WO2006080214A1

WO2006080214A1 - Game machine self-traveling body

Info

Publication number: WO2006080214A1
Application number: PCT/JP2006/300594
Authority: WO
Inventors: Tetsuo Ishimaru; Satoru Atsuchi
Original assignee: Konami Digital Entertainment Co., Ltd.
Priority date: 2005-01-26
Filing date: 2006-01-18
Publication date: 2006-08-03
Also published as: GB2437458A; TWI302848B; GB0714443D0; GB2437458B; GB2437458A8; TW200638978A; GB2437458A9; KR100902715B1; GB2437457B; JP2006204395A; HK1106931A1; JP3885081B2; GB0714446D0; US20090011816A1; GB2437457A9; GB2437457A; KR20070104434A

Abstract

A game machine enabling lightening of the load of the management of a traveling surface by using the guide line detecting function of a self-traveling body. A game machine comprises a game machine body (10) having a traveling surface (18) on which a guide line (34) is provided and a self-traveling body (30) capable of self-traveling on the traveling surface (18) and having a guide line detecting unit for detecting the guide line (34) and a traveling control unit (110) for controlling the travel of the self-traveling body according to the result of detection by the guide line detecting unit. The guide line detecting unit is a line sensor (50) having light-receiving elements arranged in the lateral direction of the self-traveling body (30) to detect the luminance distribution in a predetermined detection area including the guide line (34) of the traveling surface (18). The self-traveling body (30) is provided with the line width inspecting section (136) for judging the line width of the detected guide line (34) according to the output of the line sensor (50).

Description

Specification

Game machine and self-propelled body used therefor

Technical field

The present invention relates to a game machine that executes a racing game such as a horse race by causing a self-propelled body placed on a running surface to self-run.

Background art

[0002] As this type of horse racing game machine, the amount of deviation of the self-propelled body relative to the guide line on the running surface is detected using light receiving elements arranged in the left-right direction of the self-propelled body, and the amount of deviation detected A game machine that controls the position of the self-propelled body in the width direction based on the above is known (see, for example, Patent Document 1).

Patent Document 1: Japanese Patent Laid-Open No. 2003-33567

Disclosure of the invention

Problems to be solved by the invention

[0003] In the above-described conventional game machine, if the line width of the guide line increases or decreases from the original line width due to dirt on the running surface, adhesion of foreign matter, peeling of the guide line, etc. A detection error may occur with respect to the position of the self-propelled vehicle in the width direction of the line, which may lead to inconvenience that the control accuracy of the position of the self-propelled vehicle decreases or the self-propelled vehicle cannot travel normally. If linear traces or dots similar to the guide line are formed due to accumulation of dirt on the running surface, this may be mistakenly recognized as a guide line and an error may occur in travel control. However, since there is no means for inspecting the running surface in the conventional game machine, it is necessary for the administrator of the game machine to visually inspect the running surface and perform management work such as cleaning, which places a heavy burden on the administrator. The possibility of incurring the above-mentioned inconvenience due to neglecting the running surface is not small.

[0004] Therefore, the present invention reduces the burden on the management of the running surface by using the guide line detection function of the self-propelled body, and a game machine that can contribute to the appropriate management of the running surface and The purpose is to provide a running body.

Means for solving the problem [0005] A game machine of the present invention includes a game machine body having a running surface with a guide line, and a self-running body capable of running on the running surface. In the game machine provided with the guiding wire detecting means for detecting the guiding wire and the traveling control means for controlling the traveling of the self-running body based on the detection result of the guiding wire detecting means, A line sensor for detecting a luminance distribution in a predetermined detection area including the guide line on the running surface is provided by a light receiving element group arranged in the left-right direction of the self-running body, and the detected guidance is provided on the self-running body. A line width inspection means for determining the line width of the line based on the output of the line sensor is further provided to solve the above-described problem.

[0006] In addition, the self-propelled body of the present invention includes a guide line detection unit that detects a guide line attached to a running surface of a game machine, and a running on the running surface based on a detection result of the guide line detection unit. A self-propelled body provided with a travel control means for controlling a row, wherein the guide wire on the travel surface is formed by a light receiving element group arranged in the left-right direction of the self-propelled body as the guide line detecting means. A line sensor that detects a luminance distribution in a predetermined detection area including the line sensor, and further includes a line width inspection unit that determines the line width of the detected guide line based on the output of the line sensor. Solve the problem.

[0007] In the present invention, the traveling control means of the self-propelled vehicle specifies the luminance range corresponding to the luminance distribution force induction line detected by the line sensor as the induction line detection means, thereby generating the guide line in the detection region. The position of the self-propelled vehicle in the width direction of the guide wire is determined using the position of the identified guide line in the detection area as a clue, and the traveling of the self-propelled vehicle is controlled with reference to the determination result. Since the line sensor is composed of a large number of light receiving elements arranged in a line, the guide line can be detected with a fine pitch compared to the line width and the line width of the guide line can be determined with high resolution. . Since the self-propelled vehicle determines the line width of the guide line, the burden on the management of the traveling surface can be reduced by using the determination result for the inspection of the traveling surface. In the present invention, the line width discrimination target by the line width inspection means is not limited to the original guide line. Line marks, dots, etc. formed by dirt or foreign matter are also included in the category of “detected guide lines”. The occurrence or existence of the similarities of the guide line caused by such contamination can be detected by applying line width discrimination. In one embodiment of the present invention, the line width inspection means may further determine whether the determined line width is appropriate. By determining whether the line width is appropriate or not, it is possible to easily grasp the occurrence of an abnormality related to the line width.

[0009] In one embodiment of the present invention, the self-propelled body is provided with direction detecting means for detecting information necessary for specifying the deviation of the direction of the self-propelled body with respect to the longitudinal direction of the guide line. The travel control means determines a shift in the direction of the self-propelled body with respect to the longitudinal direction of the guide line based on the detection result of the direction detecting means, and further refers to the determination result to The line width detecting means may determine the line width based on the detection result of the guide line detecting means and the deviation of the direction determined by the traveling control means. ,.

[0010] When the line sensor is inclined with respect to the guide line, the width of the luminance range corresponding to the guide line in the detection region of the line sensor is also increased or decreased according to the tilt of the line sensor. For this reason, when the line width of the guide line is determined based only on the width of the luminance range, an error corresponding to the inclination of the line sensor may be included in the determined line width. On the other hand, when the deviation of the direction of the self-propelled body with respect to the longitudinal direction of the guide line is discriminated and the discrimination result is referred to the running control, the line sensor uses the deviation of the direction to detect the direction of the guide line. It is possible to grasp how much the force is inclined with respect to the longitudinal direction. Therefore, if the deviation in the direction referred to in the travel control is also referred to in the line width determination, an error in the line width corresponding to the inclination of the line sensor with respect to the guide line without providing new sensors for determining the line width. The line width can be determined more accurately.

[0011] In one embodiment of the present invention, the self-propelled body is provided with a longitudinal direction position detecting means for detecting information necessary for specifying the position of the self-propelled body with respect to the longitudinal direction of the guide wire. The traveling control means determines the position of the self-propelled body on the traveling surface based on the detection results of the longitudinal position detecting means and the line sensor, and based on the determination result, the self-propelled body. The line width inspection means may create inspection data in which the determination result relating to the line width and the position of the self-propelled body determined by the travel control means are associated with each other.

[0012] According to this aspect, by referring to the examination data, the line width of the guide line, or the line width It is possible to grasp the suitability of the vehicle in association with the position on the traveling surface, thereby making it easier to manage the traveling surface. For example, it is possible to easily identify the position requiring inspection on the running surface from the inspection data. Since inspection data can be created using the position in the longitudinal and width directions of the lead wire that the self-propelled body has identified for travel control, a new sensor is used to create the inspection data. There is no need to provide a kind. The created inspection data can be referred to by an administrator through appropriate means. The self-propelled body itself may be provided with a means for displaying inspection data. The inspection data may be stored in a storage medium attached to the self-propelled body, and when necessary, the storage medium may be detached from the self-propelled body and the inspection data may be read out.

[0013] Furthermore, the self-propelled body may be provided with data output means for outputting the inspection data to the outside of the self-propelled body. This makes it easy to receive inspection data outside the vehicle and to check the running surface based on that data. In this case, the game machine has a running surface management device that executes predetermined processing for notifying the game machine administrator of the state of the running surface based on the inspection data output from the self-running body. Further, it may be provided. The game machine administrator can easily check the running surface at the game machine installation location.

[0014] The traveling surface management device detects the position on the traveling surface where the line width is inappropriate and the position based on the inspection data output from the self-propelled body as the predetermined process. Creates data for specifying the number of times and accumulates the data. Based on the accumulated data, the surface where the line width is determined to be inappropriate and the number of times the position is detected is checked. A screen may be displayed. According to this form, the administrator of the game machine grasps the position where the line width is inappropriate and the number of detections related to the position via the traveling surface check screen, and confirms the necessity for inspection, cleaning, etc. on the traveling surface. It can be determined in association with the position.

[0015] The traveling surface management device, as the predetermined processing, based on the inspection data output from the self-propelled body, the position on the traveling surface where the line width is inappropriate or the position of the position Data for identifying at least one of the number of detection times is created and accumulated, and when the accumulated data amount exceeds a predetermined allowable amount, a predetermined amount is given to the administrator of the game machine. A warning may be given. According to this form, the test sent from the self-propelled body It is possible to prompt the administrator of the game machine to check the running surface based on the 查 data.

[0016] In the embodiment in which the traveling surface management device is provided, an instruction related to traveling of the self-propelled body is transmitted to the traveling control means of the self-propelled body via predetermined communication means to execute a predetermined game. When a game control device is provided, the game control device may function as the running surface management device. As a result, using the configuration for giving a driving instruction to the self-propelled vehicle, the inspection data is transferred from the self-propelled vehicle to the game control device, and the state of the running surface is grasped using the game control device. be able to.

[0017] When the game machine is connected to a server for managing the game machine via a predetermined network, the server is caused to function as the running surface management device. Moyore. As a result, the server administrator can grasp the state of the running surface, and the server administrator provides information regarding the running surface to the store where the game machine is installed. Inspection, cleaning, etc. can be encouraged.

The invention's effect

[0018] As described above, according to the present invention, the width of the guide wire or the width of the guide wire is detected using the configuration for detecting the guide wire attached to the running surface and controlling the running of the self-propelled vehicle. By determining suitability, it is possible to detect the occurrence of abnormalities such as dirt on the running surface, adhesion of foreign matter, and peeling of the guide wire. Therefore, it is possible to reduce the burden of the game machine manager when managing the running surface, and to provide a game machine and a self-propelled body that can contribute to appropriate management of the running surface.

Brief Description of Drawings

FIG. 1 is a diagram showing a schematic configuration of a game system in which a game machine according to one embodiment of the present invention is incorporated.

FIG. 2 is a perspective view of the field unit when the stage is raised.

[Fig. 3] A side view of the field unit when the stage is raised.

FIG. 4 is a perspective view of the field unit when the stage is lowered.

FIG. 5 is a side view of 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 a state where the VII portion of FIG. 2 is viewed from below. FIG. 8 is a view showing a cross section of the top plate provided in the field unit, and a self-propelled vehicle and a model that travel on those traveling surfaces.

[9] A diagram showing a guide line and a magnetic measurement line provided on the lower running surface.

FIG. 10 is a plan view of a peripheral circuit provided on the lower running surface.

[Fig. 11] An enlarged view of the corner section of the circuit.

FIG. 12 is a diagram showing the internal structure of the self-propelled body.

[Fig. 13] Bottom view of the self-propelled body.

FIG. 14 is a sectional view taken along line XIV—XIV in FIG.

FIG. 15 is an enlarged front view of the line sensor.

[FIG. 16] An enlarged bottom view of the line sensor.

FIG. 17A is a diagram showing the relationship between the output of the magnetic sensor and the magnetic measurement line when the self-propelled body is traveling in a straight section, and shows the relationship between the magnetic sensor and the magnetic measurement line.

FIG. 17B is a diagram showing the relationship between the output of the magnetic sensor and the magnetic measurement line when the self-propelled body is traveling in a straight section, and shows the output of each detection unit of the magnetic sensor.

18A] A diagram showing the relationship between the magnetic sensor output and the magnetic measurement line when the self-propelled vehicle is traveling in a lane other than the innermost circumference of the corner section. The figure which shows a relationship.

FIG. 18B is a diagram showing the relationship between the output of the magnetic sensor and the magnetic measurement line when the self-propelled vehicle is traveling on a lane other than the innermost circumference of the corner section, and shows the relationship between each detection unit of the magnetic sensor. The figure which shows output.

19] A diagram showing a schematic configuration of a game machine control system.

FIG. 20 is a block diagram showing a control system provided in the self-propelled vehicle.

[Sen 21] A diagram showing the concept of control related to the progress of the self-propelled vehicle, the position and direction in the transverse direction.

FIG. 22 is a functional block diagram of the self-propelled vehicle control device.

[Sen23] A flowchart showing the progress management procedure in the progress management section.

FIG. 24] A flowchart showing a target speed calculation procedure in the target speed calculation unit.

FIG. 25 is a diagram showing the relationship between the reversal count, the reversal reference time, the remaining time, and the insufficient progress amount. 26] A flow chart showing the procedure of direction management in the direction management unit. FIG. 27 is a flowchart showing a calculation procedure of a direction correction amount in a direction correction amount calculation unit.

FIG. 28 is a flowchart showing a lane management procedure in the lane management unit.

FIG. 29 is a diagram showing a correspondence relationship between the shift of the position of the line sensor relative to the guide line and the output of the line sensor.

FIG. 30 is a flowchart showing the calculation procedure of the lane correction amount in the lane correction amount calculation unit.

FIG. 31 is a flowchart showing a line width inspection procedure in a line width inspection unit.

FIG. 32 is a flowchart showing a procedure for transmitting line width inspection data to the main control device.

FIG. 33 is a flowchart showing a procedure for managing line width verification data in the main control unit.

FIG. 34 is a flowchart showing a procedure of running surface check management in the main control device.

FIG. 35 is a diagram showing an example of a running surface check screen.

FIG. 36 is a flowchart showing processing in a maintenance mode in the main control device. BEST MODE FOR CARRYING OUT THE INVENTION

FIG. 1 is a diagram showing a schematic configuration of a game system in which a game machine according to one embodiment of the present invention is incorporated. The game system 1 is for executing a horse racing game, and includes a plurality of game machines 2A, 2B, 2C, a center server 3, a maintenance server 4, and the like connected to each other via a communication network 6. Maintenance client 5 is provided. Each of the game machines 2A to 2C in the game system 1 has the same configuration. Therefore, hereinafter, when there is no need to distinguish between them, it is referred to as a game machine 2. Although FIG. 1 shows three game machines 2, the number of game machines 2 included in the game system 1 is not limited to this.

The center server 3 mainly processes data relating to the game in response to a request from the game machine 2. The maintenance server 4 stores and manages data related to maintenance such as error log information of the game system 1 in the maintenance storage unit 4a which is its own storage unit. The maintenance client 5 is provided, for example, in a maintenance service unit that centrally manages the maintenance of the game system 1 and performs analysis and analysis related to the maintenance of the game system 1 using data stored in the maintenance storage unit 4a. The Internet is used as an example for communication network 6. Used.

The game machine 2 is installed in a store and is configured as a commercial game machine that plays a game in exchange for economic value. The game machine 2 housing (game machine body) 10 is arranged at one end of the field unit 11 and a plurality of station units 12... 12 arranged so as to surround the field unit 11. The monitor unit 13 is provided. The Fino Red unit 11 provides running surfaces 18 and 19 for the self-propelled vehicle (self-propelled body) 30 and the racehorse model 31 shown in FIG. A plurality of self-propelled vehicles 30 and models 31 are installed on the field unit 11, and a horse racing game is realized by competing them. The station unit 12 accepts various operations of the player regarding the horse racing game, and executes a game value payout to the player. The monitor unit 13 includes a main monitor 13a for displaying game information and the like.

FIG. 2 is a perspective view of the field unit 11, and FIG. 3 is a side view thereof. As shown in these drawings, the field unit 11 includes a base 14 as a lower structure and a stage 15 as an upper structure that covers the upper portion of the base 14. Base 14 and stage 15 are both frame structures that combine steel materials. The top plate 16 and 17 force S are attached to the upper surfaces of the base 14 and the stage 15, respectively. On the top surface of the top plate 16 of the base 14, a lower traveling surface 18 on which the self-propelled vehicle 30 travels is provided. On the other hand, an upper traveling surface 19 on which the model 31 travels is provided on the upper surface of the top plate 17 of the stage 15, and a power feeding surface 20 for the self-propelled vehicle 30 is provided on the lower surface of the top plate 17.

The stage 15 is provided so as to be movable up and down with respect to the base 14. Figures 2 and 3 show the stage 15 raised. Figures 4 and 5 show the stage 15 lowered. 4 is a perspective view corresponding to FIG. 2, and FIG. 5 is a side view corresponding to FIG. The range of stage 15 is as follows. As shown in FIG. 5, with the stage 15 lowered until it comes into contact with the receiving portion 14a of the base 14, the space SP is empty between the lower running surface 18 and the power feeding surface 20. The height Hd of the space SP at this time (see Fig. 5) is a value suitable for accommodating the self-propelled vehicle 30. On the other hand, the height Hu (see FIG. 3) of the space SP when the stage 15 is raised is expanded to such an extent that an operator can put at least the upper body into the space SP. As a guideline, the height Hu should be 400mm or more. For convenience of loading and unloading of the field unit 11, the base 14 and the stage 15 can be divided into three subunits 14A to 14C and 15A to 15C in the front-rear direction as shown in FIG. The top plate 16 of the base 14 is injured 3 times according to the subunits 14A-14C. The subunits 14A to 14C are joined to each other by connecting means such as bolts. The same applies to the subunits 15A to 15C.

As shown in FIGS. 2 and 3, the field unit 11 is provided with a stage drive device (lifting drive device) 21 for driving the stage 15 in the vertical direction. The stage drive device 21 generates a plurality of hydraulic cylinders (actuators) 22 arranged around the field unit 11 at appropriate intervals, and generates hydraulic pressure as a power source for supplying hydraulic pressure to each hydraulic cylinder 22. It is equipped with device 23. The hydraulic cylinder 22 is provided so that the piston rod 22a faces upward. There are six hydraulic cylinders 22 in total, one on each side of each of the subunits 14A to 14C. However, the number is not limited to this. It is sufficient that at least one hydraulic cylinder 22 is arranged for each of the subunits 14A to 14C. As shown in FIG. 7, the cylinder tube 22b of the hydraulic cylinder 22 is fixed to the base 14, and the tip of the piston rod 22a is connected to the stage 15 via the adjuster device 24. Accordingly, the stage 15 is raised by supplying hydraulic pressure to the hydraulic cylinder 22 and extending the piston rod 22a.

[0026] The adjuster device 24 includes an adjuster 24a fixed to the tip of the piston rod 22a, and an adjuster receiver 24b fixed to the stage 15. The agiyasta 24a is inserted into the agiyasta receiver 24b with some play without being fixed to the agiyasta receiver 24b. Accordingly, misalignment of the piston rod 22a during the operation of the hydraulic cylinder 22 is allowed, and the stage 15 can be raised and lowered smoothly by operating the plurality of hydraulic cylinders 22 without mutual interference. The hydraulic pressure generator 23 is driven by electric power supplied to the game machine 2 and generates a hydraulic pressure suitable for the hydraulic cylinder 22. The operation of the hydraulic pressure generator 23 is controlled by a main controller 100 (see FIG. 19) for managing the overall operation of the game machine 2.

FIG. 8 is a view showing a cross section of the top plates 16 and 17 and a self-propelled vehicle 30 and a model 31 that travel on the traveling surfaces 18 and 19 thereof. The top plate 16 of the base 14 is composed of a white resin plate. A line sheet 32 is provided on the lower traveling surface 18 of the upper surface, and a magnet (permanent magnet) 33 is provided on the lower surface. As shown in FIG. 9, the line sheet 32 is for forming a plurality of guide lines 34 for guiding the self-propelled vehicle 30 on the lower travel surface 18. The guide wire 34 is colored in a color (for example, black) having a contrast in the visible light range with respect to the ground color (white) of the top plate 16. The width Wg of the guide wire 34 is 1Z2 of the mutual pitch (interval) Pg of the guide wire 34. For example, Wg = 6 mm and Pg = 12 mm. As shown in FIG. 10, the guide wire 34 is provided so as to form a peripheral circuit 35. The peripheral circuit 35 is configured by connecting a straight section 35a in which the guide lines 34 extend in parallel with each other and a corner section 35b in which the guide lines 34 are bent in a semicircular shape. In both the straight section 35a and the corner section 35b, the width Wg and the pitch PTg of the guide wire 34 are constant. The centers of curvature CC of the guide lines 34 in the corner section 35b coincide with each other.

In the game machine 2, the guide wire 34 is positioned as an index indicating the lane of the peripheral circuit 35. For example, the innermost guide line 34 corresponds to the first lane, and the guide line 34 and the lane number are associated with each other, such as the second lane, the third lane,. In the game machine 2, the position of the self-propelled vehicle 30 in the transverse direction of the circuit 35 (direction orthogonal to the guide line 34) is identified by the lane number. The self-propelled vehicle 30 controls its own operation so as to travel along the guide line 34 corresponding to the current lane unless the main control device 100 instructs to change the lane. In FIG. 10, the number of guide lines 34 is six. The number of forces may be changed as appropriate according to the number of horses to be used in the horse racing game.

As shown in FIG. 9, the magnets 33 are arranged so that the S poles and the N poles are alternately arranged. In the straight section 35a, the magnet 33 has a belt-like shape extending in the transverse direction, and in the corner section 35b, it has a fan shape extending toward the outer periphery. Thus, a large number of magnetic measurement lines 36 extending in the transverse direction of the peripheral circuit 35 are repeatedly formed along the longitudinal direction of the peripheral circuit 35 on the lower traveling surface 18 at the boundary position between the S pole and the N pole. . The magnetic measurement line 36 is used as an index indicating the position or progress of the vehicle 30 in the circuit 35. That is, in the game machine 2, the progress of the self-propelled vehicle 30 in the longitudinal direction of the peripheral circuit 35 is managed by the number of the magnetic measurement lines 36 based on a specific position on the peripheral circuit 35 (for example, the position Pref in FIG. 10). Is done. For example, when the self-propelled vehicle 30 is located on the 100th magnetic measurement line 36 from the reference position Pref, The progress of the self-propelled vehicle 30 is recognized by the game machine 2 as 100.

[0030] The pitch (interval) of the magnetic measurement lines 36 in the straight section 35a is set to a constant value PTm. Hereinafter, this pitch PTm is referred to as a reference pitch. As shown in FIG. 11, the pitch of the magnetic measurement line 36 in the corner section 35b is set so that the pitch PTin of the magnetic measurement line 36 in the innermost induction line 34 matches the reference pitch PTm. Therefore, the pitch of the magnetic measurement lines 36 in the corner section 35b increases toward the outer periphery. As an example, when the reference pitch PTm is 8 mm, the pitch (maximum pitch) PTout on the outermost guide wire 34 is approximately 30 mm.

As shown in FIG. 10, an absolute position indicating device 37 is provided at an appropriate position of the peripheral circuit 35 (in the illustrated example, both ends of the straight section 35a and the apex position of the corner section 35b). As shown in FIG. 8, the absolute position indicating device 37 includes an indicating lamp 38 disposed on the lower surface of the top plate 18. The indicator lamp 38 is an infrared LED that emits infrared light. As shown in FIG. 9, one indicator lamp 38 is provided on the lower surface of each guide wire 34, and the indicator lamps 38 are arranged in the transverse direction of the peripheral circuit 35 in one indicator device 37. An opening is provided in each of the top plate 18 and the magnet 33 just above the indicator lamp 38. The guide wire 34 is made of IR ink that transmits infrared light at least directly above the indicator lamp 38.

[0032] The position of the indicator lamp 38 in the longitudinal direction of the peripheral circuit 35 is set in the gap between the magnetic measurement lines 36. Data indicating the absolute position and lane number of the indicator lamp 38 on the circuit 35 is superimposed on the infrared light emitted from each indicator lamp 38 of the absolute position indicator 37. That is, the absolute position indicating device 37 functions as means for providing information indicating the absolute position and the lane in the peripheral circuit 35, respectively. In this case, the absolute position of the indicator lamp 38 may be associated with the progress using the magnetic measurement line 36. For example, the position of the absolute position pointing device 37 located at the reference position Pref is set to 0, and the clockwise (or counterclockwise) direction from there is between the 100th magnetic measurement line 36 and the 101st magnetic measurement line 36. From the indicator light 38 arranged at, progress 100 may be sent as position information. However, the number of absolute position pointing devices 37 from the reference position Pre f is sent as the position information from the indicator light 38, and the number of absolute position pointing devices 37 is replaced with the progress using the internal table of the game machine 2. It may be.

[0033] As shown in FIG. 8, the self-propelled vehicle 30 is disposed between the lower traveling surface 18 and the feeding surface 20,

31 is disposed on the upper running surface 19. A magnet 40 is disposed above the self-propelled vehicle 30. The model 31 is self-supporting on the upper traveling surface 19 via the wheels 31a, but does not have an independent driving means, and the self-propelled vehicle 30 is pulled to the self-propelled vehicle 30 by the magnet 40 of the self-propelled vehicle 30. Drive on the upper running surface 19 to follow. That is, the traveling of the model 31 on the upper traveling surface 19 is realized through the traveling control of the self-propelled vehicle 30.

12 to 14 show details of the self-propelled vehicle 30. 12 and 13 correspond to the front-rear direction of the self-propelled vehicle 30. The right side of FIGS. 12 and 13 corresponds to the front of the self-propelled vehicle 30. As shown in FIG. 12, the self-propelled vehicle 30 includes a lower unit 41A and an upper unit 41B. As shown in FIG. 13, the lower unit 41 A includes a pair of driving wheels 42 for self-propelling the lower traveling surface 18, a pair of motors 43 for driving the driving wheels 42 independently of each other, The vehicle 30 includes auxiliary wheels 44F and 44R arranged at the front end portion 30a and the rear end portion 30b, respectively. The self-propelled vehicle 30 can change its moving direction by giving a difference in the rotation speed of the motor 43. The lower unit 41A is provided with four guide shafts 45 extending in the vertical direction, and the upper unit 41B is provided so as to be movable up and down along the guide shaft 45. The guide shaft 45 is provided with a coil spring 46, and the upper unit 41B is urged upward by the repulsive force of the coil spring 46 so that the wheel 47 and the power supply brush 48 are pressed against the power supply surface 20. When the power supply brush 48 contacts the power supply surface 20, power is supplied from the housing 10 to the self-propelled vehicle 30. However, FIG. 12 shows a state where the stage 15 is lowered, and when the stage 15 is raised, the power supply surface 20 is sufficiently separated from the power supply brush 48 and the like.

[0035] As shown in FIG. 12, the auxiliary wheel 44F on the front side of the lower unit 41A is arranged slightly biased upward with respect to the drive wheel 42. Further, auxiliary wheels 49F and 49R provided on the front and rear sides of the upper unit 41B are arranged on the rear side of the auxiliary wheels 49R slightly offset from the wheels 47. Therefore, the self-propelled vehicle 30 can swing up and down around the drive wheel 42, and the swing is transmitted to the model 31 through the magnet 40. This expresses the racehorse running while swinging up and down.

[0036] As shown in FIG. 13, a line sensor 50 and an absolute position detection sensor are provided on the lower surface of the self-propelled vehicle 30. 51 and a magnetic sensor 52 are provided. The line sensor 50 is provided for detecting the guide wire 34, the absolute position detection sensor 51 is provided for detecting the light emitted from the indicator light 38, and the magnetic sensor 52 is provided for detecting the magnetic measurement line 36. It has been.

[0037] The line sensor 50 includes a pair of light emitting units 53 provided symmetrically at the front end 30a of the self-propelled vehicle 30 and a light receiving unit 54 disposed between the light emitting units 53. Yes. The light emitting unit 53 emits visible light having a predetermined wavelength range toward the lower traveling surface 18, and the light receiving unit 54 receives reflected light from the lower traveling surface 18. The detection wavelength range of the light receiving unit 54 is limited to the wavelength range of visible light emitted from the light emitting unit 53 so that the emission light of the indicator lamp 38 is not erroneously detected. Details of the line sensor 50 are shown in FIGS. The light emitting section 53 is provided symmetrically with respect to the central plane CP that bisects the self-propelled vehicle 30 in the left-right direction, and the respective emission directions are directed obliquely inward.

[0038] The light receiving section 54 is provided with a sensor array 55 provided so as to extend equally in the left-right direction of the self-propelled vehicle 30 across the center plane CP, and the lower travel surface 18 formed by reflected light from the lower travel surface 18. And an image forming lens 56 for forming an image on the sensor array 55. The sensor array 55 is configured, for example, by arranging a large number of CMOS light receiving elements in a line, and detects the luminance distribution in the left-right direction of the self-propelled vehicle 30 with finer resolution than the width Wg of the guide line 34. For example, the resolution is set to detect a width of 1.5 times the pitch PTg of the guide wire 34 divided into 128 dots. In other words, when the center plane CP is located at the center of the guide line 34 in the width direction, the area composed of the guide line 34 and the blank portion adjacent to the guide line 34 is set as the detection area, and the detection area is set to 128. The resolution of the sensor array 55 is set so that detection is performed with dot resolution. For example, if the pitch PTg of the guide wire 34 is 12 mm, the detection width by the sensor array 55 is 18 mm, and the luminance distribution is detected with a resolution of 0.14 mm per dot.

The imaging lens 56 is provided to separate the sensor array 55 from the lower travel surface 18 upward. The reason is to suppress the influence of the vertical swing of the self-propelled vehicle 30 caused by the displacement of the auxiliary wheels 44F and 44R on the detection accuracy of the luminance distribution.

As shown in FIG. 13, the absolute position detection sensor 51 includes a light receiving portion 58 disposed on the center plane CP of the self-propelled vehicle 30. The absolute position detection sensor 51 is red sent from the indicator light 38. Receives external light and outputs a signal corresponding to the absolute position and lane number contained in the infrared light.

[0041] The magnetic sensor 52 includes a plurality of detection units 60 arranged at a constant pitch PTms in the front-rear direction of the self-propelled vehicle 30. In the following, the detection unit 60 is sometimes counted from the front end 30a of the self-propelled vehicle 30 and is distinguished from # 1 detection unit, # 2 detection unit, and so on. Each detection unit 60 detects magnetism in the lower travel surface 18 and outputs signals corresponding to the S pole and the N pole, respectively. For example, the detection unit 60 outputs a low signal when the S pole is detected, and outputs a high signal when the N pole is detected. Therefore, the magnetic measurement line 36 can be detected by inversion of the signal of each detection unit 60. Thereby, the magnetic sensor 52 functions as a measurement line detection means. As shown in FIG. 17A, the number of detection units 60 and the pitch PTms in the front-rear direction are associated with the reference pitch PTm of the magnetic measurement line 36. That is, the pitch PTms of the detector 60 is set to 1Z2 of the reference pitch PTm of the magnetic measurement line 36. In other words, the reference pitch PTm is twice the pitch PTms of the detector 60. The number of detection units 60 is set so that the product of the number and the pitch PTms of the detection unit 60 increases the pitch (maximum pitch) PTou beam at the outermost periphery of the corner section 35b. In the example shown in the figure, the reference pitch PTm is 8 mm, the maximum pitch PTout is 30 mm, the detection unit pitch PTms is 4 mm, and the number of detection units 60 is 8.

[0042] FIG. 17B shows an example of the output signal of the magnetic sensor 52 when the magnetic sensor 52 is traveling at the speed Vact along the guide line 34 in the straight section 35a or the guide line 34 in the first lane of the corner section 35b. Shown in At time tl, # 1 detector 60 reaches the magnetic measurement line 36 and its output signal is inverted from Low to High.At time t3, # 1 detector 60 reaches the next magnetic measurement line 36 and the output signal is Assume that it has inverted from High to Low. In this case, at time t2 between times tl and t3, the output signal of # 2 detector 60 is inverted from low to high. The output signal of # 3 detector 60 reverses from Low to High at time t3. Since the pitch PTms is 1/2 of the reference pitch PTm, the output signal of # 1 detector 60 is also inverted at the same time. Therefore, in the case of FIG. 17B, the progress and speed of the self-propelled vehicle 30 can be controlled with a resolution of 1/2 of the reference pitch PTm by using only the output signals of the detectors 60 of # 1 and # 2. . It is not necessary to use the output signal of detector 60 after # 3. For example, the pitch PTms of the detector 60 is set to each detector The current speed Vact of the self-propelled vehicle 30 is calculated by dividing by the inversion time interval of the output signal of 60 (tl to t2, t2 to t3), and the difference between the current speed Vact and the target speed required in the game is calculated. When the traveling of the self-propelled vehicle 30 is controlled based on the above, only the output signals of the detection units 60 of # 1 and # 2 may be used.

[0043] However, when the self-propelled vehicle 30 is traveling in a lane other than the first lane in the corner section 35b, the pitch of the magnetic measurement line 36 is larger than the reference pitch PTm. Is different. An example of this will be described with reference to FIGS. 18A and 18B. In FIG. 18A, the self-propelled vehicle 30 travels at the speed Vact along the guide line 34 in the second lane or the outer lane in the corner section 35b, and the pitch of the magnetic measurement line 36 in the lane is Assume that PTx (where Pm and PTx≤PTout). In this case, as shown in FIG. 18B, from time tl when the # 1 detection unit 60 reaches the magnetic measurement line 36 and reverses its output signal force SLow to High, the next magnetic measurement line 36 # 1 The time interval (tl to t6) from time t6 when the detection unit 60 reaches and the output signal is inverted from high to low is extended by the pitch PTx. On the other hand, the time interval (tl to t2) between the time t2 and the time tl when the output signal of the # 2 detection unit 60 is inverted from low to high is the same as that in the case of FIG. 17B. Therefore, when the time interval between times tl and t2 is compared with the time interval between times t2 and t6, the latter becomes larger. Therefore, if the current speed Vact of the self-propelled vehicle 30 is calculated from the inversion time interval of the output signal of the detector 60 of # 1 and # 2 and the pitch PTms of the detector 60, the speed obtained in the latter is PT ms = Since the precondition of PTm / 2 is not satisfied, there is an error. If this is used, the speed of the vehicle 30 will be controlled incorrectly.

[0044] On the other hand, in FIG. 18B, during times tl to t6, # 2 to # 5 detector 60 sequentially reaches the same magnetic measurement line 36, and their output signals are multiplied from time t2 to time t5. Invert. Each time interval from 12 to 5 corresponds to the value obtained by dividing the pitch PTms of the detector 60 by the current speed Vact. Therefore, in the case of FIG. 18B, if the current speed Vact is detected using the output signals of the detectors 60 of # 1 to # 5, the above-described speed detection error does not occur. In order to enable such speed detection in all lanes, as described above, the product of the number of detection units 60 and the pitch PTms is the maximum pitch PTou beam of the magnetic measurement line 36 in the outermost periphery of the corner section 35b. If it is set too large. In the above example, the pitch PT of the detector 60 Since ms is 4mm and the maximum pitch PTout of magnetic measuring line 36 is 30mm, the condition is satisfied if the number of detectors 60 is set to eight.

Next, a control system of the game machine 2 will be described. FIG. 19 shows a schematic configuration of the control system of the game machine 2. The game machine 2 communicates with a main control device 100 that controls the overall operation of the game machine 2, and a plurality of communication units 101 for communicating information between the main control device 100 and the self-propelled vehicle 30. A relay device 102 that relays between the unit 101 and the main control device 100 is provided. The main controller 100 is constituted by a personal computer, for example. The main control device 100 controls the progress or development of the horse racing game executed by the game machine 2 according to a predetermined game program, and instructs the progress and lane of each vehicle 30 via the communication unit 101. For example, the progress and the lane number key control device 100 that the self-propelled vehicle 30 should reach after a predetermined unit time are instructed to each self-propelled vehicle 30. As described above, the progress is a value expressed by the number of magnetic measurement lines 36 from the reference position Pref in FIG. Self-propelled vehicles 30 are individually managed with numbers (# 1, # 2,...).

In addition, the main control device 100 exchanges information with the center server 3 and the maintenance server ₄ via the network 6 shown in FIG. The relay device 102 can be configured with a switching hub, for example. As shown in FIG. 10, the communication units 101 are arranged around the peripheral circuit 35 at a certain interval. The number of the communication units 101 is 10 in the illustrated example. However, as long as the entire circumference of the peripheral circuit 35 can be covered by these communication units 101, change the number as appropriate. Communication between the communication unit 101 and the self-propelled vehicle 30 may use radio waves or infrared rays.

FIG. 20 shows a control system provided in the self-propelled vehicle 30. The control system of the self-propelled vehicle 30 includes a self-propelled vehicle control device 110. The self-propelled vehicle control device 110 is configured as a computer unit equipped with a microprocessor, and executes the travel control of the self-propelled vehicle 30 or the communication control with the main control device 100 according to a predetermined self-propelled vehicle control program. To do. The above-described line sensor 50, absolute position detection sensor 51, and magnetic sensor 52 are connected to the self-propelled vehicle control device 110 as an input device for travel control via an interface (not shown). Further, a gyro sensor 111 is connected to the self-propelled vehicle control device 110 as an input device. The gyro sensor 11 1 is the attitude of the self-propelled vehicle 30, in other words, the self-propelled vehicle 30 It is built in the self-propelled vehicle 30 to detect the direction it is facing. The gyro sensor 111 detects the angular acceleration around the turning axis of the self-propelled vehicle 30 (for example, the vertical axis passing through the intersection of the axis of the drive wheel 42 and the center plane CP), and integrates the angular acceleration twice. It is converted into an angle change amount and output to the self-propelled vehicle control device 110. However, the angle acceleration may be output from the gyro sensor 111 and converted into the angle change amount by the self-propelled vehicle control device 110.

In addition, a transmission unit 112 and a reception unit 113 for performing information communication with the communication unit 101 are connected to the self-propelled vehicle control device 110 via a communication control circuit 114. As described above, the main controller 100 repeatedly gives information indicating the target progress and target lane of the self-propelled vehicle 30 during the game at a constant cycle. The self-propelled vehicle control device 110 calculates the target speed, direction correction amount, etc. of the self-propelled vehicle 30 based on the given target progress and target lane and the output signals of various sensors 50 to 52, 111, and the like. Based on the calculation result, the speed instructions VL and VR are given to the motor drive circuit 115. The motor drive circuit 115 controls the drive current or voltage to each motor 43 so that the given speed instructions VL and VR are obtained.

FIG. 21 shows the concept of travel control of the self-propelled vehicle 30 by the self-propelled vehicle control device 110. In FIG. 21, the current progress of the self-propelled vehicle 30 is ADcrt, the target progress given by the main controller 100 is ADtgt, the lane direction, that is, the direction of the guide line 34 is Dref, and the direction where the self-propelled vehicle 30 is facing is Dgyr. Suppose that The self-propelled vehicle control device 110 has reached the target position Ptgt that is given by the intersection of the center line of the target lane and the target progress ADtgt by the predetermined time from the current position Pert, and reaches the target position Ptgt. Then, the speed of the motor 43 is controlled so that the direction D gyr of the self-propelled vehicle 30 matches the lane direction Dref. That is, the self-propelled vehicle control device 110 increases / decreases the drive speed of each motor 43 according to the degree of advance deficiency ΔAD between the current advancement ADcrt and the target advancement ADtgt and sets the target lane from the current position Pert. Lane correction amount given as the distance to the center line Δ Yamd The self-propelled vehicle 30 moves in the transverse direction of the circuit 35 and the force is also the direction of the self-propelled vehicle 30 Dgyr force The lane direction at the target position Ptgt Dref The speed ratio between the motors 43 is controlled so as to be corrected by an angle correction amount ΔΘ amd given as a deviation amount of the current direction Θ gyr with respect to.

[0050] It should be noted that the advancement deficiency A AD is given as the number of magnetic measurement lines 36, so that the straight section 3 In either case of 5a or corner section 35b, it is obtained by subtracting the current progress AD crt from the target progress ADtgt. However, in the corner section 35b, the distance Ltr corresponding to the progress deficit amount AAD changes depending on the position of the self-propelled vehicle 30 in the transverse direction of the circuit 35, and thus speed control in consideration of this is necessary. Lane correction amount A Yamd is the amount of deviation between the current position Pert of the self-propelled vehicle 30 and the current lane from the lane distance Ychg corresponding to the distance between the lane where the self-propelled vehicle 30 is currently traveling and the target lane. Y is bowed. When the target lane matches the current lane, that is, when the lane change is not instructed, the lane correction amount A Yamd = ΔΥ. The lane direction Dref and the self-propelled vehicle direction Dgyr can be specified as the angles Θ ref and Θ gyr relative to the absolute reference direction Dabs, with the straight direction from the reference position Pref in FIG. 10 as the absolute reference direction Dabs. In the straight section 35a, 0 ref = O ° or 180 °. In the corner section 35b, the angle formed by the tangential direction of the guide line 34 in the advance ADcrt with respect to the absolute reference direction Dabs can be specified as Θ ref. The tangential direction is uniquely determined by the progress, and if it is the same progress, it is a constant value regardless of the lane.

FIG. 22 is a functional block diagram of the self-propelled vehicle control device 110. The self-propelled vehicle control device 110 analyzes the game information given from the main control device 100 to determine the target progress ADtgt of the self-propelled vehicle 30 and the target lane, and the current information of the self-propelled vehicle 30 The value of the progress counter 121 is updated and the current speed Vact of the self-propelled vehicle 30 is calculated based on the outputs of the progress counter 121 that stores AD crt and the absolute position detection sensor 51 and magnetic sensor 52. Progress management unit 122, lane counter 123 that stores the lane number in which self-propelled vehicle 30 is currently traveling, and the lane in which self-propelled vehicle 30 is traveling based on the outputs of line sensor 50 and absolute position detection sensor 51 The lane counter 123 updates the value of the lane counter 123, detects the lane deviation amount ΔΥ of the self-propelled vehicle 30 with respect to the lane, and stores the angle Θ gyr indicating the direction of the self-propelled vehicle 30 Gyro counter 125, And a direction control section 126 to update the value of the gyro counter 125 to determine the angle theta gyr of the motor vehicle 30 based on the output of Yairosen support 111.

In addition, the self-propelled vehicle control device 110 determines the number of the self-propelled vehicle 30 based on the target progress ADtgt, the progress ADcrt stored in the progress counter 121, and the lane number stored in the lane counter 123. A target speed calculation unit 127 that calculates the target speed Vtgt, a speed setting unit 128 that sets the drive speed of the motor 43 of the self-propelled vehicle 30 based on the target speed Vtgt, and the set drive speed as the target speed Vtgt and the current speed Speed FB correction unit 12 9 that performs feedback correction according to the difference from Vact, target lane, lane number of lane counter 123, and lane shift amount ΔY of self-propelled vehicle 30 determined by lane management unit 124 Based on the lane correction amount calculation unit 130 for calculating the lane correction amount Δ Yamd of the self-propelled vehicle 30, the progress ADtgt and the angle Θ gyr stored in the progress counter 121 and the gyro counter 125, respectively. A direction correction amount calculation unit 131 for calculating the direction correction amount ΔΘ amd and a speed ratio setting unit 133 for setting the speed ratio between the motors 43 based on the lane correction amount Δ Yamd and the direction correction amount ΔΘ amd are provided. Yes. The speed ratio setting unit 133 determines the speed instructions VL and VR of the left and right motors 43, and outputs these instructions to the motor drive circuit 115 in FIG. Further, the self-propelled vehicle control device 110 includes the guide wire 34 based on the output of the line sensor 50, the progress A Dcrt stored in the progress counter 121, and the direction correction amount ΔΘ amd calculated by the direction correction amount calculation unit 131. A line width inspection unit 136 for inspecting the line width is provided.

[0053] Next, processing of each part of the self-propelled vehicle control device 110 will be described with reference to FIGS. FIG. 23 is a flowchart showing the processing of the progress management unit 122. The progress management unit 122 monitors the output of the magnetic sensor 52, manages the progress ADcrt of the progress counter 121, and calculates the current speed Vact of the self-propelled vehicle 30. That is, the progress management unit 122 determines whether or not the output of the # 1 detection unit 60 of the magnetic sensor 52 is inverted in the first step S101, and if it is inverted, the value ADcrt of the progress counter 121 is set to 1 in step S102. In step S103, 2 is set in the variable m for determining the detection unit number. # 1 Steps S102 and S103 are skipped when the output of the detector 60 is not inverted. In subsequent step S104, it is determined whether or not the output of the detection unit 60 of #m is inverted. If reversed, proceed to step S1 05 to calculate the current speed Vact. The current speed Vact is the time interval from the output reversal of the previous detection unit (# m— 1) 60 to the output reversal of the current sensor, where tact is the pitch PTms of the detection unit 60. As an example, it is obtained by dividing by the time interval from 1 to t2 in Fig. 17B. That is, Vact = PTmsZtact.

[0054] After calculating the current speed Vact, 1 is added to the variable m in step SI06. Continuing step S1 In 07, it is determined whether or not the absolute position detection sensor 51 has detected the absolute position, that is, whether or not the infrared light of the indicator lamp 38 has been detected. If not detected, the process returns to step S101. On the other hand, if the absolute position detection sensor 51 detects infrared light from the indicator light 38 in step S107, the progress information coded in the infrared light is determined, and the determined progress and the progress of the progress counter 121 are determined. The progress counter 121 is corrected so that ADcrt matches, and the process returns to step S101. If the signal from #m detector 60 is not judged in step S104,

According to the above processing, the value ADcrt of the progress counter 121 is incremented by 1 every time the # 1 detection unit 60 measures the magnetic measurement line 36. Moreover, the progress ADcrt is appropriately corrected when the absolute position detection sensor 51 detects a signal from the absolute position indicating device 37. As a result, the position of the self-propelled vehicle 30 in the longitudinal direction of the peripheral circuit 35 can be grasped from the value of the progress counter 121. Further, the current speed Vact of the self-propelled vehicle 30 is calculated every time the self-propelled vehicle 30 moves by the pitch PTms of the detection unit 60 of the magnetic sensor 52.

FIG. 24 is a flowchart showing a procedure by which the target speed calculation unit 127 calculates the target speed. The target speed calculation unit 127 acquires the value ADcrt of the progress counter 121 in the first step S121, and determines whether or not the progress counter 121 has been updated since the previous processing in the next step S122. If not updated, the process returns to step S121. If updated, the process proceeds to step S123. In step S 123, the progress deficiency A AD (= ADtgt−ADcrt) is obtained by subtracting the value of the progress counter value ADcrt from the target progress ADtgt. In the following step S124, the current lane is acquired from the lane counter 123.

[0057] In the next step S125, the number of inversions of the output of the magnetic sensor 52 to be detected before the self-propelled vehicle 30 reaches the next degree of progression (inversion count number) Nx is set to the current degree ADcrt and the self-propelled vehicle 3 0 is estimated based on the currently running lane. That is, a value (quotient) obtained by dividing the pitch PTx of the magnetic measurement line 36 between the current progress ADcrt and the next progress ADcrt + 1 by the pitch PTms of the detection unit 60 is estimated as the inversion count Nx. If the quotient has a fractional part, it is rounded up to the nearest whole number by rounding up, rounding down or rounding. The lane number is used to specify the pitch PTx. When self-propelled vehicle 30 is traveling on the innermost lane of straight section 35a and corner section 35b, the reference pitch PTm shown in Fig. 9 Becomes the pitch PTx of the detector 60. On the other hand, if it is determined from the progress ADcrt that the self-propelled vehicle 30 travels in the corner section 35b, the pitch PTx corresponding to the lane number should be obtained from data such as a prepared table. Les.

[0058] After the inversion count number Nx is estimated, the process proceeds to step S126 to calculate the inversion reference time tx. As shown in FIG. 25, the remaining time from the current time until the time when the self-propelled vehicle 30 should reach the target progress ADtgt is Trmn, and the output of each detection unit 60 of the magnetic sensor 52 is constant within the remaining time Trmn. Assuming that inversion occurs sequentially at time tx, the remaining time Trmn is given by the product of time tx, the inversion count Nx, and the advance deficiency AAD. In other words, in order for the self-propelled vehicle 30 to reach the target progress ADtgt at the target progress arrival time, the self-propelled vehicle 30 responds to the shortage of progress A AD at such a speed that the output of the detection unit 60 is reversed every time tx. You must run the distance you want. From such a relationship, the inversion reference time tx is obtained by a quotient (tx = TrmnZ (Nx ′ ΔΑϋ)) obtained by dividing the remaining time Trmn by the product of the inversion count Nx and the advance deficiency AAD. In other words, if Nx output inversions are detected at each inversion reference time tx, the advancement is advanced by one, and if this is repeated a number of times corresponding to the insufficient advancement amount AAD, it will run at the target advancement arrival time. Car 30 will reach the target progress ADtgt. As an example, the target progress arrival time may be a time when the next target progress and target lane are given from the main control device 100 of the game machine 2 or a time when a certain delay time is given to the time. it can. However, the target progress time must be the same among all self-propelled vehicles 30 used in the same race.

Returning to FIG. 24, after calculating the inversion reference time tx, the process proceeds to step S127, and a quotient obtained by dividing the pitch PTms of the detection unit 60 by the inversion reference time tx is obtained as the target speed Vtgt. This target speed Vtgt is the speed of the self-propelled vehicle 30 required for the output of the magnetic sensor 52 to be sequentially reversed at intervals of the reversal reference time tx. After obtaining the target speed Vtgt in step S127, the process returns to step S121. Therefore, every time the value ADcrt of the progress counter is updated, the progress shortage amount AAD is updated, and the inversion count number Nx is estimated based on the number of lanes at that time to obtain the target speed Vtgt. In other words, the target speed Vtgt is updated each time the progress of the self-propelled vehicle 30 advances by one.

[0060] As described in FIG. 22, the target speed Vtgt calculated by the target speed calculator 127 is Provided to the speed setting unit 128 and the speed FB correction unit 129. The speed setting unit 128 sets the driving speed of the motor 43 so that the given target speed Vtgt is obtained, and the speed FB correction unit 12 9 responds to the difference between the target speed Vtgt and the current speed Vact with respect to the driving speed. Give the FB correction amount. Note that the speed control accuracy, responsiveness, and the like may be improved by feedback control or feedforward control of the speed using the differential value or integral value of the speed difference.

FIG. 26 is a flowchart showing a procedure in which the direction management unit 126 manages the value of the gyro counter 125. The direction management unit 126 acquires the angle change amount output from the gyro sensor 111 in the first step S141, and in the subsequent step S142, adds or subtracts the angle change amount to the value Θ gyr of the gyro counter 125, thereby obtaining the gyro counter 125. Update the value Θ gyr of. As a result, the angle Θ gyr indicating the current direction of the self-propelled vehicle 30 is stored in the gyro counter 125. In order to set the angle Θ gyr of the gyro counter 125 when the self-propelled vehicle 30 faces the absolute reference direction Dabs to 0 °, it is desirable to perform calibration at an appropriate timing. The calibration is performed, for example, based on the progress ADcrt of the progress counter 121 and the output of the line sensor 50 whether or not the self-propelled vehicle 30 travels in a straight section 35a from the reference position Pref in parallel with the lane direction. This can be achieved by recognizing and resetting Θ gyr to 0 ° when traveling in parallel. Such calibration may be performed during the race of the horse racing game, or may be performed at an appropriate timing before the race, for example, when the game machine 2 is activated.

FIG. 27 is a flowchart showing a procedure by which the direction correction amount calculation unit 131 calculates the direction correction amount ΔΘamd. The direction correction amount calculation unit 131 obtains the value ADcrt of the progress counter in the first step S161, and determines the angle Θ r ef in the reference direction from the progress ADcrt in the subsequent step S162. As described above, the angle Θ ref of the reference direction is uniquely determined in association with the progress AD, and is 0 ° or 180 ° in the straight section 35a and the tangential direction of the guide line 34 in the corner section 35b. If the correspondence between the advance AD and the reference direction Θ ref is stored in advance in data such as a table, the reference direction angle Θ ref can be immediately determined from the advance counter value ADcrt. In the next step S163, the value Θ gyr of the gyro counter 125 is acquired, and in the subsequent step S164, the difference between the angles Θ ref and Θ gyr is calculated as the direction correction amount ΔΘ amd (see FIG. 21). After this, the process returns to step S161. Direction correction amount found here Δ Θ amd In addition to being provided to the speed ratio setting unit 133, the lane management unit 124 and the line width inspection unit 136 are also provided.

FIG. 28 is a flowchart showing the processing of the lane management unit 124. The lane management unit 124 refers to the output of the line sensor 50 and the direction correction amount ΔΘamd to obtain the lane shift amount ΔΥ (see Fig. 21) of the self-propelled vehicle 30 and uses the lane shift amount ΔΥ. Then, the value of lane counter 123 is managed. That is, the lane management unit 124 obtains the direction correction amount ΔΘ amd from the direction correction amount calculation unit 131 in the first step S181, and detects the lane deviation amount ΔΥ by capturing the output of the line sensor 50 in the subsequent step S182. To do. An example of the relationship between the output of the line sensor 50 and the lane shift amount ΔΥ is shown in FIG. An analog signal corresponding to the reflected light intensity is output from the line sensor 50. If this is binarized with an appropriate threshold value, a rectangular wave corresponding to the guide wire 34 and the blank portion therebetween can be obtained. From the rectangular wave, the number of dots Δ Ndot between the center of the detection area of the line sensor 50 and the center of the luminance value range (lane center) corresponding to the guide line 34 corresponds to the lane shift amount Δ Y. By multiplying the number Δ Ndot by the line width per dot, the lane shift amount Δ Υ can be obtained. However, if the direction of the self-propelled vehicle 30 is deviated from the reference direction Dref (see Fig. 21), the line sensor 50 also tilts obliquely with respect to the direction perpendicular to the guide line 34, resulting in a dot The number ΔNdot also increases with the slope. Therefore, it is necessary to obtain the correct lane shift amount Δ て by multiplying the lane shift amount Δ 求め obtained from the number of dots A Ndot by the cosine value cos ΔΘ amd of the direction correction amount. This is why the direction correction amount ΔΘamd is acquired in step S181 in FIG. In FIG. 29, 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 luminance value range corresponding to the guide line 34 by ΔΘ amd. it can.

Returning to FIG. 28, after detecting the lane shift amount ΔΥ in step S182, the process proceeds to step S183, and it is determined whether or not the self-propelled vehicle 30 has moved to the next lane. For example, when the lane shift amount ΔΥ is larger than 1/2 of the pitch PTg of the guide line 34, it can be determined that the self-propelled vehicle 30 has moved to the adjacent lane. Alternatively, compare the distances to the guide line 34 detected on both sides of the center of the line sensor 50, and judge that the lane has moved if the magnitude relationship is reversed. Moved to next lane in step S183 If it is determined, the value of the lane counter 123 is updated to a value corresponding to the next lane. If a negative determination is made in step S183, step S184 is skipped.

In subsequent step S185, it is determined whether or not the absolute position detection sensor 51 has detected an absolute position. If the absolute position is not detected, the process returns to step S181. On the other hand, if it is determined in step S 185 that the absolute position has been detected, the lane number coded in the infrared light from the absolute position indicating device 37 is determined, and the determined lane number and the value of the lane counter 123 are determined. The value of the lane counter 123 is corrected so as to match, and the process returns to step S181. The lane shift amount ΔΥ obtained in the above processing is given to the lane correction amount calculation unit 130.

FIG. 30 is a flowchart showing a procedure by which the lane correction amount calculation unit 130 calculates the lane correction amount A Yamd. The lane correction amount calculation unit 130 obtains the target lane from the game information analysis unit 120 in the first step S201, obtains the value of the lane counter 123 (current lane number) in the subsequent step S202, and further in step S203. The lane shift amount Δ から is acquired from the lane management unit 124. In step S204, it is determined whether or not the target lane matches the current lane. If they match, the process proceeds to step S205, sets the lane shift amount ΔΥ to the lane correction amount A Yamd, and returns to step S201. On the other hand, if the lanes coincide with each other in step S204, and the lane is correct, the process proceeds to step S206, and a value obtained by adding the lane deviation amount Y to the lane interval Ychg (see FIG. 21) is set as the lane correction amount A Yamd. Return to step S201. The lane shift amount Ychg is obtained by multiplying the number difference between the target lane and the current lane by the pitch PTg of the guide line 34 (see Fig. 10).

[0067] With the processing in FIG. 30, the distance in the crossing direction that the self-propelled vehicle 30 should move to the target lane is calculated as the lane correction amount A Yamd. As described in FIG. 22, the calculated lane correction amount A Yamd is given to the speed ratio setting unit 133. The speed ratio setting unit 133 determines the speed ratio to be generated between the motors 43 based on the given lane correction amount A Yamd and the direction correction amount ΔΘ amd, and the speed FB correction is performed according to the speed ratio. Increase or decrease the drive speed given from the unit 129 to determine the speed instructions VL and VR for the left and right motors 43. At this time, a speed difference corresponding to the speed ratio is generated in each motor 43, and the driving speed obtained by combining these speeds is equal to the driving speed given from the speed FB correction unit 129. Speed instructions VL and VR are generated to match. The generated speed instructions VL and VR are given to the motor drive circuit 115 shown in FIG. By driving the motor 43 at the instructed speed by the drive circuit 115, the self-propelled vehicle 30 is controlled to reach the target progress ADtgt at a predetermined time and the direction Dgyr coincides with the reference direction Dref. . Note that the speed ratio is feedback-controlled or fed-forward controlled using the differential value and integral value of the lane correction amount A Yamd and the direction correction amount Δ Θ amd, and also the angular acceleration detected by the gyro sensor 111, and the target is obtained. The control accuracy and response of lane tracking and direction correction may be improved.

[0068] According to the series of processes described above, every time the progress of the self-propelled vehicle 30 increases, the target speed Vtgt of the self-propelled vehicle 30 is given, and the current speed Vact of the self-propelled vehicle 30 is Since each time the self-propelled vehicle 30 moves by a distance corresponding to the pitch PTms of the detector 60, the speed of the self-propelled vehicle 30 can be controlled quickly and with high accuracy. Further, since the magnetic sensor 52 is provided with a number of detection units 60 that can cover the maximum pitch PTms of the magnetic measurement line 36, even if the self-propelled vehicle 30 is traveling in any lane of the corner section 35b, the magnetic sensor 52 is magnetic. Regardless of the size of the pitch PTx on the measuring line 36, the current speed Vact can be detected with a high resolution according to the pitch PTms. Therefore, the error in speed control using the current speed Vact can be reduced, and the fluctuation in speed when the self-propelled vehicle 30 is traveling in the corner section 35b can be effectively suppressed.

[0069] Since the gyro sensor 111 is provided to detect the direction of the self-propelled vehicle 30, and the deviation between the direction and the direction of the target lane is given to the speed ratio setting unit 133 as a direction correction amount ΔΘamd. As compared with the case where the position and direction in the transverse direction of the self-propelled vehicle 30 are controlled based only on the output of the line sensor 50, the control accuracy is improved. Furthermore, by using the output of the gyro sensor 111 to determine the amount of change in angle, change in angular velocity, or angular acceleration, and using these physical quantities for direction control of the self-propelled vehicle 30 It is possible to converge smoothly and quickly on the target lane and to align the direction with the target direction accurately and quickly.

Further, the direction correction amount ΔΘ amd with respect to the target direction of the self-propelled vehicle 30 can be immediately determined from the output of the gyro sensor 111, and the lane shift using the output of the line sensor 50 can be determined. In the determination of the amount Δ 力, the force S can be detected accurately by using the direction correction amount Δ Θ amd. Therefore, the lane tracking accuracy of the self-propelled vehicle 30 or the accuracy of the movement control to the target lane can be improved.

FIG. 31 is a flowchart showing processing in the line width detection unit 136. The line width detection unit 136 obtains the value ADcrt of the progress counter 121 in the first step S221 of FIG. 31, obtains the value of the lane counter 123 in the next step S222, and further in step S223, the direction correction amount Δ Get Θ amd. In the following step S224, the line width in the current lane is calculated from the output of the line sensor 50. As described in FIG. 29, in order to obtain the line width, the number of dots Ndot is obtained from the output of the line sensor 50 and multiplied by the line width per dot, and this is multiplied by the direction correction amount ΔΘ amd. Correction may be given. In subsequent step S225, it is determined whether or not the calculated line width is within a predetermined allowable range. If it is within the allowable range, the process returns to step S221. On the other hand, if the line width exceeds the allowable range, the process proceeds to step S226, and the data corresponding to the detected position, that is, the value of the progress counter ADcrt and the value of the lane counter is used as the line width inspection data. It memorize | stores in the memory | storage device of self-propelled vehicle control apparatus 110, and returns to step S221 after that. The allowable range of the line width is determined in consideration of the frequency of error in driving control of the self-propelled vehicle 30 caused by the increase or decrease of the guide line 34 with respect to the original line width Wg. That's fine. For example, if the original width Wg of the guide wire 34 is 6 mm and the actual line width is within ± 2 mm, the allowable range should be 4 to 8 mm if there is no practical problem with the driving control of the self-propelled vehicle 30. If you set it to.

[0072] By performing the above processing, it is possible to detect an increase or decrease in the apparent width of the guide wire 34 due to dirt on the lower running surface 18, contamination of foreign matter, peeling of the guide wire 34, or the like. it can. Alternatively, the occurrence of linear stains and scratches that are erroneously detected as guide lines can also be detected as abnormal line widths. Further, it becomes possible to identify an abnormal part of the line width by the progress and the lane in the peripheral circuit 35 using the stored data. In this configuration, the output of the line sensor 50 is referred to in the calculation of the lane deviation amount ΔΥ, the determination of the current lane, and the calculation of the lane correction amount A Yamd. As a result, the followability of the self-propelled vehicle 30 to the guide line 34 is reduced. It may deteriorate and cause malfunctions such as unstable behavior when changing lanes. To that end, periodic checks and cleaning of the lower lane 18 are necessary. For such work, the data created by the line width inspection unit 136 can be used effectively.

[0073] In the above, the number of dots Ndot is converted into the line width.

It may be determined whether the line width is within an allowable range using the value corrected by e amd. The angle correction may be omitted and the power of being within the allowable range may be determined based on the number of dots Ndot. For example, when traveling control is performed to limit the direction correction amount ΔΘamd of the self-propelled vehicle 30 to a certain range, it corresponds to the guide line width Wg when the direction correction amount ΔΘamd is the maximum value. The number of dots Ndot on the line sensor 50 may be obtained in advance, and when the number of detected dots exceeds this, it may be determined that the allowable range has been exceeded. In this case, tilt correction using the direction correction amount ΔΘamd is also unnecessary. On the other hand, regarding the lower limit of the line width, the number of detected dots Ndot is used as a reference, based on the number of detected dots corresponding to the line width Wg when the self-propelled vehicle 30 is traveling straight along the guide wire 34. When the value is smaller than the value, the line width may be determined to be less than the allowable range.

[0074] The line width inspection by the line width inspection unit 136 may be performed at any time during the race of the horse racing game, or may be performed at an appropriate time outside the race. For example, the line width inspection is performed by instructing execution of the line width inspection from the main control device 100 at an appropriate time when no race is being performed and causing the self-propelled vehicle 30 to travel along the circuit 35 in a predetermined traveling pattern. You can do this. In the above embodiment, the signal S output from the line sensor 50 is binarized, the force S for discriminating the black portion and the white portion of the traveling surface 18 is output, and the analog signal waveform is output from the line sensor 50. Digitally digitize with 256 gradations to detect colored parts other than white or black and identify those colored parts as dirt.

[0075] Next, a preferred mode of using the line width detection data acquired by the line width detection unit 136 will be described. Since the self-propelled vehicle 30 does not have a function to display the line width inspection data, the data is transmitted from the self-propelled vehicle 30 to the main control device 100, and further maintenance is performed via the network 6 as necessary. By transmitting to server 4 etc., the line width detection data can be used effectively. The following shows such usage.

FIG. 32 shows a procedure for transmitting line width inspection data from the self-propelled vehicle 30 to the main control device 100. It is a flowchart to show. In step S241, self-propelled vehicle control device 110 determines whether or not it is time to transmit line width inspection data. If it is determined that it is time to transmit, it proceeds to step S242 and transmits line width inspection data to main control device 100. To do. On the other hand, main controller 100 determines in step S301 whether inspection data is transmitted from self-propelled vehicle 30 or not. If it is determined that the transmission has been successful, the process proceeds to step S302, where the transmitted line width verification data is stored in its own storage device, and the process returns to step S301. As an example, the transmission time of the line width detection data may be set as a time when there is no problem in controlling the horse racing game.

[0077] FIG. 33 shows line width detection executed at an appropriate time after the end of reception of the line width detection data by the main controller 100 in order to manage the line width detection data sent from the self-propelled vehicle 30. It is a flowchart which shows the process sequence of data management. In the first step S321 in FIG. 33, the main controller 100 analyzes the line width inspection data received from the self-propelled vehicle 30 and creates the travel surface warning data. In the subsequent step S322, the main control device 100 generates the travel surface warning data. Store in 100 storage devices. The line width inspection data includes the line width identified as outside the allowable range and the detection position (progress and lane number) of the line width. Therefore, the number of detections is counted for each detection position, and the detection position and Data that correlates the number of detections is created and stored as travel surface warning data. The count of the number of detections may be omitted, and only the detection position may be held in the traveling surface warning data. Alternatively, the detection position may be omitted and only the number of detections may be retained in the traveling surface warning data. Regarding the detection positions, it is not always necessary to correspond to the magnetic measurement lines 36 and 1: 1, and two or more adjacent magnetic measurement lines 36 may be regarded as one detection position. In this case, the amount of running surface warning data can be reduced. Alternatively, as indicated by the one-dot chain line in FIG. 10, the circuit 35 is divided into a plurality of zones Z1 to Z10, the number of times of detection is counted for each zone, and the data that associates the number of times of detection with the zone is displayed on the traveling surface. It may be created as warning data.

[0078] Returning to FIG. 33, after the driving surface warning data is stored, the process proceeds to step S323 to check the data amount of the driving surface warning data, and in step S324, the data amount exceeds the predetermined allowable amount. Judge whether or not. If the tolerance is exceeded, step S325 The warning flag is set to 1 at, and in the following step S326, the traveling surface warning data is transmitted to the maintenance server 4 and the processing is finished. On the other hand, if a negative determination is made in step S324, the warning flag is set to 0 in step S327 and the process ends.

[0079] FIG. 34 shows a processing procedure of running surface check management executed by the main controller 100 in order to display a running surface check screen based on the running surface warning data to the operator (administrator) of the game machine 2. It is a flowchart. This process is executed based on an operator's instruction when the game machine 2 is controlled to the maintenance management mode, for example. In the first step S341 in FIG. 34, the main controller 100 determines whether or not 1 is set in the warning flag. If 1 is set, the process proceeds to step S342 to display a predetermined warning. The warning display shall include, for example, a message prompting the operator to inspect or clean the running surface. If the warning flag is not set to 1, step S342 is skipped. In subsequent step S343, the traveling surface warning data is read out, and in step S344, a traveling surface check screen based on the traveling surface warning data is displayed and the processing is completed.

The traveling surface check screen can be configured as shown in FIG. 35, for example. In this example, an entire course diagram 80 showing the peripheral circuit 35 in a plan view is displayed on the screen, and dots 81 are superimposed and displayed at the detection positions in the entire course diagram 80. The number of detections may be identified by changing the display mode of the dots 81 in accordance with the number of detections. In Fig. 35, the diameter of dot 81 increases as the number of detections increases. However, the color of the dots 81 may be changed according to the number of detections. In addition, by showing areas where the number of detections exceeds a predetermined threshold in a different manner from other areas, the operator may be shown more clearly the areas that need inspection or cleaning. In the example of Fig. 35, the areas Z4, Z9 and Z10 are displayed differently from the other areas, indicating that these areas Z4, Z9 and Z10 have a high need for inspection or cleaning. . In addition, showing zones Z4 and Z9 and zone Z10 differently indicates that the need for inspection or cleaning for zones Z4 and Z9 is even higher than zone Z10.

[0081] The running surface check screen is not limited to the example of FIG. Dot 81 may be omitted to show only areas that need to be examined or cleaned. Dot change display for each area Only the detection position by 81 may be shown. The detection position is not limited to a dot, and may be indicated by an appropriate index. The entire course view 80 can be displayed as a perspective view, and a bar graph with a height corresponding to the number of detections can be displayed at the detection position.

[0082] In FIG. 34, when the display of the traveling surface check screen is instructed by the operator, the warning flag is checked to determine whether or not the warning display is necessary. However, the warning display is not limited to this and is appropriate. Go at the timing. For example, the data amount of the running surface warning data may be determined when the game machine 2 is activated, and a warning display may be executed when the allowable amount is exceeded. When the warning is displayed, the operator may be inquired whether or not to display the traveling surface check screen.

FIG. 36 is a flowchart showing a maintenance mode processing procedure executed by the main control device 100 when the operator instructs the maintenance mode for the purpose of inspection, cleaning, etc. of the lower running surface 18. When the maintenance mode is instructed, the main controller 100 gives an activation instruction to the stage driving device 21 (see FIG. 3) and raises the stage 15 in the first step S361. Raising the stage 15 creates a sufficient space between the lower traveling surface 18 and the power feeding surface 20, so that the operator can easily inspect and clean the lower traveling surface 18.

In subsequent step S362, it is determined whether or not the operator has instructed the end of the maintenance. When there is an instruction, the process proceeds to step S363 and the stage 15 is lowered. In the following step S364, it is confirmed to the operator whether or not the traveling surface warning data is to be cleared, and whether or not a clear is instructed is determined in the next step S365. If there is an instruction, in step S3 66, the driving surface warning data is cleared, that is, deleted, and the process ends. On the other hand, if clear is not instructed in step S365, step S366 is skipped and the process is terminated.

Note that the travel surface warning data is transmitted to the maintenance server 4 in step S326 of FIG. 33, but the maintenance server 4 that has received the travel surface warning data performs the same processing as the main control device 100. By executing, it is possible to display the traveling surface check screen as illustrated in FIG. 35 so that the state of the traveling surface 18 can be confirmed. Or you can analyze the running surface jung data in more detail with the maintenance server 4. At maintenance server 4 The state of the lower running surface 18 may be confirmed, and the server administrator may urge the operator of the store where the game machine 2 is installed to perform cleaning or the like. The line width inspection data may be transmitted to the maintenance server 4, the traveling surface warning data may be generated by the maintenance server 4, and the traveling surface check screen or warning may be displayed based on this.

[0086] In the above embodiment, the line sensor (50) is the guiding line detection means, the gyro sensor 111 is the direction detection means, the magnetic sensor 52 is the longitudinal position detection means, and the self-propelled vehicle control device 110 is the travel control. As a means, a combination of the travel control device 30, the communication control circuit 114 and the transmission unit 112 is a data output unit, the main control device 100 is a game control device, a communication unit 101, a relay device 102, a transmission unit 112, a reception unit. The combination of 113 and the communication control circuit 114 corresponds to the communication means, and the main control device 100 and the maintenance server 4 correspond to the traveling surface management device. In addition, the line width detecting unit 136 of the self-propelled vehicle control device 110 functions as a line width detecting means.

[0087] In the above embodiment, the position of the self-propelled vehicle 30 with respect to the longitudinal direction of the guide wire 34 is determined by detecting the magnetic measurement line 36 with the magnetic sensor 52, but with respect to the longitudinal direction of the guide wire. The position determination is not limited to using such means. For example, the position of the self-propelled vehicle 30 may be determined by integrating the amount of rotation of the drive wheels 42. The direction of the self-propelled vehicle 30 is not limited to that using the gyro sensor 111, and various changes are possible. For example, the direction is detected based on the difference in the rotational speed of the drive wheels 42. It is also possible to do this.

[0088] The present invention is not limited to a game machine having a lower running surface and an upper running surface, and even in a game machine having a single running surface, as long as the guidance line is detected and the running of the self-propelled body is controlled. Is applicable. The game executed on the game machine is not limited to a horse racing game. The guide wire is not limited to the one provided to form the circuit, but may be provided to form a straight path. The present invention is applicable not only to a game machine connected to a network but also to a stand-alone game machine disconnected from the network.

Claims

The scope of the claims

[1] A game machine main body having a running surface with a guide line and a self-propelled body capable of self-propelling the traveling surface, and the self-propelled body detects the guide line. And a game machine provided with travel control means for controlling the travel of the self-propelled body based on the detection result of the guide wire detection means,

As the guide line detecting means, a line sensor for detecting a luminance distribution in a predetermined detection region including the guide line on the traveling surface by a group of light receiving elements arranged in the left-right direction of the self-propelled body is provided. The running body is further provided with line width inspection means for determining the line width of the detected guide line based on the output of the line sensor.

game machine.

[2] The game machine according to claim 1, wherein the line width inspecting means further determines whether or not the determined line width is appropriate.

[3] The self-propelled body is provided with direction detecting means for detecting information necessary for specifying a deviation of the direction of the self-propelled body with respect to the longitudinal direction of the guide line,

The travel control means determines a shift in the direction of the self-propelled body with respect to the longitudinal direction of the guide wire based on the detection result of the direction detecting means, and further refers to the determination result to determine the self-propelled body. Configured to control the running of

The line width inspection means determines the line width based on a detection result of the line sensor and a deviation in a direction determined by the travel control means;

The game machine according to claim 1 or 2.

[4] The self-propelled body is provided with a longitudinal position detecting means for detecting information necessary for specifying the position of the self-propelled body with respect to the longitudinal direction of the guide wire,

The travel control means determines the position of the self-propelled body on the travel surface based on the detection results of the longitudinal position detection means and the line sensor, and based on the determination result, the self-propelled body Configured to control the running of

The line width inspection means creates inspection data in which the determination result relating to the line width is associated with the position of the self-propelled body determined by the travel control means.

The game machine according to any one of claims 1 to 3.

5. The game machine according to claim 4, wherein the self-propelled body is provided with data output means for outputting the inspection data to the outside of the self-propelled body.

6. A running surface management device for executing a predetermined process for notifying a manager of the game machine of the state of the running surface based on inspection data output from the self-running body. The game machine according to item 5 of the scope.

[7] The traveling surface management device detects the position on the traveling surface where the line width is inappropriate and the position based on the inspection data output from the self-propelled body as the predetermined process. Creates data for specifying the number of times, accumulates the data, and displays a running surface check screen showing the position where the line width is determined to be inappropriate based on the accumulated data and the number of times the position is detected. The game machine according to claim 6.

[8] The traveling surface management device detects the position on the traveling surface where the line width is inappropriate or the position based on the inspection data output from the self-propelled body as the predetermined process. Data for identifying at least one of the number of times is created and accumulated, and when the accumulated data exceeds a predetermined allowable amount, a predetermined warning is given to the administrator of the game machine. The game machine according to claim 6, wherein:

[9] The game control apparatus includes: a game control device that transmits an instruction related to the traveling of the self-propelled body to the traveling control unit of the self-propelled body via a predetermined communication unit to execute a predetermined game; The game machine according to any one of claims 6 to 8, wherein the device functions as the running surface management device.

[10] The claims 6 to 9, wherein the game machine is connected to a server for managing the game machine via a predetermined network, and the server functions as the running surface management device. The game machine as described in one item.

[11] A guide line detecting means for detecting a guide line attached to the running surface of the game machine, and a travel control means for controlling the travel on the running surface based on the detection result of the guide line detecting means are provided. In the self-propelled body

As the guide line detecting means, a line sensor for detecting a luminance distribution in a predetermined detection area including the guide line on the traveling surface is provided by a light receiving element group arranged in the left-right direction of the self-propelled body, and is detected. The line width of the guided wire is output from the line sensor. It further comprises a line width inspection means for determining based on force,

Self-propelled body.

[12] The self-propelled vehicle according to [11], wherein the line width inspection means further determines whether or not the determined line width is appropriate.

[13] It comprises a direction detecting means for detecting information necessary for specifying a deviation of the direction of the self-propelled body with respect to the longitudinal direction of the guide line,

The travel control means determines a deviation of the direction of the self-propelled body with respect to the direction of the guide line based on the detection result of the direction detection means, and further refers to the determination result to determine the travel of the self-propelled body. Configured to control,

The width inspection means determines the line width based on a detection result of the line sensor and a deviation in a direction determined by the travel control means.

The self-propelled body according to claim 11 or 12.

[14] Longitudinal position detecting means for detecting information necessary for specifying the position of the self-propelled body with respect to the longitudinal direction of the guide line,

The travel control means determines the position of the self-propelled body on the travel surface based on the detection results of the longitudinal position detection means and the line sensor, and the travel of the self-propelled body based on the determination result. Configured to control

The line width inspection means includes inspection data creation means for creating inspection data in which the determination result relating to the width of the guide line is associated with the position of the self-propelled body determined by the travel control means.

The self-propelled body according to any one of claims 11 to 13.

15. The self-propelled body according to claim 14, further comprising data output means for outputting the inspection data to the outside.