the guide line detecting device and the directional shift determined by the run control device.
14. The self-running body according to claim 11 , wherein
the self-running body includes a longitudinal-direction position detecting device for detecting information necessary to specify a position of the self-running body in the longitudinal direction of the guide line,
the run control device is configured to determine the position of the self-running body on the running surface based on the results of detection by the longitudinal direction position detecting device and the line sensor, and to control the running of the self-running body based on the result of the determination, and
the line width inspection device generates inspection data in which the result of the determination of the line width is correlated with the position of the self-running body determined by the run control device.
15. The self-running body according to claim 14 , comprising a data output device for outputting the inspection data to the outside of the self-running body.
16. The game machine according to claim 3 , wherein
the self-running body includes a longitudinal-direction position detecting device for detecting information necessary to specify a position of the self-running body in the longitudinal direction of the guide line,
the run control device is configured to determine the position of the self-running body on the running surface based on the results of detection by the longitudinal direction position detecting device and the line sensor, and to control the running of the self-running body based on the result of the determination, and
the line width inspection device generates inspection data in which the result of the determination of the line width is correlated with the position of the self-running body determined by the run control device.
17. The game machine according to claim 16 , wherein
the self-running body includes a data output device for outputting the inspection data to the outside of the self-running body.
18. The game machine according to claim 16 , further comprising a running surface maintenance device which performs a predetermined process based on the inspection data outputted from the self-running body so as to notify the game machine manager of the state of the running surface.
19. The game machine according to claim 18 , wherein
in the predetermined process, the running surface maintenance device produces data for specifying the position on the running surface where the line width is unsuitable and for specifying the number of detection times of the position based on the inspection data outputted from the self-running body; collects the data; and displays a running surface check screen indicating the position on the running surface where the line width is unsuitable and the number of detection times of the position based on the collected data.
20. The game machine according to claim 18 , wherein
in the predetermined process, the running surface maintenance device generates data for specifying at least one of the position on the running surface where the line width is unsuitable and the number of detection times of the position based on the inspection data outputted from the self-running body, collects the data, and provide a predetermined warning to the game machine manager when amount of the collected data exceeds a predetermined allowable amount.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005017753A JP3885081B2 (en) | 2005-01-26 | 2005-01-26 | Game machine and self-propelled body used therefor |
JP2005-017753 | 2005-01-26 | ||
PCT/JP2006/300594 WO2006080214A1 (en) | 2005-01-26 | 2006-01-18 | Game machine self-traveling body |
Publications (1)
Publication Number | Publication Date |
---|---|
US20090011816A1 true US20090011816A1 (en) | 2009-01-08 |
Family
ID=36740248
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US11/814,711 Abandoned US20090011816A1 (en) | 2005-01-26 | 2006-01-18 | Game Machine and Self-Running Body For Use Therein |
Country Status (7)
Country | Link |
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US (1) | US20090011816A1 (en) |
JP (1) | JP3885081B2 (en) |
KR (1) | KR100902715B1 (en) |
GB (2) | GB2437457B (en) |
HK (1) | HK1106931A1 (en) |
TW (1) | TW200638978A (en) |
WO (1) | WO2006080214A1 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109186432B (en) * | 2018-09-29 | 2021-03-02 | 滁州欧博特电子制造有限公司 | Heavy-load precision guide rail precision detection device and detection method thereof |
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US5320351A (en) * | 1991-05-30 | 1994-06-14 | Sega Enterprises Ltd. | Simulated visual display system for a game device |
US5411258A (en) * | 1994-03-17 | 1995-05-02 | Fresh Logic Ltd. | Interactive video horse-race game |
US5472192A (en) * | 1993-03-29 | 1995-12-05 | Eto Denki Co. | Racing game apparatus |
US5601490A (en) * | 1993-08-25 | 1997-02-11 | Konami Co., Ltd. | Track racing game machine |
US5770533A (en) * | 1994-05-02 | 1998-06-23 | Franchi; John Franco | Open architecture casino operating system |
US6394898B1 (en) * | 1996-08-02 | 2002-05-28 | Sega Enterprises Ltd. | Race game device |
US6840837B2 (en) * | 2001-01-10 | 2005-01-11 | Konami Corporation | Racing game machine |
US7235013B2 (en) * | 2000-12-07 | 2007-06-26 | Konami Corporation | Game machine using self-propelled members |
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JPH11244510A (en) * | 1998-03-03 | 1999-09-14 | Seiko Precision Inc | Travel control device of traveling body |
JP3668159B2 (en) * | 2001-07-19 | 2005-07-06 | コナミ株式会社 | Race direction reversal operation system in line-guided race game machine |
JP3857115B2 (en) * | 2001-11-30 | 2006-12-13 | 株式会社コナミデジタルエンタテインメント | Driving control method in line guidance type racing game apparatus |
JP3869728B2 (en) * | 2002-01-09 | 2007-01-17 | 株式会社コナミデジタルエンタテインメント | Method for detecting direction of self-propelled body in line-guided racing game device |
-
2005
- 2005-01-26 JP JP2005017753A patent/JP3885081B2/en not_active Expired - Fee Related
-
2006
- 2006-01-18 KR KR1020077019385A patent/KR100902715B1/en not_active IP Right Cessation
- 2006-01-18 WO PCT/JP2006/300594 patent/WO2006080214A1/en not_active Application Discontinuation
- 2006-01-18 GB GB0714443A patent/GB2437457B/en not_active Expired - Fee Related
- 2006-01-18 US US11/814,711 patent/US20090011816A1/en not_active Abandoned
- 2006-01-18 GB GB0714446A patent/GB2437458B/en not_active Expired - Fee Related
- 2006-01-23 TW TW095102504A patent/TW200638978A/en not_active IP Right Cessation
-
2008
- 2008-01-17 HK HK08100632.6A patent/HK1106931A1/en not_active IP Right Cessation
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5320351A (en) * | 1991-05-30 | 1994-06-14 | Sega Enterprises Ltd. | Simulated visual display system for a game device |
US5472192A (en) * | 1993-03-29 | 1995-12-05 | Eto Denki Co. | Racing game apparatus |
US5601490A (en) * | 1993-08-25 | 1997-02-11 | Konami Co., Ltd. | Track racing game machine |
US5411258A (en) * | 1994-03-17 | 1995-05-02 | Fresh Logic Ltd. | Interactive video horse-race game |
US5770533A (en) * | 1994-05-02 | 1998-06-23 | Franchi; John Franco | Open architecture casino operating system |
US6394898B1 (en) * | 1996-08-02 | 2002-05-28 | Sega Enterprises Ltd. | Race game device |
US7235013B2 (en) * | 2000-12-07 | 2007-06-26 | Konami Corporation | Game machine using self-propelled members |
US6840837B2 (en) * | 2001-01-10 | 2005-01-11 | Konami Corporation | Racing game machine |
Also Published As
Publication number | Publication date |
---|---|
GB2437457A (en) | 2007-10-24 |
GB2437458A9 (en) | 2009-03-11 |
GB0714446D0 (en) | 2007-09-05 |
GB2437457A9 (en) | 2009-03-11 |
HK1106931A1 (en) | 2008-03-20 |
WO2006080214A1 (en) | 2006-08-03 |
GB2437457B (en) | 2009-11-18 |
GB2437458B (en) | 2009-11-18 |
TWI302848B (en) | 2008-11-11 |
GB0714443D0 (en) | 2007-09-05 |
KR20070104434A (en) | 2007-10-25 |
KR100902715B1 (en) | 2009-06-15 |
JP3885081B2 (en) | 2007-02-21 |
TW200638978A (en) | 2006-11-16 |
GB2437458A (en) | 2007-10-24 |
GB2437458A8 (en) | 2007-11-05 |
JP2006204395A (en) | 2006-08-10 |
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Owner name: KONAMI DIGITAL ENTERTAINMENT CO., LTD., JAPAN Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:ISHIMARU, TETSUO;ATSUCHI, SATORU;REEL/FRAME:019758/0923 Effective date: 20070808 |
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