Control method and system for a line-finding toy suitable for multiple maps

Abstract

The application provides a control method and system of a line-searching toy suitable for multiple maps, a line-searching toy device and a computer storage medium, and comprises: acquiring and setting a moving mode according to a logical position relationship; when the logical position relationship is that the line-searching toy is located in the line-searching map, the current default moving mode is the line-searching mode; and when the logical position relationship is that the line-searching toy is located outside the line-searching map, the current default moving mode is the remote control mode. The application can allow the user to continuously control the line-searching toy in the process of reading the instruction card programming and executing the instruction when the line-searching toy crosses multiple maps, and can switch the line-searching mode and the remote control mode through the logical position relationship, so that the entrance and exit of the same map can be flexibly set to enrich the game, and the line-searching mode of the map will not be triggered when the user enters the map from the non-specified entrance through the remote control mode.

Description

Technical Field

[0001] This invention relates to the field of line-following toys, and more specifically, to a control method and system for line-following toys applicable to multiple maps, as well as a line-following toy device and a computer storage medium. Background Technology

[0002] Line-following toys, such as those described in patent document CN212439998U, include a line-following map, an instruction card, and a line-following toy car. The toy car moves along a section of the line-following map and reads the instruction card located on the map. By instructing the toy car to read the instruction card, the user can program the toy car, which then controls itself or other electronic toys according to the program.

[0003] As users demand greater flexibility in programming, a single line-following map is no longer sufficient. Therefore, there is a need for improved control schemes for line-following toys that support multiple line-following maps. Summary of the Invention

[0004] In view of the deficiencies in the prior art, the purpose of this invention is to provide a control method and system for a line-following toy applicable to multiple maps.

[0005] A control method for a line-following toy applicable to multiple maps, provided by the present invention, includes:

[0006] Relative position acquisition steps: Obtain the logical positional relationship between the line-following toy and the map;

[0007] Control mode switching steps: Set the movement mode according to the logical position relationship; when the logical position relationship is that the line-following toy is inside the map, the current default movement mode is the line-following mode; when the logical position relationship is that the line-following toy is outside the map, the current default movement mode is the remote control mode.

[0008] Line-following mode movement steps: Execute line-following mode. In line-following mode, a movement command is obtained according to the programming program and / or the road segment on the line-following map. The movement command instructs the line-following toy to move.

[0009] Remote control mode movement steps: Execute remote control mode. In the remote control mode, a movement command is obtained according to the received remote control command. The movement command instructs the line-following toy to move.

[0010] Among the multiple maps, there is one or more line-finding maps.

[0011] Preferably, the relative position acquisition step includes:

[0012] Entry location acquisition steps: Read the entry instructions recorded on the instruction card and / or the entry instructions recorded on the road segment of the line-following map; based on the entry instructions, determine that the line-following toy has currently entered the map, and assume that the logical position relationship indicates that the line-following toy is located within the map;

[0013] Exit location acquisition steps: Read the exit instructions recorded on the instruction card and / or the exit instructions recorded on the road segment of the line-following map; based on the exit instructions, determine that the line-following toy has left the map, and assume that the logical position relationship indicates that the line-following toy is located outside the map.

[0014] Preferably, when the line-following toy leaves the current map, it is determined whether the programming instructions from the current map contain a route plan indicating the way to the next map; if so, the current default remote control mode is replaced by the line-following mode, and the route plan is executed in the line-following mode; if not, the movement mode is selected from the current default remote control mode.

[0015] The control method for the line-following toy applicable to multiple maps further includes:

[0016] Status control steps: Based on the map where the line-following toy is located, control the line-following toy to read and / or execute the instructions recorded on the instruction card.

[0017] A control system for a line-following toy applicable to multiple maps, provided by the present invention, includes:

[0018] Relative position acquisition module: Acquires the logical positional relationship between the line-following toy and the map;

[0019] Control mode switching module: Sets the movement mode according to the logical position relationship; when the logical position relationship is that the line-following toy is inside the map, the current default movement mode is the line-following mode; when the logical position relationship is that the line-following toy is outside the map, the current default movement mode is the remote control mode.

[0020] Line-following mode movement module: Executes line-following mode, in which movement instructions are obtained according to the programming program and / or the road segment on the line-following map, and the movement instructions instruct the line-following toy to move;

[0021] Remote control mode movement module: Executes remote control mode, in which movement command is obtained according to the received remote control command, and the movement command instructs the line-following toy to move;

[0022] Among the multiple maps, there is one or more line-finding maps.

[0023] Preferably, the relative position acquisition module includes:

[0024] Entry Location Acquisition Module: Reads the entry instructions recorded on the instruction card and / or the entry instructions recorded on the road segment of the line-following map; determines the current entry point of the line-following toy into the map based on the entry instructions, and assumes that the logical positional relationship indicates that the line-following toy is located within the map;

[0025] Exit location acquisition module: Reads the exit instructions recorded on the instruction card and / or the exit instructions recorded on the road segment of the line-following map; based on the exit instructions, it determines that the line-following toy has left the map and assumes that the logical position relationship indicates that the line-following toy is located outside the map.

[0026] Preferably, when the line-following toy leaves the current map, it is determined whether the programming instructions from the current map contain a route plan indicating the way to the next map; if so, the current default remote control mode is replaced by the line-following mode, and the route plan is executed in the line-following mode; if not, the movement mode is selected from the current default remote control mode.

[0027] The control system for the line-following toy applicable to multiple maps further includes:

[0028] Status control module: Based on the map where the line-following toy is located, control the line-following toy to read and / or execute the instructions recorded on the instruction card.

[0029] Preferably, the exit instruction and the entry instruction respectively include first identification information and second identification information;

[0030] The first identification information indicates the identification information of the next map that the line-following toy should enter;

[0031] The second identification information indicates the identification information of the map that the line-following toy is currently entering;

[0032] In obtaining the logical positional relationship between the line-following toy and the line-following map, if the first identifier and the second identifier are inconsistent, it is considered that the logical positional relationship is that the line-following toy is still located outside the line-following map.

[0033] Preferably, in obtaining the logical positional relationship between the line-following toy and the line-following map:

[0034] If the current logical positional relationship is that the line-following toy is located within the line-following map, and no road segment of the line-following map is identified, then the logical positional relationship is considered to have changed to the point where the line-following toy is located outside the line-following map.

[0035] If the current logical positional relationship is that the line-following toy is outside the line-following map, and a road segment of the line-following map is identified, then the logical positional relationship is considered to have changed so that the line-following toy is inside the line-following map.

[0036] The control priority in remote control mode is higher than that in wire-following mode.

[0037] In remote control mode, the identification of road segments on the line-following map is stopped, or the frequency of road segment identification on the line-following map is reduced compared to line-following mode.

[0038] According to the present invention, a computer-readable storage medium storing a computer program is provided, wherein when the computer program is executed by a processor, the steps of the control method for a line-following toy applicable to multiple maps are implemented.

[0039] According to the present invention, a line-following toy device includes a control system for a line-following toy applicable to multiple line-following maps, or includes a computer-readable storage medium storing a computer program.

[0040] According to the present invention, a toy includes instruction cards and multiple maps. The instruction cards include cards indicating the logical positional relationship between the line-following toy and the maps, and / or the maps have markings indicating the logical positional relationship between the line-following toy and the maps.

[0041] Among the multiple maps, there is more than one line-finding map;

[0042] The logical positional relationships include the line-following toy being located outside the map and the line-following toy being located inside the map.

[0043] Preferably, it also includes a line-following toy and a line-following toy device mounted on the line-following toy.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] 1. This invention allows users to continuously control the line-following toy while it reads instruction cards, programs, and executes instructions across multiple maps.

[0046] 2. This invention switches between line-following mode and remote control mode through logical positional relationships, allowing for flexible setting of entrances and exits on the same map to enrich gameplay. Furthermore, when a user enters the map randomly from a non-designated entrance using remote control mode, the line-following mode of that map will not be triggered.

[0047] 3. This invention allows users to program the next map that the line-following toy needs to enter. Attached Figure Description

[0048] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0049] Figure 1 This is a schematic diagram of an area without road segments between the physical boundaries of two maps.

[0050] Figure 2 This is a schematic diagram showing that there is no connection between the routes on the two maps.

[0051] Figure 3 This is a schematic diagram of the exit and entrance points.

[0052] Figure 4 A schematic diagram illustrating the process steps of the method provided by this invention.

[0053] Figure 5 This is a schematic diagram illustrating the logical and physical location relationships.

[0054] Figure 6 This is a schematic diagram illustrating the programming of logical positional relationships by reading the instruction card.

[0055] Figure 7 This is a schematic diagram illustrating how to program map identification information involved in logical positional relationships by reading the instruction card.

[0056] Figure 8 This is a schematic diagram illustrating programming for traversing road segments on a map by reading the lines indicating map exits and map entrances.

[0057] Figure 9 This is a schematic diagram of the road alignment on the map and the instruction card, which is used to guide the route through the map exit and map entrance.

[0058] Figure 10 This is a diagram illustrating the gameplay between the three maps.

[0059] Figure 11 This is a gameplay illustration showing the map entrance located in the center of the physical map. Detailed Implementation

[0060] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0061] like Figure 1 As shown, both Map A and Map B are line-following maps. These maps contain routes formed by connecting multiple road segments. Instruction cards can be placed on these road segments, and line-following toys, such as toy cars, can move along the road segments to read the instruction cards. Since the routes in Map A and Map B are not connected, and there are areas without road segments, Map A and Map B are considered two separate line-following maps.

[0062] like Figure 2As shown, the edges of Map A and Map B are interlocked, but the routes in Map A and Map B are not connected, resulting in areas without road segments. Therefore, Map A and Map B are considered as two separate route-finding maps. In other words, the routes between different route-finding maps are not connected.

[0063] like Figure 3 As shown, in existing technologies, if a line-following toy is to continue programming from the exit point of map A to the entrance point of map B, the user needs to pick up the toy from the exit point of map A and place it at the entrance point of map B. This process interrupts the user's control over the toy and is unsuitable for scenarios where the toy is far away and the user cannot reach it, such as during programming competitions where participants need to stay away from the line-following map to avoid obstructing the view of the audience or cameras on the toy or map.

[0064] Therefore, such as Figure 4 As shown, the present invention provides a control method for a line-following toy applicable to multiple maps, wherein one or more of the multiple maps are line-following maps, including:

[0065] Line-following mode movement steps: Execute line-following mode. In line-following mode, movement instructions are obtained from the programming program and / or the road segments on the line-following map, instructing the line-following toy to move. Specifically, for the line-following map, the line-following toy moves along road segments composed of straight or curved lines by default. If the programming program is obtained by reading the local line-following map or the instruction card on the previous line-following map, the control priority of the programming program over the line-following toy is higher than the control priority of the road segments over the line-following toy. For non-line-following maps, i.e., maps without road segments, the line-following toy is instructed to move according to the programming program obtained by reading the instruction card on the previous line-following map.

[0066] Remote control mode movement steps: Execute remote control mode. In the remote control mode, a movement command is obtained according to the received remote control command, which instructs the line-following toy to move. Specifically, the remote control command edited by the user through the remote control is received from the remote control. The remote control command includes control commands such as forward, backward, left turn, and right turn, so as to control the line-following toy to move forward, backward, left turn, and right accordingly, thereby detaching the line-following toy from the road segment on the line-following map.

[0067] Relative position acquisition steps: Obtain the logical positional relationship between the line-following toy and maps such as a line-following map and a non-line-following map; wherein, the logical positional relationship includes: the line-following toy is located inside the map, and the line-following toy is located outside the map. The logical positional relationship does not necessarily correspond to the physical positional relationship; that is, it may or may not be consistent. Figure 5As shown, in terms of physical location, the line-following toy at location A is within the line-following map. However, in terms of logical location, at one moment, the line-following toy at location A is considered to be within the line-following map, while at another moment, it is considered to be outside the line-following map. This allows for more diverse gameplay, which will be further explained below.

[0068] Control mode switching steps: When the logical positional relationship is that the line-following toy is within the map, the current default mode is line-following mode; when the logical positional relationship is that the line-following toy is outside the map, the current mode is remote control mode. Therefore, by determining the logical positional relationship, the line-following toy can switch between line-following mode and remote control mode, thus achieving uninterrupted control of the line-following toy when it traverses different line-following maps. The operation of the line-following toy by the road segments on the line-following map and the command cards on those segments can also be considered as the user operating the line-following toy by placing it on the line-following map.

[0069] The present invention will now be specifically described through preferred examples.

[0070] The relative position acquisition step includes:

[0071] Entry location acquisition steps: Read the entry instructions recorded on the instruction card and / or the entry instructions recorded on the road segment of the line-following map; based on the entry instructions, obtain the map currently entered by the line-following toy, and assume that the logical position relationship is that the line-following toy is located within the map; preferably, the currently entered map includes the map currently entered, for example, the instruction card records the identification information of the currently entered map;

[0072] Exit location acquisition steps: Read the exit instructions recorded on the instruction card and / or the exit instructions recorded on the route segment of the line-following map; based on the exit instructions, determine that the line-following toy has currently left the map, and assume that the logical positional relationship indicates that the line-following toy is located outside the map; wherein, different line-following maps are separate physical maps. Preferably, the currently left map includes the map that has been left, for example, the instruction card records the identification information of the map that has been left.

[0073] Users need to program the line-following toy to know whether its logical location is outside or inside the map. For example, ... Figure 6As shown, an exit command card is placed on a road segment in map A, and an entrance command card is placed on a road segment in map B. Assume the line-following toy initially moves along map A. When the toy reads the exit command card, it is considered to have left map A, meaning it is outside of map A. By default, leaving one line-following map is considered leaving all line-following maps. During the toy's journey from map A to map B, it moves according to the user's remote control commands in remote control mode. Once the toy reads the entrance command card for map B, it is considered to be within the line-following map.

[0074] For example, an exit command indicates the current line-following map the toy has left and its marker, while an entry command indicates the current line-following map the toy has entered and its marker. Figure 7 As shown, map A has an exit instruction card and an instruction card A indicating map A, and map B has an entrance instruction card and an instruction card B indicating map B. By continuously reading the exit instruction card and instruction card A, the line-following toy receives the instruction that it has left map A. By continuously reading the entrance instruction card and instruction card B, the line-following toy receives the instruction that it has entered map B.

[0075] For example, such as Figure 8 As shown, the line-following map uses lines marked with arrows and the origin to indicate the exit of map A and the entrance of map B; for example... Figure 9 As shown, the line-following map uses lines marked with arrows and instruction cards to indicate the exit of map A and the entrance of map B. In variations, different line types can be used to represent map entrances or exits, with the line types for map entrances and exits differing from those inside the map.

[0076] More specifically, the map is preferably a two-dimensional object, such as printed paper. Since it lacks physical boundaries like obstacles in the vertical direction, the line-following toy can freely enter and leave the physical map boundaries in remote control mode. To constrain this, the switch from remote control mode to line-following mode is triggered only when the line-following toy is logically considered to be within the map; otherwise, it remains in remote control mode. Furthermore, since this preferred example uses an entry command card to switch the logical position to within the map, for the same physical map, users can set the map entry point in different locations to create different gameplay experiences. Users can also set one or more entry points to further enrich the gameplay.

[0077] Furthermore, the control method for the line-following toy applicable to multiple maps also includes:

[0078] State control steps: Based on the line-following map where the line-following toy is located, control the line-following toy to read and / or execute the instructions recorded on the instruction card; specifically, Figure 10 As shown, the line-following toy initially appears on map C, passes through map A, and arrives at map B. Along the line on map C, there are, in sequence, instruction card A (indicating map A), instruction card for programming, instruction card B (indicating map B), and instruction card for execution. The instruction card A and the instruction card for programming combine to read the instruction card on map A for programming. The instruction card B and the instruction card for execution combine to execute the programmed program on map B. Afterward, the line-following toy enters map A, where the instruction cards program the toy, and the toy leaves map A. Finally, the toy enters map B, executes the program programmed on map A, and reaches the target location.

[0079] In more preferred embodiments, based on the line-following map where the toy is located, the toy is controlled to read instruction cards on the currently located map and / or execute instructions recorded on instruction cards on maps previously visited. For example, multiple maps include map A, as well as maps B, C, and D, where map A serves as the basic programming map, while maps B, C, and D serve as complementary maps; for example, map B is the execution map, and the toy performs actions on map B according to the programming of map A; for another example, map C is a function map, and the toy calls the programming function on map C according to the function call instructions in the programming of map A; and for yet another example, map D is the main program map, and the toy uses the programming functions of map A in the main program programming of map D.

[0080] Furthermore, in a game scenario, such as Figure 11 As shown, four users program their respective line-following toys on maps A1, A2, A3, and A4, aiming to make the toys read the fruit command cards with different point values ​​on map B as much as possible. The player with the highest score and the shortest time wins. Since the apple, peach, banana, and watermelon command cards have different point values, assuming the apple has the highest score, it will be closer to the line-following toys starting from maps A1 and A2, but farther from those starting from maps A3 and A4. To ensure fairness, the entrance command card for map B is placed at a position equidistant from the center of map B. Only after the line-following toy reaches the entrance command card is it considered logically within map B, and only then can it enter line-following mode.

[0081] Furthermore, if the user's control of the line-following toy in remote control mode causes the toy to be guided onto an unwanted or illogical map, the exit command and entry command respectively include a first identifier and a second identifier. The first identifier indicates the identifier of the next line-following map the toy should enter; the second identifier indicates the identifier of the current line-following map the toy should enter. In obtaining the logical positional relationship between the toy and the map, if the first identifier and the second identifier are inconsistent, it is considered that the logical positional relationship is that the toy is still outside the map; if the first identifier and the second identifier are consistent, it is considered that the logical positional relationship is that the toy is inside the map. This prompts the user to guide the toy back to the correct map in remote control mode. In a variation, the exit command is an array of multiple commands, denoted as the first array, and the entry command is an array of multiple commands, denoted as the second array. If the first array and the second array are the same, it is considered that the logical positional relationship is that the toy is inside the map; if they are different, it is considered that the logical positional relationship is that the toy is still outside the map.

[0082] In acquiring the logical positional relationship between the line-following toy and the line-following map: if the current logical positional relationship is that the line-following toy is within the line-following map, and no road segment on the line-following map is identified, then the logical positional relationship is considered to have changed to the line-following toy being outside the line-following map; if the current logical positional relationship is that the line-following toy is outside the line-following map, and a road segment on the line-following map is identified, then the logical positional relationship is considered to have changed to the line-following toy being within the line-following map. The control priority of the remote control mode is higher than that of the line-following mode. In remote control mode, the identification of road segments on the line-following map is stopped, or the frequency of identification of road segments on the line-following map is reduced compared to the line-following mode to save energy. Specifically, image processing in line-following mode consumes more energy, so line-following is not performed or the frequency of line-following is reduced as much as possible in remote control mode. Since the remote control has higher control authority, the switch from line-following mode to remote control mode can be interrupted by the remote control to switch control authority. However, when returning from remote control mode to line-following mode, it is necessary to avoid misjudgment of the interval between two remote control button operations, which would cause unnecessary energy consumption. In the preferred embodiment, if no remote control command is received within a default time period, the toy automatically switches to line-following mode. Further preferred embodiments can address situations where the spacing between maps A and B is not fixed, or where obstacle-based gameplay prevents the use of a fixed default time period. In this case, the line-following toy in remote control mode acquires images at a lower frequency to determine if the player is on the line.

[0083] In a variation of this invention, when the line-following toy leaves the current map, it is determined whether the programming instructions from the current map contain a route plan instructing the toy to proceed to the next map. If so, the current default remote control mode is replaced by the line-following mode, and the route plan is executed in the line-following mode. If not, the movement mode is the current default remote control mode. The default remote control mode means the line-following toy waits for a remote control instruction but does not perform line-following. When the line-following toy is outside the map and the current movement mode is line-following mode, if the user operates the remote control to control the toy, and the control priority of the remote control instruction is still higher than that of the line-following mode, then even if the line-following toy deviates from its intended path in line-following mode and fails to reach the entrance to the next map correctly, the user can still operate the toy using the remote control mode. Figure 6 As shown, there is no line between map A and map B. The default movement mode is remote control mode, allowing the user to control the line-following toy to move from the exit of map A to the entrance of map B. In this variation, the line-following toy automatically moves from the exit of map A to the entrance of map B by executing programming instructions read from map A. That is, after the line-following toy leaves the current map A, although the default movement mode is remote control mode, remote control mode is not the highest priority mode. If the current map provides programming instructions to the line-following toy indicating a forced mode setting, the control authority of the forced mode setting is higher than the current default movement mode. The forced mode setting specifies the line-following mode to replace the current default mode. Therefore, after leaving the current map A and before entering the next map B, the line-following toy uses the line-following mode instead of the default remote control mode, moving according to the route planned in the programming after leaving the current map. For example, if the current map A instructs the line-following toy to first go straight after leaving map A, then turn 90 degrees left and continue going straight, then turn 90 degrees right and continue going straight, the toy can reach the entrance of the next map B. Thus, moving from the current map to the next map does not require remote control. Correspondingly, the current map contains instruction cards indicating the toy's movement patterns outside the map. These instruction cards replace the default movement patterns, making the gameplay richer and more flexible.

[0084] In another variation of the invention, the remote control command not only instructs the movement of the line-following toy, but also instructs the toy to perform certain actions. For example, based on user input, the remote control instructs the toy to perform actions, such as changing the sound or lights, or causing mechanical structures like motors to move. Accordingly, additional input components such as buttons for indicating actions can be provided on the remote control, or the content of the remote control can be switched by user input, changing the content from controlling movement to performing an action, or vice versa.

[0085] This invention also provides a control system for a line-following toy applicable to multiple maps. Those skilled in the art can implement the control system by executing the process steps of the control method for the line-following toy applicable to multiple maps; that is, the control method for the line-following toy applicable to multiple maps can be understood as a preferred embodiment of the control system. Specifically, the control system for the line-following toy applicable to multiple maps includes:

[0086] Relative position acquisition module: Acquires the logical positional relationship between the line-following toy and the map;

[0087] Control mode switching module: Sets the movement mode according to the logical position relationship; when the logical position relationship is that the line-following toy is inside the map, the current default movement mode is the line-following mode; when the logical position relationship is that the line-following toy is outside the map, the current default movement mode is the remote control mode.

[0088] Line-following mode movement module: Executes line-following mode, in which movement instructions are obtained according to the programming program and / or the road segment on the line-following map, and the movement instructions instruct the line-following toy to move;

[0089] Remote control mode movement module: Executes remote control mode, in which movement command is obtained according to the received remote control command, and the movement command instructs the line-following toy to move;

[0090] Status control module: Based on the map where the line-following toy is located, control the line-following toy to read and / or execute the instructions recorded on the instruction card;

[0091] Among the multiple maps, there is one or more line-finding maps.

[0092] The relative position acquisition module includes:

[0093] Entry Location Acquisition Module: Reads the entry instructions recorded on the instruction card and / or the entry instructions recorded on the road segment of the line-following map; determines the current entry point of the line-following toy into the map based on the entry instructions, and assumes that the logical positional relationship indicates that the line-following toy is located within the map;

[0094] Exit location acquisition module: Reads the exit instructions recorded on the instruction card and / or the exit instructions recorded on the road segment of the line-following map; based on the exit instructions, it determines that the line-following toy has left the map and assumes that the logical position relationship indicates that the line-following toy is located outside the map.

[0095] The present invention also provides a computer-readable storage medium storing a computer program, characterized in that, when the computer program is executed by a processor, it implements the steps of the control method for a line-following toy applicable to multiple maps.

[0096] The present invention also provides a line-following toy device, including the control system of the line-following toy applicable to multiple line-following maps, or including the computer-readable storage medium storing the computer program.

[0097] The present invention also provides a toy, including instruction cards, multiple maps, and may further include a line-following toy and a line-following toy device installed on the line-following toy. The instruction cards include cards indicating the logical positional relationship between the line-following toy and the maps, and / or the maps have markings indicating the logical positional relationship between the line-following toy and the maps; one or more of the multiple maps are line-following maps; the logical positional relationship includes the line-following toy being located outside the map and the line-following toy being located inside the map.

[0098] Those skilled in the art will understand that, in addition to implementing the system, apparatus, and their modules provided by this invention in purely computer-readable program code, the same program can be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system, apparatus, and their modules provided by this invention can be considered a hardware component, and the modules included therein for implementing various programs can also be considered structures within the hardware component; alternatively, modules for implementing various functions can be considered both software programs implementing the method and structures within the hardware component.

[0099] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A control method for a line-following toy applicable to multiple maps, characterized in that, include: Relative position acquisition steps: Obtain the logical positional relationship between the line-following toy and the map; Control mode switching steps: Set the movement mode according to the logical position relationship; when the logical position relationship is that the line-following toy is inside the map, the current default movement mode is the line-following mode; when the logical position relationship is that the line-following toy is outside the map, the current default movement mode is the remote control mode. Line-following mode movement steps: Execute line-following mode. In line-following mode, a movement command is obtained according to the programming program and / or the road segment on the line-following map. The movement command instructs the line-following toy to move. Remote control mode movement steps: Execute remote control mode. In the remote control mode, a movement command is obtained according to the received remote control command. The movement command instructs the line-following toy to move. The map is a line-following map, and the lines in different line-following maps are not connected. The relative position acquisition step includes: Entry location acquisition steps: Read the entry instructions recorded on the instruction card and / or the entry instructions recorded on the road segment of the line-following map; based on the entry instructions, determine that the line-following toy has currently entered the map, and assume that the logical position relationship indicates that the line-following toy is located within the map; Exit location acquisition steps: Read the exit instructions recorded on the instruction card and / or the exit instructions recorded on the road segment of the line-following map; based on the exit instructions, determine that the line-following toy has left the map, and assume that the logical position relationship indicates that the line-following toy is located outside the map.

2. The control method for a line-following toy applicable to multiple maps according to claim 1, characterized in that, When the line-following toy leaves the current map, determine whether the programming instructions from the current map contain a route plan indicating the way to the next map; if so, replace the current default remote control mode with the line-following mode and execute the route plan in the line-following mode. If not included, the current default remote control mode will be selected for movement mode; The control method for the line-following toy applicable to multiple maps further includes: Status control steps: Based on the map where the line-following toy is located, control the line-following toy to read and / or execute the instructions recorded on the instruction card.

3. A control system for a line-following toy applicable to multiple maps, characterized in that, include: Relative position acquisition module: Acquires the logical positional relationship between the line-following toy and the map; Control mode switching module: Sets the movement mode according to the logical position relationship; when the logical position relationship is that the line-following toy is inside the map, the current default movement mode is the line-following mode; when the logical position relationship is that the line-following toy is outside the map, the current default movement mode is the remote control mode. Line-following mode movement module: Executes line-following mode, in which movement instructions are obtained according to the programming program and / or the road segment on the line-following map, and the movement instructions instruct the line-following toy to move; Remote control mode movement module: Executes remote control mode, in which movement command is obtained according to the received remote control command, and the movement command instructs the line-following toy to move; The map is a line-following map, and the lines in different line-following maps are not connected. The relative position acquisition module includes: Entry Location Acquisition Module: Reads the entry instructions recorded on the instruction card and / or the entry instructions recorded on the road segment of the line-following map; determines the current entry point of the line-following toy into the map based on the entry instructions, and assumes that the logical positional relationship indicates that the line-following toy is located within the map; Exit location acquisition module: Reads the exit instructions recorded on the instruction card and / or the exit instructions recorded on the road segment of the line-following map; based on the exit instructions, it determines that the line-following toy has left the map and assumes that the logical position relationship indicates that the line-following toy is located outside the map.

4. The control system for a line-following toy applicable to multiple maps according to claim 3, characterized in that, When the line-following toy leaves the current map, determine whether the programming instructions from the current map contain a route plan indicating the way to the next map; if so, replace the current default remote control mode with the line-following mode and execute the route plan in the line-following mode. If not included, the current default remote control mode will be selected for movement mode; The control system for the line-following toy applicable to multiple maps further includes: Status control module: Based on the map where the line-following toy is located, control the line-following toy to read and / or execute the instructions recorded on the instruction card.

5. The control method for a line-following toy applicable to multiple maps according to claim 1, or the control system for a line-following toy applicable to multiple maps according to claim 3, characterized in that, The exit instruction and the entry instruction respectively include first identification information and second identification information; The first identification information indicates the identification information of the next map that the line-following toy should enter; The second identification information indicates the identification information of the map that the line-following toy is currently entering; In obtaining the logical positional relationship between the line-following toy and the line-following map, if the first identifier and the second identifier are inconsistent, it is considered that the logical positional relationship is that the line-following toy is still located outside the line-following map.

6. The control method for a line-following toy applicable to multiple maps according to claim 1, or the control system for a line-following toy applicable to multiple maps according to claim 3, characterized in that, In obtaining the logical positional relationship between the line-following toy and the line-following map: If the current logical positional relationship is that the line-following toy is located within the line-following map, and no road segment of the line-following map is identified, then the logical positional relationship is considered to have changed to the point where the line-following toy is located outside the line-following map. If the current logical positional relationship is that the line-following toy is outside the line-following map, and a road segment of the line-following map is identified, then the logical positional relationship is considered to have changed so that the line-following toy is inside the line-following map. The control priority in remote control mode is higher than that in wire-following mode. In remote control mode, the identification of road segments on the line-following map is stopped, or the frequency of road segment identification on the line-following map is reduced compared to line-following mode.

7. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the control method for a line-following toy applicable to multiple maps as described in claim 1, 2, 5 or 6.

8. A line-following toy device, characterized in that, The control system of a line-following toy applicable to multiple maps as described in any one of claims 3 to 6, or the computer-readable storage medium storing a computer program as described in claim 7.

9. A toy, characterized in that, Includes instruction cards and multiple maps, wherein the instruction cards include cards indicating the logical positional relationship between the line-following toy and the map, and / or the map has instructions indicating the logical positional relationship between the line-following toy and the map; The map is a line-following map, and the lines between different line-following maps are not connected; The toy is set to move in a logical positional relationship. The moving mode includes a line-following mode and a remote control mode. The logical positional relationship is obtained by reading the entry command recorded on the command card and / or the entry command recorded on the line-following map and / or the exit command recorded on the command card and / or the exit command recorded on the line-following map. Specifically, if the line-following toy is currently entering the map according to the entry command, it is considered that the logical positional relationship is that the line-following toy is inside the map. If the line-following toy is currently leaving the map according to the exit command, it is considered that the logical positional relationship is that the line-following toy is outside the map.

10. The toy according to claim 9, characterized in that, It also includes line-following toys and line-following toy devices installed on line-following toys.

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