JPH03210289A - Mobile body controller - Google Patents

Abstract

PURPOSE:To determine the travel direction of a mobile body without providing a sensor by immediately stopping the mobile body compulsorily at a certain stopping position when the mobile body is being stopped at a position other than the stopping position for a prescribed period due to an unknown cause. CONSTITUTION:A summons signal output means M2 outputs the summons signal of the mobile body M1 to the stopping position. Also, an arrival signal output means M3 detects the arrival of the mobile body at the stopping position and outputs a detection result as an arrival signal. Furthermore, a control means M4 decides the travel direction based on the arrival signal of the means M3 and the summons signal of the means M2, and performs the travel control of the mobile body. Also, a stopping signal output means M5 outputs a stopping signal to the means M4 when coincidence is obtained between the stopping position of the means M2 and that of the means M3. At the means M4, a calculation part M6 which calculates lapse time when no arrival signal is outputted from the means 3 and a travel part M7 which performs the travel control of the mobile body when the lapsed time exceeds proscribed time are provided.

Description

Detailed Description of the Invention [Field of Industrial Application] The present invention relates to a mobile body control device that drives and controls a movable body that is movable along a trajectory in which a plurality of stopping positions are set.

[Prior Art] Conventionally, this type of mobile body control device (for example, Japanese Unexamined Patent Application Publication No. 1983-1999)
As described in Japanese Patent No. 78978, a movable body is provided on the island of the game hall and is movable along a trajectory parallel to the row of a plurality of gaming machines, and a movable body is provided at an appropriate location on the trajectory, such as a pachinko throttle. The stopping position of the moving object is above the gaming machine such as a machine, and above the inter-machine lending machine for pachinko balls and medals, and a sensor is installed at each stopping position to detect the arrival of the moving object [7. There is a switch on the front of the rental device to summon a mobile object.

When this switch is pressed and turned on by the player, the movable body is moved to the gaming machine or inter-machine lending machine that has the switch that is turned on.

This moving object is equipped with a banknote validator, a money changer, etc. for determining the authenticity of banknotes, etc., so a player can call the moving object above the gaming machine where he or she is playing by operating the above-mentioned switch. You can exchange money and borrow pachinko balls and medals without leaving the gaming machine.

[Problems to be Solved by the Invention] However, the following problems remain unsolved in conventional mobile object control devices.

To summon a moving object, it is necessary to understand the positional relationship between the current position of the moving object when the switch is turned on and the stop position (above the gaming machine, etc. where the switch is turned on) and determine the direction of movement. It is essential to determine this and drive and control the moving body according to the result.

Therefore, if the movable body is stopped at any stop position when the switch is turned on, the necessary direction of movement can be easily determined. However, for example, a player may forcibly move the movable body from the stopped position because it is an eyesore, or the movable body may leave the stopped position due to the need for maintenance, inspection, or other work.

In order to detect the position of the movable body other than the stop position in preparation for such a case, it is necessary to separately provide a sensor dedicated to position detection such as an encoder, a magnetic scale, etc. in the drive system of the movable body.

SUMMARY OF THE INVENTION In order to solve the above problems, it is an object of the present invention to reliably determine the moving direction of a moving body without installing a special position detection sensor.

[Means for solving the problem] Means 1 adopted by the present invention to achieve the above object As shown in the block diagram of FIG. 1, the basic configuration is as follows: a mobile body M1 that is movable along a trajectory with a set position; a call signal output means M2 that is provided corresponding to each of the stop positions and outputs a call signal for the mobile body M1 to the stop position; Arrival signal output means M3 provided corresponding to each of the stop positions, detects that the mobile object M has arrived at the stop position, and outputs the detection result as an arrival signal; a control means M4 that determines the movement direction based on the arrival signal of the signal output means M3 and the call signal, and controls the movement of the mobile body M; and a call signal output means M2 that outputs the call signal.
When the stop position of the control means M4 matches the stop position of the arrival signal output means M3 that outputs the arrival signal, the control means M4
In a moving object control device having a stop signal output means M5 for outputting a stop signal to a stop signal, the arrival signal is output from all the arrival signal output means M3 during the stop period of the control means M41 and the moving object M1. an elapsed time calculation unit M6 that calculates an elapsed time during which the moving body M1 is not moved until the arrival signal is inputted from any of the arrival signal output means M3 when the elapsed time exceeds a predetermined time; The gist thereof is to include a forced movement section M7 that forcibly controls movement in a predetermined direction.

[Function] When moving the moving body M1 along the trajectory, the mobile body control device having the above-mentioned configuration performs control based on the arrival signal of the arrival signal output means M3 and the outputted summon signal when the mobile body M1 is outputted. The means M4 determines the moving direction of the moving body M1.Then, the stop signal output means M5 determines the moving direction of the moving body M1.
The mobile body M] is moved in the determined moving direction until a stop signal is output at step 4. The stop signal output by the stop signal output means M5 indicates that the mobile body M1 reaches the stop position corresponding to the call signal output means M2 that outputs the call signal, that is, the desired stop position. Since this is done when M3 is detected, the movable body M1 is reliably stopped at the desired stop position.

Furthermore, if the elapsed time calculated by the elapsed time calculation unit M6 exceeds a predetermined time during the stop period of the movable body M1, the forced movement unit M7 The mobile body M is actuated to forcibly move the mobile body M in a predetermined direction, and is stopped when any of the arrival signal output means M3 detects the arrival of the mobile body M1 at the stop position.

In other words, if for some reason the mobile object M moves away from the stop position where it had been stopped for a predetermined period of time,
The moving body M1 is quickly stopped at one of the stop positions.

[Example] Next, an example of the mobile object control device according to the present invention will be described based on the drawings. Figure 2 shows an outline of an island consisting of multiple slot machines, inter-machine medal lending machines, mobile banknote holders, etc. Figure 3 shows a cable duct at the top of the banknote holder's island. A cross-sectional view of the surrounding area, and Figure 4 is a cross-sectional view of the main part of the paper conveyance device mounted on the bill holder.
FIG. 5 is a schematic plan view of the paper conveyance device, and FIG. 6 is an explanatory diagram for explaining the power transmission system of the banknote lifting mechanism.

First, the overall configuration will be explained. As shown in FIG. 2, a row (hereinafter referred to as an equipment row) in which a plurality of slot machines 1 and medal lending machines 2 are arranged on island 1 of the gaming hall.
Conveyors for sending out medals 3. A medal recovery conveyor 4, a medal polishing and circulation device 5 that washes the medals and transports the washed medals to the delivery conveyor 3, and a medal polishing and circulation device 5 that collects the medals conveyed by the recovery conveyor 4. (t) of medal conveyor 6 for
L A cable duct 7, a wire duct 8, and a bill receiver that reciprocates along the wire duct 8 are provided with a container 9 and the like, which are suspended horizontally on the above-mentioned delivery conveyor 3.

The medals are washed by stirring and mixing the pellets (abrasive material) and the medals on the medal polishing and circulation device 51 installed on each island, and a certain amount of the washed medals are stored inside, and the washed medals are The sheets are transported one by one to the delivery conveyor 3 by a conveyor (not shown).

A delivery conveyor 3 running above the equipment row transports medals from the medal polishing and circulation device 5 to each slot machine 1.
It is transported to the medal lending machine 2. The medals 1 transported in this way are removed from the delivery conveyor 3 and thrown into the slot by the removal member 3a using a solenoid according to the requests of each of these devices.

Collection conveyor running below the equipment row 41 tables Each slot machine 1. The medals discharged from a discharge path (not shown) of the medal rental machine 2 are sent back to the medal transport machine 6.

Therefore, medals on the island 1. Medal polishing and circulation device 5.
Delivery conveyor 3. Each slot machine 1. Medal rental equipment 21 collection conveyor 4. It circulates in the order of medal conveyor 6.

In addition, the bill receptacle is connected to the roller 9a that contacts the front surface of the island and the U-shaped track guides 8a and 8b provided on the upper and lower surfaces of the wire duct 8, as shown in Figure 3. an engaging roller 9b and rollers 8c at both ends within the wire duct 8, as shown in FIG.

A hook 9c is provided on which both ends of a wire 8e stretched through a wire 8d are hooked, and the track guide 8a,
8b, that is, along the wire duct 8, it is configured to be able to freely reciprocate. In addition, as shown in the figure above the roller 8 d I, the wire duct 8 is
held within.

This banknote holder is provided with a front position detection plate 91 protruding from the bracket 9h that pivotally supports the container 90-ra 9b, and a front position detection plate 91 is provided on the inner surface of the wire duct 8 (to detect the presence or absence of the position detection plate 91). As shown in FIG. 2, a light-transmissive position detection sensor 8f is installed above each medal dispensing machine 2 corresponding to the stop position of the dispenser 9 to determine the amount of banknotes.
The width 1 of the position detection plate 91, which is parallel to the trajectory of the position detection plate 91, is set to be approximately twice the width of the position detection sensor 8f. Therefore, the detection signal of the position detection sensor 8f is outputted at the same timing regardless of whether the banknote container 9 approaches the position detection sensor 8f from the right side or the left side.

In addition, on the front of each medal dispensing device 2, there is a call switch 2a for calling the dispenser 9 to the above-mentioned stop position (for the amount of banknotes).
, A medal lending port 2b is provided for discharging medals.

The amount of banknotes is determined by a cable 10 (as shown in FIG. and are connected internally.

Further, the cable 10 is suspended by a wire 11 stretched across the length of the cable duct 7 and a wire 12 stretched by a coil spring (not shown) via an upper hook 14 and a lower hook 15 that grip the cable 10. , as shown in FIG. 2, is housed in the cable duct 7 in the form of a coil. Therefore, the amount of banknotes is
As the cable 10 moves, the cable 10 is pulled out from the coiled storage state and re-stored in the coiled state.

The amount of banknotes is stored in the container 9 (as shown in Table 3), using a well-known method that determines the authenticity and face value of the banknotes inserted from the banknote insertion slot 9d, ejects counterfeit banknotes, and feeds genuine banknotes. It is equipped with a banknote recognition device 16 and a paper conveyance device 20 that conveys regular banknotes received from the banknote recognition device 16 and lifts the banknotes into a removable banknote storage 17.

Note that the amount of banknotes in this banknote storage 17 is equal to the lid 9 of the container 9.
When f is lifted up about the upper rotational shaft 9g, it is attached to and detached from the paper piece conveying device 20.

Next, the paper piece conveying device 20 will be explained using FIGS. 4 to 6.

As shown in FIG. 4, the paper conveyance device 20 (as shown in FIG. Convey to just below the opening 17a of the storage container 17,
After that, it is configured as follows to be lifted into the banknote storage 17. Note that the bill storage device 171. t, an opening 17a opened on the bottom surface and a window 17b opened on the side surface
and a bill scale 17d that is biased toward the edge of the opening 17a by a leaf spring 17c.

A paper piece conveying device 20 (for the amount of banknotes) is equipped with a conveyor 25 consisting of an endless belt 24 stretched by a pair of rollers 22 and 231 downstream of the inlet 21, and a conveyor 25 consisting of an endless belt 24 stretched between two sets of rollers 22 and 231. Directly below the opening 17a, the opening 1
The top plate 26 has an area slightly smaller than the opening area of 7a. A support plate 27 fixed to its lower surface. The support plates 27 cross each other.
and a flat plate 28 pivotally supported on the side surface 31 of the paper piece conveying device 20.
It is equipped with a lift 30 consisting of a .29, etc., and further has a drive system which will be described later. This lift 30 (the upper top plate 26 is
As shown in the figure, it is installed between two endless belts 24 stretched along a side surface 31.

The drive system of the conveyor 25 and the lift 30 (as shown in FIGS. 4 to 6, a motor 32 that can rotate in forward and reverse directions)
, a main gear 33 fitted to the rotating shaft 32a, an intermediate gear 35 fitted to the intermediate shaft 34 and meshed with the main gear 33, and a roller shaft 36 fitted to the roller shaft 36 passing through the roller 23 of the conveyor 25 to the intermediate gear 35. The intermediate shaft 34 is positioned between the engaging roller gear 37 and the side surface 31.
The lift gear 38 fitted into the shaft 3 and the shaft 3 protruding from the side surface 31
The lift crank 43 is rotatably supported by a pin 41 on the end face of the internal gear 40 and engaged with the flat plate 28 of the lift 30 via a lift shaft 42. has been done.

Among the above gears, roller gear 37 (, t, motor 32
When the intermediate gear 35 rotates in the direction of arrow A in FIG. 4 and the intermediate gear 35 rotates in the direction of arrow C in FIG. In addition, a one-way clutch is built in to transmit rotation to the endless belt 24, and the lift gear 38 is connected to the motor 32 in the direction of arrow B.
When the intermediate gear 35, that is, the intermediate shaft 34 rotates in the direction indicated by the arrow, a one-way clutch is built in that transmits the rotation to the internal gear 40 supported by the lift crank 43.

Note that the roller shafts 36 and 44 passing through the rollers 22 and 23 of the conveyor 25 and the intermediate shaft 34 are rotatably supported on the side surface 3 by bearings 45, respectively.

Also, the flat plates 28, 29 of the lift 30 are connected to the shaft 46 in the middle thereof.
are interconnected by a lift shaft 42 at its lower end.
．． 47 is pivotally supported on the side surface 31, and its upper end is pivotally supported on the support plate 27 on the lower surface of the top plate 26 by lift shafts 48 and 49. Among the lift shafts provided across the side surface 31 and the support plate 27, the lift shafts 42 and 48 (front side surface 31, long hole 31 formed in the support plate 27)
a.

27a and slides along each hole.

A coil spring 50 is provided between the shaft 46 and the bottom surface (for returning the lift 30 to its original position).

Furthermore, the paper conveyance device 20 is a major component of the conveyor 25° lift 30.A bill receiver is provided above the bill confirmation hole 51 in the wall that constitutes the slot 21, and detects the start of bill insertion and the end of bill conveyance. In addition to sensors such as the storage sensor 53, which is provided at a position facing the window 17b of the banknote storage device 17 and detects the banknote storage state (full state) in the banknote storage device 17, As shown in , the endless belt 24 is provided with bill guide wall surfaces 54, 55 and the like formed above the belt surface at a distance greater than the thickness of the bill.

Therefore, since the roller gear 37 and the lift gear 38 each have built-in one-way clutches whose rotation transmission directions are opposite to each other, the motor 32 can be switched between forward rotation (in the direction of the arrow claw) and reverse rotation (in the direction of the arrow B). By doing so, the conveyance of the banknotes P fed from the banknote recognition device 16 by the conveyor 25 toward just below the opening 17a and the lifting of the banknotes into the banknote storage device 17 by the lift 30 are carried out in an orderly manner.

Next, the electronic control device 6o that controls the movement of the banknote holder 9 and the lending of medals in the above-mentioned mobile body control device will be explained using the block diagram shown in FIG. Note that the relationship with equipment that is not directly related to the gist of the present invention, such as the medal polishing/circulating device 5, etc. (other explanations will be omitted).

This electronic control device 60 includes a motor 32 that can rotate in forward and reverse directions for driving the conveyor 25 and lift 30, and an internal motor built into the banknote recognition device 16 for discharging counterfeit banknotes and feeding genuine banknotes. 56, wire duct 8
Orbit guides 8a and 8b are directly connected to the rotating shaft of the inner roller 8C.
l: In addition to various motors such as a movable body motor 57 for reciprocating the container 9 and drive devices such as the medal lending device 2, the bill receiver also includes a bill sensor 52, a storage sensor 53, and a position detection sensor 8f. , a banknote recognition sensor 58 built into the banknote recognition device 6 for detecting the authenticity, face value, etc. of banknotes, and an open sensor for detecting the lifting of the lid 9f of the banknote holder 9. 59, a call switch 2a, and a left end limit switch 8h provided at both ends of the cable duct 8 to define the movement range of the bill holder 9.

It is connected to the right end limit switch 81, and detection signals from each of the sensors and switches described above are input to the electronic control device 60.

An electronic control device 60 (t, , CPU 61 . . . , CPU 61 .
ROM62. It is configured as a logical arithmetic circuit centering around the RAM 63. Input/output with the outside is performed through an input port 5 and a port 6 which are mutually connected to these via a common bus 64.

In the electronic control device 60 (above), in addition to the above, the mobile motor 57
In order to reduce the shock applied to the wire 8e during driving and stopping, a motor driving circuit 67 is provided which gradually increases the voltage applied to the motor 57 when starting driving and gradually decreases when starting stopping. The input port 5 includes a left end limit switch 8h, a right end limit switch 812, a banknote sensor 52, a storage sensor 539, a position detection sensor 8f, a banknote identification sensor 58. An open sensor 59 is connected. On the other hand, the output port 6 has a motor 32° identification in-machine motor 56. The bill receptacle of the medal lending device 29 is connected to an abnormality alarm lamp 9j installed on the outer surface of the container 9.
The movable body motor 57 is connected via the motor drive circuit 67 described above.

Next, the current position confirmation routine and movement routine performed by the mobile object control device of this embodiment having the above-described configuration will be explained based on the flowcharts of FIGS. 8 to 10.

The current position confirmation routine shown in FIG. 8 is repeatedly executed at predetermined time intervals until the power is turned off. When the power is turned on to the mobile object control device of this embodiment,
Initial processing in preparation for execution of the following processing, that is, CPU 6
Clears the internal register of No. 1, resets flags set in the processing described later, etc.

Following this initial processing, first, as shown in FIG.
5. Hereinafter, steps are simply indicated by S), if it is open, wait until it is closed.

If the lid body 9f is closed (i), it is determined whether or not this is the first current position confirmation routine process after the end of the above initial process (S110), and if an affirmative determination is made, the processes from 8120 onwards are executed. The confirmation process (S 200
) to temporarily end this routine. In other words, after the power is turned on, the bill acceptor executes the confirmation process regardless of whether the conditions for executing the confirmation process for the current position of the container 9 are satisfied or not (stopping at a stop position, stopping at a non-stop position, etc.) .

If a negative determination is made at 5110 (from the above confirmation of the current position after the power is turned on, it can be determined that the bill holder 9 is stopped at one of the stop positions. Next, check whether the confirmation processing execution conditions are met. Judgments are made sequentially as to whether or not (S120, 1
25).

At 5120, the bill acceptor determines whether the movable motor 57 that controls the reciprocating movement of the holder 9 is stopped, and at 5125, it is determined that no detection signal is being input from the position detection sensor 8f at the upper edge. The banknote receiver determines whether or not the holder 9 is not stopped at any stop position.

If either one of 3120 and 125 is negative, it can be said that the confirmation processing execution condition is not satisfied. If it is determined that the mobile motor 57 is being driven (S12
0), the processing of this routine is temporarily terminated without performing any processing. While the movable body motor 57 is not being driven, any one of the position detection sensors 8f detects that the bill holder 9 has reached the stop position (combined with the determination that the movable body motor 57 is not being driven in step 5120 above). Since it can be determined that the bill holder 9 is stopped at any stop position (S125), the bill holder is placed in the holder 9. The acceptance flag FOUT indicating that the acceptance of banknotes can be accepted is set to the value 1 (5130), and then the condition counter C is set to the value O for measuring the elapsed time since the confirmation processing execution condition is established. 5140), and the processing of this routine is temporarily ended.

On the other hand, if both 5120 and 125 are affirmatively determined (assuming that the above confirmation process execution condition is satisfied, the value of condition counter C is incremented by 1 (5145)), then whether or not the value of condition counter C is greater than or equal to the predetermined value 00. (S)
150), and if it is less than the predetermined value of 60, the process is immediately terminated. In other words, by repeating each of the above steps after a negative determination is made at 8150, it is possible to measure the elapsed time since the confirmation process execution condition is satisfied.

As the above steps are repeated, the value of the condition counter C becomes equal to or greater than the predetermined value 00, and when 5150 is affirmed, the bill holder 9 is placed in any stop position while the movable body motor 57 is not driven. Assuming that a predetermined period of time has elapsed without stopping, a value of 1 is set to the confirmation processing flag FP indicating that confirmation processing is being executed (S155), and confirmation processing is performed (S200).

This confirmation process 5200 is performed as shown in FIG.
This is a series of processes from 05 to 5350, in which the banknote receptacle 9 that is not stopped at any stop position is stopped at any stop position.

As described above, following step 5155 in which the confirmation processing flag FP is set to the value FP, the bill receiver first sets the right end reaching flag F, which indicates that the bill holder 9 has reached the right end of the cable duct.
If the set state of R is determined (S205), FR=O1, that is, the banknote holder 9 has not reached the right end of the cable duct, a rightward movement signal is output to the moving body motor 57 via the motor drive circuit 67, and the banknote The receiver moves the container 9 to the right (S210). In addition, when starting the movement to the right, the moving body motor 5
The voltage applied to 7 is gradually increased from 0 to a predetermined value by the motor drive circuit 67. If FR=1, it is assumed that the banknote receptacle 9 has already reached the right end of the cable duct, and the process moves to 8220 below without moving it further to the right.

After that (S220), the friend banknote receiver increments the value of the right movement counter CR by 1 for measuring the elapsed time since the right movement of the container 9 started, and the position detection signal from one of the position detection sensors 8f is sent. (The bill receiver judges the presence or absence of a signal indicating that the bill holder 9 has reached one of the stop positions) (S225).

Here, there is a detection signal, that is, the bill receptacle determines that the container 9 has reached one of the stop positions (Set the value O in the outer cloth movement counter CR S230), and the moving body motor 57 moves to the right side. The output of the signal is stopped and the bill receiver stops the container 9 at its stop position (S240). Note that the voltage applied to the movable body motor 57 when stopped is gradually decreased from a predetermined value to O by the motor drive circuit 67. After that, the receiver sets the value in the flag FOUT (S 250
), the bill receiver makes it possible to accept bills in the holder 9, and then sets the confirmation processing flag FP to the value O (S252), and the bill holder allows the bill holder 9 to be placed in any stop position. It is assumed that the confirmation process to be stopped has ended, and the processing of this routine ends.

On the other hand, at 5225, there is no position detection signal from any of the position detection sensors 8f, that is, the banknote acceptor determines that the acceptor 9 has not reached any of the stop positions. Whether or not the right end of the duct 8 has been reached is determined from the ON/OFF state of the right end limit switch 81 (S255).

Assuming that the right end limit switch 8i, 6<ON (Dai), it is not necessary to move the holder 9 to the right for more bill holders.
The output of the right-side movement signal to the movable body motor 57 is stopped, the banknote acceptor stops and waits the holder 9 at the right end (S260), the value 1 is set to the right-end arrival flag FR (S270), and the right-hand movement counter CR is set. It is determined whether the value is greater than or equal to a predetermined value CRO (S275).

If the right end limit switch 81 is OFF, the process immediately moves to step 5275 above. This predetermined value CROI
is set to the time obtained by adding the time b (a>>b) necessary for moving from the left end limit switch 8h to the position detection sensor 8f on the left side thereof.

If it is determined in 5275 that CR<CRO, the process moves to 5205 described above and executes each of the above processes from 8205 onwards. In other words, the bill receiver stops the bill receiver 9 at the stop position after the rightward movement of the dispenser 9 is detected by 5210 (8230 to 252
), if reaching the stop position is not detected, continue moving to the right while measuring the elapsed time from the start of moving to the right, and if the bill holder 9 reaches the right end without detecting reaching the stop position, stop moving to the right. Then, only the elapsed time is measured.

If it is determined that CR≧CRO in 5275 (the friend bill receiver does not reach any stop position even after a predetermined period of time has passed since the rightward movement of the bill receiver 9 started) As a result, the bill receiver sets the right end reaching flag FR and the right movement counter CR to the value O in order to start moving the container 9 to the left (S280), and sends a left movement signal to the movable body motor 57 via the motor drive circuit 67. The amount of banknotes is output and the container 9 is moved to the left (S290). In this case as well, the voltage applied to the movable body motor 57 is controlled to increase gradually.

After that (almost the same process as the process from 5220 to 3280 above) is performed. In other words, the amount of banknotes is determined by the left movement counter C for measuring the elapsed time after the start of left movement of the container 9.
Incrementing L (S300) and determining the presence or absence of a 1-position detection signal (S305) are sequentially executed. At step 5305, it is determined that there is a detection signal, and the value O is set to the left movement counter CL (S310), the amount of banknotes is stopped at the stop position of the holder 9 (S240), and the receiver is set to the holder flag FOUT. value] (S250), and the value O is set to the confirmation processing flag FP (S252), and the processing of this routine ends.

On the other hand, if it is determined in 5305 that there is no position detection signal (i), the amount of banknotes to the left end of the cable duct 8 by the left end limit switch 8h is determined by the arrival of the container 9 (S315), and if the left end limit switch 8h is ON ( The output of the leftward movement signal to the movable body motor 57 is stopped, and the banknote container 9 is stopped and waited at the left end (S320), and the process moves to 5340.

Even if the left end limit switch 8h is OFF (it is determined whether the value of the table row movement counter CL is greater than or equal to the predetermined value C10)
S 325). This predetermined value CLOLt is set to 2a, which is the time required for the bill receiving mill to move twice the distance of the stop position interval.

If it is determined in step 5325 that CL < CLO, the process moves to step 5290 described above and executes the above-mentioned processes from 8290 onwards. If the amount of banknotes is reached, the banknote holder 9 is stopped at the stop position, and if reaching the stop position is not detected, the banknote holder continues moving to the left until the banknote holder 9 reaches the left end and measures the elapsed time. .

If 5325 determines that C[≧CLO, 82
10 or less, that is, the amount of banknotes has not reached any stop position even during the movement to the right, and the amount of banknotes is determined as the amount of banknotes begins to move to the left. Since it has not reached any of the stop positions even though it has moved twice the distance between the stop positions, the output of the left movement signal to the movable body motor 57 is stopped and the amount of banknotes is changed to the stop position. Stop at a different position. (S 330
).

Subsequently, the left movement counter C is detected as an abnormality of the position detection sensor 8f.
For L and receiver, set the value O to the flag FOUT (S
340), the amount of banknotes is changed to a state in which it is impossible to accept banknotes in the container 9, and an abnormality is notified by the lamp 9j, etc.S350) The process of this routine is ended.

Next, a moving routine for moving the banknote container 9 to the calling position of the calling switch 2a will be explained based on FIG. 10.

The movement routine shown in FIG. 10 is interrupted every time the call switch 2a of the medal lending device 2 is pressed. First, it is determined whether the call conditions are met. In other words, the amount of banknotes is A confirmation processing flag FP is used to determine whether a confirmation process for stopping the container 9 at any stop position is being executed and whether or not the amount of banknotes can be accepted in the container 9. Receiving flag F
Judging from the set state of OUT (S400, 405)
.

If the confirmation processing flag FP = 1, it is assumed that the confirmation processing is being executed and the system waits until the processing is finished, and if the acceptance flag FOUT = O, banknotes cannot be accepted for some reason. Wait as. Note that this receiving flag FOUT may be set at 5130 described above, or the amount of banknotes may be determined by other factors (not shown) when the receiving device 9 is forcibly moved by a player or the like and stops at any stop position. Set by routine etc.

If it is determined that FP=O and FOUT=1 in the above steps 5400 and 405 (5410 to determine the call position (desired stop position) where the mountain call switch 2a is pressed), then determine the current stop position where the call switch 2a is currently stopped. Do (S 42
0). Then, based on these discrimination results, the amount of banknotes determines the moving direction of the container 9 and calculates the moving distance (
S 430).

In addition, this moving distance (the upper bill holder is the slack of the wire 8e stretched in the wire duct 8 to move the container 9,
The distance is calculated to be longer than the actual travel distance, taking into account expansion, etc.

Next, a drive signal corresponding to the moving direction and distance 1 is outputted to the movable body motor 57 to move the banknote holder 9 (S
440), the bill receiver detects whether or not the holder 9 has reached the calling position using the position detection sensor 8 corresponding to the calling position.
The determination is made from the detection signal of f (S445). Here, if there is no detection signal from the position detection sensor 8f, the bill receiver has not reached the calling position even though the holder 9 has been moved by the distance calculated in 1is430, so it is assumed that the position detection sensor 8f is abnormal. This is notified by the lamp 9j or the like (S450), and this routine is then terminated.

On the other hand, a detection signal is input from the position detection sensor 8f corresponding to the pressed call switch 2a (the banknote receptacle receives a detection signal when the banknote holder 9 reaches the call position (desired stop position),
The call switch 2a is reset and the output of the drive signal is stopped (S460), and the bill receiver stops the bill holder 9 at a desired stop position. After that, the bill receiver waits for the bill to be placed in the container 9 (S465).
.

Here, the banknote receiver is used to judge the authenticity of the banknotes inserted into the container 9.

The well-known receiver that carries out the removal of counterfeit banknotes, feeds in genuine banknotes, transports, lifts and stores the genuine banknotes, etc. (S470), and sends a lending signal to lend medals according to the face value of the inserted banknotes. , the medals are outputted to the medal lending machine 2 corresponding to the calling position, and the lending medals are paid out from the medal lending opening 2b. 548) This routine ends.

It should be noted that while one call switch 2a is pressed and is moving to the call position, another call switch 2a is located during the movement process and the bill receptacle is at a position where the bill holder 9 has not yet reached.
When is pressed, the bill receiver is placed in the call position corresponding to the other call switch 2a, and the bill holder 9 is stopped and the bill acceptor is placed in the call position corresponding to the other call switch 2a. Configured to be moved.

As explained above, according to the mobile object control device of this embodiment, when the bill holder 9 is stopped for a predetermined period of time at a position other than the stop position due to some reason, the bill receptacle immediately returns to the position 8200 described above. By executing the following process and forcing the bill holder 9 that is not stopped at any stop position to stop at one of the stop positions, it is possible to press the By constantly grasping the positional relationship between the stopped call switch 2a and the current stop position, the moving direction can be determined and the moving distance can be calculated. Therefore, the bill receiver can quickly and efficiently move the bill holder 9 to the calling position corresponding to the pressed calling switch 2a, that is, to the desired stop position.

In addition, when the movable body control device (the upper bill holder) of this embodiment cannot detect that the stop position has been reached when the container 9 is moved to the right by a distance that exceeds the stop position interval, The configuration is such that the left movement is twice the distance between the stop positions.For this reason, if reaching the stop position cannot be detected during the right movement, but it is detected during the left movement, the movement to the right will be performed by 1. At this time, it can be determined that there is an undetectable abnormality in the position detection sensor 8f that should detect arrival at the stop position.

Moreover, in this case, the bill receiver stops the bill holder 9 at the stop position detected during leftward movement, and the bill receiver can continue to move the bill holder 9 in response to the operation of the call switch 2a.

Furthermore, if reaching the stop position cannot be detected when moving to the right and moving to the left by a distance twice the stop position interval, reaching the stop position still cannot be detected. It is determined that there is an undetectable abnormality in both the position detecting sensor 8f that should detect the arrival and the position detecting sensor 8f to the left thereof, and the bill receiver prohibits the movement of the holder 9 itself and gives a notification to that effect.

In other words, when there is an abnormality in one position detection sensor 8f (position detection sensor 8f other than the other position detection sensor 8f)
The bill holder allows the bill holder 9 to be called to each stop position corresponding to , and the bill holder stops the movement system of the holder only when there is an abnormality in the two position check sensors 8f. Containers can be summoned efficiently.

Furthermore, when the power is turned on, even if a detection signal is input from the position detection sensor 8f, the bill receiver is configured to stop the bill holder 9 at one of the stop positions, so the call switch 2a is pressed only after the power is turned on. From this moment on, the direction of movement and the distance of movement are reliably determined, and the banknote receptacle can call for the receptacle 9.

In addition, as shown in FIG. 2, the bill receiver holds a roller 8d that supports a wire 8e for moving the container 9 in the wire duct 8 by a coil spring 8g, and also holds the roller 8d in the wire duct 8 when the moving body motor 57 is driven and stopped. Since the bill receptacle is equipped with a motor drive circuit 67 that gradually increases or decreases the applied voltage, it is possible to reduce shocks applied to the wire 8e when the holder 9 starts and stops moving. Therefore, inadvertent cutting of the wire 8e can be avoided, and damage to the banknote holder 9 is also reduced. It is possible to reduce the

Further, the bill holder allows the container 9 to be moved smoothly without getting stuck.

Although the embodiments of the present invention have been described above, the present invention is not limited to these embodiments in any way, and it goes without saying that the present invention can be implemented in various forms without departing from the spirit thereof.

For example (NarikiIn the embodiment, an island was explained centered around the throttle machine 1 and the medal lending device 2, but it is of course possible to use an island centered around a pachinko machine and a pachinko ball lending device. The island provided with three or more medal lending machines 2, that is, the banknote receptacle, may be an island in which three or more stopping positions of the holder 9 are set.

In addition, the stop position of the banknote holder 9 is not limited to above the medal lending device 2, but can be set above the individual throttle machines.
The number of settings etc. may be determined as appropriate.

Furthermore, during the confirmation process in which the bill dispenser 9 is stopped at one of the stop positions, the bill dispenser 9 is configured to first move to the right and then to the left in this embodiment. It may also be configured to subsequently move to the right by the same distance as the left movement. Of course, there is no problem in moving the bill holder 9 to the left first.

In addition, the following configuration can also be adopted.

Instead of the banknote recognition device 16 built into the holder 9, the banknote holder uses a card recognition machine that identifies cards that store the number of loaned medals, etc., and this card recognition machine is installed in a mobile body (the card holder is a holder). Make it built-in. In this way, the number of remaining lending medals on the inserted card is determined by the card identification machine, and medals according to the result are dispensed from the medal lending machine in between.

In addition, the above-mentioned card issuing mechanism is installed in the medal lending machine 2, and the banknote receptacle for large bills such as 10,000 yen and 5,000 yen is placed in the holder 9.
If inserted into l;J,, 100 yen.

The medal dispenser 2 is configured to dispense medals in a predetermined unit such as 500 yen and a card storing the number of medals lent out in an amount corresponding to the change.

Furthermore, the bill receptacle is equipped with a bill recognition device 16 and the above-mentioned card issuing device in the holder 9 so that medals can be lent by inserting bills or cards, and the medal dispenser 2 is equipped with a coin storage/dispensing mechanism. Install the bill holder into the container 9
To make it possible to perform medal lending from a medal lending device 2 according to the banknotes or cards inserted into the machine, and to dispense coins and exchange money.

Effects of the Invention As described above in detail including the embodiments, according to the moving object control device of the present invention, when the moving object is stopped at a position other than the stopping position for a predetermined period due to some reason, this In this way, a moving object that is not stopped at any stop position is immediately forced to stop at any stop position, so the current stop position can be detected without the need for a separate sensor dedicated to position detection. You can keep track of it at all times. As a result,
To easily and reliably determine the moving direction of a moving body, which is necessary when bringing the moving body to a desired stop position, with a simple configuration.

[Brief explanation of drawings]

FIG. 1 is a block diagram illustrating the basic configuration of a mobile object control device according to the present invention, and FIG. 2 shows a block diagram illustrating a basic configuration of a mobile object control device according to the present invention, and FIG. Figure 3 is a cross-sectional view of the area around the cable duct at the top of the island of the banknote holder, and Figure 4 is a cross-sectional view of the main parts of the paper conveyance device mounted on the banknote holder. FIG. 5 is a schematic plan view of the paper conveyance device, FIG. 6 is an explanatory diagram for explaining the power transmission system of the bill lifting mechanism, and FIG. 8 and 9 are block diagrams of the control device 60. FIGS. 8 and 9 are flowcharts of the current position confirmation routine for stopping the banknote holder 9 at any stop position. FIG. 12 is a flowchart of a movement routine. 1...Slot machine 2a...Calling switch 8f...Position detection sensor 9...Banknote holder 30...Lift 57...Moving body motor 2...Medal lending machine 25...・Conveyor 32...Motor 60...Electronic control device

Claims (1)

[Claims] 1. A movable body that is movable along a trajectory in which a plurality of stop positions are set, and a mobile body that is provided corresponding to each of the stop positions and that sends a call signal for the movable body to the stop position. A call signal output means for outputting the call signal; an arrival signal output means provided corresponding to each of the stop positions to detect that the moving body has reached the stop position and output the detection result as an arrival signal; control means for controlling the movement of a moving body by determining a moving direction based on the arrival signal of the arrival signal output means and the call signal at the time of output; a stop position of the call signal output means that outputs the call signal; A moving body control device comprising a stop signal output means for outputting a stop signal to the control means when a stop position of the arrival signal output means that outputs the arrival signal coincides with the stop position of the arrival signal output means, the control means comprising: an elapsed time calculation unit that calculates an elapsed time during which the arrival signal is not output from all of the arrival signal output means during a stop period; and when the elapsed time exceeds a predetermined time, any of the arrival signals A mobile body control device comprising: a forced movement section that forcibly controls the movement of the mobile body in a predetermined direction until the arrival signal is input from a signal output means.