WO2006080215A1 - Field unit of game machine - Google Patents
Field unit of game machine Download PDFInfo
- Publication number
- WO2006080215A1 WO2006080215A1 PCT/JP2006/300595 JP2006300595W WO2006080215A1 WO 2006080215 A1 WO2006080215 A1 WO 2006080215A1 JP 2006300595 W JP2006300595 W JP 2006300595W WO 2006080215 A1 WO2006080215 A1 WO 2006080215A1
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- WO
- WIPO (PCT)
- Prior art keywords
- self
- lane
- propelled vehicle
- unit
- progress
- Prior art date
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- 230000033001 locomotion Effects 0.000 claims description 8
- 230000003028 elevating effect Effects 0.000 claims description 7
- 238000012423 maintenance Methods 0.000 abstract description 30
- 238000001514 detection method Methods 0.000 description 88
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- 238000000034 method Methods 0.000 description 45
- 238000005259 measurement Methods 0.000 description 40
- 230000008569 process Effects 0.000 description 28
- 238000007726 management method Methods 0.000 description 26
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- 238000010586 diagram Methods 0.000 description 18
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- 229910000831 Steel Inorganic materials 0.000 description 1
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Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F9/00—Games not otherwise provided for
- A63F9/14—Racing games, traffic games, or obstacle games characterised by figures moved by action of the players
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F9/00—Games not otherwise provided for
- A63F9/14—Racing games, traffic games, or obstacle games characterised by figures moved by action of the players
- A63F9/143—Racing games, traffic games, or obstacle games characterised by figures moved by action of the players electric
Definitions
- the present invention relates to a field unit of a game machine having a lower running surface and an upper running surface.
- a self-propelled body and a model are arranged on the lower traveling surface and the upper traveling surface provided in the field unit, respectively, and the self-propelled body and the model are magnetized while the self-propelled body is self-propelled on the lower traveling surface.
- a game machine is known in which a model is caused to run following a self-propelled body by pulling each other together (see, for example, Patent Document 1).
- a guide line, a measurement line, and the like serving as an index for controlling the traveling direction or progress of the self-propelled body are provided on the lower traveling surface.
- Patent Document 1 Japanese Patent Application Laid-Open No. 2003-38841
- the lower running surface is periodically inspected and if necessary. Need to be cleaned.
- the upper travel surface is arranged above the lower travel surface, the lower travel surface is hidden, so that maintenance management work cannot be performed efficiently.
- a power feeding surface for the self-propelled body is provided on the back side of the upper running surface, the same problem occurs in the maintenance management of the power feeding surface.
- an object of the present invention is to provide a field unit of a game machine capable of efficiently performing maintenance management of a lower running surface on which a self-propelled body is installed.
- a field unit of a game machine is a field unit of a game machine having a lower running surface on which a self-propelled body travels and an upper traveling surface on which a model following the self-running body travels.
- a lower structure provided with the lower running surface, and the lower structure The above-described problems are solved by providing an upper structure that is combined so as to be movable up and down and provided with the upper running surface, and a lift drive device that lifts and lowers the upper structure.
- the space between the back surface side of the upper travel surface and the lower travel surface is expanded by raising the upper structure with the lifting drive device, thereby lowering the lower travel surface.
- the upper structure is provided with a power supply surface (20) that faces the lower travel surface, and the self-propelled body is in the state where the upper structure is lowered.
- a downward movement range of the upper structure may be set so as to contact the power feeding surface.
- the power feeding surface can be brought into contact with the self-propelled body by lowering the upper structure, so that power can be reliably supplied to the self-propelled body.
- a sufficient space can be created between the lower running surface and the power feeding surface to easily inspect or clean the lower running surface and the power feeding surface.
- a space in which an operator can put at least the upper body between the lower running surface and the power feeding surface in a state where the upper structure is raised A range of upward movement of the upper structure may be set so as to generate a strain.
- the elevating drive device includes a hydraulic cylinder that is mounted between the lower structure and the upper structure so that an operation direction thereof is directed upward and downward, and the hydraulic cylinder And a hydraulic pressure generator for supplying the hydraulic pressure.
- a hydraulic cylinder as an actuator for raising and lowering the upper structure, the raising and lowering drive device can be configured relatively simply.
- the elevating drive device is provided around the field unit with an interval between them, and the operation direction is vertically between the lower structure and the upper structure.
- a plurality of hydraulic cylinders attached to each other and a hydraulic pressure generator for supplying hydraulic pressure to each hydraulic cylinder.
- Multiple hydraulic cylinders By providing it around the field unit, the upper structure can be raised and lowered smoothly even in a large field unit.
- each of the lower structure and the upper structure may be divided into the same number of subunits.
- the hydraulic cylinder is provided for each subunit. Moyore. As a result, the force of the hydraulic cylinder can be evenly distributed and acted on the subunits, and the burden on the connecting portion of the subunits when raising and lowering can be reduced.
- the cylinder tube of the hydraulic cylinder is attached to one of the lower structure and the upper structure, and the piston rod of the hydraulic cylinder is the other structure. It may be connected to the other structure through an adjuster device that provides play. By using such an adjuster device, it is possible to operate a plurality of hydraulic cylinders without being interfered with each other and to smoothly raise and lower the upper structure. The invention's effect
- the upper structure is lifted by the elevating drive device, so that the space between the back surface side of the upper traveling surface and the lower traveling surface is increased.
- the elevating drive device As a result, it is possible to improve the accessibility to the lower level running surface, and to efficiently perform maintenance management work on the lower level running surface.
- 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 Cross section of top plate provided in field unit and traveling on their running surfaces The figure which shows a self-propelled vehicle and a model.
- 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.
- FIG. 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.
- FIG. 20 is a block diagram showing a control system provided in the self-propelled vehicle.
- FIG. 22 is a functional block diagram of the self-propelled vehicle control device.
- 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. 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.
- 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.
- 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 for the communication network 6.
- 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.
- 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 top 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
- 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 is a value suitable for accommodating the self-propelled vehicle 30.
- the height Hu see FIG.
- the base 1 as shown in FIG. 4 and stage 15 can each be divided into three subunits 14A-14C, 15A-15C in the front-rear direction.
- the top plate 16 of the base 14 has been subjected to 3 damage ij in accordance with the subunits 14A to 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.
- 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.
- Sub unit 14A ⁇ At least one hydraulic cylinder 22 may be arranged for each of 14C. As shown in FIG.
- 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.
- the adjuster device 24 includes an adjuster 24 a fixed to the tip of the piston rod 22 a and an adjuster receiver 24 b 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 made of a white resin plate.
- the lower running surface 18 of the upper surface has a line sheet 32 and the lower surface has a magnet (permanent magnet) 33. Each is provided.
- 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.
- 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.
- the guide wire 34 is positioned as an index indicating the lane of the peripheral circuit 35.
- 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,.
- the position of the self-propelled vehicle 30 in the transverse direction of the circuit 35 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.
- 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.
- the magnets 33 are arranged so that the S poles and the N poles are alternately arranged.
- 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.
- 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.
- 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 positioned on the 100th magnetic measurement line 36 from the reference position Pref, the progress of the self-propelled vehicle 30 is recognized as 100 by the game machine 2.
- the pitch (interval) of the magnetic measurement lines 36 in the straight section 35a is set to a constant value PTm.
- this pitch PTm is referred to as a reference pitch.
- 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.
- the pitch (maximum pitch) PTout on the outermost guide wire 34 is approximately 30 mm.
- 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).
- 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.
- 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.
- 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.
- 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.
- the absolute position of the indicator lamp 38 may be associated with the progress using the magnetic measurement line 36.
- 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.
- progress 100 may be sent as position information.
- the number of absolute position pointing devices 37 from the reference position Pre f is sent as position information from the indicator light 38, and the number of absolute position pointing devices 37 is replaced with progress using the internal table of the game machine 2.
- the self-propelled vehicle 30 is disposed between the lower traveling surface 18 and the power feeding surface 20, and the model 31 is disposed on the upper traveling 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.
- FIGS. 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.
- the self-propelled vehicle 30 includes a lower unit 41A and an upper unit 41B.
- 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.
- the power supply brush 48 contacts the power supply surface 20, power is supplied from the housing 10 to the self-propelled vehicle 30.
- 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.
- the auxiliary wheels 44F on the front side of the lower unit 41A are arranged slightly biased upward with respect to the drive wheels 42.
- 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.
- a line sensor 50 and an absolute position detection sensor are provided on the lower surface of the self-propelled vehicle 30.
- Line sensor 50 detects guide wire 34
- the absolute position detection sensor 51 is provided for detecting the light emitted from the indicator lamp 38, and the magnetic sensor 52 is provided for detecting the magnetic measurement line 36.
- 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.
- the light receiving unit 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 traveling surface 18 formed by reflected light from the lower traveling 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.
- the center plane CP 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.
- the absolute position detection sensor 51 includes a light receiving unit 58 disposed on the center plane CP of the self-propelled vehicle 30.
- the absolute position detection sensor 51 receives infrared light transmitted from the indicator light 38, and a signal corresponding to the absolute position and lane number included in the infrared light. Is output.
- 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.
- 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.
- the magnetic sensor 52 functions as a measurement line detection means.
- 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.
- the reference pitch PTm is 8 mm
- the maximum pitch PTout is 30 mm
- the detection unit pitch PTms is 4 mm
- the number of detection units 60 is 8.
- 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.
- # 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.
- 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.
- 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.
- the current speed V of the self-propelled vehicle 30 is obtained by dividing the pitch PTms of the detection unit 60 by the inversion time interval (tl to t2, t2 to t3) of the output signal of each detection unit 60.
- 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.
- 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.
- 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 ms of the detection unit 60 is 4 mm, and the maximum pitch PTout of the magnetic measurement line 36 is 30 mm. If the number is set to 8, the condition is met.
- 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.
- 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.
- 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,).
- 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.
- 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).
- a gyro sensor 111 is connected to the self-propelled vehicle control device 110 as an input device.
- the gyro sensor 111 is incorporated in the self-propelled vehicle 30 in order to detect the attitude of the self-propelled vehicle 30, in other words, the self-propelled vehicle 30 is facing.
- Gyro sensor 111 Is 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 the angular change is integrated by integrating the angular acceleration twice. Is converted to, and output to the self-propelled vehicle control device 110.
- 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.
- 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.
- 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.
- 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
- the direction where the self-propelled vehicle 30 is facing is Dgyr.
- 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.
- 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 ⁇ AD 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 ⁇ 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 ⁇ amd given as a deviation amount of the current direction ⁇ gyr with respect to.
- 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.
- the lane correction amount A Yamd ⁇ .
- the lane direction Dref and the self-propelled vehicle direction Dgyr can be specified as the angles ⁇ ref and ⁇ 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.
- 0 ref O ° or 180 °.
- 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 ⁇ 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 ⁇ of the self-propelled vehicle 30 with respect to the lane, and stores the angle ⁇ 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.
- the self-propelled vehicle control device 110 calculates the target speed ADtgt, the progress ADcrt stored in the progress counter 121, and the target speed Vtgt of the self-propelled vehicle 30 based on the lane number stored in the lane counter 123.
- self-propelled vehicle 3 Speed setting unit 128 for setting the driving speed of motor 43 of 0, speed for feedback correction of the set driving speed according to the difference between target speed Vtgt and current speed Vact FB correction unit 12 9, target lane, lane Lane correction amount calculation unit 130 for calculating the lane correction amount ⁇ Yamd of the self-propelled vehicle 30 based on the lane number of the counter 123 and the lane deviation amount ⁇ Y of the self-propelled vehicle 30 determined by the lane management unit 124.
- 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.
- 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 ⁇ amd calculated by the direction correction amount calculation unit 131.
- a line width inspection unit 136 for inspecting the line width is provided.
- 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.
- Step S102 and S103 are skipped when the output of the detector 60 is not inverted.
- 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.
- step S1 07 After calculating the current speed Vact, add 1 to the variable m in step SI06.
- step S1 07 whether or not the absolute position detection sensor 51 has detected the absolute position is determined. It is determined whether the infrared light of the force is detected. If not detected, the process returns to step S101.
- 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,
- the value ADcrt of the progress counter 121 increases by 1 each 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.
- the current lane is acquired from the lane counter 123.
- 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 progress (reverse count number) Nx is set to the current degree ADcrt and the self-propelled car 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.
- the reference pitch PTm shown in FIG.
- the self-propelled vehicle 30 is in the corner section 3 If it is determined that you are going to drive 5b, you can obtain the pitch PTx corresponding to the lane number from data such as a table prepared in advance.
- step S126 calculates the inversion reference time tx.
- 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.
- the remaining time Trmn is given by the product of time tx, the inversion count Nx, and the advance deficiency AAD.
- 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.
- 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.
- the target progress time must be the same among all self-propelled vehicles 30 used in the same race.
- step S127 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.
- the target speed Vtgt is updated each time the progress of the self-propelled vehicle 30 advances by one.
- the target speed Vtgt calculated by the target speed calculation unit 127 is given to the speed setting unit 128 and the speed FB correction unit 129.
- Speed setting part 128 is given
- the driving speed of the motor 43 is set so that the target speed Vtgt can be obtained, and the speed FB correction unit 129 gives the driving speed an FB correction amount corresponding to the difference between the target speed Vtgt and the current speed Vact. 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 ⁇ gyr of the gyro counter 125, thereby obtaining the gyro counter 125. Update the value ⁇ gyr of.
- the angle ⁇ gyr indicating the current direction of the self-propelled vehicle 30 is stored in the gyro counter 125.
- the angle ⁇ 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 ⁇ 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 ⁇ amd.
- the direction correction amount calculation unit 131 obtains the value ADcrt of the progress counter in the first step S161, and determines the angle ⁇ r ef in the reference direction from the progress ADcrt in the subsequent step S162.
- the angle ⁇ 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.
- the reference direction angle ⁇ ref can be immediately determined from the advance counter value ADcrt.
- the value ⁇ gyr of the gyro counter 125 is acquired, and in the subsequent step S164, the difference between the angles ⁇ ref and ⁇ gyr is calculated as the direction correction amount ⁇ amd (see FIG. 21).
- the process returns to step S161.
- the direction correction amount ⁇ amd obtained here is given to the speed ratio setting unit 133, in addition to the lane management unit 124 and the line width detection unit 136. Also given to.
- 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 ⁇ amd to obtain the lane shift amount ⁇ (see Fig. 21) of the self-propelled vehicle 30 and uses the lane shift amount ⁇ . Then, the value of lane counter 123 is managed. That is, the lane management unit 124 obtains the direction correction amount ⁇ amd from the direction correction amount calculation unit 131 in the first step S181, and detects the lane deviation amount ⁇ 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 ⁇ 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 ⁇ 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 ⁇ Y. By multiplying the number ⁇ Ndot by the line width per dot, the lane shift amount ⁇ ⁇ can be obtained. However, if the direction of the self-propelled vehicle 30 is deviated from the reference direction Dref (see Fig.
- the line sensor 50 also tilts obliquely with respect to the direction perpendicular to the guide line 34, resulting in a dot
- the number ⁇ Ndot also increases with the slope. Therefore, it is necessary to obtain the correct lane shift amount ⁇ ⁇ by multiplying the lane shift amount ⁇ obtained from the number of dots ⁇ Ndot by the cosine value cos ⁇ amd of the direction correction amount. This is why the direction correction amount ⁇ amd is acquired in step S181 in FIG.
- 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 ⁇ amd. it can.
- step S183 it is determined whether or not the self-propelled vehicle 30 has moved to the next lane. For example, when the lane shift amount ⁇ 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. If it is determined in step S183 that the vehicle has moved to the next lane, 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.
- step S185 it is determined whether or not the absolute position detection sensor 51 has detected the 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 ⁇ 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 ⁇ ⁇ ⁇ is acquired from the lane management unit 124.
- 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 ⁇ to the lane correction amount A Yamd, and returns to step S201.
- step S204 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.
- 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).
- 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.
- 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 ⁇ 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.
- 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 ⁇ ⁇ 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.
- 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.
- 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.
- 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 ⁇ amd. 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 the direction control of the self-propelled vehicle 30, the self-propelled vehicle 30 can be further improved. It is possible to converge smoothly and quickly on the target lane and to align the direction with the target direction accurately and quickly.
- the direction correction amount ⁇ 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 in the determination of the lane shift amount ⁇ using the output of the line sensor 50, Using the direction correction amount ⁇ amd, the deviation amount ⁇ is accurately detected. Power to put out S 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 inspection 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 ⁇ Get ⁇ amd.
- the line width in the current lane is calculated from the output of the line sensor 50.
- 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 ⁇ amd. Correction may be given.
- 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
- 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.
- 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.
- the followability of the self-propelled vehicle 30 with respect to the guide line 34 may deteriorate, and malfunctions such as unstable behavior when changing lanes may occur.
- the data created by the line width inspection unit 136 can be used effectively.
- 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 ⁇ amd of the self-propelled vehicle 30 to a certain range, it corresponds to the guide line width Wg when the direction correction amount ⁇ amd 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 ⁇ amd is also unnecessary.
- 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.
- the line width may be determined to be less than the allowable range.
- 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.
- 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.
- 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. It is also possible to detect the colored portion other than white or black by digitalizing with 256 gradations and identify the colored portion as dirt.
- the line width detection data acquired by the line width detection unit 136 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 is a flowchart showing a procedure for transmitting line width detection data from the self-propelled vehicle 30 to the main control device 100.
- Self-propelled vehicle control device 110 detects line width in step S241. It is determined whether or not it is time to transmit data. If it is determined that it is time to transmit data, the process proceeds to step S242 and the line width inspection data is transmitted to the main controller 100. On the other hand, main controller 100 determines whether or not inspection data has been transmitted from self-propelled vehicle 30 in step S301. 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.
- 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.
- FIG. 33 shows a 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.
- the main controller 100 analyzes the line width inspection data received from the self-propelled vehicle 30 and creates the travel surface warning data.
- the main control device 100 generates the travel surface warning data.
- 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.
- 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.
- the detection position may be omitted and only the number of detections may be retained in the traveling surface warning data.
- 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.
- 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.
- 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 allowable amount is exceeded, the warning flag is set to 1 in step S325, and the running surface warning data is maintained in step S326. Send to server 4, then finish processing. 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.
- FIG. 34 shows a processing procedure of the traveling surface check management executed by the main controller 100 in order to display the traveling surface check screen based on the traveling surface warning data on 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.
- 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.
- 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.
- 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.
- the diameter of dot 81 increases as the number of detections increases.
- the color of the dots 81 may be changed according to the number of detections.
- 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.
- 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. .
- Dot 81 may be omitted to show only areas that need to be examined or cleaned. Only the detection position by the dot 81 may be shown by omitting the display change for each area.
- the detection position is not limited to dots, You may show.
- 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.
- the warning flag is checked to determine whether or not the warning display is necessary.
- the warning display is not limited to this, but is appropriate. Go at the timing.
- 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.
- 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 and the like of the lower running surface 18.
- 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.
- step S362 it is determined whether or not the operator has instructed the end of the maintenance.
- the process proceeds to step S363 and the stage 15 is lowered.
- 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.
- the running 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 running surface warning data also performs the same processing as the main control device 100.
- 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.
- 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.
- a force in which the power feeding surface 20 is provided on the back surface side of the top plate 17 of the stage 15 can also be applied to a field unit in which the power feeding surface is provided at another position.
- the present invention can also be applied to a field unit in which a self-propelled vehicle is driven by a built-in battery and the power feeding surface is omitted.
- the lifting drive is not limited to a hydraulic cylinder as an actuator.
- the rotational motion of the motor may be converted into a lifting motion of the upper structure by a motion conversion mechanism such as a rack and pinion mechanism or a ball screw mechanism.
- the upper traveling surface may be a water surface.
- the field unit according to the present invention is not limited to a game machine that executes a horse racing game.
- the present invention can be applied not only to a game machine connected to a network but also to a field unit of a stand-alone game machine separated from the network.
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Toys (AREA)
- Pinball Game Machines (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/814,605 US20080227509A1 (en) | 2005-01-26 | 2006-01-18 | Field Unit of Game Machine |
GB0714444A GB2437671B (en) | 2005-01-26 | 2007-07-24 | Field unit of game machine |
HK07112057.8A HK1104004A1 (en) | 2005-01-26 | 2007-11-06 | Field unit of game machine |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005-017755 | 2005-01-26 | ||
JP2005017755A JP3885082B2 (en) | 2005-01-26 | 2005-01-26 | Game console field unit |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2006080215A1 true WO2006080215A1 (en) | 2006-08-03 |
Family
ID=36740249
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2006/300595 WO2006080215A1 (en) | 2005-01-26 | 2006-01-18 | Field unit of game machine |
Country Status (7)
Country | Link |
---|---|
US (1) | US20080227509A1 (en) |
JP (1) | JP3885082B2 (en) |
KR (1) | KR100902716B1 (en) |
GB (1) | GB2437671B (en) |
HK (1) | HK1104004A1 (en) |
TW (1) | TWI303184B (en) |
WO (1) | WO2006080215A1 (en) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009045322A (en) * | 2007-08-22 | 2009-03-05 | Aruze Corp | Gaming machine and its control method |
JP5781470B2 (en) * | 2012-06-06 | 2015-09-24 | 株式会社コナミデジタルエンタテインメント | Game machine and sensor calibration data generation method thereof |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH11244510A (en) * | 1998-03-03 | 1999-09-14 | Seiko Precision Inc | Travel control device of traveling body |
JPH11300031A (en) * | 1998-04-22 | 1999-11-02 | Sigma Corp | Optical guide apparatus for racing game machine |
JP2000300832A (en) * | 1999-04-21 | 2000-10-31 | Mataharii:Kk | Controller of game machine and control method therefor |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2610891A (en) * | 1947-06-18 | 1952-09-16 | Elmer F Crockett | Semitrailer construction |
US4881859A (en) * | 1988-10-06 | 1989-11-21 | Wabash National Corporation | Trailer for selectively transporting vehicles and general freight |
NL8802827A (en) * | 1988-11-16 | 1990-06-18 | Itrec Bv | EARTHQUAKE SIMULATOR FOR A FUN PARK. |
JP3230779B2 (en) * | 1993-03-29 | 2001-11-19 | 江藤電気株式会社 | Competition game equipment |
JP3049330B2 (en) * | 1993-08-25 | 2000-06-05 | コナミ株式会社 | Game equipment |
JP3870493B2 (en) * | 1996-08-02 | 2007-01-17 | 株式会社セガ | Competitive game equipment |
US7235013B2 (en) * | 2000-12-07 | 2007-06-26 | Konami Corporation | Game machine using self-propelled members |
-
2005
- 2005-01-26 JP JP2005017755A patent/JP3885082B2/en active Active
-
2006
- 2006-01-18 WO PCT/JP2006/300595 patent/WO2006080215A1/en not_active Application Discontinuation
- 2006-01-18 KR KR1020077019388A patent/KR100902716B1/en not_active IP Right Cessation
- 2006-01-18 US US11/814,605 patent/US20080227509A1/en not_active Abandoned
- 2006-01-23 TW TW095102505A patent/TWI303184B/en not_active IP Right Cessation
-
2007
- 2007-07-24 GB GB0714444A patent/GB2437671B/en not_active Expired - Fee Related
- 2007-11-06 HK HK07112057.8A patent/HK1104004A1/en not_active IP Right Cessation
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH11244510A (en) * | 1998-03-03 | 1999-09-14 | Seiko Precision Inc | Travel control device of traveling body |
JPH11300031A (en) * | 1998-04-22 | 1999-11-02 | Sigma Corp | Optical guide apparatus for racing game machine |
JP2000300832A (en) * | 1999-04-21 | 2000-10-31 | Mataharii:Kk | Controller of game machine and control method therefor |
Also Published As
Publication number | Publication date |
---|---|
KR20070104435A (en) | 2007-10-25 |
KR100902716B1 (en) | 2009-06-15 |
JP3885082B2 (en) | 2007-02-21 |
GB2437671B (en) | 2009-08-05 |
JP2006204396A (en) | 2006-08-10 |
GB0714444D0 (en) | 2007-09-05 |
TWI303184B (en) | 2008-11-21 |
TW200638979A (en) | 2006-11-16 |
HK1104004A1 (en) | 2008-01-04 |
US20080227509A1 (en) | 2008-09-18 |
GB2437671A (en) | 2007-10-31 |
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