JP3857115B2 - Driving control method in line guidance type racing game apparatus - Google Patents

Description

[0001]
[Industrial application fields]
This invention pulls a model body traveling on an upper traveling surface through a magnet with a self-propelled body traveling on a lower traveling surface, and develops a race by the model body on an annular track. The present invention relates to a transfer control system for guiding lines of a line-guided racing game device such as a racing game device in which a self-propelled body travels while switching the guide line according to a command from a central control device. In order to change the guide line sequentially according to the driving command from the central control unit, transfer instability due to disturbances such as mutual interference and slip of the self-propelled body is reduced as much as possible. It is possible to avoid race disturbance due to instability of the race.
[0002]
[Prior art]
Rails with individual self-propelled bodies attached to the lower travel surface as a racing game device that runs the model body on the upper travel surface and pulls the model body through a magnet with the self-propelled body traveling on the lower travel surface The position of the self-propelled body on the two-dimensional coordinates is sequentially detected, and the target position is determined while performing feedback control based on the target position on the two-dimensional coordinates and the position detected by the position detecting means. There is also one that causes the self-propelled body to run in a track-free manner so as to be tracked sequentially (Japanese Patent No. 2645851).
In addition, the guide line densely provided on the traveling surface is detected by the line detection means provided in the self-propelled body, and self-contained feedback control is performed by the traveling control means of the self-propelled body, and this is tracked. (Japanese Patent Laid-Open No. 10-232712).
The above-described conventional technique in which a central control device feedback-controls a target position on a two-dimensional coordinate and a sequentially detected position (two-dimensional coordinate position) to travel a predetermined travel route while sequentially passing through the target position is 2 A position display device that finely displays a position on a dimensional coordinate is required, and a position detection device that directly detects the position of the self-propelled body corresponding to the position display device is required. 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. In addition, since the target positions are determined at small intervals in the program so that the target positions on the two-dimensional coordinates are sequentially passed, and this is feedback-controlled by the central controller, there is a problem with the smoothness and stability of the running. is there. Furthermore, since the central control unit performs feedback control of the traveling of the self-propelled body based on the position information while performing complicated information processing, the control system is complicated and the cost is inevitably increased.
[0003]
On the other hand, it can be said that the one that tracks the guide line is basically excellent in smoothness and stability of the travel because the travel is guided by the guide line. However, there is no denying that the driving route is simple and the race is unnatural, and in order to eliminate this, it is necessary to change the guide line appropriately. In addition, the traveling control of a self-propelled vehicle that follows the guide line is basically speed control and transfer control, so its traveling control and control system are simple. If the timing of transfer changes, the realism of the race will be significantly impaired. Therefore, there remains a problem of how to realize the realism of the race by performing the transfer control at an appropriate timing with no sense of incongruity from the progress of the race and performing the speed control or the like.
[0004]
In the above-mentioned Japanese Patent Application Laid-Open No. 10-232712, at the start of the race, the transfer position, the transfer direction, and the traveling speed in the middle are stored together in the control memory of the self-propelled vehicle. The self-propelled body travels to the goal at the predetermined speed and sequentially changing the guide lines as planned according to the travel control command stored in a batch. However, in reality, the self-propelled vehicle does not travel at the speed according to the travel control command stored at the time of start due to disturbance such as slip, and therefore the transfer timing is shifted from the progress of the race. The transfer takes place in an unnatural state, resulting in a very unnatural race progression. This is a problem that occurs because the running control is performed up to the goal by the running control command that is collectively input at the start of the race, regardless of the actual racing situation.
[0005]
By the way, in order to collectively control a large number of self-propelled bodies as a united group, it is necessary that all the self-propelled bodies are within a certain range.
A specific self-propelled vehicle does not run faster than the scheduled speed, but it is often far behind the schedule, which often breaks the race.
Control the speed based on the control data stored in advance in the memory of the self-propelled vehicle, or send the control data prepared in advance unilaterally from the central controller, and use this control data as a reference In the case of speed control, it is not possible to correct race disturbance due to a small number of self-propelled running delays. For those that send the control data prepared in advance mechanically from the central control unit, it is not impossible to feed back and correct the travel command from the self-propelled body, but the central control unit for travel control and The simplicity of information exchange with the traveling control means of the self-propelled body is lost, and the advantages of the line guidance type traveling control are lost.
[0006]
[Prior art as a premise of the present invention]
On the premise of the existence of the above-mentioned known technology, the running control of the self-propelled body by the traveling control means of the self-propelled body is performed for the racing game apparatus that pulls the model body through the magnetic force while the self-running body tracks the guide line. In addition to simplifying it as much as possible, there has been devised so that traveling control data such as transfer control and speed control according to the race situation can be transmitted as appropriate (Japanese Patent Application No. 2001-221752; hereinafter referred to as “prior art”). Called).
The prior art is a two-story racing game device in which a 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 magnetic force to travel. In this case, the self-propelled vehicle is based on a racing game device in which a number of guide lines provided on the lower travel surface are switched and the specified guide line is tracked.
Then, a simulated race is executed by the race creation unit (MPU1) of the race progress management unit (MPU1), travel control data is generated based on the progress of the simulated race, and the travel control data is transmitted to the relay control device (MPU2). To the traveling control means (MPU3) of the self-propelled vehicle via the self-contained feedback control of the traveling control means (MPU3) to track and guide the designated guiding line, and to change the guiding line. is there. The travel control data is extremely simple such as a target guide line, target progress, travel speed, and the like.
Then, the self-propelled body recognizes the guiding line and the degree of progress, and determines the guiding line based on these data and a traveling command (target progress, target guiding line, traveling speed) from the central control unit. Continue to track or move to the goal at the commanded speed while sequentially changing the guide line.
[0007]
Next, the “prior art” will be described in detail with reference to FIGS.
A large number of annular guide wires 1 are densely provided on the lower running surface.
In addition, a number of progress lines 2 perpendicular to the guide wire 1 are provided on the lower travel surface at predetermined intervals. The progress line 2 is a magnetic line.
[0008]
In addition, as shown in FIG. 1, a total of six position display lines 3 in a direction perpendicular to the guide line 1 are arranged around 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.
[0009]
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 line of the guide line 1, the light receiving element 10a and either the left or right light receiving element 10b or 10c detect the guide line 1. Therefore, the traveling of the self-propelled body is controlled by the traveling control means (MPU3) of the self-propelled body so that the guide wire 1 is detected only by the light receiving element 10a.
There is a magnetic sensor 11 on the lower surface of the self-propelled body, and one pulse signal is generated every time the magnetic line 2 which is a progress line is crossed. By adding this pulse signal by the travel control means, every time the magnetic line 2 is crossed, one advance (advance from the start position) is added, and the advance at that time is detected.
[0010]
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 2 and crosses the position display line 3 (infrared transmitter), the guide wire and the progress at that time. Is received from the position display line 3. Then, the guide line and the progress recorded in the memory of the traveling control means (MPU 3) of the self-propelled body are rewritten to the true value received from the position display line 3. Therefore, when the guide line and the degree of progress recorded in the memory of the travel control device do not match the true value received from the position display line 3, this is corrected, so that the guide line and the degree of progress during the run may be out of order. Even if it exists, it is anticipated that a self-propelled object will run according to the directions from relay control unit (MPU2) 20 of a central control unit, and a race will be performed almost as directed.
[0011]
Signal exchange between the relay control device (MPU2) 20 of the game machine main body and the traveling control means (MPU3) 30 of the self-propelled body is as shown in FIG.
A travel command (target guide line, target progress, travel speed) from the relay control device (MPU2) 20 is transmitted from the command transmission unit to the travel control means (MPU3) 30 of the self-propelled body. The transmission unit of the relay control device (MPU2) 20 switches to the reception mode when triggered by the transmission of the travel command (command), while the reception unit of the travel control means (MPU3) 30 switches to the transmission mode when triggered by the reception of the travel command. Switch to When the progress recorded in the memory does not match the target progress in the travel command, an NG signal is returned to the relay control device (MPU2) 20. The same travel command is repeatedly sent at 0.2 second intervals (when the number of self-propelled vehicles is 10) until the progress of the self-propelled vehicle reaches the target progress, and the progress measurement value matches the target progress in the travel command. Then, an OK signal is returned from the traveling control means (MPU 3) 30 to the relay control device 20. This travel command is issued by the race progress management unit (MPU1) 40 in advance of 2 to 5 sections (steps) before the model body travels for each section in which the traveling track T is partitioned into a number of sections in the traveling direction. The travel control data of the earliest section of the travel control data of each of the created 2 to 5 sections created by the creation unit is sequentially set in the memory of the relay control unit (MPU2) 20, but the sections are The time is 0.6 to 1.0 seconds (the travel distance during normal travel is 90 to 150 mm).
[0012]
The traveling of the self-propelled body is controlled by the traveling control means (MPU3) 30 in a self-contained manner, but basically the traveling from the relay control unit (MPU2) 20 while detecting the guide wire 1 with the light receiving element. The vehicle travels to the target progress without tracking the commanded guide line 1 at the commanded traveling speed. When the target progress is reached, an OK signal is transmitted from the travel control means (MPU3) 30. When this OK signal is received, the travel command set in the memory of the relay control unit (MPU2) 20 is the next. This travel command is updated to the travel control means (MPU3) 30 of the self-propelled body.
When the target guide line of the received travel command does not match the guide line recorded in the memory of the traveling control means (MPU3) 30 of the self-propelled vehicle, the difference between the guide line and the target guide line is zero. Thus, the necessary guide line is changed, and the guide line is traced at the coincidence. When changing one guide line, the output of the center light receiving element 10a changes, and by counting this change, the number of self-propelled bodies that have changed the guide line can be detected.
The self-propelled body changes and travels with respect to the guide line 1 at an angle in a predetermined transfer direction (see FIG. 7).
[0013]
The race creation unit of the race progress management unit (MPU1) 40 uses the control conditions (running horse, characteristics of each of the running horses, arrival order, etc.), etc. in the simulated race as basic data to run according to the characteristics of the legs and feet of each running horse. Basically, the calculation is repeated in accordance with predetermined calculation conditions necessary for avoiding rear-end collision and interference, and an orderly simulated race is advanced in the computer while keeping a group of horses. Then, from the running control data in the simulated race, running control data such as a target guiding line, a target progress, and a running speed in the line guidance type racing game apparatus are created and sequentially stored in the buffer memory. The simulated race is calculated under the XY coordinates (coordinates in the CPU of the race creation unit) that match the xy coordinates of the guide line and the progress line of the self-propelled vehicle running surface. The position on the XY coordinates is simply converted into a position on the travel plane based on the guide line and the progress, based on the correlation between the position of the self-propelled travel plane and the position based on the progress. Further, in this example, the calculation for the simulated race is performed in advance of the race with the model body by 4 sections (4 stages from the viewpoint of the progress of the race) in the above running section. The control data accumulated in the buffer memory of the race creation unit of the race progress management unit (MPU1) 40 is sequentially updated each time a race progresses for one section (one stage of race progress).
Also, in response to a reply of the OK signal from the relay control unit (MPU2) 20, the control data in the memory of the race creating unit is sequentially transmitted to the relay control unit (MPU2) 20 and recorded in the memory. Update the current command.
[0014]
It should be noted that the simulated race by the race creation unit is in the order of arrival given as one of the control conditions at the start time.
The race creation unit of the race progress management unit (MPU1) 40 is based on performing a simulated race based on the characteristics of each model body such as horse legs (characteristics of the model body, such as horse legs, age, and sex). The race progress timer 50 managed by the (MPU2) 20 also serves as a simulation race control timer. If a specific self-propelled vehicle reaches the target progress with a significant delay due to some kind of obstacle, the timing of the race progress timer 50 is delayed to match the delay. The progress speed of the simulated race is delayed. On the other hand, the relay control unit (MPU2) 20 decelerates the traveling speed of the other self-propelled bodies that have not reached the target progress at a rate corresponding to the delay of the time measured by the race progress timer 50, and The running speed of the running body is delayed, thereby delaying the race progress of the model body.
[0015]
As described above, the race progress timer 50 managed by the relay control unit (MPU2) 20 also serves as a control timer for the simulated race by the race creation unit, and the relay control unit (MPU2) delays the race of the model body. By doing so, the progress speed of the simulated race and the progress speed of the race by the self-propelled body are synchronized.
A simulated race is performed by the race creation unit of the race progress management unit (MPU1) 40 in accordance with the progress of the race of the self-running body.
[0016]
[Problems of the prior art]
In a line-guided racing game device, even if there is a disturbance such as mutual interference and slip, as long as the vehicle runs along the guide line, the driving reference is constrained by the guide line. Although it is expected to be controlled stably, feedback is not applied in the range of deviation where the deviation of the self-propelled body from the guidance line is not detected, so the guide line is swung to the left and right within this deviation amount range. Will be tracked. For this reason, the straight traveling property is not necessarily high. This tendency is even more remarkable when cornering.
In addition, in transfer driving, there is no standard for driving until the target guide line is reached, and the vehicle travels in an unconstrained state. Are often lost, causing running disturbances such as running delays, delaying the arrival at the target guide line, or not smoothly changing over and making the race disturbed.
[0017]
[Problems to be solved]
Therefore, the present invention stabilizes the transfer travel even in the presence of disturbance by constantly restricting the travel of the self-propelled body by giving direction to the travel of the self-propelled body even in the transfer of the guide line. An object of the present invention is to devise a row control system for a self-propelled body in a line guidance type racing game apparatus so that the arrival delay to the guidance line can be reduced as much as possible.
[0018]
[Measures taken to solve the problem]
[Solution 1]
  Means 1 for solving the problem is that the model body travels on the upper traveling surface, and the model body is pulled by a self-propelled body traveling on the lower traveling surface via magnetic force, The optical tracking is performed while detecting the guide line by the three light receiving elements, and the target progress and the target guide line are given as the travel commands. Based on these commands, the line tracking is performed by the traveling control means (MPU3) of the self-propelled body. That is, the guide line transfer travel control in the travel control system of the line guidance type racing game apparatus that controls the travel and the guide line transfer travel is as follows.
(A) The center of the detection width of the left and right light receiving elements 10b, 10c of the three light receiving elements 10a, 10b, 10c for tracking the guide line is made to coincide with the left and right edge lines e of the guide line, respectively.
(B) The detection width of the center light receiving element is made equal to the width of the guide wire 1;
(C) calculating and detecting the amount of deviation of the guide line of the self-propelled body from the center line s based on the amount of change in the amount of light received by the three light receiving elements;
(D) A number of virtual guide lines between the center lines s, s of the guide lines 1 and 1 are defined in the travel control means (MPU3) of the self-propelled body, and the above travel is performed during the transfer travel that travels in the transfer direction. The target virtual guide line is sequentially specified by the control means, and the transfer is performed while sequentially repeating the connection of the target virtual guide line,
(E) determining the direction of the deviation from the center line s of the guide line 1 of the self-propelled body based on the change in the difference in the amount of light received by the left and right ones of the three light receiving elements.
[0019]
[Action]
The operation will be described with reference to FIGS.
When the center of the detection range of the light receiving element 10a at the center of the back surface of the self-propelled body moves from the state where the center of the detection line 10a coincides with the center line s of the guide line 1, for example, to the right in the traveling direction (x direction in FIG. As a result, the detection width of the guide wire 1 decreases, and the amount of light received by the light receiving element 10a changes accordingly. On the other hand, the detection width of the guide line 1 by the right light receiving element 10c decreases, and the amount of light received by the right light receiving element 10c changes accordingly, and the detection width of the guide line 1 by the left light receiving element 10b. And the amount of light received by the left light receiving element 10b changes accordingly. When the amount of movement in the right direction (the amount of deviation from the center s of the guide wire 1) reaches one pitch of the guide wire 1, the received light amounts of the three light receiving elements are restored. By converting the amount of light received during this period into an amount of electricity (voltage), the amount of deviation can be detected as the amount of change in the amount of electricity.
Since the above changes in the amount of light received by the left and right light receiving elements are in opposite directions, the direction of deviation from the center line s of the guide line of the self-propelled body is detected by the change in the difference in the amount of change.
[0020]
On the other hand, a virtual guide line between the center lines of the guide lines 1 and 1 is defined in the traveling control means of the self-propelled body, and the traveling value is compared by comparing this defined value with the amount of electricity proportional to the amount of light received by the light receiving element. The control means can recognize the amount of deviation from the center line s of the guide line of the self-propelled body.
When the traveling control means (MPU3) receives the traveling control data, the traveling control means (MPU3) moves toward the target position (target position based on the target guiding line and the target progress) from the target guiding line number and the target progress when the transfer is necessary. Start transfer. This transfer travel direction is the direction of the arrow in FIG. 9, and the transfer travel during this time is controlled as follows.
[0021]
For example, when the virtual guide lines between the guide lines are p1, p2, p3,... Pn, the traveling control means (MPU3) controls the self-propelled body from the center of the guide line 1 to the virtual guide line p1. The vehicle travels diagonally toward the direction (for example, the arrow direction in FIG. 9). While detecting the x-direction position (virtual guide lines p1, p2,... Pn) of the self-propelled body from the change in the amount of light received by the three light receiving elements, the travel control means sequentially changes the designation of the target virtual guide line, The self-propelled vehicle is made to travel further to the right of the arrow with the designated target virtual guide line directed. As described above, the x direction position is detected by the virtual guide line from the change in the amount of light received by the three light receiving elements, the target virtual guide line is sequentially specified, and the vehicle travels to the target guide line while transiting these. When the target virtual guide line is designated, this is used as a running reference to control the running of the self-propelled body. That is, the self-propelled body travels toward the target guide line while sequentially connecting the target virtual guide lines that are sequentially specified. After transferring to the target virtual guide line, the vehicle travels under feedback control with reference to the virtual guide line until the next target virtual guide line is designated.
Therefore, the self-propelled vehicle always directs the target virtual guide line designated by the travel control means (MPU3) sequentially until it completes the transfer to the predetermined guide line, and also tracks the target virtual guide line and always Traveling while being constrained by the virtual guide line.
Further, even if the direction of the self-propelled body is changed due to a disturbance such as mutual interference or slip during the transfer traveling, and the traveling position is shifted, the traveling control means (MPU3) is the virtual position of the self-propelled body as described above. (Current position of which virtual guide line p1, p2, p3,... Pn is on) is recognized and travel control is performed with reference to the designated target virtual guide line. The resistance is strong, and even if the running is disturbed by disturbance, feedback control is performed and the robot quickly moves to the target virtual guide line. Therefore, even if a disturbance occurs during a transfer run, the self-propelled body always points to the target virtual guide line without losing directionality, and travels while being restrained by the target virtual guide line. The transfer to the line is smooth and stable.
[0022]
In short, the main point of this solution 1 is that when the self-propelled body deviates from the guide line 1 in the lateral direction with respect to the traveling direction, the lateral shift amount is detected from the amount of change in the received light amount of the three light receiving elements. Thus, the position of the self-propelled vehicle between the guide lines is always recognized, and the travel position of the self-propelled vehicle is determined based on the relationship between this and the position of the target virtual guide line specified by the travel control means. Move to the position of the virtual guide line, and change the designation of this virtual guide line toward the target guide line in order to direct the self-propelled body to the target guide line, and at least to the target guide line Until the connection is made, the traveling of the self-propelled body is feedback-controlled (self-contained feedback control by the traveling control means of the self-propelled body) with reference to the designated virtual guide line.
The self-propelled body travels on the lower traveling surface and pulls the model body of the upper traveling surface via magnetic force, not only the traveling control system of the self-propelled body in the so-called two-story line-guided racing game device, Since the action and effect also apply to the self-propelled running control system of the line-guided racing game apparatus in which the self-propelled body itself is a model body, the solving means 1 is a self-propelled body of a line-guided racing game apparatus in general. This is applied to the traveling control system.
[0023]
[Solution 2]
(Corresponding to claim 3)
The solution means 2 is characterized by the virtual guide line designation method and the travel speed selection method in the solution means 1, and the feature items are the following (f) and (g).
(F) Including the target progress, the target guide line and the target arrival time for the target progress in the travel command to the travel control means (MPU3) of the self-propelled vehicle, the guide line, the progress, the target progress, the target guide line, and the target reach Based on the time, the travel control means (MPU3) calculates and determines the required travel speed,
(G) The target virtual guide line is specified by the travel control means at predetermined time intervals, and the target virtual guide line is calculated and specified based on the transfer travel speed and the transfer direction.
[0024]
[Action]
Next, the operation of the solving means 2 will be described with reference to FIG.
Traveling from the current position (y0, x0) by the guide line and progress, the target position by the target progress y6 and the target guide line x1, and the target arrival time t to the target progress by the travel control means (MPU3) of the self-propelled vehicle The speed is calculated and determined.
More specifically, referring to FIG. 13, the line connecting the transfer start point (y0, x0) and the connection point (y6, x1) to the target guide line, the angle of the transfer line L1, that is, the angle in the transfer direction. Θ is determined, and the transfer travel distance (the length of the transfer line L1) is obtained by geometric calculation based on the transfer angle Θ, and the transfer travel speed V (L1 / L1 / L1 is determined based on the target arrival time t and the transfer travel distance. t) is calculated and determined.
Then, the target virtual guide line is designated as follows based on the predetermined time interval Δt. That is, an x-direction speed component Vx (see FIG. 9) is obtained based on the transfer travel speed V and the transfer angle Θ, and a distance Δx (the distance to be moved in the x direction in the predetermined time Δt from the speed component Vx. Vx × Δt) is calculated, and based on the distance Δx and the current position, a virtual guide line ps (FIG. 13) corresponding to the distance to be moved in the x direction is designated as the target virtual guide line.
Therefore, when traveling at the transfer speed V, the target virtual guide line ps is designated as described above and moves to the target virtual guide line ps designated at the predetermined time Δt. The vehicle travels at the speed V in the transfer direction (the direction of the transfer angle).
Then, during the commanded target arrival time, the target virtual guide line is sequentially specified at the predetermined time interval Δt as described above, and the above control is repeated. You will drive with the target. Therefore, during this time, the resistance to disturbance is strong and not easily affected by the disturbance, and even if the running is disturbed by the disturbance, the running disturbance is promptly resolved because it runs while pointing to the specified target virtual guide line. The
[0025]
Embodiment 1
(Corresponding to claim 4)
In the first embodiment, the center of the detection width of the right and left light receiving elements 10b and 10c in the solving means 1 is made to coincide with the left and right edge lines e of the guide line 1 detected by the central light receiving element.
[0026]
Embodiment 2
In the second embodiment, the centers of the detection widths of the left and right light receiving elements 10b and 10c in Solution 1 are made to coincide with the left and right edge lines e of other guide lines adjacent to the guide line detected by the center light receiving element, respectively. That is.
[0027]
Embodiment 3
In the third embodiment, regarding the solution 1, the center of the detection width of the left or right light receiving elements 10b and 10c is made to coincide with the center s of the guide line 1, and the center light receiving element 10a and the right light receiving element 10c Alternatively, the center of the detection width of the center light receiving element 10a and the left light receiving element 10b is set to the left and right edge lines e of the guide line adjacent to the guide line 1 detected by the left or right light receiving elements 10b and 10c, respectively. It is matched.
[0028]
Embodiment 4
(Corresponding to claim 5)
In the fourth embodiment, the width of the non-guide line 1b between the guide lines 1 is made equal to the width of the guide line, and the detection width by the left and right light receiving elements 10b and 10c is made equal to the detection width of the center light receiving element 10a. That is.
[Action]
Since the received light amounts of the three light receiving elements with respect to the shift amount from the guide line center s of the self-propelled body continuously change during one pitch of the guide wire 1, the shift amount change is electrically applied in the entire shift area. It can be continuously detected with high accuracy as a change in quantity.
[0029]
Embodiment 5
In the fifth embodiment, the guide line 1 in the solution 1 is a black line, and the non-guide line 1b between the guide lines 1 is a white line.
[0030]
[Action]
Since the change in the amount of light received by the three light receiving elements with respect to the change in the amount of deviation from the center of the guide line 1 of the self-propelled body becomes significant, the virtual guide line ( The interval between p1, p2,..., p3) can be made fine, and therefore, the transfer can be performed along a smooth route while sequentially connecting the virtual guide lines.
[0031]
Embodiment 6
(Corresponding to claim 6)
In the sixth embodiment, each time the target virtual guide line is designated during the transfer travel, the solution means 2 repeatedly calculates and determines the travel speed based on the remaining transfer travel distance and the remaining target arrival time. It is to be.
[0032]
[Action]
Since the traveling control means always recognizes the current position of the self-propelled vehicle based on the virtual guiding line optically detected by the action of the solving means 1 and the detected progress, the current position and the target guiding line The distance between the transfer points, that is, the remaining transfer travel distance can be easily calculated, and the remaining target distance can be calculated by subtracting the elapsed time after starting the transfer travel from the target arrival time t. The arrival time can be easily calculated.
Then, at every predetermined time interval Δt that designates the virtual guide line, the travel speed is repeatedly calculated and determined based on the remaining transfer travel distance and the remaining target arrival time, thereby reducing travel delay due to disturbance during the transfer travel. Even if it is, the travel delay is compensated by repeating the speed calculation, and the target guide line is reliably reached in the target arrival time. Therefore, the self-propelled body can change the course substantially following the simulated race executed by the race creation unit of the race progress management unit (MPU1).
[0033]
Embodiment
[Example 1]
Next, Embodiment 1 of the present invention will be described.
The first embodiment is an example in which the present invention is applied to an apparatus in which a travel speed is commanded together with a target progress and a target guide line from a relay control device (MPU2).
The guide line 1 of this embodiment is a black line having a width of 6 mm, and the non-guide line 1b between the guide lines 1 and 1 is a white line having a width of 6 mm.
The detection widths of the three light receiving elements 10a, 10b, and 10c are equal to the width of the guide wire 1, the center light receiving element 10a is on the center line in the width direction of the back surface of the self-propelled body 10, and the left and right light receiving elements 10b and 10c The center of the detection range coincides with the left and right edge lines e and e of the guide wire 1 detected by the light receiving element 10a.
Therefore, the center light receiving element 10a covers the entire width of the guide line, and the left and right light receiving elements cover half of the guide line 1 and half of the width of the adjacent non-guide line 1b.
A virtual guide line p (FIG. 9) between the center lines s and s of the guide line 1 is a virtual line on the computer by the travel control means (MPU 3) mounted on the self-propelled body and is provided on the travel surface. It is not a guide wire. In this example, the number of virtual guide lines p between the center lines s and s of the guide line 1 is ten. And since the numbers are given through from the innermost guide line of the traveling track to the outermost guide line, every tenth virtual virtual guide line number coincides with the guide line 1. . However, this is for simplifying the description of the embodiment, and the density of virtual lines in an actual game device is considerably higher than this.
[0034]
Since the light receiving amount when the light receiving element 10a is tracking the guide wire 1 is small, the output is inverted and converted into an electric amount.
Since the intensity of irradiation light of the light receiving elements 10a, 10b, and 10c is equal, when the light receiving element 10a is tracking the guide wire 1, the amount of light received by the center light receiving element 10a is the amount of light received by the left and right light receiving elements 10b and 10c. This is inverted by half and is converted into an electric quantity, so that the detected electric quantity v1 is twice the detected electric quantities v2 and v3 of the left and right light receiving elements 10b and 10c. This is schematically shown in FIG.
When the shift amount of the self-propelled body from the guide line 1 in the x direction increases due to the transfer travel, the change in the detected electric amount v changes as shown in FIG. However, x in FIG. 10 represents the magnitude | size of the deviation | shift amount of the guide wire 1 from the center line s.
The detected electric quantities v1, v2, and v3 of the light receiving elements 10a, 10b, and 10c are A / D converted, calculated as input data by the calculation means 61, and the calculation result is compared with the virtual guide line table. The amount of deviation is determined. Note that the number of the virtual guide line p corresponding to the amount of deviation corresponding to the calculated value is stored in the virtual guide line table (see FIG. 11) of the comparison determination means 62.
[0035]
The comparison determination is made by the comparison determination means 62, and if it is determined that the position in the x direction (current position) is pn, then the next target virtual guide line pn + α determined by the commanded traveling speed and the transfer angle Θ. (Α: integer of 1 or more) is designated by the virtual guide line designating unit 63, and this is sequentially repeated until the target guide line is reached. In addition, after reaching the target virtual guide line pn, the travel until the next virtual guide line pn + α is designated is restricted by the target virtual guide line pn. In this way, the traveling control means M (MPU3) travels the self-propelled body 10 in the direction of a predetermined change angle (see FIG. 7) while sequentially connecting the designated virtual guiding lines until reaching the target guiding line. Let
That is, when the tracking guide line and the target guide line are different from each other, the travel control means (MPU3) changes the travel angle from the current progress and guide line and the commanded target progress and target guide line. Θ is calculated, and the rotational speeds of the left and right drive wheels are controlled so that the self-propelled body travels at a predetermined speed in the transfer traveling direction. Then, the number of guide lines crossed is counted, and when the target guide line is reached, the guide line is entered.
The above is the basics of the transfer control of the guide line, but after the center of the self-propelled body deviates from the center line s (see FIG. 9) of the guide line for transfer, While sequentially recognizing (detecting) the virtual guide line p, the designated target virtual guide line is always pointed, and the vehicle travels to the target guide line while being sequentially connected.
In addition, there is no problem when the transfer travel speed in consideration of the transfer travel distance is commanded, but when given the straight travel speed up to the target progress, the transfer travel distance is obtained geometrically according to the angle of the transfer direction, The required transfer travel speed is calculated by an appropriate method such as calculating the required transfer travel speed by the travel control means (MPU3) based on the ratio between the transfer travel distance and the straight travel distance to the target progress. .
[0036]
Since the vehicle travels while being constrained by virtual guide lines that are sequentially designated at minute time intervals even during transfer traveling, the resistance to the disturbance is strong, and therefore the traveling direction is not greatly deviated by a relatively weak disturbance such as slip. Even if the traveling of the self-propelled body is disturbed due to disturbance, the position of the self-propelled body is always recognized by the virtual guide line from the change in the detected electric quantity of the three light receiving elements in the meantime. And the direction of the deviation are determined, and based on this, the rotational speeds of the left and right drive wheels are controlled so as to be directed to the target virtual guidance line.
Note that when there is a change in the guide line (when the guide line being tracked is different from the target guide line), the transfer travels, and if there is no change in the guide line, the same guide line is continuously tracked and straight traveling is performed. In the first embodiment, since the traveling speed is commanded even during straight traveling, the vehicle travels to the target progress at the commanded speed.
[0037]
[Example 2]
Next, Example 2 will be described.
In the second embodiment, a target arrival time (arrival time to the target progress) t is commanded to the travel control means together with the target progress and the target guide line, and the designation of the virtual target guide line is repeated at a predetermined time interval Δt. It is an example to which the invention is applied.
From the result of the simulated race executed by the race creation unit of the race progress management unit (MPU1) 40, the target progress and target guide line (y0, x0), (y3, x0) are obtained as the running control data for the specific self-propelled vehicle 10. ), (Y6, x1), (y9, x1) are created, and in response to the OK signal from the self-propelled body 10, the relay control device (MPU2) sends the traveling control means (MPU3) of the self-propelled body 10 Commanded.
[0038]
In the case of the second embodiment as well, for the sake of simplicity, ten virtual guide lines p1, p2,... P10 are defined in the travel control means (MPU3) so that the guide lines 1 and 1 are divided into ten. . That is, the distance between the virtual guide lines p1, p2,... P10 is 12 mm / 10, that is, 1.2 mm if the space between the guide lines 1 and 1 is replaced.
In this example, the transfer start point is y3, x0 (see FIG. 12).
When the vehicle travels along the guide line x0 and reaches the progress y3, the transfer travels from the intersection (y3, x0) of the progress y3 and the guide line x0 toward the intersection (y6, x1) of the progress y6 and the guide line x1. Start. The transfer travel direction at this time is an advance of 3 pitches (30 mm) / 1 guide line pitch (12 mm), and the length of the transfer travel line L1, that is, the transfer travel distance is the distance of the progress y6-y3, The distance between the guide lines x0 and x1 is calculated geometrically, and the angle (90 degrees-Θ) of the transfer travel line L1 with respect to the guide line x0 is also calculated geometrically. If the target arrival time in the travel command is 0.3 seconds, the length of the transfer direction line L1 (about 32 mm) must be traveled at the target arrival time. The speed V is 106 mm / second (L1 / target arrival time is 0.3 second). The x-direction speed component Vx of the speed V when traveling in the direction of the transfer travel line L1 at this speed is 40 mm / sec (note that Vx is simply calculated geometrically from the inclination angle Θ). . In this example, since the predetermined time interval Δt at which the target virtual guide line is specified is 0.03 seconds, in order to travel in the direction of the transfer travel direction line L1, the required travel speed (speed in FIG. V) needs to move 1.2 mm in the x direction during the predetermined time interval Δt (0.03 seconds). From this, the target virtual guide line to be specified is 1.2 mm / 1.2 mm, that is, the first virtual guide line ps from the guide line x0. Therefore, the target virtual guide line ps is designated in the first designation.
[0039]
In the second designation after the predetermined time interval Δt, the x and y positions (positions specified by the progress y and the virtual guide line p) of the self-propelled body at that time and the transfer position (y6) to the guide line x1 , X1), the above calculation is repeated, the next Vx is obtained, and the corresponding specified interval α is added to the virtual guide line ps to specify the target virtual guide line ps + α. If there is a travel delay of the self-propelled body due to disturbance, the remaining transfer travel distance becomes longer than the remaining distance when there is no travel delay, so the required travel speed V when specifying the second target virtual guide line is faster. Become. Since the Vx increases as the transfer travel speed increases, the designated interval α of the target virtual guide line increases. While repeating the calculation of the virtual target guide line and the traveling speed to be specified in this way, the self-propelled vehicle compensates for the traveling delay, and even if there is a temporary traveling delay, the planned transfer direction ( In the direction of the angle Θ, the vehicle travels to the guide line x1 in the target arrival time and transfers to this.
As described above, the target virtual guide line is repeatedly specified at intervals of 0.03 seconds until it reaches the target guide line. Therefore, during the transfer travel, the specified target virtual guide line, that is, the travel control means ( The vehicle travels while being constrained by the reference line set in MPU3). Therefore, it is strong against disturbances such as slip and mutual contact, and even if there is a running disturbance, it quickly returns to the target virtual guide line and runs, so the target arrival time t To reach the target position (the position based on the target guide line and the target progress).
[0040]
In the second embodiment, the target arrival time t is commanded (the travel speed is not commanded) even when the vehicle travels straight by tracking the guide line (when the guide line is not changed), from the current position to the target progress. The travel control means (MPU3) calculates and determines the travel speed based on the straight travel distance and the target arrival time, and the travel speed calculation is repeated every predetermined time interval Δt (0.03 seconds). Therefore, even if there is a travel delay due to a disturbance such as slip even during straight traveling, the target progress is reached in the target arrival time, regardless of the above-described transfer travel.
[0041]
【The invention's effect】
In the case of the above prior art, when there is no disturbance such as mutual interference and slip of the self-propelled vehicle, the target progress and the target guide line are simply instructed within a predetermined time by the traveling control means mounted on the self-propelled vehicle. It is possible to travel to the target progress and complete the transfer to the target guide line, but if the travel is disturbed due to disturbance in the middle of the transfer, it will reach the target progress, the target guide line Connection to will be delayed. In contrast, in the travel control means (MPU3), a large number of virtual guide lines are assumed between the guide lines, and the position of the self-propelled body (from the guide line after the start of transfer travel) based on the changes in the outputs of the three light receiving elements. The amount of movement of the self-propelled body in the lateral direction) is always recognized, and controlled by the travel control means (MPU3) so as to point the target virtual guide line from the relationship between the current position and the specified target virtual guide line. By doing so, the traveling of the self-propelled body can be stabilized against disturbance, and even when the disturbance is received, it can be promptly returned to the designated target virtual guide line.
Therefore, even if a disturbance occurs during a transfer run, the run disturbance caused by the disturbance is suppressed, and even if a run disturbance occurs, it always points in the direction of the target guide line, so the transfer to the target guide line, that is, the course change is stable. Made.
[0042]
In addition, the travel command includes the target progress and the target guidance line and the time to reach the target progress, that is, the target arrival time, and the traveling control means of the self-propelled body calculates the required travel speed based on the target arrival time. In the simulated race executed by the race creation unit of the race progress management unit (MPU1), it is possible to control the transfer run based on the target arrival time by repeatedly calculating this during the transfer run. The course change of the self-propelled body is made almost following the course change of the model body.
Therefore, it is avoided that the race progress is greatly disturbed due to disturbance of transfer of the self-propelled body due to disturbance.
[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 lines on a self-propelled vehicle running surface.
FIG. 3 is a cross-sectional view schematically showing a relationship between a light receiving element 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 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 a state where the self-propelled body changes the guide wire.
FIG. 8 is a schematic enlarged plan view showing a relationship between a guide wire and a detection range by a light receiving element.
FIG. 9 is a schematic enlarged plan view showing the relationship between guide lines and virtual guide lines.
10 is a graph schematically showing a change in output of the light receiving element in FIG. 9. FIG.
FIG. 11 is a block diagram of a virtual position detection system.
FIG. 12 is a diagram schematically illustrating the transfer travel according to the first embodiment.
FIG. 13 is a diagram schematically illustrating a relationship between a target virtual guide line interval and a transfer travel speed in the second embodiment.
FIG. 14 is a block diagram illustrating an outline of a calculation procedure according to the second embodiment.
[Explanation of symbols]
1: Guide wire
1b: Non-inductive line
2: Progress line
3: Position display line
10: Self-propelled body
10a, 10b, 10c: light receiving elements
11: Magnetic sensor
12: Infrared receiver
20: Relay control device
30: Driving control means
40: Race Progress Management Department
50: Race progress timer
s: Center line of guide line
p1, p2, .. pn: virtual guide line

Claims (6)

The three light-receiving elements on the lower surface of the self-propelled body are optically tracked while detecting the guide line, and the target progress and the target guide line are given as travel commands. Based on these commands, the travel control means ( In the driving control method of the line-guided racing game device by the self-propelled body, which controls the line-tracking driving and the transfer driving of the guide line by MPU3),
Three light receiving elements are installed on the right and left sides in the width direction of the back of the self-propelled body, and the deviation from the center line s of the guide line of the self-propelled body is based on the amount of change in the amount of light received by the three light receiving elements. Calculate and detect the quantity,
A number of virtual guide lines between the center lines s and s of the guide lines 1 and 1 are defined in the traveling control means (MPU3) of the self-propelled body, and the traveling control means during traveling for traveling in the switching direction. The target virtual guide line is specified in order, and the transfer is performed while repeating the connection of the target virtual guide line sequentially,
A line-guided race in which the direction of deviation from the target virtual guidance line is determined based on the amount of deviation from the center line s of the guidance line 1 of the self-propelled body, and the traveling direction of the self-propelled body is determined. A traveling control method for a game device. The upper running surface model object travels through the magnetic force self-propelled body which runs the lower running surface be those that drive the model body, the center in the width direction of the self-propelled body back surface, was placed in the right and left 3 The optical tracking is performed while detecting the guide line by the two light receiving elements, and the target progress and the target guide line are given as a travel command. Based on these commands, the travel control means (MPU3) of the self-propelled body performs the line tracking travel. And a driving control method for a line-guidance type racing game device for controlling the transfer running of the guide line,
Based on the amount of change in the received light amount of the three light receiving elements for tracking the guide line, the amount of deviation from the center line s of the guide line of the self-propelled body is calculated and detected,
A number of virtual guide lines between the center lines s and s of the guide lines 1 and 1 are defined in the travel control means (MPU3) of the self-propelled body, and during the transfer travel that travels in the transfer direction, the travel control means Specify the target virtual guide line one by one, and make the transfer run while repeating the connection of the target virtual guide line sequentially,
A line-guided race in which the direction of deviation from the target virtual guidance line is determined based on the amount of deviation from the center line s of the guidance line 1 of the self-propelled body, and the traveling direction of the self-propelled body is determined. A traveling control method for a game device. In the running control method of the line induction type racing game apparatus according to claim 1 or 2,
Based on the progress, guide line, target progress, target guide line, and target arrival time, including the target progress, target guide line, and target arrival time to the target progress in the travel command to the travel control means (MPU3) of the self-propelled vehicle The travel control means (MPU3) calculates and determines the required travel speed,
The travel of the line-guided racing game device, in which the target virtual guide line is specified by the travel control means at predetermined time intervals, and the target virtual guide line is calculated and specified based on the transfer travel speed and the transfer direction. Control method . In the running control method of the line induction type racing game apparatus according to claim 1 or 2,
A running control method for a line induction type racing game apparatus in which the center of the detection width by the left and right light receiving elements 10b and 10c is made to coincide with the left and right edge lines e of the guide line 1 detected by the central light receiving element. In the running control method of the line induction type racing game apparatus according to claim 1 or 2,
Line-guided race in which the width of the non-guide line 1b between the guide lines 1 is made equal to the width of the guide line, and the detection width by the left and right light receiving elements 10b and 10c is made equal to the detection width of the center light receiving element 10a A traveling control method for a game device. In the run control method of the line induction type race game device according to claim 3,
Each time a target virtual guide line is specified during a transfer run, the travel speed is repeatedly calculated and determined based on the remaining transfer travel distance and the remaining target arrival time. Travel control method .

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