JP3668159B2 - Race direction reversal operation system in line-guided race game machine - Google Patents

Description

[0001]
[Industrial application fields]
The present invention relates to a race in 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 through a magnet and a race by the model body is developed on an annular track. This is related to a direction reversal operation system. A race game device in which a self-propelled body is guided by a guidance lane and the self-propelled body travels while changing the guidance lane according to a command from the central control device. According to the command, the race direction of the race developed on the circular track can be easily and easily reversed.
[0002]
[Prior art]
Each self-propelled body was 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 above-mentioned model body is pulled by a self-running body running on the lower stage via a magnet. There is a type guided by rails, and the position of the self-propelled body on the two-dimensional coordinate is sequentially detected, and the target position while feedback control is performed based on the target position on the two-dimensional coordinate and the position detected by the position detecting means In some cases, the self-propelled body is caused to tracklessly travel in such a manner that the vehicle is sequentially tracked (Japanese Patent No. 2645851).
In addition, the optical guidance line densely laid on the running surface is detected by the line detection means provided in the self-propelled body, and the self-propelled traveling 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 line are basically excellent in smoothness and stability of the travel because the travel route is guided by the guide line. However, it is undeniable that there is a simplicity of the driving route and the unnaturalness of the race, and in order to solve this, it is necessary to appropriately change the guide line, 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 line is basically speed control and transfer control, the traveling control and the control system thereof are simple.
[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 at the predetermined speed at the predetermined speed while sequentially changing the guide line according to the travel control information stored in a batch. 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.
Furthermore, since the running direction of the line guidance type racing game apparatus as described above is defined by the annular guidance line, the running direction cannot be reversed.
In order to simulate a race track such as Nakayama Racetrack or Kyoto Race Track in a game using a race game device, it is necessary to reverse the race direction. However, in order to reverse the traveling direction in the prior art with a simple annular guide line, it is necessary to provide a special traveling direction reversal line outside the racetrack, and the guidance to the traveling direction reversal line, the traveling direction concerned Guided traveling control by the reverse line is not simply performed.
[0005]
[Problems to be solved]
The present invention provides a special guidance lane for reversing the traveling direction of the traveling direction reversal operation system of the line guidance type racing game apparatus in which the self-propelled body tracks the guidance line and pulls the model body through magnetic force. Therefore, the problem is to devise the arrangement of the guide lines so that the running direction can be easily reversed while running in the running direction using the running lane.
[0006]
[Measures taken to solve the problem]
The means taken in order to solve the above problem is that a self-propelled body that travels along the guide lane while tracking the annular guide line on the lower traveling surface pulls the model body traveling on the upper traveling surface through a magnet. A line-guided racing game device that develops a race with a model body on an annular track, wherein the racing game device main body has a central control device, and the central control device has at least a target guide line number, a target progress, and a running speed. the travel command information intermittently transmitted to the self-propelled body comprising, have the self-propelled body travel control device, the travel control device, the induction line optically detected, and detects the progress while, the self-contained feedback control, in accordance with the travel command information transmitted from the central control unit, while the transfer of control and guide lines running speed, the target induction line on the self-propelled body In line inductive racing game apparatus for tracking travel a race direction reversing operation system due to the following (a) to (c).
(A) Two U-shaped guide lines are placed back-to-back inside the innermost guide line among the circular guide lines for racing] [This is a cross-type guide line with a guide line of this type, and this] [type guide Make the line an extra line,
(B) A command transmitter is provided across the extra line.
(C) an instruction receiving unit over a travel control device of the self-propelled body is provided, by a command received by the crossover command receiving unit, the self-propelled body is to perform the transfer of the extra lines cross.
[0007]
[Action]
The travel command information includes a target guidance line number (or “target lane number”), a target progress, a travel speed, and the like. For each section obtained by partitioning the annular track into a number of sections in the travel direction, the travel command information is provided. Are set respectively. And while each self-propelled object is traveling in each section, the central control device repeatedly transmits a traveling command for the section to each self-propelled object. This travel command is a very simple command because it is a travel speed, a target guide line number, a target progress (advance from the start position), and the communication is unilateral.
The travel control device mounted on the self-propelled body receives travel command information , and simply travels at the commanded speed, and performs the transfer control to the target guidance line of the commanded number as needed. Completely.
[0008]
The central control device repeatedly transmits the travel command information to each self-propelled body, and the self-propelled body travels at the travel speed commanded while changing the guide line according to the travel command information .
Further, the traveling control device of the self-propelled body controls the traveling speed of the self-propelled body and the transfer of the guidance line according to the received traveling command information , and transmits a signal indicating that the commanded target progress has been reached. Then, the driving control device performs the transfer of the guiding line in a self-contained manner based on the commanded target guiding line number and the current guiding line number recognized by the traveling control device of the self-propelled vehicle.
FIG. 8 schematically shows a race direction reversing operation in a case where the traveling direction of the self-propelled body traveling in the counterclockwise direction on the annular guidance lane defined by the annular guidance line is reversed in the clockwise direction. In this example, assuming that the innermost guide line number is number 1 and the two U-shaped guide lines are back-to-back]] [type guide line, that is, the extra line is the 0th guide line, In order to reverse the direction of travel in the guidance lane, the central control unit commands the target guidance line number 0. The traveling control device of the self-propelled body instructed with the target guidance line number 0 first travels in the counterclockwise direction (the guidance line before the annular guidance lane is directed in the right direction), and firstly, the innermost guidance line, that is, 1 Move to the No. guide line n and then change to the No. 0 guide line. The self-propelled body that has changed to the 0th guide line, that is, the above-described [type] guide line, is guided by the 0th guide line in the direction crossing the innermost 1st guide line. Since the traveling direction is not reversed only by this, the crossing command is received from the crossing command transmitting unit provided on the zeroth guiding line immediately after entering the first guiding line. The traveling control device of the self-propelled body changes over to the other adjacent [type] (or [type) guide line in accordance with the above-described crossing command. When it is guided to the other guide line 0 and reaches the other side of the guide line 1, it receives a transfer command to the guide line 1 and transfers to the guide line n. Two U-shaped guide lines are back-to-back] [Cross-running by type 0 guide line is a S-shaped path by back-to-back two U-shaped guide lines. The running direction is reversed to the clockwise direction. Note that when the traveling direction is reversed from the clockwise traveling to the counterclockwise traveling, the traveling route is a reverse S-shaped route because the traveling is performed along a route different from the above case.
Traveling along the S-shaped route by the above-mentioned [type of guide line is made entirely by transfer control, not by branching of the guide line (in the case of branching, it is necessary to select a course at the branch point) Yes, this requires special control that is completely different from the tracking travel control of the guide line), and therefore, only the tracking control of the guide line and the transfer control are performed as in the normal race control. Therefore, the running direction can be reversed by the same control as the race running.
In addition, the self-propelled vehicle that has finished moving must be run-controlled so as to quickly retreat from the innermost guiding line in order to quickly clear the first guiding line in preparation for the next moving self-propelled vehicle. Don't be.
[0009]
The main part of this solution is to connect the central part of the innermost induction line with the crossing part of the above-mentioned [type induction line for the line induction type racing game apparatus using the annular induction lane. The main direction is applied regardless of the running control method of the self-propelled body of the above-described racing game apparatus, and the individual racing game apparatus According to the traveling control method of the self-propelled vehicle,] [transfer to the type induction line,] [transfer in the type induction line may be controlled.
[0010]
Embodiment 1
Embodiment 1 ( corresponding to claim 3 or 4 ) is that the above-described solving means is as follows.
(D) The circular guide line for racing is a guide wire that can be detected by an optical sensor;
(E) The optical sensor is provided on the lower surface of the self-propelled body and includes three light receiving elements provided in close proximity to each other. Detecting the deviation.
[Action]
One guide line is tracked by the center light receiving element, and it runs while sandwiched between the two left and right light receiving elements. If it moves to either the left or right, this is detected by either the left or right light receiving element. As a result, smooth tracking is achieved with extremely simple feedback control.
[0011]
Embodiment 2
Embodiment 2 ( corresponding to claim 6 ) is that the above-mentioned solving means is as follows.
(F) The guidance line number at the race start position is recorded in the memory of the traveling control device of the self-propelled vehicle, and the guidance line number recorded in the memory of the traveling control device is updated every time the guidance line is changed. What
(G) The traveling control device determines whether the target guidance line number received during traveling matches the line number recorded in the memory, and the traveling control device determines whether or not they match. Do control.
[Action]
In the memory of the traveling control device of the self-propelled body, the guide line number at the race start position is recorded by a signal from the central control device, for example. Guide line number recorded in the memory of the travel control device, is updated every time the self-propelled body Norikaeru the guide line, since the actually match the guide line number and normally being tracked traveling, the The travel control device performs transfer control by comparing the guide line number recorded in the memory with the target guide line number commanded during travel. Therefore, the transfer control of the guidance line of the self-propelled body is accurately performed.
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.
[0012]
Embodiment 3
The third embodiment ( corresponding to claim 7 ) is the following as to the solving means.
(H) Arrangement of progress measurement lines perpendicular to the guide line at equal intervals on the lower travel surface;
(I) A progress line detection sensor is provided on the lower surface of the self-propelled body, and progress detection means for adding a detection signal from the progress line detection sensor is provided in the travel control device.
[Action]
Since many progress measurement lines perpendicular to the guide line are arranged at equal intervals on the lower running surface, by counting this and detecting the progress, the total length of each guide line (or guide lane) can be shortened. Regardless of the display, it is displayed in a common progress. Therefore, the detected progress is common to all guide lanes. Therefore, since there is no difference in the progress even if the guide line 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 the transfer travel (during travel across the blank diagonally). Therefore, the detection progress will not be distorted by the transfer control.
In a corner or the like, the progress measurement line may not be a right angle in a strict sense with respect to all the guide lines. However, the above “right angle” is within a range that does not hinder the operation. It means "almost right angle".
[0013]
Embodiment 4
The embodiment 4 ( corresponding to claim 8 ) 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.
[Action]
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.
[0014]
Embodiment 5
In the fifth embodiment ( corresponding to claim 9 ), the solving means is as follows.
(N) Four or more infrared position display lines (display lines for displaying progress, guide line numbers (also called lane numbers) by codes, etc. by infrared rays) are arranged on the lower running surface at predetermined intervals. An infrared receiver is provided on the lower surface of the mobile phone so that when the self-propelled body passes through the infrared position display line, the guide line number and progress from the position display line are read through the infrared receiver. Correcting the guide line number and the progress recorded in the memory of the travel control device of the travel body and updated during the travel of the mobile body to the guide line number and the progress read through the infrared receiver.
[Action]
Since the guidance line number and the degree of progress recorded in the memory of the traveling control device of the self-propelled body are updated each time the self-propelled body crosses the guidance line and the progress measurement line, a detection error is detected. May occur. Due to these detection errors, the guide line number and progress recorded in the memory will be distorted, but when placed on the circular track and passing the position indication line, it will be corrected to the correct guide line number and progress, so the whole race , Traveling control is performed by comparing with the commanded target guide line number and the target progress on the basis of the substantially correct guide line number and the 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.
[0015]
Embodiment 6
Embodiment 6 ( corresponding to claim 10 ) is that the 0th guide line in the solving means is a guide wire that can be detected by the same optical sensor as the annular guide line .
[Action]
As a part of the tracking travel control for race traveling and the transfer control of the guidance line, the traveling direction reversing operation is performed by the same sensor, control means, and control procedure.
[0016]
Embodiment 7
Embodiment 7 ( corresponding to claim 11 ) is that in the above solution, when the line number of the innermost annular guide line is n, the extra line number is n-1.
[Action]
Since the transfer guidance line can be handled as part of the race guidance line in terms of travel control, the transition guide travel for changing the travel direction can be performed in exactly the same way as the race travel.
[0017]
Embodiment
In this embodiment, the model body travels on the upper travel surface, the self-propelled body travels on the lower travel surface, and the model body is pulled by the self-propelled body via a magnetic force so as to travel. This premise is a racing game device, and the premise is a racing game device in which a self-propelled vehicle tracks a specified guide line while changing over many guide lines attached to a lower running surface. Since this technique is well known in the art (for example, Japanese Patent Laid-Open No. 10-232712), the description of the details of the basic structure is omitted in the description of this embodiment.
[0018]
As shown in FIG. 1, a large number of annular guide wires (same as guide lines) 1 are densely attached to the lower travel 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 , as shown in FIG. 2 , a number of progress measurement lines 2 perpendicular to the guide line 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.
[0019]
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 line 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 traveling accuracy by correcting the guide line number and progress recorded in the memory of the self-propelled body 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 tracks are equally arranged around the track.
[0020]
As shown in FIG. 3, three light receiving elements 10 a, 10 b, and 10 c are provided close to each other at the front center of the lower surface of the self-propelled body 10, and the center light receiving element 10 a is at the center of the guide wire 1. The left and right light receiving elements 10b and 10c are in a positional relationship in which the guide wire 1 is sandwiched from 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.
Also, as shown in FIG. 4, 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, the progress (advance from the start position) is added one by one every time the magnetic line 2 is crossed, and the progress at that time is detected.
[0021]
Further, as shown in FIG. 5, an infrared receiver 12 is provided on the lower surface of the self-propelled body and travels while tracking the guide wire 1 and crosses the position display line 3 (infrared transmitter). Sometimes, the guide line number and progress at that time are 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. Accordingly, when the guidance line number and progress recorded in the memory (not shown) of the travel control device 30 do not match the true value received from the position display line 3, this is corrected. Even if an error occurs, the entire race runs according to the command from the central control device 20, and the race is executed according to the command from the central control device (see FIG. 6) .
[0022]
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 a target guidance line number (or “target lane number”), target progress, travel speed, etc.) 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 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. When the progress stored in the memory (not shown) 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 the 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.
[0023]
The traveling of the self-propelled body is controlled by the traveling control means 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 unit. 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 traveling control device 30, and the command is changed and transmitted as a trigger when the OK signal is received. 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 guide line number (number of guide line 1) in the received command and the guide line number recorded in the memory (not shown) of the traveling control device 30 of the self-propelled body do not match, the guide line number The necessary guide line (guide line 1) is changed so that the difference between the target guide line number and the target guide line number becomes zero, and when it matches, the guide line (guide line 1) is tracked. When one guide wire 1 is changed, the output of the center optical sensor 10a changes. Therefore, by counting this change, the number of the self-propelled bodies changing the guide wire 1 can be detected.
[0024]
Instead of detecting the guide line 1 with the three optical sensors, the two optical sensors can be traced while tracing the edge of the guide line 1. In this case, when either the left or right is deviated from the guide line 1, the self-propelled body is displaced in the direction of the optical sensor. Therefore, tracking is performed while always controlling the two optical sensors to detect the guide line. I will run.
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.
[0025]
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.
[0026]
The annular guide wire 1 is numbered 1, 2 and 3 from the inside, but two U-shaped guide lines are back-to-back inside the innermost guide wire n]. Crossing guide lines, that is, 0th guide lines O and O are provided. The crossing guide line No. 0 guide line O has both end portions Oe parallel to the No. 1 guide line n, and the interval between the intermediate portions Os and Os is the interval between the annular guide lines. Equal (see FIG. 8).
When the self-propelled vehicle 10 traveling in the counterclockwise direction on the annular guide line is instructed with the target guide line number 0, the self-propelled vehicle moves to the innermost first guide line n and tracks this. Then, transfer to the end Oe of the 0th guide line O. When traveling on the 0th guide line O, a transfer command is received from a transmitter (not shown) provided in the vicinity of the intermediate portion Os, and transferred to the intermediate portion Os of the other adjacent 0th guide line O. At the other end, transfer to the opposite side of the first guide line n on the inner side. The transfer control from the 0th guide line O to the 1st guide line n may be performed by a travel command from the central controller, but a transfer command transmitter is provided in the vicinity of the end Oe of the 0th guide line O. In addition, a transfer command to the first guide line n from this transfer command transmitter may be transmitted.
The traveling control device of the self-propelled body has a program for crossing, and when a command of the target guidance line number 0 is received, this program is started so that the crossing operation is completed by this program. May be.
[0027]
【The invention's effect】
As described above, the present invention is based on self-contained traveling control by the self-propelled traveling control device from the start to the goal by the traveling control device of the self-propelled vehicle, and the traveling command information is automatically transmitted according to the progress of the race. It is transmitted to the traveling control device of the traveling body, and the self-propelling body travels based on this, and the exchange of commands and responses between the central control device for traveling control and the traveling control device of the traveling body is It is extremely simple communication, and at the start, the current lane number (same as the line number of the guidance line that is being tracked) and progress are only initialized, so the initial setting at the start of the race Data entry for is also simple.
In the above-described race-tracking game device of the guidance line tracking type, two U-shaped guidance lines are back to back] [Only by providing a transition part by the guidance line of the type and changing the guidance line at the transition part. The traveling direction can be reversed, and the transitional travel control can be performed in exactly the same manner as the traveling control of the race by tracking the annular guide line. The traveling direction can be easily reversed by simple transfer control. And, it is a great advantage that it can be performed with exactly the same traveling control in the reversing operation of the traveling direction in either the clockwise direction or the counterclockwise direction.
[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.
FIG. 8 is an enlarged plan view showing a crossing 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 O: Crossing guide Line Oe: End of crossing guide line Os: Middle part of crossing guide line n: Innermost guide line

Claims (11)

It has a running surface on which the self-propelled body travels, guidance lines are arranged on the traveling surface, and there are a plurality of guidance lines arranged in an annular shape so as to surround the inner lines in order. In a line-guided racing game device using an annular guide line that tracks the guide line while changing lines,
The center part of the innermost guide line is backed by two U-shaped guide lines]] [
Both ends of the U-shaped guide line are juxtaposed to the innermost annular guide line to form a transfer part between the U-shaped guide line and the innermost annular guide line,
A race that reverses the direction of travel of the self-propelled body in the annular guide line by changing to the U-shaped guide line, changing in the inner guide line, and transferring to the innermost annular guide line. Direction reversal operation system. A line-guided racing game device in which a self-propelled body that follows the annular guiding line on the lower traveling surface pulls the model body traveling on the upper traveling surface through a magnet and develops a race with the model body on the annular track. The racing game apparatus main body has a central control device, and the central control device intermittently transmits travel command information including at least a target guidance line number, a target progress, and a travel speed to the self-propelled vehicle. self-propelled body has a travel control device, the travel control device, the induction line optically detected, and while detecting the progress, and self-contained feedback control, transmitted from said central control unit In the line guidance type racing game device that causes the self-propelled body to follow the target guidance line while controlling the traveling speed and changing the guidance line according to the traveling command information ,
Two U-shaped guide lines are placed back-to-back inside the innermost guide line of the circular guide line for racing] [A cross guide part is provided by a guide line of this type, and this] [ Line and
A command transmitter is installed across the extra line,
A crossing command receiving unit is provided in the traveling control device for the self-propelled body , and the self-propelled body switches between the two U-shaped guide lines of the extra line according to the command received by the crossing command receiving unit. Race direction reversing operation system. The guide line can be detected by an optical sensor,
The optical sensor is 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 are configured to detect a shift of the self-propelled body to the left and right with respect to the guide line. competition run direction reversing operation system according to claim 2. The optical sensor is composed of three or more light receiving elements, competitive run direction reversing operation system according to claim 3. The race direction reversal operation system according to claim 3 , wherein the light receiving sensor is constituted by a light receiving element array. The guidance line number at the race start position is recorded in the memory of the traveling control device of the self-propelled body, and the guidance line number recorded in the memory of the traveling control device is updated every time the guidance line is changed,
The traveling control device determines whether the target guide line number received during traveling matches the recognized line number, and the traveling control device determines whether or not they match. Item 2. The race direction reversal operation system according to item 2. A number of progress measurement lines perpendicular to the guide line are arranged at equal intervals on the lower travel surface. A progress line detection sensor is provided on the lower surface of the self-propelled body, and detection signals from the progress line detection sensor are added. The race direction reversal operation system according to claim 2, wherein the travel control device is provided with a progress detection means that performs the progress detection. The race direction reversal operation system according to claim 7, wherein the progress measurement line is a magnetic line, and the progress line detection sensor provided on the lower surface of the self-propelled body is a magnetic sensor. Place the position indicator line by more than three infrared at a predetermined interval in the lower running surface, provided the infrared receiver on the lower surface of the self-propelled body, when the self-propelled body passes the position display lines, from the position indicator line The guide line number and progress are read via the infrared receiver.
The guidance line number and progress recorded in the memory of the traveling control device of the self-propelled body and updated during the traveling of the self-propelled body are corrected to the guidance line number and the degree of progress read through the infrared receiver. The race direction reversing operation system according to claim 2. The race direction reversal operation system according to claim 2, wherein the] [type guide line is a guide line that can be detected by the same optical sensor as the annular guide line. The race direction reversal operation system according to claim 2, wherein the number of the extra line is n-1, where n is the innermost guide line number of the annular guide line.

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