WO2006080213A1 - Gaming machine and mobile element used for this - Google Patents

Abstract

A gaming machine capable of allowing a mobile element to smoothly run even in a corner section by using a plurality measuring lines provided at a constant pitch with reference to the inner circumference of a circuit. A gaming machine (2) comprising a gaming machine body (10) having a plurality measuring lines (36) arranged at a constant pitch PTm in the longitudinal direction of a circuit (35) with reference to the inner circumference of the circuit (35), and a mobile element (30) able to automatically run on the circuit (35), wherein the mobile element (30) is provided with a measuring line detecting unit (52) having a plurality of detectors (60) arranged in a longitudinal direction at a constant pitch PTms to respectively be able to detected measuring lines (36), and the mobile element (30) is controlled in its running on the circuit (35) based on the detection results. The pitch PTm of the measuring lines (36) on the inner circumference of the circuit (35) is set to be integral multiples of the pitch PTms of the detectors (60), and a product of the number of detectors (60) and the pitch PTms of the detectors (60) is set to be larger than the maximum pitch PTout of the measuring lines (36) on the outer circumference of the circuit (35).

Description

 Specification

 Game machine and self-propelled body used therefor

 Technical field

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

 Background art

 [0002] In this type of horse racing game machine, a direction perpendicular to the circumferential circuit is formed by alternately arranging the south and north poles of the magnet at regular intervals along the circumferential circuit of the running surface provided in the game machine body. A number of magnetic measurement lines are generated on the running surface, and the magnetic measurement lines are detected by a magnetic sensor installed on the lower surface of the self-propelled body to determine the progress and speed of the self-propelled body relative to the reference position of the peripheral circuit. Based on the determination result, a game machine that controls the running of the self-propelled body is known (for example, see Patent Document 1).

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

 Disclosure of the invention

 Problems to be solved by the invention

[0003] Meanwhile, in conventional game machines, measurement lines are provided at a constant pitch with reference to the inner periphery of the peripheral circuit. Therefore, in the corner section of the peripheral circuit, the pitch of the measurement line is increased on the outer periphery, and therefore the time interval at which the measurement line is detected also increases as the pitch increases. For this reason, the accuracy or responsiveness of the control is lowered in the corner section, and there is a risk that the self-propelled body cannot be run smoothly.

[0004] Therefore, the present invention uses a plurality of measurement lines provided at a constant pitch with reference to the inner circumference of the circuit, and a game machine capable of smoothly running a self-propelled body even in a corner section. The purpose is to provide a self-propelled body.

 Means for solving the problem

[0005] The game machine of the present invention is arranged with a constant pitch in the longitudinal direction of the peripheral circuit with respect to the running surface including the peripheral circuit and the inner periphery of the peripheral circuit, and each of them is crossing the peripheral circuit A game machine body having a plurality of measurement lines extending in the direction and self-running capable of running on the running surface A measuring line detection means having a plurality of detection units arranged on the self-propelled body at a constant pitch in the front-rear direction of the self-propelled body, each capable of detecting the measurement line. The self-propelled body based on the detection results of the transverse position detection means for detecting information necessary for specifying the position of the self-propelled body in the transverse direction, and the measurement line detection means and the transverse position detection means. A travel control means for controlling travel of the body in the circumferential circuit, the constant pitch of the measurement line is set to an integral multiple of the pitch of the detection part of the measurement line detection means, and the detection part The product described above is solved by setting the product of the number and the pitch of the detection unit to be larger than the maximum pitch of the measurement line on the outer periphery of the peripheral circuit.

 [0006] In addition, the self-propelled body of the present invention is arranged at a constant pitch in the longitudinal direction of the circumferential circuit with reference to the running surface including the circumferential circuit and the inner circumference of the circumferential circuit, and each of the circumferential circuits A self-propelled body that can run on a running surface in combination with a game machine main body having a plurality of measurement lines extending in the transverse direction, arranged at a fixed pitch in the front-rear direction, and each of which can detect the measurement line A measuring line detecting means having a plurality of detecting units, a transverse position detecting means for detecting information necessary for specifying the position of the self-propelled body in the transverse direction, the measuring line detecting means and the transverse position detecting means. Travel control means for controlling travel in the circuit based on the respective detection results, and the constant pitch of the measurement line is an integral multiple of the pitch of the detection part of the measurement line detection means. Detector pitch Is set, and the product of the number of the detection units and the pitch of the detection units is set to be larger than the maximum pitch of the measurement lines on the outer periphery of the circuit, thereby solving the above-described problem.

[0007] According to the present invention, when the self-propelled vehicle travels in the corner section of the circuit, the first detection unit in the front-rear direction of the self-propelled vehicle detects the measurement line, and then the next measurement line is identically detected. Until the outgoing part is detected, the subsequent detection part sequentially detects the same measurement line. Therefore, it is possible to monitor the travel of the self-propelled vehicle at a time interval according to the pitch of the detection unit and the speed of the self-propelled vehicle. It is possible to grasp the physical quantity to be controlled and appropriately control the traveling of the self-propelled body. The reference pitch for measuring lines is an integer multiple of the detector pitch, and the product of the number of detectors and pits is Since it is set to be larger than the maximum pitch at the outer periphery of the circuit, even when the self-propelled vehicle is running on the outermost part of the corner section, the time interval at which the measurement line is detected is The time required to travel for a distance corresponding to the pitch or a shorter time is maintained. As a result, the self-propelled vehicle can be smoothly driven while suppressing deterioration of control accuracy or responsiveness related to the traveling in the corner section. When a self-propelled vehicle is traveling in a corner section, the number of times the measurement line detection means detects the same measurement line while the self-propelled body moves to the next measurement line varies depending on the pitch in the corner section. By referring to the detection result of the crossing direction detection means, it is possible to reflect the change in the pitch of the measurement line according to the crossing position of the self-propelled body in the travel control.

 [0008] In one embodiment of the present invention, the fixed pitch of the measurement line may be set to be twice or more the pitch of the detection unit. According to this embodiment, it is possible to control the traveling of the self-propelled vehicle by dividing the time required for the self-propelled vehicle to travel the distance corresponding to the pitch of the magnetic measurement line into two or more periods. Therefore, the control accuracy regarding the traveling of the self-propelled body can be further improved. Or, compared with the case where the pitch of the measurement lines is aligned with the pitch of the detection unit, the pitch of the measurement lines can be increased to twice or more while maintaining the control accuracy. By reducing the number of measurement lines, it is possible to reduce the labor or cost associated with the installation of measurement lines.

 [0009] In one aspect of the present invention, the travel control unit may control the speed of the self-propelled body using a time interval at which each of the plurality of detection units detects the measurement line. . The time interval at which the measurement line is detected correlates with the speed of the self-propelled body. Specifically, the speed of the self-propelled body is obtained by dividing the pitch of the detection unit by the time interval at which the measurement line is detected. Therefore, the speed of the self-propelled vehicle can be controlled with high accuracy by grasping the speed based on the time interval and reflecting it in the speed control.

[0010] In one aspect of the present invention, the travel control unit determines the number of measurement lines detected from a predetermined reference position of the peripheral circuit based on the detection result of the measurement line detection unit. Progress determining means for determining progress, crossing position determining means for determining the position of the self-propelled body in the crossing direction based on the detection result of the crossing position detecting means, the determined progress and the position in the crossing direction Based on the above self-propelled body until the next measurement line Detection time estimation means for estimating the number of times that the measurement line detection means should reach the current measurement line while the measurement line detection means has reached, the remaining time until the self-propelled vehicle reaches the target progress, and the target A time interval estimation means for estimating a time interval at which the detection unit detects the measurement line based on the number of measurement lines to be detected by the advancement and the estimated value of the number of times; an estimated value of the time interval; Speed control means for controlling the speed of the self-propelled body based on the detected value of the time interval.

 [0011] According to this embodiment, the self-propelled vehicle travels in the corner section of the circuit around the degree of progress of the self-propelled vehicle. The pitch of the measurement line is determined according to the position in the transverse direction of the body, and the number of times the measurement line should be detected before reaching the next measurement line is estimated from the determined pitch of the measurement line and the pitch of the detection unit can do . By using the estimated number of times, it is estimated how long the measurement line should be detected in order for the self-propelled vehicle to reach the target progress, that is, the target measurement line in the remaining time. The power to do S. Since the difference between the estimated value of the time interval and the detected value of the time interval of the measurement line by the measurement line detection means correlates with the excess or deficiency of the speed of the self-propelled vehicle, this difference is reflected in the speed control of the self-propelled vehicle. It is possible to run to the target measurement line at the time when the self-propelled body is targeted. Note that the speed control based on the estimated value and the detection of the time interval may be performed by directly using these estimated value and detected value, or may be performed by indirectly using the estimated value and the detected value. For example, the target speed and the current speed are obtained by dividing the pitch of the detection unit by the estimated value and the detected value of the time interval, respectively, and by using these speeds, the estimated value and the detected value of the time interval are indirectly The speed control may be executed by using it.

[0012] In one embodiment of the present invention, the travel control means determines the current speed of the self-propelled body based on a pitch of the detection unit and a time interval at which each of the plurality of detection units detects the measurement line. You may provide the speed calculating means to calculate, and the speed control means to control the speed of the said self-propelled body so that the calculated present speed may correspond with target speed. By calculating the current speed of the self-propelled vehicle from the pitch of the detector and the time interval at which the measurement line is detected, the current speed of the self-propelled vehicle can be sequentially grasped with the resolution corresponding to the pitch of the detector. Using the difference between the obtained current speed and the target speed, the running speed of the self-propelled vehicle is finely controlled. Ability to do S. In this embodiment, the target speed may be given from the outside of the self-propelled body, for example, from the game machine body, or may be determined by the speed control means.

 [0013] As one form in which the speed control means determines the target speed, the travel control means detects the measurement line of the predetermined reference position force of the peripheral circuit based on the detection result of the measurement line detection means. A progress determining means for determining the number of the self-propelled bodies as the progress of the self-propelled body, and a crossing position determining means for determining the position of the self-propelled body in the crossing direction based on a detection result of the crossing position detecting means. Detection number estimation means for estimating the number of times the measurement line detection means should detect the same measurement line while the self-propelled body moves between adjacent measurement lines based on the progress and the position in the transverse direction, and detection And target speed calculating means for calculating the target speed based on the estimated value of the number estimating means.

 [0014] According to this embodiment, the self-propelled vehicle travels in the corner section of the circuit around the degree of progress of the self-propelled vehicle. The distance to be traveled before reaching the next measurement line is determined according to the position in the transverse direction of the body, and the self-propelled body moves between adjacent measurement lines based on the distance and the pitch and force of the detection unit. The number of times a measurement line should be detected can be estimated. In order to reach the target progress of the self-propelled vehicle within a predetermined time using the estimated value of the number of times, it is estimated at what time interval the measurement line should be detected, and the time interval The target speed of the self-propelled vehicle can be obtained from the estimated value of the above and the pitch of the detector.

 [0015] In addition, the number of detection times estimation means, the pitch of the measurement line at the crossing position of the self-propelled body based on the progress determined by the progress determination means and the position in the crossing direction determined by the previous crossing position determination means And the number of times may be estimated based on the determined pitch and the pitch of the detection unit. The pitch of the measurement lines is a constant value based on the inner circumference, and the pitch between the measurement lines can be uniquely identified in the corner section if the position of the self-propelled body in the transverse direction is known. The number of times the measurement line should be detected can be determined by dividing the pitch of the measurement line by the distance that the self-propelled body should travel and dividing the distance by the pitch of the detection unit.

[0016] Further, the target speed calculation means may calculate the remaining time until the self-propelled vehicle reaches the target progress, the number of measurement lines to be detected before the target progress, and the estimated value of the number of times. Based on this, the detection unit may estimate the time interval for detecting the measurement line, and calculate the target speed of the self-propelled body based on the estimated value of the time interval and the pitch of the detection unit. When controlling the self-propelled vehicle so that the self-propelled vehicle is positioned at the target progress at a predetermined time on the game, the number of measurement lines remaining up to the target progress and the estimated number of detections It is sufficient that the product of the time interval and the estimated value matches the remaining time. The remaining time can be calculated from the difference between the specified time and the current time, and the number of measurement lines up to the target progress can be determined from the difference between the current progress and the target progress. The time interval corresponding to the estimated number of detections can be estimated by dividing by the product of the estimated value and the number of measurement lines. Then, the target speed can be obtained by dividing the pitch of the detection unit by the estimated value of the time interval.

 The invention's effect

 [0017] As described above, according to the present invention, the self-propelled vehicle detects the time interval at which the measurement line is detected even when the self-propelled vehicle is running on the outermost side of the corner section. It is possible to keep the vehicle traveling for a distance corresponding to the pitch of the vehicle or for a shorter time, so that the self-propelled vehicle can run smoothly without any deterioration in control accuracy or responsiveness related to driving in a corner section. You can make it S.

 Brief Description of Drawings

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

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

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

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

 FIG. 5 is a side view of the field unit when the stage is lowered.

 FIG. 6 is an exploded perspective view of the field unit.

 FIG. 7 is a perspective view showing a state where the VII portion of FIG. 2 is viewed from below.

 FIG. 8 is a view showing a cross section of the top plate provided in the field unit, and a self-propelled vehicle and a model that travel on those traveling surfaces.

FIG. 9 is a diagram showing guide lines and magnetic measurement lines provided on the lower running surface. FIG. 10 is a plan view of a peripheral circuit provided on the lower running surface.

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

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

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

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

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

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

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

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

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

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

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

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

 FIG. 21 is a diagram showing a concept of control related to the progress of the self-propelled vehicle, the position and direction in the transverse direction.

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

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

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

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

27] A flowchart showing a calculation procedure of the direction correction amount in the direction correction amount calculation unit.

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

29] Correspondence between the displacement of the position of the line sensor relative to the guide line and the output of the line sensor FIG.

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

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

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

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

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

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

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

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

 [0020] The center server 3 mainly processes data related to the game in response to a request from the game machine 2. The maintenance server 4 stores and manages data related to maintenance such as error log information of the game system 1 in the maintenance storage unit 4a which is its own storage unit. The maintenance client 5 is provided, for example, in a maintenance service unit that centrally manages the maintenance of the game system 1 and performs analysis and analysis related to the maintenance of the game system 1 using data stored in the maintenance storage unit 4a. As an example, the Internet is used for the communication network 6.

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

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

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

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

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

FIG. 8 is a view showing a cross section of the top plates 16 and 17 and a self-propelled vehicle 30 and a model 31 that travel on the traveling surfaces 18 and 19 thereof. The top plate 16 of the base 14 is made of a white resin plate. A line sheet 32 is provided on the lower running surface 18 of the upper surface, and a magnet (permanent magnet) 33 is provided on the lower surface. As shown in FIG. 9, the line sheet 32 is for forming a plurality of guide lines 34 for guiding the self-propelled vehicle 30 on the lower travel surface 18. Guide wire 34 is colored in a color (for example, black) having a contrast in the visible light range with respect to the ground color (white) of the top plate 16. The width Wg of the guide wire 34 is ½ of the mutual pitch (interval) Pg of the guide wires 34. For example, Wg = 6 mm and Pg = 12 mm. As shown in FIG. 10, the guide wire 34 is provided so as to form a peripheral circuit 35. The peripheral circuit 35 is configured by connecting a straight section 35a in which the guide lines 34 extend in parallel with each other and a corner section 35b in which the guide lines 34 are bent in a semicircular shape. In both the straight section 35a and the corner section 35b, the width Wg and the pitch PTg of the guide wire 34 are constant. The centers of curvature CC of the guide lines 34 in the corner section 35b coincide with each other.

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

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

[0029] The pitch (interval) of the magnetic measurement lines 36 in the straight section 35a is set to a constant value PTm. Hereinafter, this pitch PTm is referred to as a reference pitch. As shown in Figure 11, corner section 3 The pitch of the magnetic measurement line 36 in 5b is set so that the pitch PTin of the magnetic measurement line 36 in the innermost guide wire 34 coincides with the reference pitch PTm. Therefore, the pitch of the magnetic measurement lines 36 in the corner section 35b increases toward the outer periphery. As an example, when the reference pitch PTm is 8 mm, the pitch (maximum pitch) PTout on the outermost guide wire 34 is approximately 30 mm.

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

 [0031] The position of the indicator lamp 38 in the longitudinal direction of the peripheral circuit 35 is set in the gap between the magnetic measurement lines 36. Data indicating the absolute position and lane number of the indicator lamp 38 on the circuit 35 is superimposed on the infrared light emitted from each indicator lamp 38 of the absolute position indicator 37. That is, the absolute position indicating device 37 functions as means for providing information indicating the absolute position and the lane in the peripheral circuit 35, respectively. In this case, the absolute position of the indicator lamp 38 may be associated with the progress using the magnetic measurement line 36. For example, the position of the absolute position pointing device 37 located at the reference position Pref is set to 0, and the clockwise (or counterclockwise) direction from there is between the 100th magnetic measurement line 36 and the 101st magnetic measurement line 36. From the indicator light 38 arranged at, progress 100 may be sent as position information. However, the number of absolute position pointing devices 37 from the reference position Pre f is sent as position information from the indicator light 38, and the number of absolute position pointing devices 37 is replaced with progress using the internal table of the game machine 2. Also good.

 [0032] As shown in FIG. 8, the self-propelled vehicle 30 is disposed between the lower traveling surface 18 and the feeding surface 20,

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

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

 [0034] As shown in FIG. 12, the auxiliary wheel 44F on the front side of the lower unit 41A is arranged slightly biased upward with respect to the drive wheel 42. Further, auxiliary wheels 49F and 49R provided on the front and rear sides of the upper unit 41B are arranged on the rear side of the auxiliary wheels 49R slightly offset from the wheels 47. Therefore, the self-propelled vehicle 30 can swing up and down around the drive wheel 42 as an axis, and the swing is transmitted to the model 31 via the magnet 40. This expresses the racehorse running while swinging up and down.

 [0035] As shown in FIG. 13, a line sensor 50 and an absolute position detection sensor are provided on the lower surface of the self-propelled vehicle 30.

51 and a magnetic sensor 52 are provided. The line sensor 50 is provided for detecting the guide wire 34, the absolute position detection sensor 51 is provided for detecting the light emitted from the indicator light 38, and the magnetic sensor 52 is provided for detecting the magnetic measurement line 36. It has been. [0036] The line sensor 50 includes a pair of light emitting units 53 provided symmetrically at the front end 30a of the self-propelled vehicle 30 and a light receiving unit 54 disposed between the light emitting units 53. Yes. The light emitting unit 53 emits visible light having a predetermined wavelength range toward the lower traveling surface 18, and the light receiving unit 54 receives reflected light from the lower traveling surface 18. The detection wavelength range of the light receiving unit 54 is limited to the wavelength range of visible light emitted from the light emitting unit 53 so that the emission light of the indicator lamp 38 is not erroneously detected. Details of the line sensor 50 are shown in FIGS. The light emitting section 53 is provided symmetrically with respect to the central plane CP that bisects the self-propelled vehicle 30 in the left-right direction, and the respective emission directions are directed obliquely inward.

 [0037] The light receiving unit 54 is provided with a sensor array 55 provided so as to extend equally in the left-right direction of the self-propelled vehicle 30 across the center plane CP, and the lower traveling surface 18 formed by reflected light from the lower traveling surface 18. And an imaging lens 56 that forms an image on the sensor array 55. The sensor array 55 is configured, for example, by arranging a large number of CMOS light receiving elements in a line, and detects the luminance distribution in the left-right direction of the self-propelled vehicle 30 with finer resolution than the width Wg of the guide line 34. For example, the resolution is set to detect a width of 1.5 times the pitch PTg of the guide wire 34 divided into 128 dots. In other words, when the center plane CP is located at the center of the guide line 34 in the width direction, the area composed of the guide line 34 and the blank portion adjacent to the guide line 34 is set as the detection area, and the detection area is set to 128. The resolution of the sensor array 55 is set so that detection is performed with dot resolution. For example, if the pitch PTg of the guide wire 34 is 12 mm, the detection width by the sensor array 55 is 18 mm, and the luminance distribution is detected with a resolution of 0.14 mm per dot.

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

 As shown in FIG. 13, the absolute position detection sensor 51 includes a light receiving unit 58 disposed on the center plane CP of the self-propelled vehicle 30. The absolute position detection sensor 51 receives the infrared light transmitted from the indicator light 38 and outputs a signal corresponding to the absolute position and lane number included in the infrared light.

[0040] The magnetic sensor 52 is a plurality of sensors arranged at a constant pitch PTms in the front-rear direction of the self-propelled vehicle 30. The outlet 60 is provided. In the following, the detection unit 60 is sometimes counted from the front end 30a of the self-propelled vehicle 30 and is distinguished from # 1 detection unit, # 2 detection unit, and so on. Each detection unit 60 detects magnetism in the lower travel surface 18 and outputs signals corresponding to the S pole and the N pole, respectively. For example, the detection unit 60 outputs a low signal when the S pole is detected, and outputs a high signal when the N pole is detected. Therefore, the magnetic measurement line 36 can be detected by inversion of the signal of each detection unit 60. Thereby, the magnetic sensor 52 functions as a measurement line detection means. As shown in FIG. 17A, the number of detection units 60 and the pitch PTms in the front-rear direction are associated with the reference pitch PTm of the magnetic measurement line 36. That is, the pitch PTms of the detector 60 is set to 1Z2 of the reference pitch PTm of the magnetic measurement line 36. In other words, the reference pitch PTm is twice the pitch PTms of the detector 60. The number of detection units 60 is set so that the product of the number and the pitch PTms of the detection unit 60 increases the pitch (maximum pitch) PTou beam at the outermost periphery of the corner section 35b. In the example shown in the figure, the reference pitch PTm is 8 mm, the maximum pitch PTout is 30 mm, the detection unit pitch PTms is 4 mm, and the number of detection units 60 is 8.

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

 [0042] However, when the self-propelled vehicle 30 is traveling in a lane other than the first lane in the corner section 35b, the pitch of the magnetic measurement line 36 is larger than the reference pitch PTm. Is different. An example of this will be described with reference to FIGS. 18A and 18B. In FIG. 18A, the self-propelled vehicle 30 travels at the speed Vact along the guide line 34 in the second lane or the outer lane in the corner section 35b, and the pitch of the magnetic measurement line 36 in the lane is Assume that PTx (where Pm and PTx≤PTout). In this case, as shown in FIG. 18B, from time tl when the # 1 detection unit 60 reaches the magnetic measurement line 36 and reverses its output signal force SLow to High, the next magnetic measurement line 36 # 1 The time interval (tl to t6) from time t6 when the detection unit 60 reaches and the output signal is inverted from high to low is extended by the pitch PTx. On the other hand, the time interval (tl to t2) between the time t2 and the time tl when the output signal of the # 2 detection unit 60 is inverted from low to high is the same as that in the case of FIG. 17B. Therefore, when the time interval between times tl and t2 is compared with the time interval between times t2 and t6, the latter becomes larger. Therefore, if the current speed Vact of the self-propelled vehicle 30 is calculated from the inversion time interval of the output signal of the detector 60 of # 1 and # 2 and the pitch PTms of the detector 60, the speed obtained in the latter is PT ms = Since the precondition of PTm / 2 is not satisfied, there is an error. If this is used, the speed of the vehicle 30 will be controlled incorrectly.

 [0043] On the other hand, in FIG. 18B, during time tl to t6, # 2 to # 5 detector 60 sequentially reaches the same magnetic measurement line 36, and their output signals are multiplied from time t2 to time t5. Invert. Each time interval from 12 to 15 corresponds to the value obtained by dividing the pitch PTms of the detector 60 by the current speed Vact. Therefore, in the case of FIG. 18B, if the current speed Vact is detected using the output signals of the detectors 60 of # 1 to # 5, the above-described speed detection error does not occur. In order to enable such speed detection in all lanes, as described above, the product of the number of detection units 60 and the pitch PTms is the maximum pitch PTou beam of the magnetic measurement line 36 in the outermost periphery of the corner section 35b. If it is set too large. In the above example, since the pitch PT ms of the detection unit 60 is 4 mm and the maximum pitch PTout of the magnetic measurement line 36 is 30 mm, the condition is satisfied if the number of detection units 60 is set to eight.

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

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

 FIG. 20 shows a control system provided in the self-propelled vehicle 30. The control system of the self-propelled vehicle 30 includes a self-propelled vehicle control device 110. The self-propelled vehicle control device 110 is configured as a computer unit equipped with a microprocessor, and the self-propelled vehicle is controlled according to a predetermined self-propelled vehicle control program.

30 travel controls or communication control with the main controller 100 is executed. The above-described line sensor 50, absolute position detection sensor 51, and magnetic sensor 52 are connected to the self-propelled vehicle control device 110 as an input device for travel control via an interface (not shown). Further, a gyro sensor 111 is connected to the self-propelled vehicle control device 110 as an input device. The gyro sensor 111 is built in the self-propelled vehicle 30 to detect the attitude of the self-propelled vehicle 30, in other words, the self-propelled vehicle 30 is facing. The gyro sensor 111 detects the angular acceleration around the turning axis of the self-propelled vehicle 30 (for example, the vertical axis passing through the intersection of the axis of the drive wheel 42 and the center plane CP), and integrates the angular acceleration twice. Angle change amount This is converted and output to the self-propelled vehicle control device 110. However, the angle acceleration may be output from the gyro sensor 111 and converted into the angle change amount by the self-propelled vehicle control device 110.

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

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

[0049] Since the advance deficiency A AD is given as the number of the magnetic measurement lines 36, it is obtained by subtracting the current advance AD crt from the target advance ADtgt in any of the straight section 35a and the corner section 35b. . However, in the corner section 35b, the distance Ltr corresponding to the progress deficit AAD is at the position of the self-propelled vehicle 30 in the transverse direction of the circuit 35. Therefore, since it changes, speed control in consideration of this is necessary. Lane correction amount A Yamd is the amount of deviation between the current position Pert of the self-propelled vehicle 30 and the current lane from the lane distance Ychg corresponding to the distance between the lane where the self-propelled vehicle 30 is currently traveling and the target lane. It is obtained by bowing Y. When the target lane matches the current lane, that is, when the lane change is not instructed, the lane correction amount A Yamd = ΔΥ. The lane direction Dref and the self-propelled vehicle direction Dgyr can be specified as the angles Θ ref and Θ gyr relative to the absolute reference direction Dabs, with the straight direction from the reference position Pref in FIG. 10 as the absolute reference direction Dabs. In the straight section 35a, 0 ref = O ° or 180 °. In the corner section 35b, the angle formed by the tangential direction of the guide line 34 in the advance ADcrt with respect to the absolute reference direction Dabs can be specified as Θ ref. The tangential direction is uniquely determined by the progress, and if it is the same progress, it is a constant value regardless of the lane.

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

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

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

[0053] After calculating the current speed Vact, 1 is added to the variable m in step SI06. In the following step S1 07, it is determined whether or not the absolute position detection sensor 51 has detected the absolute position, that is, whether or not the infrared light of the indicator light 38 has been detected. If not, the process returns to step S101. . On the other hand, the absolute position detection sensor 51 detects infrared light from the indicator light 38 in step S107. If so, the progress information coded in the infrared light is determined, the progress counter 121 is corrected so that the determined progress matches the progress ADcrt of the progress counter 121, and the process returns to step S101. If the signal from #m detector 60 is not judged in step S104,

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

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

[0056] In the next step S125, the number of inversions of the output of the magnetic sensor 52 to be detected before the self-propelled vehicle 30 reaches the next degree of progress (the number of inversion counts) Nx is set to the current degree ADcrt and the self-propelled car 3 0 is estimated based on the currently running lane. That is, a value (quotient) obtained by dividing the pitch PTx of the magnetic measurement line 36 between the current progress ADcrt and the next progress ADcrt + 1 by the pitch PTms of the detection unit 60 is estimated as the inversion count Nx. If the quotient has a fractional part, it is rounded up to the nearest whole number by rounding up, rounding down or rounding. The lane number is used to specify the pitch PTx. When the self-propelled vehicle 30 is traveling on the innermost lane of the straight section 35a and the corner section 35b, the reference pitch PTm shown in FIG. On the other hand, if it is determined from the progress ADcrt that the self-propelled vehicle 30 travels in the corner section 35b, the pitch PTx corresponding to the lane number should be obtained from data such as a prepared table. Les. [0057] After the inversion count number Nx is estimated, the routine proceeds to step SI26, where the inversion reference time tx is calculated. As shown in FIG. 25, the remaining time from the current time until the time when the self-propelled vehicle 30 should reach the target progress ADtgt is Trmn, and the output of each detection unit 60 of the magnetic sensor 52 is constant within the remaining time Trmn. Assuming that inversion occurs sequentially at time tx, the remaining time Trmn is given by the product of time tx, the inversion count Nx, and the advance deficiency AAD. In other words, in order for the self-propelled vehicle 30 to reach the target progress ADtgt at the target progress arrival time, the self-propelled vehicle 30 responds to the shortage of progress A AD at such a speed that the output of the detection unit 60 is reversed every time tx. You must run the distance you want. From such a relationship, the inversion reference time tx is obtained by a quotient (tx = TrmnZ (Nx ′ ΔΑϋ)) obtained by dividing the remaining time Trmn by the product of the inversion count Nx and the advance deficiency AAD. In other words, if Nx output inversions are detected at each inversion reference time tx, the advancement is advanced by one, and if this is repeated a number of times corresponding to the insufficient advancement amount AAD, it will run at the target advancement arrival time. Car 30 will reach the target progress ADtgt. As an example, the target progress arrival time may be a time when the next target progress and target lane are given from the main control device 100 of the game machine 2 or a time when a certain delay time is given to the time. it can. However, the target progress time must be the same among all self-propelled vehicles 30 used in the same race.

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

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

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

 FIG. 27 is a flowchart showing a procedure by which the direction correction amount calculation unit 131 calculates the direction correction amount ΔΘamd. The direction correction amount calculation unit 131 obtains the value ADcrt of the progress counter in the first step S161, and determines the angle Θ r ef in the reference direction from the progress ADcrt in the subsequent step S162. As described above, the angle Θ ref of the reference direction is uniquely determined in association with the progress AD, and is 0 ° or 180 ° in the straight section 35a and the tangential direction of the guide line 34 in the corner section 35b. If the correspondence between the advance AD and the reference direction Θ ref is stored in advance in data such as a table, the reference direction angle Θ ref can be immediately determined from the advance counter value ADcrt. In the next step S163, the value Θ gyr of the gyro counter 125 is acquired, and in the subsequent step S164, the difference between the angles Θ ref and Θ gyr is calculated as the direction correction amount ΔΘ amd (see FIG. 21). After this, the process returns to step S161. The direction correction amount ΔΘ amd obtained here is supplied not only to the speed ratio setting unit 133 but also to the lane management unit 124 and the line width detection unit 136.

FIG. 28 is a flowchart showing processing of the lane management unit 124. Lane management section 124 Calculates the lane shift amount Δ Υ (see Fig. 21) of the self-propelled vehicle 30 by referring to the output of the line sensor 50 and the direction correction amount Δ Θ amd and uses the lane shift amount Δ Υ to determine the lane counter Manage 123 values. That is, the lane management unit 124 obtains the direction correction amount ΔΘ amd from the direction correction amount calculation unit 131 in the first step S181, and detects the lane deviation amount ΔΥ by capturing the output of the line sensor 50 in the subsequent step S182. To do. An example of the relationship between the output of the line sensor 50 and the lane shift amount ΔΥ is shown in FIG. An analog signal corresponding to the reflected light intensity is output from the line sensor 50. If this is binarized with an appropriate threshold value, a rectangular wave corresponding to the guide wire 34 and the blank portion therebetween can be obtained. From the rectangular wave, the number of dots Δ Ndot between the center of the detection area of the line sensor 50 and the center of the luminance value range (lane center) corresponding to the guide line 34 corresponds to the lane shift amount Δ Y. By multiplying the number Δ Ndot by the line width per dot, the lane shift amount Δ Υ can be obtained. However, when the direction of the self-propelled vehicle 30 is deviated from the reference direction Dref (see Fig. 21), the line sensor 50 also tilts obliquely with respect to the direction perpendicular to the guide line 34, and as a result, the dot The number ΔNdot also increases with the slope. Therefore, it is necessary to obtain the correct lane shift amount Δ 量 by multiplying the lane shift amount ΔΥ obtained from the number of dots ΔNdot by the cosine value cos ΔΘamd of the direction correction amount. This is why the direction correction amount ΔΘamd is acquired in step S181 in FIG. In FIG. 29, the width Wg (see FIG. 9) of the guide line 34 can be detected by similarly correcting the number of dots Ndot included in the luminance value range corresponding to the guide line 34 by ΔΘ amd. it can.

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

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

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

[0066] According to the processing of FIG. 30, the distance in the transverse direction that the self-propelled vehicle 30 should move to the target lane is calculated as the lane correction amount A Yamd. As described in FIG. 22, the calculated lane correction amount A Yamd is given to the speed ratio setting unit 133. The speed ratio setting unit 133 determines the speed ratio to be generated between the motors 43 based on the given lane correction amount A Yamd and the direction correction amount ΔΘ amd, and the speed FB correction is performed according to the speed ratio. Increase or decrease the drive speed given from the unit 129 to determine the speed instructions VL and VR for the left and right motors 43. At this time, a speed difference corresponding to the speed ratio is generated in each motor 43, and the driving speed obtained by combining these speeds matches the driving speed given from the speed FB correction unit 129. Instructions VL and VR are generated. The generated speed instructions VL and VR are given to the motor drive circuit 115 shown in FIG. The driving circuit 115 drives the motor 43 at the instructed speed, so that the self-propelled vehicle 30 reaches the target progress ADtgt at a predetermined time. And the direction Dgyr is controlled to coincide with the reference direction Dref. Note that the speed ratio is feedback-controlled or fed-forward controlled using the differential value and integral value of the lane correction amount A Yamd and the direction correction amount Δ Θ amd, and also the angular acceleration detected by the gyro sensor 111, and the target is obtained. The control accuracy and response of lane tracking and direction correction may be improved.

 [0067] According to the series of processes described above, every time the progress of the self-propelled vehicle 30 increases, the target speed Vtgt of the self-propelled vehicle 30 is given, and the current speed Vact of the self-propelled vehicle 30 is Since each time the self-propelled vehicle 30 moves by a distance corresponding to the pitch PTms of the detector 60, the speed of the self-propelled vehicle 30 can be controlled quickly and with high accuracy. Further, since the magnetic sensor 52 is provided with a number of detection units 60 that can cover the maximum pitch PTms of the magnetic measurement line 36, even if the self-propelled vehicle 30 is traveling in any lane of the corner section 35b, the magnetic sensor 52 is magnetic. Regardless of the size of the pitch PTx on the measuring line 36, the current speed Vact can be detected with a high resolution according to the pitch PTms. Therefore, the error in speed control using the current speed Vact can be reduced, and the fluctuation in speed when the self-propelled vehicle 30 is traveling in the corner section 35b can be effectively suppressed.

 [0068] In addition, since the gyro sensor 111 is provided to detect the direction of the self-propelled vehicle 30, and the deviation between the direction and the direction of the target lane is given to the speed ratio setting unit 133 as a direction correction amount ΔΘamd. As compared with the case where the position and direction in the transverse direction of the self-propelled vehicle 30 are controlled based only on the output of the line sensor 50, the control accuracy is improved. Furthermore, by using the output of the gyro sensor 111 to determine the amount of change in angle, change in angular velocity, or angular acceleration, and using these physical quantities for direction control of the self-propelled vehicle 30 It is possible to converge smoothly and quickly on the target lane and to align the direction with the target direction accurately and quickly.

[0069] Further, the direction correction amount ΔΘamd with respect to the target direction of the self-propelled vehicle 30 can be immediately determined from the output of the gyro sensor 111, and in the determination of the lane shift amount ΔΥ using the output of the line sensor 50, It is possible to accurately detect the deviation amount Δ し て using the direction correction amount ΔΘ amd. Therefore, the lane tracking accuracy of the self-propelled vehicle 30 or the accuracy of the movement control to the target lane can be improved. FIG. 31 is a flowchart showing processing in the line width inspection unit 136. The line width detection unit 136 obtains the value ADcrt of the progress counter 121 in the first step S221 of FIG. 31, obtains the value of the lane counter 123 in the next step S222, and further in step S223, the direction correction amount Δ Get Θ amd. In the following step S224, the line width in the current lane is calculated from the output of the line sensor 50. As described in FIG. 29, in order to obtain the line width, the number of dots Ndot is obtained from the output of the line sensor 50 and multiplied by the line width per dot, and this is multiplied by the direction correction amount ΔΘ amd. Correction may be given. In subsequent step S225, it is determined whether or not the calculated line width is within a predetermined allowable range. If it is within the allowable range, the process returns to step S221. On the other hand, if the line width exceeds the allowable range, the process proceeds to step S226, and the data corresponding to the detected line width with the detection position, that is, the value ADcrt of the progress counter and the value of the lane counter is displayed. Is stored in the storage device of the self-propelled vehicle control device 110, and then the process returns to step S221. The allowable range of the line width is determined in consideration of the frequency of error in driving control of the self-propelled vehicle 30 caused by the increase or decrease of the guide line 34 with respect to the original line width Wg. That's fine. For example, if the original width Wg of the guide wire 34 is 6 mm and the actual line width is within ± 2 mm, the allowable range should be 4 to 8 mm if there is no practical problem with the driving control of the self-propelled vehicle 30. If you set it to.

By performing the above processing, it is possible to detect an increase or decrease in the apparent width of the guide wire 34 due to dirt on the lower running surface 18, contamination of foreign matter, peeling of the guide wire 34, etc. it can. Alternatively, the occurrence of linear stains and scratches that are erroneously detected as guide lines can also be detected as abnormal line widths. Further, it becomes possible to identify an abnormal part of the line width by the progress and the lane in the peripheral circuit 35 using the stored data. In this configuration, the output of the line sensor 50 is referred to in the calculation of the lane deviation amount ΔΥ, the determination of the current lane, and the calculation of the lane correction amount A Yamd. As a result, the followability of the self-propelled vehicle 30 with respect to the guide line 34 may deteriorate, and malfunctions such as unstable behavior when changing lanes may occur. Cleaning is required. For such work, the data created by the line width inspection unit 136 can be used effectively. [0072] In the above description, it is determined whether the line width is within the allowable range by using the force S for converting the dot number Ndot to the line width and the value obtained by correcting the dot number Ndot with the angle Δe amd. May be. It is also possible to omit the angle correction and determine whether the power is within the allowable range based on the number of dots Ndot. For example, when traveling control is performed to limit the direction correction amount ΔΘamd of the self-propelled vehicle 30 to a certain range, it corresponds to the guide line width Wg when the direction correction amount ΔΘamd is the maximum value. The number of dots Ndot on the line sensor 50 may be obtained in advance, and when the number of detected dots exceeds this, it may be determined that the allowable range has been exceeded. In this case, tilt correction using the direction correction amount ΔΘamd is also unnecessary. On the other hand, regarding the lower limit of the line width, the number of detected dots Ndot is used as a reference, based on the number of detected dots corresponding to the line width Wg when the self-propelled vehicle 30 is traveling straight along the guide wire 34. When the value is smaller than the value, the line width may be determined to be less than the allowable range.

 [0073] The line width detection by the line width detection unit 136 may be performed at any time during the race of the horse racing game, or may be performed at an appropriate time outside the race. For example, the line width inspection is performed by instructing execution of the line width inspection from the main control device 100 at an appropriate time when no race is being performed and causing the self-propelled vehicle 30 to travel along the circuit 35 in a predetermined traveling pattern. You can do this. In the above embodiment, the signal S output from the line sensor 50 is binarized, the force S for discriminating the black portion and the white portion of the traveling surface 18 is output, and the analog signal waveform is output from the line sensor 50. It is also possible to detect the colored portion other than white or black by digitalizing with 256 gradations and identify the colored portion as dirt.

 Next, a preferred mode for utilizing the line width inspection data acquired by the line width inspection unit 136 will be described. Since the self-propelled vehicle 30 does not have a function for displaying the line width inspection data, the self-propelled vehicle 30 transmits the data to the main control device 100 from the self-propelled vehicle 30 and, if necessary, via the network 6 to the maintenance server. By transmitting to 4 etc., line width inspection data can be used effectively. The following shows such usage.

FIG. 32 is a flowchart showing a procedure for transmitting line width detection data from the self-propelled vehicle 30 to the main control device 100. The self-propelled vehicle control device 110 determines in step S241 whether or not it is the transmission time of the line width detection data, and if it is determined that it is the transmission time, it proceeds to step S242 and directs the line width detection data to the main controller 100. To send. Meanwhile, main control In step S301, apparatus 100 determines whether inspection data has been transmitted from self-propelled vehicle 30 or not. If it is determined that the transmission has been made, the process proceeds to step S302, where the transmitted line width inspection data is stored in its own storage device, and the process returns to step S301. As an example, the transmission time of the line width inspection data may be set to a time when there is no problem in the control of the horse racing game.

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

[0077] Returning to Fig. 33, after the running surface warning data is stored, the process proceeds to step S323 to check the data amount of the running surface warning data, and in step S324, the data amount exceeds the predetermined allowable amount. Judge whether or not. If the allowable amount is exceeded, the warning flag is set to 1 in step S325, the traveling surface warning data is transmitted to the maintenance server 4 in the subsequent step S326, and then the process is terminated. On the other hand, if a negative determination is made in step S324, the warning flag is set to 0 in step S327 and the process ends. [0078] FIG. 34 shows a processing procedure of running surface check management executed by the main controller 100 in order to display a running surface check screen based on the running surface warning data to the operator (administrator) of the game machine 2. It is a flowchart. This process is executed based on an operator's instruction when the game machine 2 is controlled to the maintenance management mode, for example. In the first step S341 in FIG. 34, the main controller 100 determines whether or not 1 is set in the warning flag. If 1 is set, the process proceeds to step S342 to display a predetermined warning. The warning display shall include, for example, a message prompting the operator to inspect or clean the running surface. If the warning flag is not set to 1, step S342 is skipped. In subsequent step S343, the traveling surface warning data is read out, and in step S344, a traveling surface check screen based on the traveling surface warning data is displayed and the processing is completed.

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

[0080] The running surface check screen is not limited to the example of FIG. Dot 81 may be omitted to show only areas that need to be examined or cleaned. Only the detection position by the dot 81 may be shown by omitting the display change for each area. The detection position is not limited to a dot, and may be indicated by an appropriate index. The entire course view 80 can be displayed as a perspective view, and a bar graph with a height corresponding to the number of detections can be displayed at the detection position. [0081] In FIG. 34, when the display of the traveling surface check screen is instructed by the operator, the warning flag is checked to determine whether or not the warning display is necessary. However, the warning display is not limited to this and is appropriate. You can do it at the timing. For example, the data amount of the running surface warning data may be determined when the game machine 2 is activated, and a warning display may be executed when the allowable amount is exceeded. When the warning is displayed, the operator may be inquired whether or not to display the traveling surface check screen.

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

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

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

 In the above embodiment, the magnetic sensor 52 corresponds to the measurement line detection means, the line sensor 50 corresponds to the transverse position detection means, and the self-propelled vehicle control device 110 corresponds to the travel control means. In the self-propelled vehicle control device 110, the progress management unit 122 functions as progress determination means and speed calculation means, the lane management means 124 functions as crossing position determination means, and the target speed calculation unit 127 estimates the number of detections. Means, a time interval estimating means, and a target speed calculating means, respectively. A combination of the target speed calculating section 127, the speed setting section 128, and the speed FB correcting section 129 functions as a speed control means. However, each means to be provided in the travel control means is not limited to the correspondence relationship of the present embodiment, and the functional units corresponding to each means can be appropriately configured. For example, the detection time interval tact of the measurement line 34 may be output from the progress management unit 122, and the calculation of the current speed may be obtained by another functional unit. The reference speed tx determined by the target speed calculation unit 127 may be given to the speed FB correction unit 129 to determine the speed difference, and feedback correction corresponding to the speed difference may be performed.

 [0086] In the above embodiment, the target speed Vtgt is calculated using the pitch PTms and the reverse reference time tx of the detector 60, while the current speed V act is calculated using the pitch PTms and the actual reverse time interval. Although the control based on the speed difference is performed, the reversal reference time tx correlates with the target speed, and the actual reversal time interval correlates with the current speed, so the difference between the time estimate tx and the actual detection value tact The speed may be controlled based on For example, by monitoring the shift amount of the reversal time interval and performing a speed control such that the increase or decrease of the speed of the self-propelled vehicle 30 is set larger as the change amount (differential value) increases. Also good.

[0087] In the above embodiment, the force that sets the pitch PTms of the detector 60 to 1/2 with respect to the reference pitch PTm of the magnetic measurement line 36. The reference pitch PTm is set to an integral multiple of the pitch PTms of the detector 60. I'll be done. If the reference pitch PTm and the pitch PTms of the detector 60 match, the current speed will be determined using the output reversal interval of the # 1 detector 60 when traveling on the innermost lane of the straight section 35a and corner section 35b. May be detected. Alternatively, the pitch PTms may be set to 1Z3 or less of the reference pitch PTm of the magnetic measurement line 36. In the above configuration, the force that matches the pitch of the magnetic measurement line 36 in the corner section 35b with the reference pitch PTm on the innermost guide line 34, and further, the pitch of the magnetic measurement line 36 on the inner circumference. May coincide with the reference pitch PTm. In short, as long as the magnetic measurement lines 36 are arranged at the reference pitch PTm on the inner circumference side of the corner section 35b, and the magnetic measurement lines 36 are arranged at a pitch larger than the reference pitch PTm on the outer circumference side of the corner section 35b, the present invention. Included in the range. For example, in the corner section 35b, the traveling of the self-propelled vehicle 30 is controlled so that the self-propelled vehicle 30 always travels on the outer periphery than the position where the magnetic measurement lines 36 are aligned at the reference pitch PTm. This is also included in the scope of the present invention as long as the magnetic measurement line 36 is aligned with the reference pitch PTm on the inner peripheral side of the corner section 35b of the peripheral circuit 35.

 [0088] In the above embodiment, the position of the self-propelled vehicle 30 in the transverse direction of the peripheral circuit 35 is specified by the lane number. However, the position in the transverse direction is specified not only by the lane number but also by a finer resolution. Moyore. The pitch PTx in the corner section 35b may be determined for each lane number, or two or more adjacent lanes may be grouped together in the same group, and the pitch ΡΤχ may be determined for each group.

 [0089] The determination of the position of the circumferential circuit 35 in the transverse direction is not limited to that using a guide wire. For example, the amount of change in the transverse direction is determined from the amount of change in the angle of the gyro sensor 111 and the amount of change in progress, and the amount of change in the transverse direction is determined by integrating the amount of change based on the appropriate position of the peripheral circuit. It may be determined. In other words, in the present invention, the self-propelled vehicle is not limited to a vehicle that is controlled to follow the guide line, and the position in the crossing direction is determined by some means, and the result of the determination is controlled. If possible, the position in the transverse direction can be used only to determine the pitch of the measurement line in the corner section.

 [0090] The present invention is not limited to a game machine having a lower running surface and an upper running surface, and even in a game machine having a single running surface, as long as the running of the self-propelled body is controlled using a measurement line. Is applicable. Measurement lines are not limited to magnetic lines, but can be optically detected lines. The game executed on the game machine is not limited to a horse racing game. The running surface may be water. The measurement line may be provided at a position away from the traveling surface as long as it can be detected by the self-propelled vehicle traveling on the traveling surface. The peripheral circuit is not limited to an ellipse or an ellipse, and may have an appropriate shape. The present invention can be applied not only to a game machine connected to a network but also to a stand-alone game machine separated from the network.

Claims

The scope of the claims  [1] A traveling surface including a circumferential circuit and a plurality of measurement lines arranged at a constant pitch in the longitudinal direction of the circumferential circuit with respect to the inner circumference of the circumferential circuit and each extending in a transverse direction of the circumferential circuit. A game machine body having a self-propelled body capable of self-propelling on the running surface, the self-propelled object being arranged at a constant pitch in a front-rear direction of the self-propelled object, A measuring line detecting means having a plurality of detecting units capable of detecting the position, a transverse position detecting means for detecting information necessary for specifying the position of the self-propelled body in the transverse direction, the measuring line detecting means and the transverse position Travel control means for controlling the travel of the self-propelled body in the circumferential circuit based on the detection results of the detection means, and the constant pitch of the measurement line is determined by the detection unit of the measurement line detection means. Set to an integer multiple of the pitch, and A game machine in which a product of the number of the detection units and the pitch of the detection units is set to be larger than a maximum pitch of the measurement lines on an outer periphery of the peripheral circuit.  [2] The game machine according to claim 1, wherein the constant pitch of the measurement line is set to be not less than twice the pitch of the detection unit. [3] The range according to claim 1 or 2, wherein the travel control means controls the speed of the self-propelled body using a time interval at which each of the plurality of detection units detects the measurement line. The game machine described. [4] The travel control means determines the number of detected measurement lines from the predetermined reference position of the peripheral circuit as the progress of the self-propelled body based on the detection result of the measurement line detection means. Crossing position determining means for determining the position of the self-propelled body in the transverse direction based on the detection result of the crossing position detecting means, and the self-propelled body based on the determined progress and the position in the crossing direction. Detection number estimation means for estimating the number of times that the measurement line detection means should detect the measurement line that has currently reached while moving to the next measurement line, and the remaining time until the self-propelled vehicle reaches the target progress. Time interval estimation means for estimating a time interval at which the detection unit detects the measurement line based on time, the number of measurement lines to be detected by the target progress, and the estimated value of the number of times, and the time The estimated interval and the time interval The game machine according to claim 1 or 2, further comprising: speed control means for controlling the speed of the self-propelled body based on the detected value. [5] The travel control means includes speed calculation means for calculating a current speed of the self-propelled vehicle based on a pitch of the detection unit and a time interval at which each of the plurality of detection units detects the measurement line. 3. A game machine according to claim 1, further comprising speed control means for controlling the speed of the self-propelled body so that the calculated current speed coincides with a target speed.  [6] The travel control means determines the number of the measurement lines detected from a predetermined reference position of the peripheral circuit as the progress of the self-propelled body based on the detection result of the measurement line detection means. Crossing position determining means for determining the position of the self-propelled body in the transverse direction based on the detection result of the crossing position detecting means, and the self-propelled body based on the determined progress and the position in the crossing direction. The detection speed estimation means for estimating the number of times that the measurement line detection means should detect the same measurement line while moving between adjacent measurement lines, and the target speed based on the estimated value of the detection frequency estimation means. 6. A game machine according to claim 5, further comprising target speed calculation means for calculating.  [7] The number-of-detection estimation means is configured to detect the measurement line at the position in the transverse direction of the self-propelled body based on the progress determined by the progress determination means and the position in the transverse direction determined by the transverse position determination means. 7. The game machine according to claim 6, wherein a pitch is determined, and the number of times is estimated based on the determined pitch and the pitch of the detection unit.  [8] The target speed calculation means is based on the remaining time until the self-propelled vehicle reaches the target progress, the number of measurement lines to be detected by the target progress, and the estimated value of the number of times. The range according to claim 6, wherein the detection unit estimates a time interval for detecting the measurement line, and calculates a target speed of the self-propelled vehicle based on the estimated value of the time interval and the pitch of the detection unit. 8. A game machine according to item 7. [9] A plurality of measurement lines arranged at a constant pitch in the longitudinal direction of the peripheral circuit with respect to the running surface including the peripheral circuit and the inner periphery of the peripheral circuit and extending in the transverse direction of the peripheral circuit. A measuring line that is combined with a game machine main body and is capable of self-propelling on the running surface, arranged at a constant pitch in the front-rear direction, and each having a plurality of detection units capable of detecting the measuring line. Detection means; transverse position detection means for detecting information necessary for specifying the position of the self-propelled body in the transverse direction; the measurement line detection means; Travel control means for controlling travel in the circumferential circuit based on the respective detection results of the crossing position detection means, wherein the constant pitch of the measurement line is an integral multiple of the pitch of the detection part of the measurement line detection means The game machine in which the pitch of the detection units is set to be equal to and the product of the number of the detection units and the pitch of the detection units is set larger than the maximum pitch of the measurement line on the outer periphery of the peripheral circuit Self-propelled body.  10. The self-propelled body according to claim 9, wherein the pitch of the detection unit is set so that the constant pitch of the measurement line is not less than twice the pitch of the detection unit.  [11] The range according to claim 9 or 10, wherein the travel control means controls the speed of the self-propelled body using a time interval at which each of the plurality of detection units detects the measurement line. The self-propelled body described.  [12] The travel control means includes progress determination means for determining the detected number of the measurement lines from a predetermined reference position of the peripheral circuit as the progress of the self-propelled body based on the detection result of the measurement line detection means. Crossing position discriminating means for discriminating the position of the self-propelled body in the crossing direction based on the detection result of the crossing position detecting means, and the self-propelling body is next based on the determined progress and the position in the crossing direction. Detection time estimation means for estimating the number of times the measurement line detection means should detect the currently reached measurement line while moving to the measurement line, the remaining time until the self-propelled vehicle reaches the target progress, Time interval estimation means for estimating a time interval at which the detection unit detects the measurement line based on the number of measurement lines to be detected by the target progress and the estimated value of the number of times, and estimation of the time interval Value and the detected value of the time interval Self-propelled body according to the speed control means and, billed ranging Section 9 which has a or paragraph 10 which controls the speed of the self-propelled body Zui.  [13] The travel control means includes speed calculation means for calculating a current speed of the self-propelled body based on a pitch of the detection section and a time interval at which each of the plurality of detection sections detects the measurement line, 11. The self-propelled vehicle according to claim 9 or 10, further comprising speed control means for controlling the speed of the self-propelled vehicle so that the calculated current speed matches a target speed. [14] The travel control means includes progress discrimination means for discriminating the detected number of the measurement lines from a predetermined reference position of the peripheral circuit as the progress of the self-propelled body based on the detection result of the measurement line detection means. The self-propelled body based on the detection result of the crossing position detecting means The crossing position discriminating means for discriminating the position in the crossing direction and the measurement line detecting means using the same measurement while the self-propelled body moves between adjacent measuring lines based on the determined progress and the crossing direction position. The number-of-detections estimation means for estimating the number of times that a line should be detected, and the target speed calculation means for calculating the target speed based on an estimated value of the number-of-detections estimation means, according to claim 13, Self-propelled body.  [15] The number-of-detections estimation means may determine the measurement line at the position in the transverse direction of the self-propelled body based on the degree of advance determined by the degree of advancement determination means and the position in the transverse direction determined by the previous transverse position determination means. 15. The self-propelled body according to claim 14, wherein a pitch is determined, and the number of times is estimated based on the determined pitch and the pitch of the detection unit.  [16] The target speed calculation means is based on the remaining time until the self-propelled vehicle reaches the target progress, the number of measurement lines to be detected before the target progress, and the estimated number of times. 16. The range according to claim 14 or 15, wherein the detection unit estimates a time interval for detecting the measurement line, and calculates a target speed of the self-propelled vehicle based on the estimated value of the time interval and the pitch of the detection unit. The self-propelled body according to the item.