JPH0282992A - Circuit game apparatus - Google Patents

Abstract

PURPOSE:To enable an automobile in a racing state to be enjoyably run with the same driving sense as that in case of an actual automobile by a method wherein a final control element is controlled by a player watching the image of an image display device mounted on the radio control automobile, and wherein from a control section, the output of control signal changing slowly according to the control of the final control element is generated, and wherein the radio control automobile is composed to be controlled with the control signal. CONSTITUTION:On a large scale circuit course, a plurality of radio control cars 20 with mounted television cameras 21 are to perform car races, and by the television cameras 21 mounted on the radio control cars 20, the front sides of the cars 20 are photographed, and the signal of the photographed image is transmitted over radio wave. The transmitted image signal is received by a special tuner 40, and is displayed on the CRT 39 of a controller 30. A player sites on the seat 33 of the controller 30 and controls it watching the image of the CRT 39 on the front surface. Control signal is transmitted from a radio control signal transmitter 45 by the player, and the cars 20 are driven according to the transmitted control signal. At the specified positions of the circuit course 10, lap sensors 50 for detecting the passing of the radio control cars 20 are arranged.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Field of Application] The present invention relates to a circuit game device in which a wirelessly controlled self-propelled vehicle is driven around a circuit course to play a game.

[Prior Art] There is a circuit game device in which radio-controlled cars are driven around a circuit course to compete for ranking. Players check the position of their radio-controlled car from a place where they can see the entire circuit course, and compete using their skills to reach the finish line faster than other radio-controlled cars. Beginners with unskilled skills could not enjoy it.

On the other hand, there is a video display gaming machine that has a television display screen in front of the driver's seat, which is made to imitate a real car. The player sits in the cockpit and operates the steering wheel and accelerator while looking at the screen on the front.

The TV image on the front shows a screen that changes according to the player's driving, and the player enjoys simulated competition with other cars shown on the screen.

Such a video display game machine allows even beginners to easily enjoy driving a car. However, both the course and the competitors are simulated using equipment, so it lacks the intensity and excitement of a real race.

[Problem B to be Solved by the Invention] As described above, there has been no conventional car racing game device that is easy to operate even for unskilled players and highly entertaining that even experienced players can enjoy without getting bored.

The present invention has been made in consideration of the above circumstances, and it is an object of the present invention to provide a circuit racing device that allows you to enjoy driving a self-propelled car during an actual race with the same control feeling as an actual self-propelled car. purpose.

Means for Solving Problem F The above object is to provide a radio-controlled self-propelled vehicle equipped with an imaging device that captures at least an image of the front, a circuit course for the radio-controlled self-propelled vehicle to run, and a radio-controlled self-propelled vehicle. a receiving device that receives an image signal from an imaging device of a vehicle, a display unit that displays the image signal received by the receiving device, and an operating unit that is operated to control the non-operated self-propelled vehicle; a control unit that outputs a control signal that gradually changes according to the operation of the control unit, and a control device that operates the control unit while looking at the display unit; and a control unit that outputs a control signal that gradually changes according to the operation of the control unit. This is achieved by a circuit game device characterized by comprising a transmitting device that transmits a control signal to the radio-controlled self-propelled vehicle.

[Function] Since the present invention is configured as described above, when the player operates the operation section while viewing the image of the imaging device mounted on the radio-controlled self-propelled vehicle, the control section operates according to the operation of the operation section. A gradually changing control signal is output, and the radio-controlled self-propelled vehicle is controlled by this control signal.

Embodiment] A circuit game device according to an embodiment of the present invention will be described with reference to the drawings.

- Figure 1 shows an outline of the circuit game device according to this embodiment.

The circuit game device of this embodiment is for car racing on a large circuit course 10 by mounting a television camera 21 on a plurality of radio-controlled cars 20. A television camera 21 mounted on the radio-controlled car 20 photographs the front of the radio-controlled car 20 and transmits the photographed image by radio waves.

The transmitted video signal is received by the dedicated tuner 40 and displayed on the CRT 39 of the control device 30. The player sits on the seat 33 of the control device 30, and the CRT on the front
Maneuver while looking at image 39. A control signal from the player is transmitted from the radio control transmitter 45, and the radio control car 20 is driven in accordance with the transmitted control signal.

A radio-controlled car 20 is placed at a designated location on the circuit course 10.
A lap sensor 50 is provided to detect the passage of. Based on the detection signal of the lap sensor 50, it is possible to know the running status of each radio-controlled car 20, such as its ranking and lap time. This running state is displayed on the electronic display board 61, and is also displayed on the CRT 39 of the control device 30 via the system controller 70 that controls the entire circuit game device.
will be displayed. Also, II! The same image as the CRT 39 of each control device 30 is displayed on the large monitor 8 for the first person.
Displayed by 0.

-Tour Course 10 As shown in FIG. 2, the circuit course 10 of this embodiment is freely assembled by combining straight lines, S curves, tunnels, etc. to form a circuit course.

It has sufficient width and length so that six radio-controlled cars 20 can run sufficiently and the race can be enjoyed.

The radio-controlled car 20 starts from the start gate 11 and takes a clockwise circuit course as indicated by the arrow.

Four lap sensors 50 are provided in the circuit course 10 at the positions shown in FIG. Lap sensor 50A
is provided immediately after the start gate 11, and lap sensors 50B and 50C150D are provided at key points within the course as shown in FIG.

Radio-controlled car 20 As shown in the upper left of FIG. 1, a television camera 21 is mounted on the radio-controlled car 20 of this embodiment.

This television camera 21 is installed at a position that provides the same field of view as when actually driving a car. Furthermore, a transmitting antenna 22 for transmitting images from a television camera 21 and a receiving antenna 23 for receiving control signals are provided.

Next, details of the radio-controlled car 20 will be explained using FIG. 3.

The radio-controlled car 20 is equipped with two NiCad batteries 24.25 as power sources. The NiCad battery 24 is 12V (
600 mAh), which supplies power to the television camera 21, video transmitter 26, and wrap ID light emitting driver 27. NiCad battery 25 is 7°2V (1200mAh),
Power is supplied to the radio control receiver 28 and motor controller 29.

The video transmitter 26 transmits the m image obtained by the television camera 21 from the transmitting antenna 22 using weak radio waves in the 1.2 GHz band.

The wrap ID light emitting driver 27 outputs a signal corresponding to its own predetermined ID from the light emitting element 27a.

The lap sensor 50 is a light emitting element 7 of each radio controlled car 20.
Based on the signal from a, which radio-controlled car 20 has passed is detected.

The radio control receiver 28 receives the 40 MHz band control signal transmitted by the radio control transmitter 45 via the receiving antenna 23. The radio control receiver 8128 is a motor controller 29, a steering control servo motor 2
10, an instruction signal based on the received control signal is output. The motor controller 29 operates the power motor 211 according to instructions from the radio-controlled receiver 28 to move the radio-controlled car 20 forward or backward at the indicated speed.

The steering control servo motor 210 moves the steering wheel according to instructions from the radio-controlled receiver 28 to change the running direction to the right or left.

Device 30 Dedicated Tuner 40 Radio Controlled Transmission”L Satj
- The control device 30 utilizes a video display game machine that can be played on its own (for example, the video display game machine described in Japanese Utility Model Application No. 108675/1983 by the same applicant).

The appearance of the control device 30 is shown in FIG. A main body 32 resembling a driver's seat of an automobile is installed on a base 31. Main body 3
In addition to the seat 33, the 2 has a steering wheel 34 and a brake 3.
5, operating members such as an accelerator 36 and a shift lever 37 are provided. A CRT 39 is installed inside the cover 38 at the front of the main body 32 so as to face the player sitting on the seat 33.
is provided. An image captured by the television camera 21 of the radio-controlled car 20 is projected onto the CRT 39.

The main body 32 is supported at the center of its front end by the base 31 via a ball joint 310. Therefore, the main body 32
can perform a yawing motion that swings horizontally about a vertical axis V passing through the ball joint 310.

Further, in conjunction with the yawing movement of the main body 32, the main body 32
A rolling imparting device 312 is provided for imparting rolling, that is, rolling. The rolling imparting device 312 includes a pair of left and right slope members 313 that are fixed to the top surface of the base 31 and slope downward from the inside near the center line of the main body 32 to the outside, and a plaque 1 provided on the bottom surface of the main body 32. -314, and is constituted by a pair of left and right rolling wheels 315 that move along the slope of the slope member 13.

When the main body 32 performs a yawing motion around the vertical axis 11v as described above, one rolling wheel 315 rises along the slope member 313, and the other rolling wheel 31
5 descends along the slope member 313, so that a rolling motion is imparted to the main body 32.

A block diagram of the control device 30 is shown in FIG.

When the steering wheel 34 is operated, the movable contact of the variable resistor 34a is displaced to change the resistance value, and an electric signal corresponding to this resistance value is output to the control section 316.

Variable resistors 35a and 3 are also connected to the brake 35 and the accelerator 36.
Similarly, an electric signal corresponding to the player's operation is output to the control unit 316.

Signals corresponding to the operation of the shift lever 37 are output to the control section 316.

Based on operation signals from the steering wheel 34, brake pedal 35, accelerator 36, and shift lever 37, the control unit 316
Operation 1 for radio controlled car 20! ! A drive signal to the moving motor 317, which is known as tg, is generated. Control unit 316
Details of generation of the control signal to the radio-controlled car 20 will be described later.

The control signal from the control unit 316 is output to the radio control transmitter 45 via the optical cable by the optical cable interface 318. The radio control transmitter 45 transmits this instruction signal via radio waves from the transmitting antenna 45a.

The moving motor 317 is a motor for providing the above-mentioned yawing motion and rolling motion. Control unit 31
The moving motor 317 is driven based on the drive signal from the seat 33, causing the seat 33 to perform yawing and rolling motion. This allows you to enjoy a highly realistic driving sensation.

Further, the control unit 316 is provided with a speaker 323,
Sounds are emitted according to the player's maneuvers.

The video signal from the radio-controlled car 20 is sent to a dedicated tuner 4.
Received by 0. A video signal of the received video signal is converted into an RGB signal by an RGB converter 319 and output to a superimposing unit 320 . The superimposing section superimposes the data image from the control section 316 onto the RGB image signal and outputs it to the CRT 39.

The superimposed data image is a data image showing the running condition of each radio-controlled car 20, such as the Ili position and lap time.

The audio signal of the received video signal is converted by the audio signal converter 321 and output to the controller 316.

Each control device 30 is connected via an optical cable to a system controller 70 that controls the entire circuit game device, as shown in FIG.

That is, the control unit 316 of each control device 30 is connected to the optical cable via the optical cable interface 322, and
It is possible to send and receive data to and from 1.

The video signal from each dedicated tuner 40 is transmitted to the system controller 70 via an optical cable and displayed on a monitor 72 within the system controller 70. The same video signal is also sent to a large monitor 80 for the audience and displayed.

30-316 Next, the control unit 316 that generates and outputs a control signal to the radio-controlled car 20, which is a feature of this embodiment, will be explained using FIGS. 6 to 9.

As shown in FIG. 6, a set of control signals is output within a period called frame F. Frame F always has a steering pulse period T1 for controlling the left and right direction of the radio-controlled car 20, and an accelerator pulse period T2 for performing forward and backward acceleration control and brake control, and frame F is always a constant period. The synchronization period TS is the adjustment time for the synchronization. These periods TI, T2
, TS are separated by a pause period T-. The radio-controlled car 20 is controlled by the length of the steering pulse period T1 and the accelerator pulse period T2.

The steering pulse period T1, accelerator pulse period T2, and synchronization period TS of the control signal are calculated at regular intervals, and the calculation results are set in the steering counter, accelerator counter, and synchronization counter in the control unit 316. Ru. The control unit 316 generates a control Mx signal shown in FIG. 6 according to the values set in each of the counters at regular intervals and outputs it to the radio-controlled car 20. Each period TI, T2
, TS calculation period and the output period of the control signal, that is, the time of frame F, may be made to match or may be determined independently.

Next, the control device 316 will be explained using the block diagram of FIG. 7 and the flowchart of FIG. 8.

First, the resistance value of the variable resistor 34a of the steering wheel 34 is read by the variable resistance reading section 330 (step 5IO).
, This resistance value determines whether the steering wheel 34 is in the center state, that is, whether the steering wheel 34 is in the center state without turning the steering wheel 34 (step 5ll), and if the steering wheel 34 is not turned at all, the steering control servo of the radio-controlled car 20 is activated. A center value indicating an instruction not to drive the motor 210 is stored in the steering pulse period memory 331 (step 312).

When the steering wheel 34 is turned off, the target value converter 332 refers to the steering table 333 and converts the resistance value of the steering wheel 34 into a target value of 8 vertical multiples to be output (step Sl 3).

The relationship between the resistance value of the variable resistor 34a of the steering wheel 34 and the target value of the control signal to be outputted is stored in advance in the steering table 333.
33, for example, as shown in FIG. 9(a), the target value of the control signal for the value of the variable resistor 34a is 5.
One song! It is also possible to prepare iA1 to A5 in advance and select a suitable curve for A through experiment.

In this embodiment, the target value obtained in this way is not directly output to the radio-controlled car 20, but the target value limiter 3
34 is characterized in that it outputs the signal while controlling it so that it gradually reaches the target value. That is, the difference between the current value currently stored in the steering pulse period memory 331 and the target value is determined (step 514), and whether the absolute value of the difference exceeds the limit value of change stored in the limit value memory 335 is determined. (Step 515).

If the target value is not exceeded, the target value is stored in the steering pulse period memory 331 (step 816), and if it is exceeded, the limit value is stored in the steering pulse period memory 331 (step 317). This causes the player to suddenly turn the steering wheel 34. Even if the radio-controlled car 20 is operated to the right or left, the radio-controlled car 20 does not suddenly turn to the right or left, but gradually turns to the target direction like a real car.

Next, the resistance value of the variable resistor 35a of the brake 35 is read by the resistance 1a reading unit 336 (step 318), and it is determined whether the brake 35 is depressed (step 319). In this case, the brake value shown in FIG. 9(b) is stored in the accelerator pulse period memory 3.
37 (step 520), brake control is performed to lock the wheels of the radio-controlled car 20 with an accelerator pulse period T2 corresponding to the brake value.

If the brake 35 is not depressed, the resistance i reading section 33
8 reads the resistance value of the variable resistor 36a of the accelerator 36 (step 521), and determines whether this resistance value indicates that the accelerator 36 is neutral, that is, whether the accelerator 36 is not depressed. Step 522), if the pedal is not pressed, a neutral value, which means an instruction not to drive the power motor 211 of the radio-controlled car 20, is stored in the accelerator pulse period memory 337 (
step 323).

When the accelerator 36 is pressed, the target value converter 33
9 refers to the accelerator table 340 and converts the resistance value of the accelerator 36 into a target value of the control signal to be output (step 324), which converts the resistance value of the variable resistor 36a of the accelerator 36 and the target value of the control signal to be output. r'A (fA
are stored in advance in the accelerator table 340. For example, as shown in FIG. 1B1 to B5 may be prepared in advance and the optimum curve may be selected through experiments. In this embodiment, even when accelerating or decelerating the radio-controlled car 20, the target values obtained in this way are used as they are in the radio-controlled car 2.
Instead of outputting to 0, the target value limiting section 341 outputs the control signal while controlling it so that it gradually reaches the target value. That is, the difference between the current value currently stored in the accelerator pulse period memory 337 and the target value is determined (step 5).
25), determine whether the absolute value of the difference does not exceed the change limit value stored in the limit value memory 342 (
Step S26>, #! If not, the target value is stored in the accelerator pulse period memory 337 (step 52).
7) If the limit value is exceeded, the limit value is stored in the accelerator pulse period memory 337 (step 528), so that even if the player suddenly depresses the accelerator 36, the radio-controlled car 20 will not suddenly accelerate or decelerate. , and is gradually controlled to reach the target speed.

Next, it is determined whether the shift lever 37 is in the forward or reverse position (step 529), and if the shift lever 37 is in the reverse position, the forward value stored in the accelerator pulse period memory 337 is transferred as shown in FIG. ) into a regression value according to the curve (step 530).

Next, the steering pulse period T1 has already been calculated by the synchronization period calculating section 343 and stored in the steering pulse period memory 331 and the accelerator pulse period memory 337.
and the value of the accelerator pulse period T2 to obtain the synchronization period TS and store it in the synchronization period memory 344 (step 531).
The synchronization period TS is obtained by subtracting the steering pulse period 1'1 and the accelerator pulse period T2 from the predetermined time of the frame F.

In this way, the steering pulse period memory 331,
Accelerator pulse period memory 337, synchronization period memory 34
Since the values calculated in 4 have been stored, these values are converted into count values suitable for the steering counter 345, accelerator counter 346, and synchronization counter 347 that determine the above period and are set (step 332).

Next, the steering control signal generation unit 349 generates the steering signal shown in FIG. Output to radio control transmission @45 via interface 318.

The radio control transmission 1145 outputs a control signal to the radio control car 20.

The lap sensor 50 is provided at key points within the circuit course 10 and detects passage of each radio-controlled car 20. The lap sensor 50 is attached to the lower part of the lap gate 51 that straddles the course, and detects the ID signal output from the light emitting element 27a of the radio-controlled car 20.

As shown in FIG. 1, the detection signal from the lap sensor 50 is output to the lap sensor controller 52, where it undergoes processing to be described later. The lap sensor controller 52 is connected to the electronic display board controller 60 by an optical cable.

An electronic display board 61 for displaying the running status of each radio-controlled car 20 is connected to the electronic display board controller 60. The electronic display board controller 60 is also connected to a host computer 71 within the system controller 70 .

The details of the configuration and operation of the lap sensor controller 52 and the electronic display board controller 60 will be explained using FIG. 10 and FIG. 11.

The lag sensor controller 52 has a function of inputting data of the radio-controlled car 20 detected by the lapping sensor 50 and outputting necessary information to the electronic display board controller 60.

The sensor data input unit 53 inputs sensor data from the lap sensor 50 and stores it in the original data memory 54. The original data memory 54 is divided into six areas for each radio-controlled car 20. The elapsed time timer 55 is a timer for elapsed time from the start of the race. The transmission data creation unit 56 creates data to be transmitted to the electronic display board controller 60 from the original data stored in the original data memory 54. The created data is stored in the transmission data memory 57. The data transmitter 58 transmits data to the electronic display board controller 60 at a predetermined transmission timing.

Although not shown, the other lap sensors 50 are also provided with lap sensor controllers 52 having the same configuration.

The detailed configuration of the electronic display board controller 60 will be explained using FIG. 10.

The data receiving section 62 receives the data transmitted from the lap sensor controller 52 and stores it in the data memory 63.

This data memory 63 stores all the running states of each racing car 20 immediately after the start of the race.

The reverse running determination unit 64 determines the racing car 20 based on the passing state of each lap sensor 50 stored in the data memory 63.
Determine whether the vehicle is driving in the wrong direction and is in a dangerous situation. The determination result by the reverse running determining section 64 is stored in the data memory 63 again.

The ranking determining section 65 determines the current ranking of the racing car 20 from the data in the data memory 63.

The determined 1117th position is also stored in the data memory 63.

The display control unit 66 extracts data to be displayed from the data in the data memory 63 and displays it on the electronic display board 61.

The data transmitter 67 extracts data to be transmitted to the postcomputer 71 from the data in the data memory 63 and transmits it.

Next, the lap sensor controller 52 and the electronic display board controller 60
The operation will be explained using the flowchart of FIG.

First, from the electronic display board controller 60 to the lap sensor controller 5.
2 that the race has started (step 5).
200). The lap sensor controller 52 is waiting for a start instruction from the electronic display board controller 60 (step 3100), and upon receiving this star 1 instruction, starts the elapsed time timer 55 (step 3101). This completes the preparation for detecting the radio-controlled car 20.

In step 5102, wrap gate 51 to radio controlled car 2
It is determined whether or not 0 has passed, and if no radio controlled car 20 has passed, the process moves to step 5105.

When one of the radio-controlled cars 20 passes through the ramp gate 51, the sensor data input section 53 inputs data from the radio-controlled car 20, and transfers the input data to the original data memory 5.
Store in 4. Further, the elapsed time when the radio-controlled car 20 passes the lap gate 51 is read from the elapsed time timer 55 and similarly stored in the original data memory 54 (
Step 8103).

When the original data is prepared, the transmission data creation unit 56 creates transmission data (step 3104). The transmitted data includes (1) ID of the radio-controlled car 20 that passed, (2) passing time, and (2) presence or absence of battery energy.

These transmission data are stored in the transmission data memory 57.

The processes from step 5102 to step 5104 are repeated until the communication timing with the electronic display board controller 60 matches (step 3105).

As a result, the latest transmission data is always stored in the transmission data memory 57.

When communication with the electronic display board controller 60 becomes possible, first,
After clearing the contents of the original data memory 54 (step 3106), the data stored in the transmission data memory 57 is transmitted by the data transmitter 58 (step 510).
7).

When data is transmitted from the lap sensor controller 52, the data receiving section 62 of the electronic display board controller 60 receives the data and stores it in the data memory 63 (step 3201>
, other lap sensor controllers 52 also transmit data, and all are stored in the data memory 63.

At step 5202, the radio-controlled car 20 enters the lap gate 5.
1, and if none of the radio-controlled cars 20 has passed through the lap gate 51 at all, the process proceeds to step 5212, where the current running state is displayed on the electronic display board 61.

When any radio-controlled car 20 passes through the lap gate 51, the radio-controlled car 20
It is determined whether or not the NiCd battery 24.25 is OK (step 3203). If data indicating that the NiCd battery 24.25 is low is transmitted, the data transmission unit 67 sends a battery error signal to the host computer 71. (step 3204).

Note that when the amount of stored electricity in the NiCd batteries 24 and 25 decreases and the voltage becomes low, the tail light of the radio-controlled car 20 is made to blink to prompt the player to charge the battery.

Next, the electronic display board controller 60 determines whether or not the radio-controlled car 20 has entered a reverse driving state in which it is traveling in the opposite direction to the traveling direction, using the reverse driving determination unit 64.

Reverse running means: ■ When the vehicle passes from the first lap gate 51A to the fourth lap gate 51D, ■ When it passes from the second lap gate 51B to the first lap gate 51A, ■ When the vehicle passes from the second lap gate 51B to the first lap gate 51C. This refers to the case where the vehicle passes through the 12th wrap gate 51B, and the case where the vehicle passes through the third wrap gate 51C from the fourth wrap gate 51D.

When it is determined that the vehicle is running in the wrong direction, the host computer 71
is notified (step 3206>), and the player is notified of the reverse run on the CRT 39 screen and also with a sound.

If the player runs in the wrong direction, there is a risk of colliding with another radio-controlled car 20, so if the player does not perform a corrective maneuver after a certain period of time, radio control may be disabled.

If the radio-controlled car 20 is not running in the opposite direction, it is determined whether it has passed through the first lap gate 51A (Stella 7S207); if it has not passed, step 521
Processing moves to 1.0 If it has passed, the pond wrap gates 51B, 51C151Dt have already passed! - It is determined whether it has passed (step 5208).

If the radio-controlled car has passed the other lap gates 51B and 51C151D, it means that the radio-controlled car has completed one lap, so the number of laps memory in the data memory 60 is
increase step 5209) and calculate the lap time (step 3210).

Next, the ranking determination unit 65 calculates the ranking, and stores the calculation result in the data memory 63 (step 321
1).

When the ranking calculation is completed, the display control unit 66 turns on the electronic display board 6.
1 displays driving conditions such as ■ranking, ■lap time, and ■driving time (step 5212).

Subsequently, it communicates with the host computer 71 and transmits data indicating running conditions such as the above-mentioned ranking, lap time, and running time.

Next, it is determined whether the circuit game has ended (step 5214), and if it has not ended, the process returns to step 5201 and the above-described process is repeated.

System Controller RO-70 A system controller 70 is provided with a host computer 71 as shown in FIG. 1, which controls the entire circuit game device. Others, system controller 70
is equipped with a monitor 72 for displaying images on the CRT 37 of each control device 30, and an audio device 73 for transmitting information from the system operator to the players and spectators.

If there is information to be transmitted, the user speaks into the microphone 73a and the speaker 73b amplifies the sound so that it can be heard within the circuit.

Furthermore, this system controller 70 is equipped with a charger 74 for charging the NiCad battery 24,25,
When a battery error occurs, I try to charge the battery immediately.

As explained above, according to this embodiment, the player
When you operate the steering, brake, accelerator, shift lever, etc. in the control device while looking at the image displayed on the T, the radio-controlled car will be controlled according to your operations, so you can feel like you are actually racing a car. You can experience the feeling of being there. Even if the player makes a mistake while driving, there is no danger to the player himself, so bold driving is possible.
For example, you can experience high-speed driving that you would never normally experience.

In this way, even beginners can easily operate the car, and even experienced people can enjoy it, as it gives them the experience of actually racing a car.

The present invention is not limited to the above embodiments, and various modifications are possible.

For example, although the above embodiment is a circuit game device in which a radio-controlled car is driven, any self-propelled vehicle that is operated by radio may be used.

[Effects of the Invention] As described above, according to the present invention, the player can operate the vehicle while looking at the image captured by the imaging device mounted on the vehicle, with the same feeling as when driving an actual self-propelled vehicle. You can enjoy the circuit game.

[Brief explanation of drawings]

Fig. 1 is a diagram showing the entire circuit game device according to an embodiment of the present invention, Fig. 2 is a plan view of a circuit course of the circuit game device, and Fig. 3 is a block diagram of a radio-controlled car of the circuit game device. Figure 4 is an external view of the control device of the same circuit game device, Figure 5 is a block diagram of the same control device, Figure 6 is a time chart showing the control signals from the same control device, and Figure 7 is the control of the same control device. FIG. 8 is a flowchart showing a control signal generation method using the control device; FIG. 9 is a graph showing the relationship between the resistance value of a variable resistor used in the control signal generation method and the pulse period; FIG. 10 is a block diagram of the lap sensor controller and the electronic display board controller of the same circuit game device, and FIG. 11 is a flowchart showing the operation of the lap sensor controller and the electronic display board controller. 10...Circuit course, 11...Start gate, 20...Radio-controlled car, 21...TV camera, 2
2... Transmitting antenna, 23... Receiving antenna, 24
．． 25... NiCd battery, 26... Video transmitter,
27... ID light emitting driver for wrap, 28... Radio control receiver t81fi, 29... Motor controller, 2
DESCRIPTION OF SYMBOLS 10... Steering control servo motor, 30... Control device, 31... Base, 32... Main body, 33... Seat, 34... Steering, 35...
- Brake, 36... Accelerator, 37... Shift lever 139... CRT, 310... Ball joint, 312... Rolling imparting device, 313... Slope member, 314... Bracket, 315... Rolling wheel, 316... Control unit, 317... Moving motor, 318... Optical cable interface,
319... RGB converter, 320... Superimpose unit, 321... Audio signal converter, 322
... Optical cable interface, 323 ... Speaker, 330 ... Variable resistance reading section, 331 ... Steering pulse period memory, 332 ... Target value conversion section, 333 ... Steering table, 334 ...
Target M limiter, 335...Limit value memory, 336...
- Resistance 1ii reading section, 337... Accelerator pulse period memory, 338... Resistance value reading section, 339... Target value conversion section, 340... Accelerator table, 341...
・Target value limiter, 342... limit value memory, 343・
...Synchronization period calculation unit, 344...: Synchronization period memory, 3
45... Steering counter, 346... Accelerator counter, 347... Synchronization counter, 348
... Pause counter, 349... Control signal generation unit, 40... Dedicated tuner, 45... Radio control transmitter, 50... Lap sensor, 51... Lap gate,
52... Lap sensor controller, 53... Sensor data input section, 54... Original data memory, 55... Elapsed time timer, 56... Transmission data creation section, 57...
・Transmission data memory, 58...data transmission section, 60.
...Electronic display board controller, 61...Electronic display board, 62.
...Data receiving section, 63...Data memory, 64...
- Reverse running determination unit, 65... Ranking determination unit, 66... Display control unit, 67... Data transmission unit, 70... System controller, 71... Host computer, 72... Monitor, 73...Audio device, 74...Charger, 80...Large monitor Applicant SEGA Enterprises Co., Ltd. Agent Ben
Yoshihito Kitano, Physician Figure 4 Figure 6 (b) Figure 8 Figure 9

Claims (1)

[Scope of Claims] A radio-controlled self-propelled vehicle equipped with an imaging device that captures at least an image of the front; a circuit course for the radio-controlled self-propelled vehicle to run; and an image from the imaging device of the radio-controlled self-propelled vehicle. a receiving device that receives a signal; a display unit that displays the image signal received by the receiving device; an operating unit that is operated to control the radio-controlled self-propelled vehicle; a control device that outputs a control signal that gradually changes, and operates the control device while looking at the display portion; A circuit game device characterized by comprising a transmitting device for transmitting data to a car.