JP3609042B2 - Travel control system for line-guided racing game machine - Google Patents

Description

[0001]
[Industrial application fields]
The present invention relates to a line-guided racing game apparatus in which a model body traveling on an upper traveling surface is pulled by a self-propelled body traveling on a lower traveling surface via a magnet, and a race by the model body is developed on an annular track. This is related to a control system, in which a self-propelled vehicle is guided by a guidance lane, and a race control game device in which the self-propelled vehicle travels while changing the guidance lane according to a command from the central control device, The communication between the central control device and the self-propelled body can be simplified, and the traveling control can be simplified.
[0002]
[Prior art]
Each self-propelled body is laid on the lower-stage running surface as a racing game device in which the model body is run on the upper model-body running surface, and the model body is pulled by a self-running body running on the lower stage via a magnet. There is a type that is guided by a rail, and the position of the self-propelled body on the two-dimensional coordinates is sequentially detected, and the target position while performing feedback control based on the target position on the two-dimensional coordinates and the position detected by the position detecting means In some cases, the self-propelled body is caused to run in a track-free manner in such a manner that the vehicle is sequentially tracked (Japanese Patent Publication No. 7-28958).
In addition, optical guidance lanes densely laid on the running surface are detected by the lane detection means provided in the self-propelled vehicle, and the self-propelled vehicle control device performs self-contained feedback control, There is also a vehicle that is followed by tracking (Japanese Patent Laid-Open No. 10-232712).
The above-described conventional technique for performing feedback control with a target position on a two-dimensional coordinate and a sequentially detected position (two-dimensional coordinate position) and traveling a predetermined travel route while sequentially passing through the target position is based on the two-dimensional coordinate. A position display device that finely displays the position is necessary, and a position detection device that detects the position of the self-propelled body corresponding to the position display device is necessary. In addition, in order to travel sequentially through the target position on the two-dimensional coordinates, the direction of the self-propelled body is detected, and the traveling speed is considered in relation to the direction of the self-propelled body and the next target position. Since it is necessary to calculate the steering angle and to control the steering, the information processing for traveling control is not simple and the control becomes complicated. Further, since the target position is determined at a minute interval in the program so as to sequentially pass through the target position on the two-dimensional coordinates and this is feedback-controlled, there is a problem in smoothness and stability of traveling. Furthermore, since the central control unit performs feedback control of the traveling of the self-propelled body while performing complicated information processing, the control system is complicated and the cost is unavoidably increased.
[0003]
On the other hand, those that follow the guide lane are basically excellent in the smoothness and stability of the travel because the travel route is guided by the guide lane. However, it is undeniable that there is the simplicity of the driving route and the unnaturalness of the race, and it is necessary to change the guidance lane appropriately to solve this, but this transfer control is very simple, There is no problem because it is easy. Moreover, since the traveling control of the self-propelled body that tracks the guidance lane is basically speed control and transfer control, the traveling control and the control system thereof are simple. However, if the transfer timing deviates from the progress of the race, the realism of the race will be significantly impaired. Therefore, the remaining problem is how to realize the realism of the race by performing the travel control such as transfer control and speed control at appropriate timing so that there is no sense of incongruity from the progress of the race. is there.
[0004]
Japanese Patent Laid-Open No. 10-232712 discloses that at the start of a race, the transfer position, the transfer direction, and the running speed in the middle are stored in the control memory of the self-propelled vehicle collectively at the start, The self-propelled vehicle travels to the goal according to the travel control information stored in a batch at a predetermined speed while sequentially changing the guide lanes as predetermined. However, in practice, the self-propelled vehicle does not always travel at the speed according to the travel control information stored collectively at the start, and therefore the race is not always performed as scheduled. For this reason, the timing of the transfer is shifted from the progress of the race, the transfer is performed in an unnatural state, and as a result, the progress of the race may become extremely unnatural. This is a problem that arises because the running control information that is collectively input at the start of the race controls the running to the goal regardless of the actual racing situation.
Also, speed control is performed based on the control data stored in advance in the memory of the self-propelled vehicle and the detected traveling progress of the self-propelled vehicle, and feedback control is performed in a self-contained manner by the self-propelled vehicle control device. Therefore, the travel control device of the self-propelled body is not always simple in terms of hardware and software, and the accuracy of the travel control is not high.
[0005]
[Problems to be solved]
The present invention relates to a travel control system for a line-guided racing game apparatus in which a self-propelled body tracks a guidance lane and pulls the model body through magnetic force, and the self-propelled body travel control means controls the travel of the self-propelled body. The central control and the self-propelled vehicle can be improved so that the realism of the race can be improved by sequentially performing driving control such as transfer control and speed control in relation to the racing situation. It is an object of the present invention to devise a command method for travel control with a travel control device and a travel control method for a self-propelled body using the travel control device and the travel control device.
[0006]
[Measures taken to solve the problem]
The means taken to solve the above problem is that the self-propelled body that tracks and follows the guide lane on the lower traveling surface pulls the model traveling on the upper traveling surface through a magnet, and uses the model body with an annular track. The following (a) to (d) are related to the travel control system of the line induction type game machine for developing a race.
(A) The game apparatus main body is provided with a central controller, and the central controller includes a target lane number, a target progress, and a traveling speed, and each section that divides the annular track into a number of sections in the traveling direction. That each run command information is intermittently transmitted to the self-propelled body sequentially ,
(B) The self-propelled body is provided with a travel control device, and the travel control device detects a guidance lane detection means for detecting a guide lane on the lower travel surface, and detects the progress of the self-propelled body on the lower travel surface. And a lane change detecting means for detecting the number of times the guidance lane has been changed, and a memory for storing the current running position progress of the self-propelled vehicle and the current running lane number, and transmitted from the central control unit. In accordance with the travel command information, while detecting the progress and changing the lane, the feedback control is performed in a self-contained manner, and the guided lane designated by the self-propelled vehicle is tracked ,
(C) the travel control device of the self-propelled body, from the time it receives a travel command information, until it reaches the target progress in the travel command information, and sends back an NG signal to the central control unit, reaches the target progress If you do, return an OK signal,
(D) said central control unit, upon receiving the OK signal, which travel command information to change the travel command information in the following sections to transmit the driving control device of the self-propelled body.
[0007]
[Operation]
The travel command information includes a target lane number, a target progress, a travel speed, and the like, and the travel command is set for each of the sections in which the annular track is partitioned into a number of sections. And while each self-propelled body is traveling in each section, the central controller sequentially transmits a traveling command for the section to each self-propelled body. This travel command is a very simple command because it is a travel speed, a target lane number, a target progress (progress from the start position), and the communication is unilateral.
The travel control device mounted on the self-propelled vehicle receives a travel command and simply travels at the commanded speed, and self-contains the transfer control of the commanded target lane number to the lane as necessary. In the meantime, the progress is detected, the difference between the detected progress and the target progress is judged, and each time a travel command is transmitted, an NG signal is returned until the target progress is reached in response to this. When the target progress is reached, an OK signal is returned. The transmission of the travel command information to the self-propelled body and the return of the NG signal and the OK signal from the self-propelled body are both unilateral.
[0008]
The central control device transmits a travel command for the next travel section to the self-propelled body that has returned the OK signal, and the self-propelled body travels in the next section according to the travel command.
As described above, the central control device repeatedly transmits a simple traveling command for each divided section, while the traveling control device of the self-propelled body only transmits a simple NG signal and an OK signal. The commands exchanged for the traveling control between the central control device and the traveling control device of the self-propelled vehicle are very simple, and the information processing of the central control device and the traveling control device for that purpose is extremely simple. is there.
And since the above-mentioned running commands (commands) for each section are sequentially set step by step according to the progress of the race, they are appropriately created according to the actual situation of the race to be developed or prepared in advance. If necessary, it can be corrected as appropriate, so that the running control such as transfer can be balanced as a whole in accordance with the progress of the race. Therefore, it is possible to cause the model body to execute a realistic race.
[0009]
Embodiment 1
Embodiment 1 (corresponding to claim 3) is that the above-mentioned solving means is as follows.
(E) The display line of the guide lane is a guide line that can be detected by an optical sensor,
(F) The optical sensor is composed of three light receiving elements provided on the lower surface of the self-propelled body and provided close to each other. It was made to detect.
[Operation]
If you drive in one guide lane, that is, a guide light line with the center light-receiving element tracking the guide line and sandwiched between the two light-receiving elements on the left and right, Since the light receiving element detects, smooth tracking traveling is performed with extremely simple feedback control.
[0010]
Embodiment 2
Embodiment 2 (corresponding to claim 5) is that the above solving means is as follows.
(G) The guidance lane number at the race start position is recorded in the memory of the traveling control device of the self-propelled vehicle, and the lane number recorded in the memory of the traveling control device is updated every time the guidance lane is changed. What
(H) The traveling control device determines whether or not the target lane number received during traveling matches the recognized lane number, and the traveling control device performs transfer control so that they match if they do not match. about.
[Operation]
Since the guide lane number recorded in the memory of the travel control device always matches the guide lane number that is actually traveling, the comparison between the guide lane number recorded in the memory and the target lane number Since the travel control device performs the transfer control in a self-contained manner, the guided lane transfer control of the self-propelled vehicle is performed accurately.
In addition, traveling control command information is set so as to avoid interference between the self-propelled bodies at the time of transfer, and transfer control is performed at the direction and timing of transfer by this.
[0011]
Embodiment 3
Embodiment 3 (corresponding to claim 6) is that the above-mentioned solving means is as follows.
(Li) progress detecting means detecting to detect a progress measuring lines arranged number at regular intervals at right angles to Oite guide lane in the lower running surface, the該進degree measurement lines provided on the lower surface of the self-propelled body sensor and, to consist of an adding means for adding the detection signals from the sensor.
[Action]
A number of progress measurement lines perpendicular to the guide lane are arranged at equal intervals on the lower running surface. By counting this and detecting the progress, a common progress can be made regardless of the overall length of each guide lane. Is displayed. Therefore, the detected progress is common to all guide lanes. Therefore, since there is no difference in the progress even if the guide lane is changed, it is simple to detect the progress of the self-propelled body that travels while changing the guide lane and to handle the detected progress.
In addition, since the progress measurement line is also present in the blank between the guide lines that define the guide lane, the progress detection is continuously performed even during transit (traveling diagonally across the blank). Therefore, the detection progress will not be distorted by the transfer control.
In the corners, etc., the progress measurement line may not be right-angled in a strict sense with respect to all the guide lanes. ".
[0012]
Embodiment 4
The embodiment 4 (corresponding to claim 7) is that the progress measurement line of the embodiment 3 is a magnetic line and the progress line detection sensor provided on the lower surface of the self-propelled body is a magnetic sensor.
[Operation]
Every time the self-propelled body crosses, the magnetic line is detected as one pulse by the magnetic sensor, and the progress is measured by adding this. Therefore, progress detection is simply performed.
[0013]
Embodiment 5
The fifth embodiment (corresponding to claim 8) is the following solution means.
Place (j) Oite the lower running surface, the position display lines by four or more of an infrared signal at a predetermined interval so as to cross the guide lane (display line for displaying progress, the lane number code, etc. by infrared) , provided an infrared receiver on the lower surface of the self-propelled body, when the self-propelled body passes the position display lines, to the lane number and progress from the position indicator line was to read through the infrared receiver,
( L ) To correct the lane number and progress stored in the memory of the travel control device to the lane number and progress read through the infrared receiver.
[Operation]
The lane number and progress recorded in the memory are updated by counting each time the self-propelled vehicle gets over the guide line and progress measurement line, so that a detection error may occur. These detection errors cause a deviation in the guidance lane number and progress recorded in the memory, but when placed on the circular track and passing the position indicator line, it is corrected to the correct lane number and progress. If it sees, driving | running | working control will be made by comparing with the commanded target lane number and target progress on the basis of the substantially correct lane number and progress.
Note that the communication medium is not limited to infrared, and any medium that can transmit digital information may be used. However, infrared is desirable because it is the simplest and most reliable.
[0014]
Embodiment
In this invention, the model body travels on the upper traveling surface, the self-propelling body travels on the lower traveling surface, and the model body is pulled by the self-propelling body through magnetic force to travel, so to speak, a two-story structure race It is a game device, and a premise is a racing game device in which a self-propelled body tracks and runs a specified guide line while changing a number of guide lines attached to the lower running surface. Since the technique is conventionally well-known (for example, Unexamined-Japanese-Patent No. 10-232712), the description of the detail of the basic structure is abbreviate | omitted in description of this embodiment.
[0015]
A large number of annular guide wires 1 are densely attached to the lower running surface. The minimum necessary distance between the guide lines 1 and 1 depends on the width of the guide lines and the width of the space between the guide lines, which are necessary for smooth and reliable tracking, but are adjacent to each other. There is no problem as long as the self-propelled body can run along the guide line. On the other hand, there is a demand to reduce as much as possible the course change width due to the transfer of the guide line and to avoid the unnatural change of the travel route accompanying the transfer of the guide line as much as possible. If the distance is too large, the course cannot be changed with a fine width, so the realism of the race is lost. What is necessary is just to select suitably considering these both surfaces.
In addition, a number of progress measurement lines 2 perpendicular to the guide wire 1 are provided at predetermined intervals on the lower travel surface. In this embodiment, the progress measuring line 2 is a magnetic line. The progress measurement line can be used by combining three colored lines of red, blue, and green, and the progress sensor can be a combination of three light receiving elements having high sensitivity to red, blue, and green. However, in this case, it is necessary to devise the guide line separately so that the detection of the progress measurement line and the guide line is not mixed.
Further, as shown in FIG. 1, a total of six position display lines 3 perpendicular to the guide line 1 are arranged on the entire circumference of the race track T. The position display line 3 is an optical signal (infrared signal) transmitter, and transmits a guide lane number and an accurate progress to a self-propelled body that crosses the position display line 3. Since this position display line 3 is to improve the driving accuracy by correcting the guide lane number and progress recorded in the memory of the self-propelled vehicle at predetermined intervals, how to arrange the position display line 3 is Although it is only necessary to select as appropriate, there is no practical problem if four or more parts are equally arranged on all tracks.
[0016]
Three light receiving elements 10a, 10b, 10c are provided close to each other at the center of the lower surface of the self-propelled body 10, and the center light receiving element 10a is located at the center of the guide wire 1, and the left and right light receiving elements 10b, 10c. Thus, the guide wire 1 is in a positional relationship between the left and right. The light receiving element detects reflected light. When the self-propelled body deviates from the center of the guide wire 1, the light receiving element 10 a and either one of the left and right light receiving elements 10 b or 10 c detect the guide wire 1. Therefore, the traveling of the self-propelled body is controlled by the traveling control device of the self-propelled body so that the guide wire 1 is detected only by the light receiving element 10a.
The magnetic sensor 11 is provided on the lower surface of the self-propelled body, and one pulse signal is generated every time the magnetic line 2 that is a progress measurement line is crossed. By adding this pulse signal by the travel control device, each time the magnetic line 2 is crossed, the progress (advance from the start position) is added one by one, and the progress at that time is detected.
[0017]
Further, an infrared receiver 12 is provided on the lower surface of the self-propelled body. When the vehicle travels while tracking the guide wire 1 and crosses the position display line 3 (infrared transmitter), the lane number and progress at that time Is received from the position display line 3. Then, the lane number and progress recorded in the memory of the traveling control device of the self-propelled body are rewritten to the true value received from the position display line 3. Therefore, when the lane number and progress recorded in the memory of the travel control device do not match the true value received from the position display line 3, it is corrected with this, so that the guide line and progress during travel may be distorted. Even if it exists, as a whole race, it will run according to the command from the central control unit 20, and the race will be executed according to the command from the central control unit.
[0018]
The exchange of signals between the central control device 20 of the game machine main body and the traveling control device 30 of the self-propelled body is as shown in FIG.
A command (travel command information such as target lane number, target progress, travel speed) from the central control device 20 is transmitted from the command transmission unit to the travel control device 30 of the self-propelled vehicle. The transmission unit of the central control device 20 switches to the reception mode when the command is transmitted, while the reception unit of the travel control device 30 switches to the transmission mode when the command is received. If the progress stored in the memory does not match the target progress in the command, an NG signal is returned to the central controller 20 every time a command is received. The same command is repeatedly sent at 0.2 second intervals (when the number of a group of self-propelled bodies is 10) until the progress of the self-propelled body reaches the target progress, and the progress measurement value is sent to the progress target in the command. If they match, the travel control device 30 returns an OK signal to the central control device 20 in response to the command. This command is set in the control unit of the central control unit for each section obtained by dividing the traveling track into a number of sections in the traveling direction, but the section is in the range of 0.6 to 1.0 seconds in time. (In a normal traveling state, the traveling distance is 90 mm to 150 mm). If this section is too long, the race becomes monotonous and the running control becomes unstable. On the other hand, if it is too short, the running control becomes too fine. In view of these trade-offs, the above degree is one standard.
[0019]
The traveling of the self-propelled vehicle is controlled by the traveling control device 30 in a self-contained manner. Basically, the guide wire 1 is detected by an optical sensor and designated by the traveling speed in the command from the central control device. Since the guide line 1 is not tracked, the vehicle travels to the target progress. When the target progress is reached, an OK signal is transmitted from the travel control device, so that the command is changed and triggered by the reception of this OK signal. When the command is changed, the travel is continued at the travel speed of the immediately preceding command until the travel control device receives the next command, so that the travel is continued smoothly.
If the target lane number in the received command does not match the lane number recorded in the memory of the self-propelled cruise control device, the difference between the lane number and the target lane number is zero. Then, change the necessary guide line, and follow the guide line when it matches. When changing one guide line, the output of the center optical sensor 10a changes, and by counting this change, the number of self-propelled bodies that have changed the guide line can be detected.
Instead of detecting the guide line with the three optical sensors, the two optical sensors can be traced while tracing the edge of the guide line. In this case, when either the left or right side deviates from the guide line, the self-propelled body is displaced in the direction of the optical sensor. Therefore, the two optical sensors always follow the control line so as to detect the guide line. Will do.
Further, if the optical sensor is an optical sensor array in which four or more optical sensors are assembled, the arrangement density of the optical sensors is increased, so that the guide line can be traced with higher accuracy.
[0020]
In addition, the self-propelled body changes and travels with respect to the guide line 1 at a predetermined change angle (see FIG. 7), but the angle in the change direction (see FIG. 7) may be designated from the central controller. Further, the travel control device may select as appropriate in relation to the travel speed.
When commanding from the central control unit, a number of transfer angles are prepared in advance in the memory of the self-propelled vehicle, and the transfer angle is transmitted to the travel control device of the self-propelled vehicle with a code number. The body may select the transfer angle corresponding to the code from the memory, and the transfer angle may be prepared as a difference in rotational speed between the left and right drive wheels of the self-propelled body.
Furthermore, a method may be adopted in which the traveling control device of the self-propelled body selects itself in relation to the traveling speed. In this case, it is also possible to prepare a change angle for each travel speed range appropriately divided and select an appropriate change angle from each travel speed.
[0021]
【The invention's effect】
As described above, the present invention divides the process from the start to the goal into a number of sections by the traveling control device of the self-propelled body, and based on the self-contained traveling control by the traveling control device of the self-propelled body, In accordance with the progress of the race, the travel command information is transmitted to the travel control device of the self-propelled body for each of the above-mentioned sections, and the self-propelled body travels in the above-mentioned sections based on this. Since they are connected to form a single race, the driving speed and transfer are appropriately controlled in accordance with the actual race conditions, and the advantage of pursuit driving (running is smooth and stable) Realistic and smooth running can be realized while making the best use of.
In addition, the exchange of commands and responses between the central control device for traveling control and the traveling control device of the self-propelled body is extremely simple communication, and at the start, the current lane number and progress of the traveling control device are determined. Since only initial setting is performed, data input for initial setting at the start of the race is also simple. Therefore, communication and information processing for traveling control are simple.
[Brief description of the drawings]
FIG. 1 is a plan view showing the arrangement of guide lines and position display lines on a self-propelled vehicle running surface.
FIG. 2 is a plan view showing an arrangement of progress measurement lines on a self-propelled vehicle running surface.
FIG. 3 is a cross-sectional view schematically showing a relationship between an optical sensor of a self-propelled body and a guide wire.
FIG. 4 is a cross-sectional view schematically showing a relationship between a magnetic sensor of a self-propelled body and a progress measurement line.
FIG. 5 is a cross-sectional view schematically showing a relationship between an infrared receiver of a self-propelled body and a position display line.
FIG. 6 is a diagram schematically showing the order of communication between the central control device and the traveling control device of the self-propelled body.
FIG. 7 is a plan view schematically showing how the self-propelled body changes the guide line.
[Explanation of symbols]
1: Guide line 2: Progress measurement line 3: Position display line 10: Self-propelled bodies 10a, 10b, 10c: Light receiving element 11: Magnetic sensor 12: Infrared receiver 20: Central controller 30: Travel controller

Claims (8)

Running on a line-guided racing game machine in which a self-propelled vehicle that tracks and follows the guidance lane on the lower running surface pulls the model running on the upper running surface via a magnet and develops a race with the model on an annular track In the control system,
The game apparatus main body includes a central control device, which includes a target lane number, a target progress, and a travel speed, and travels for each section in which the annular track is partitioned into a number of sections in the travel direction. Command information is transmitted intermittently and sequentially to the self-propelled vehicle .
The self-propelled body is provided with a travel control device, and the travel control device detects the progress of the self-propelled body on the lower travel surface and the guidance lane detection means for detecting the guide lane on the lower travel surface. And a lane change detection means for detecting the number of times the guidance lane has been changed, and a memory for storing the current running position progress of the self-propelled vehicle and the current running lane number, and a travel command transmitted from the central control unit. According to the information, while detecting the progress and changing lanes, feedback control is performed in a self-contained manner, and the guided lane designated for the self-propelled vehicle is tracked ,
The travel control device of the self-propelled body, from the time it receives a travel command information, to reach the target progress in the travel command information, returns an NG signal to the central control unit, upon reaching the target progress is Reply OK signal,
Said central control unit, upon receiving the OK signal, the travel command information and transmits it to change the travel command information of the next partition to the travel control device of the self-propelled body, a line inductive racing game apparatus Travel control system. The display line of the guide lane is a guide line that can be detected by an optical sensor,
The optical sensor is provided on the lower surface of the self-propelled body and is composed of a plurality of light receiving elements close to each other, and the plurality of light receiving elements detects a shift of the self-propelled body to the left and right with respect to the guide lane. A traveling control system for a line induction type racing game apparatus according to Item 1. The travel control system for a line induction type game machine according to claim 2, wherein the optical sensor is composed of three or more light receiving elements. The travel control system for a line induction type game machine according to claim 2, wherein the light receiving sensor is constituted by a light receiving element array. The guidance lane number at the race start position is recorded in the memory of the traveling control device of the self-propelled vehicle, and the guidance lane number recorded in the memory of the traveling control device is updated every time the guidance lane is changed,
The travel control device determines whether or not the target lane number received during travel matches the recognized lane number, and the travel control device performs transfer control so that they match if they do not match. Control system for line-guided racing game machines. The progress detecting means includes a progress measuring lines arranged number at regular intervals at right angles to Oite guide lane in the lower running surface, a detection sensor provided on the lower surface of the self-propelled body detects the該進degree measurement line , running control system for the line inductive racing game apparatus according to claim 1 comprising a adding means for adding the detection signals from the sensor. The progress measurement lines and magnetic lines, running control system for the line inductive racing game apparatus according to claim 6 in which the detection knowledge sensor provided on the lower surface of the self-propelled body with a magnetic sensor. Oite above the lower running surface, the position display lines by four or more of an infrared signal at a predetermined interval so as to cross the guide lane are arranged, provided the infrared receiver on the bottom surface of the self-propelled body, self-propelled body when passing through the position display lines, the lane number and progress from the position indicator line being adapted to read through the infrared receiver,
The running control system for a line guidance type racing game apparatus according to claim 1, wherein the lane number and the progress stored in the memory of the running control device are corrected to the lane number and the progress read through the infrared receiver.

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