Toy system, moving body, card set, control method, and program

Abstract

The present invention provides a toy system that more intuitively experiences programming. The toy system controls the travel of a moving body having a reading unit and a travel unit. When the moving body travels on any one of a plurality of operation command cards on which an encoded image indicating any one of a plurality of operation commands is printed, the toy system controls the traveling unit according to the operation command indicated by the read image. When an image indicating an interrupt recording command is read by the moving body traveling on the interrupt setting card, an operation command indicated by an image read from an operation command card traveling on the moving body next is stored in association with an execution condition, and when the execution condition is satisfied, the image indicating the interrupt recording command is read from the image read from the operation command card traveling on the moving body next. An action corresponding to the action command associated with the execution condition is executed, and then the previous action is restarted.

Description

Technical Field

[0001] The present invention relates to a toy system, a moving body, a card set, a control method and a program. Background Art

[0002] Teaching materials for programming are sold for learning programming by arranging physical cards with commands recorded thereon. The autonomous device reads the commands on the arranged card and then executes actions corresponding to the read commands.

[0003] Patent Document 1 discloses that a program is read by a self-propelled device while traveling on arranged cards while reading an image printed on the cards, and then the self-propelled device travels on a maze according to the program.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: International Publication No. 2020 / 036146 Summary of the invention

[0007] Problems to be solved by the invention

[0008] In the unit that reads the program in advance, the reading of the program is separated from the execution of the program. Therefore, some people find it difficult to intuitively grasp the relationship between the program and the action, which may become an obstacle when experiencing programming.

[0009] The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a technology that enables a more intuitive programming experience.

[0010] Means for solving problems

[0011] To solve the above-mentioned problems, the toy system involved in the present invention includes: multiple action instruction cards, each of which is printed with an encoded image representing any one of multiple action instructions; an interrupt setting card, which is printed with an encoded image representing an interrupt recording instruction associated with an execution condition; and a moving body. The mobile body includes: a travel unit that enables the mobile body to travel; a reading unit that reads the image when the mobile body travels on the interruption setting card and any one of the plurality of action instruction cards; and an action control unit that controls the travel unit according to an action instruction represented by the image read from any one of the plurality of action instruction cards, wherein when the encoded image is read by the mobile body traveling on any one of the plurality of action instruction cards, the action control unit controls the travel unit according to the action instruction represented by the image, and when the image representing the interruption recording instruction is read, the action control unit associates the action instruction represented by the image read from the action instruction card on which the mobile body will travel next with the execution condition and stores the same, and when the execution condition is satisfied, the action control unit executes an action corresponding to the action instruction, wherein the action instruction is associated with the execution condition and stored, and after the action is executed, the action before the execution condition is satisfied is started again.

[0012] Furthermore, the mobile body according to the present invention includes: a travel unit that enables the mobile body to travel; a reading unit that reads an image when the mobile body travels on any one of a plurality of action instruction cards and an interruption setting card, wherein the plurality of action instruction cards are respectively printed with the coded image indicating any one of a plurality of action instructions, and the interruption setting card is printed with the coded image indicating an interruption record instruction associated with an execution condition; and an action control unit that controls the travel unit according to the action instruction indicated by the image read from any one of the plurality of action instruction cards. When the coded image is read by traveling on any one of the plurality of action instruction cards, the action control unit controls the travel unit according to the action instruction indicated by the image, and when the image indicating the interruption record instruction is read, the action control unit associates the action instruction indicated by the image read from the action instruction card on which the mobile body will travel next with the execution condition and stores it, and when the execution condition is satisfied, the action control unit executes an action corresponding to the action instruction, wherein the action instruction is associated with the execution condition, and after executing the action, the action before the execution condition is satisfied is started again.

[0013] Furthermore, the card set according to the present invention includes: a plurality of action instruction cards, each configured by a user, each printed with a coded image indicating any one of a plurality of action instructions, the image being an image read when a mobile body having a travel unit that enables the mobile body to travel travels; and an interruption setting card, the interruption setting card printed with a coded image indicating an interruption record instruction associated with an execution condition. When an image indicating any one of the plurality of action instructions is read, the travel unit is controlled according to the action instruction indicated by the image, when an image indicating the interruption record instruction is read, the action instruction indicated by the image read from the action instruction card on which the mobile body travels next is associated with the execution condition and stored, when the execution condition is satisfied, an action corresponding to the action instruction stored in association with the execution condition is executed, and after the action is executed, the action before the execution condition is satisfied is restarted.

[0014] Moreover, the control method involved in the present invention is a control method for controlling the travel of a mobile body having a reading unit and a traveling unit, the control method comprising: a step of the reading unit reading an image when the mobile body is traveling on any one of a plurality of action instruction cards and an interruption setting card, the plurality of action instruction cards being respectively configured by a user and respectively printed with an encoded image representing any one of a plurality of action instructions, the interruption setting card being printed with an encoded image representing an interruption record instruction associated with an execution condition; and a step of controlling the traveling unit according to the action instruction represented by the read image, in the step of controlling the traveling unit In the method, when the encoded image is read by the mobile body traveling on any one of the plurality of action instruction cards, the travel unit is controlled according to the action instruction represented by the image. The control method further includes: when the image representing the interrupt record instruction is read, the action instruction represented by the image read from the action instruction card on which the mobile body will next travel is associated with the execution condition and stored; in the step of controlling the travel unit, when the execution condition is met, an action corresponding to the action instruction associated with the execution condition is executed, and after the action is executed, the action before the execution condition is met is started again.

[0015] Furthermore, the program according to the present invention causes a computer including a traveling unit to function as a reading unit that reads the image when traveling on any one of a plurality of action instruction cards and an interruption setting card, wherein the plurality of action instruction cards are respectively printed with an encoded image indicating any one of a plurality of action instructions, and the interruption setting card is printed with an encoded image indicating an interruption record instruction associated with an execution condition; and an action control unit that controls the traveling unit according to the action instruction indicated by the image read from the plurality of action instruction cards, wherein when the encoded image is read by traveling on any one of the plurality of action instruction cards, the action control unit controls the traveling unit according to the action instruction indicated by the image, wherein when the image indicating the interruption record instruction is read, the action control unit associates the action instruction indicated by the image read from the action instruction card on which the traveling unit will next travel with the execution condition and stores the action instruction, wherein when the execution condition is satisfied, the action control unit executes an action corresponding to the action instruction, wherein the action instruction is associated with the execution condition, and after executing the action, the action before the execution condition is satisfied is restarted.

[0016] According to the present invention, the user can experience programming more intuitively.

[0017] In one aspect of the present invention, the execution condition may be a predetermined time period that has passed since a start time or since the execution condition was previously satisfied.

[0018] In one embodiment of the present invention, the execution condition may include a first condition and a second condition, the first condition being a first period having passed since a start time or since a last execution based on the first condition, and the second condition being a second period having passed since a start time or since a last execution based on the second condition that is longer than the first period, and when the second condition is satisfied, regardless of whether the first condition is satisfied, the action control unit executes an action corresponding only to the action instruction, the action instruction being associated with the second condition, and after executing the action, the action before the execution condition is satisfied is started again.

[0019] In one aspect of the present invention, the execution condition may be that an acceleration sensor detects a collision with the moving body.

[0020] In one aspect of the present invention, the execution condition may be that the magnetic sensor detects a magnetic force that satisfies a detection condition.

[0021] In one aspect of the present invention, the execution condition may be an image in which information corresponding to the execution condition is read by the reading unit.

[0022] In one embodiment of the present invention, when an image representing the interrupt recording instruction is read, the action control unit causes the moving body to move in a specified direction based on the direction of the moving body obtained from the image, and stores the action instruction represented by the image read from the action instruction card configured in the specified direction in association with the execution condition, and the action instruction card is the action instruction card on which the moving body will move next. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a diagram showing an example of a toy system according to an embodiment of the present invention.

[0024] Figure 2 This is a diagram showing an example of the hardware configuration of a toy system.

[0025] Figure 3 This is a diagram showing an example of a moving object as viewed from below.

[0026] Figure 4 This is a diagram showing an example of the relationship between information printed on a card and a movable body.

[0027] Figure 5 It is a block diagram showing the functions implemented by the toy system.

[0028] Figure 6 This is a diagram for explaining an example of control of a moving object based on an action command card.

[0029] Figure 7 This is a diagram for explaining another example of the control of a moving object based on an action command card.

[0030] Figure 8 This is a diagram for explaining another example of the control of a moving object based on an action command card.

[0031] Fig. 9 This is a diagram for explaining an example of setting of an interrupt operation.

[0032] Fig.10 It is a diagram showing a modified example of the interruption setting card.

[0033] Fig.11 It is based on Fig. 9 FIG. 1 is a diagram showing an example of the interrupt setting operation.

[0034] Fig.12 This is a diagram for explaining an example of the operation of the interrupt execution card.

[0035] Fig.13 This is a flowchart showing an example of the processing of the moving object.

[0036] Fig.14 This is a flowchart showing an example of the processing of the moving object.

[0037] Fig.15 This is a flowchart showing an example of the processing of the moving object.

[0038] Fig.16 This is a flowchart showing an example of the travel processing by the travel processing unit.

[0039] Fig.17 This is a flowchart showing an example of action processing by an action processing unit.

[0040] Fig.18 This is a flowchart showing an example of a process of causing the moving body 20 to travel according to the interrupt execution condition. DETAILED DESCRIPTION

[0041] The following describes the embodiments of the present invention based on the drawings. Among the components that appear, components that have the same function are given the same reference numerals and their descriptions are omitted.

[0042] Figure 1 1 is a diagram showing an example of a toy system according to an embodiment of the present invention. The toy system according to the present invention includes at least a moving body 20 and a plurality of cards 30. The moving body 20 has a cubic shape, and its corners are chamfered. In addition, a plurality of protrusions that can be used to mount other toys are provided on the moving body 20.

[0043] The plurality of cards 30 include a plurality of motion instruction cards, a plurality of interruption setting cards, and an interruption execution card. An image representing an instruction (motion instruction) for the motion of the moving body 20 is printed on each of the plurality of motion instruction cards. An encoded image representing any one of the plurality of motion instructions for the moving body 20 is printed on each of at least a portion of the plurality of motion instruction cards.

[0044] An interrupt setting card is a card used to set an interrupt process. Interrupt processing is also called event processing. Multiple interrupt setting cards correspond to multiple interrupt execution conditions in a one-to-one manner, and each of the multiple interrupt setting cards is printed with an encoded image representing an interrupt (cut-in) setting instruction for the corresponding interrupt execution condition. An interrupt execution condition is an event that triggers the set process. An interrupt execution card is an instruction (execution instruction) corresponding to a specific one of the multiple interrupt execution conditions, and is printed with an encoded image representing the execution instruction.

[0045] At least some of the plurality of cards 30 are placed by the user at any position on a plane (eg, a table or floor). When the moving body 20 travels on any card 30, it reads an image and performs an action corresponding to a command indicated by the image.

[0046] The action instructions based on multiple action instruction cards can be divided into multiple categories (groups). The multiple categories include state change category (system), behavior category, and forced category. The state change category is a group composed of instructions that change the action of the mobile body 20 (for example, the driving state). The behavior category is mainly a group composed of instructions that make the mobile body 20 perform predetermined actions. In the instructions of the behavior category, the previous action can be executed again after the action is executed. In addition, even for the instructions of the behavior category, there are cases where the result of the action or the driving state changes. The forced category is a group composed of instructions that make the mobile body 20 stop immediately. The details of the interrupt setting card and the interrupt execution card will be described later.

[0047] Figure 2 2 is a diagram showing an example of the hardware configuration of the toy system. The moving body 20 includes a processor 21 , a storage 22 , a communication unit 23 , a camera 24 , two motors 25 , a speaker 26 , and a sensor 27 .

[0048] The processor 21 operates according to the program stored in the storage 22, thereby controlling the communication unit 23, the camera 24, the motor 25, the speaker 26, etc. The above program may be provided by other computers through communication via the communication unit 23, or may be provided to other computers by being stored in a computer-readable storage medium such as a flash memory or an optical disk.

[0049] The memory 22 is composed of a DRAM and a nonvolatile memory, etc. The memory 22 stores the above-mentioned program. In addition, the memory 22 also stores information input from the processor 21, the communication unit 23, etc., and calculation results.

[0050] The communication unit 23 is composed of an integrated circuit, an antenna, etc. for communicating with other devices. For example, the communication unit 23 has a function of communicating with other devices (such as a computer) according to the Bluetooth (registered trademark) protocol or the wireless local area network protocol. Based on the control of the processor 21, the communication unit 23 inputs information received from other devices into the processor 21 and the storage 22, and sends information to other devices. In addition, the communication unit 23 can also communicate with other devices via a wired network.

[0051] The camera 24 is arranged so as to capture the image of the bottom of the moving body 20, and captures the image of the pattern 71 printed on the card 30 on which the moving body 20 is placed (see FIG. Figure 4). In this embodiment, a pattern 71 is printed on the card 30. The pattern 71 is recognized in the infrared frequency region, and the camera 24 captures an image of the infrared light. In addition to the pattern 71, a pattern that is recognized by visible light is printed on the card 30.

[0052] The motor 25 is a so-called servo motor, and its rotation direction, rotation amount, and rotation speed are controlled by the processor 21 .

[0053] The speaker 26 outputs sound based on the control of the processor 21 and the like.

[0054] The sensor 27 includes at least one of an acceleration sensor and a magnetic sensor. For example, the acceleration sensor is a 6-axis acceleration sensor that detects the acceleration applied to the moving body 20. Based on the output of the acceleration sensor, the overturning of the moving body 20 and the impact (impact) on the moving body 20 can be detected. For example, the magnetic sensor is a 3-axis magnetic sensor, which can be set on the lower side of the upper part of the moving body 20.

[0055] Figure 3 This is a diagram of an example of a moving body 20 viewed from below. The moving body 20 includes a switch 222, a power switch 223, and two wheels 254. A motor 25 is allocated to each of the two wheels 254, and the motor 25 drives the allocated wheel 254. The driving mechanism including the motor 25 and the wheel 254 constitute a driving device for driving the moving body 20.

[0056] Figure 4 : is a diagram showing an example of the relationship between the information printed on the card 30 and the movable body 20. On the card 30, together with the image that can be visually recognized by the user, a plurality of patterns 71 are printed, and the pattern 71 is an image that can be read by the camera 24. On the card 30, the patterns 71 of a specified size (for example, 0.2 mm square) are arranged in a matrix. The size of each pattern 71 is smaller than the size of the card 30 and the movable body 20. In a certain card 30, the information printed on the plurality of patterns 71 can be the same. On a certain card 30, a pattern 71 indicating a position within the card 30 can also be printed. In addition, when the movable body 20 passes over the card 30, the pattern 71 printed at different positions is usually read over time.

[0057] In the toy system involved in the present embodiment, the camera 24 of the moving body 20 captures the pattern 71 printed on the card 30, and the moving body 20 decodes the pattern 71 to obtain its information. The information obtained from the pattern 71 printed on the action instruction card is the action instruction. Thus, the moving body 20 recognizes the type of the action instruction card. The information obtained from the pattern 71 printed on the interrupt setting card is the interrupt setting instruction regarding the corresponding interrupt execution condition. The information obtained from the pattern 71 printed on the interrupt execution card is an execution instruction corresponding to a specific one of a plurality of interrupt execution conditions, and a coded image representing the execution instruction is printed. Moreover, the moving body 20 detects the direction of the moving body 20 (for example, the angle A deviating from the reference direction) by detecting the inclination of the pattern 71 located in the image captured by the camera 24.

[0058] Figure 5 1 is a block diagram showing the functions implemented by the toy system. The toy system functionally includes a card information acquisition unit 51 and an action control unit 52. The action control unit 52 functionally includes a card determination unit 53, a parameter update unit 54, a driving processing unit 55, a behavior processing unit 56, an interruption setting unit 57, and an interruption control unit 58. These functions are mainly implemented by the processor 21 included in the mobile body 20 executing the program stored in the storage 22 to control the camera 24, the motor 25, the speaker 26, and the sensor 27. In addition, some of these functions can also be implemented by the processor 21 sending a processing request to other computers included in the toy system via the communication unit 23 and receiving the result.

[0059] The card information acquisition unit 51 reads the pattern 71 (image) printed on the card 30 and acquires the information represented by the pattern 71. More specifically, when the moving body 20 is traveling on any one of the plurality of cards 30, the card information acquisition unit 51 reads the pattern 71 printed on the card 30 and decodes the information (action instruction, interrupt setting instruction, execution instruction) based on the pattern 71. Furthermore, the card information acquisition unit 51 acquires the direction (angle) of the moving body 20 relative to the card 30 based on the inclination of the pattern 71 captured by the camera 24.

[0060] When the motion control unit 52 obtains the motion instruction as information, it controls the travel device, the speaker 26, etc. according to the obtained motion instruction. When the motion instruction is information indicating a change in the parameters of the travel, the motion control unit 52 controls the travel device (motor 25) according to the changed parameters after obtaining the obtained pattern 71. Moreover, when the travel control unit 52 does not read the encoded pattern 71, until the new encoded pattern 71 is read by the moving body 20 traveling on a new card 30 among the multiple cards 30, the travel control unit 52 will control the travel device in a manner that continues the action corresponding to the motion instruction indicated by the previously read pattern 71. When the motion control unit 52 reads a new encoded pattern 71, it controls the travel device according to the new motion instruction, interrupt setting instruction, and execution instruction indicated by the new pattern 71.

[0061] When the interruption setting command is acquired, the motion control unit 52 associates the motion command represented by the image read from the motion command card for the next travel of the moving body 20 with the interruption execution condition corresponding to the interruption setting command and stores the resultant in the memory 22 .

[0062] When any one of the interrupt execution conditions is met, the action control unit 52 executes an action corresponding to an action instruction stored in the memory 22 and associated with the satisfied interrupt execution condition, and after executing the action, causes the driving device to restart the action before the interrupt execution condition is met.

[0063] The card determination unit 53 determines which type of command the information of the card 30 acquired by the card information acquisition unit 51 indicates, and determines the group to which the action command belongs when the information indicates an action command. Then, when the action command belongs to the state change class, the card determination unit 53 causes the processing of the parameter update unit 54 to be executed. In addition, when the action command belongs to the behavior class, the processing of the behavior processing unit 56 is executed.

[0064] The parameter updating unit 54 updates the driving parameters based on the action instructions belonging to the state change class. Here, the action instructions belonging to the state change class are further divided into a plurality of subgroups. The plurality of subgroups include a handle subgroup, a speed subgroup, and a brake subgroup. The handle subgroup includes an instruction to set the state of the steering wheel to the right or left and an instruction to set the state of the steering wheel to go straight. Setting the state of the steering wheel to the right or left means continuously changing the direction of travel of the mobile body 20 to the right or the left. The speed subgroup includes an instruction to set the speed to a specified value. The specified value may be any one of a plurality of predetermined candidate values ​​(e.g., slow, fast, very fast), and each of the plurality of instructions included in the speed subgroup may also represent a different candidate value. The brake subgroup includes a brake instruction to continuously reduce the speed. The mobile body 20 continuously performs a brake action to reduce the speed according to the brake instruction. Here, each of the plurality of action instructions belonging to the state change class may be classified into (labeled as) one or more subgroups. For example, a certain action instruction may be labeled as both the speed subgroup and the handle subgroup.

[0065] The parameter updating unit 54 updates the driving parameters in the subgroups into which the motion instructions represented by the read pattern 71 are classified among the plurality of subgroups to the information (e.g., value) represented by the motion instructions. By setting the driving parameters for each subgroup and controlling the driving according to the plurality of driving parameters, the motion of the moving body 20 can be made more diverse. When the motion instructions represented by the read pattern 71 are classified into a plurality of subgroups of the state change type, the parameter updating unit 54 can update the driving parameters of the plurality of subgroups to which the motion instructions belong to the information of the driving parameters of the respective subgroups corresponding to the motion instructions.

[0066] The travel processing unit 55 controls the travel device (e.g., the motor 25) based on the action instructions (e.g., the travel parameters) set in each of the plurality of subgroups. The travel processing unit 55 controls the travel device according to the travel parameters so that the moving body 20 travels. The travel processing unit 55 continuously changes the direction of travel of the moving body 20 to the right or left, or makes the moving body 20 go straight, according to the travel parameters of the steering wheel state. The travel processing unit 55 drives the moving body 20 at a speed corresponding to the parameters of the speed subgroup. Furthermore, when the parameters of the braking state are set, the travel processing unit 55 continuously reduces the speed of the moving body 20.

[0067] When the interruption setting unit 57 has obtained the interruption setting instruction, it obtains the motion instruction represented by the image read from the motion instruction card where the moving body 20 will travel next and the direction of the moving body 20, and associates the interruption execution condition corresponding to the interruption setting instruction with the motion instruction and the direction and stores them in the memory 22. The interruption execution condition includes at least one of one or more time intervals for execution, detection of impact based on the acceleration sensor, detection of magnetic force (magnetism) that meets the detection condition based on the magnetic sensor, and reading of the special pattern 71. The special pattern 71 can be printed on the interruption execution card, and the pattern 71 can be an image in which the execution instruction is encoded. When the interruption setting unit 57 reads the pattern 71 representing the interruption recording instruction, first, based on the direction of the moving body 20 obtained by the inclination of the pattern 71 photographed, the moving body 20 is driven in a specified direction. Then, the interruption setting unit 57 associates the motion instruction represented by the image read from the motion instruction card arranged in the specified direction and the direction with the interruption execution condition, and stores them in the memory 22. Furthermore, on the interruption setting card, a visually recognizable image indicating the direction in which the next card is to be arranged may be printed.

[0068] When any one of the interrupt execution conditions is satisfied, the interrupt control unit 58 executes an action corresponding to an action instruction, and the action instruction is associated with the satisfied interrupt execution condition and stored in the storage 22. The action may be an action executed according to the action instruction during normal driving, an action to control the driving device, or an action to output a sound from the speaker 26. After executing the action, the interrupt control unit 58 causes the driving device to restart the action before the interrupt execution condition is satisfied (for example, an action corresponding to the driving parameter).

[0069] Here, a specific example of the travel of the mobile body 20 based on the change of the travel parameter will be described. Figure 6 This is a diagram for explaining an example of controlling the moving body 20 based on the motion command card. Figure 6 In the example, "Slow" card 30a, "Fast" card 30b, right card 30d, and destination card 30j are configured as action instruction cards. Figure 6 In the example, first, the moving body 20 reads the pattern 71 on the card 30a, and sets the parameters of the speed subgroup to the first speed, and moves straight at this speed. Then, the moving body 20 reads the pattern 71 on the card 30b, and updates the parameters of the speed subgroup to the second speed faster than the first speed, and moves straight at this speed. Then, the moving body 20 reads the pattern 71 on the card 30d, updates the parameters of the direction plate group to "right", and turns right while maintaining the speed. Then, the moving body 20 reaches the card 30j, and the moving body 20 that has read the pattern 71 on the card 30j makes a sound and stops.

[0070] Here, for example, a pattern 71 indicating a motion command of a combination of "Fast" and right may be printed on one card 30. In this case, there is a card 30 in which the card 30b and the card 30d are integrated. When the moving body 20 reads the pattern 71 on the card 30, the parameters of the speed subgroup are updated to the second speed, and the driving parameters of the steering wheel group are updated to "right". Thereafter, the moving body 20 can move forward in a manner such as turning right at the second speed. In addition, there may be a card 30 printed with a pattern 71 indicating a motion command of another combination of speed and steering wheel state.

[0071] Figure 7 FIG. 2 is a diagram for explaining another example of controlling the moving body 20 based on the motion command card. Figure 7 In the example, the "Fast" card 30b and the "Brake" card 30g are configured as action command cards. Figure 7 In the example of , first, the moving body 20 reads the pattern 71 on the card 30b, updates the parameters of the speed subgroup to the second speed, and moves straight at the speed. Then, the moving body 20 reads the pattern 71 on the card 30g, updates the parameters of the brake subgroup to the brake state. Then, the moving body 20 continues to decelerate the speed of the moving body 20 according to the brake state parameters. Finally, the speed of the moving body 20 becomes 0 and stops.

[0072] The behavior processing unit 56 controls the moving body 20 based on the action command belonging to the behavior class so as to perform the action indicated by the action command. When the behavior processing unit 56 obtains an instruction to turn (reverse) in the direction specified by the card 30, in other words, when the behavior processing unit 56 obtains an instruction to set the moving body 20 to travel in the specified direction, it controls the travel device to turn the moving body 20 in the specified direction.

[0073] Figure 8 This is a diagram for explaining another example of the control of the moving body 20 based on the motion command card. Figure 8 In the example of , a "Fast" card 30b and a card 30h with an arrow indicating the direction of travel are configured as action instruction cards. Figure 8 In the example, first, the moving body 20 reads the pattern 71 on the card 30b, updates the parameters of the speed subgroup to the second speed, and moves straight at the speed. Then, the pattern 71 on the card 30g is read, and the moving body 20 performs a turn (direction change) in such a way that the direction indicated by the pattern 71 and the moving direction of the moving body 20 form a predetermined angle (actually the direction of the arrow). When the direction change is completed, the moving body 20 moves straight at the second speed in the moving direction.

[0074] In this way, the process is repeated: the moving body 20 changes the driving state such as driving parameters and travel direction according to the action instruction of the card 30, and then continues to perform the action corresponding to the action instruction until it reaches the next card 30, and the moving body 20 moves and changes the driving state according to the action instruction. As a result, the reading of the card 30 and the action based on the read content become interactive, and the user can experience more intuitive and easy programming. In addition, since there is no restriction on arranging the cards 30 without separation, the user can place the cards 30 at any position, and the freedom of movement of the moving body 20 in the programming experience becomes higher.

[0075] Next, the case of using the interrupt setting card and the interrupt execution card is described. Fig. 9 This is a diagram for explaining an example of setting an interrupt action. Fig. 9 In the example of , card 30h with an arrow indicating a direction change is configured as an action instruction card. In addition, card 30r is configured as an interrupt setting card. Fig. 9 In the example of FIG. 1 , the interruption execution condition is a 2-second time interval (every 2 seconds), and the interruption action corresponding to the interruption execution condition is recorded. More specifically, the moving body 20 reads the card 30r indicating the interruption setting and moves forward. Next, the moving body 20 reads the card 30h that changes its direction diagonally to the right, associates the action instruction and angle obtained from the card 30h with the interruption execution condition of the 2-second time interval, and stores them in the memory 22.

[0076] Fig.10 FIG. 2 is a diagram showing a modified example of an interrupt setting card. Fig.10 As shown in FIG. 1 , an opening having a size and shape corresponding to that of an action instruction card is provided on the card 30q serving as the interrupt setting card, and the action instruction card can be inserted into the opening. Fig.10 In the example of , a card 30k indicating an action instruction is embedded in the opening, and the action instruction is an action instruction indicating a rotating behavior. Fig.10 The interrupt execution condition corresponding to the interrupt setting card is to read the interrupt execution card.

[0077] When the movable body 20 reads the interrupt setting instruction from the interrupt setting card, it then obtains the action instruction from the action instruction card inserted in the opening, associates the action instruction with the interrupt execution condition of reading the interrupt execution card, and stores it in the memory 22 .

[0078] Fig.11 For based on Fig. 9 FIG. 1 is a diagram for explaining an example of the interrupt setting operation shown in FIG. Fig.11In the example, an action instruction indicating a direction change and information indicating an angle diagonally to the right indicating the direction of the change are stored in association with an interrupt execution condition at a 2-second interval. The action instruction is executed every 2 seconds, and the moving body 20 changes direction diagonally to the right. After the direction change, the moving body 20 starts moving forward again as before. Fig.11 The dotted line in represents the path along which the moving body 20 moves.

[0079] Fig.12 This figure illustrates an example of an action based on an interrupt execution card. Fig.12 In the example above, card 30p is configured as an interrupt execution card. Fig.10 The interrupt execution condition "read the interrupt execution card" is associated with the action instruction "rotate once". Fig.12 In the example of FIG. 1 , if the moving body 20 reads the pattern 71 on the interrupt execution card after moving straight, the moving body 20 will rotate. Then, the moving body 20 will move straight again after rotating. The interrupt execution card can be used to perform the same action as the rotating card 30k. In this way, the number of specific action instruction cards can be substantially increased.

[0080] Next, the processing for realizing the above-described operations will be described in more detail. Figures 13 to 15 It is a flowchart which shows an example of the process of the moving body 20. Figures 13 to 15 The card information acquisition unit 51, the card determination unit 53, the parameter update unit 54, the interrupt setting unit 57, and the interrupt control unit 58 are mainly shown. Figures 13 to 15 The processing shown in the figure can suppress repetition of processing during the execution of the action accompanying the interrupt setting instruction and the action corresponding to the interrupt execution condition.

[0081] First, the interrupt control unit 58 operates the moving body 20 based on whether each of a plurality of interrupt execution conditions is satisfied (S101). Strictly speaking, the plurality of interrupt execution conditions that are the subject of this process exclude the reading of the interrupt execution card. The details of this process will be described later.

[0082] Next, the card information acquisition unit 51 acquires the image read by the camera 24 of the mobile body 20 (S102). The card information acquisition unit 51 determines whether it can acquire instructions (action instructions, interrupt setting instructions, interrupt execution instructions) from the acquired image (S103). More specifically, when the card information acquisition unit 51 finds that there is a pattern 71 on the acquired image and the information decoded from the image represents certain instructions (for example, a value representing a range assigned to the instruction), it determines that the card information acquisition unit 51 can acquire the instruction. When the instruction cannot be acquired ("No (N)" in S103), Figures 13 to 15 If the command can be acquired (Yes (Y) in S103), the card information acquisition unit 51 acquires the command from the imaged card 30 and the angle A of the moving body 20 relative to the card 30 (S104). The processing using the angle A will be described later.

[0083] If the instruction of the card 30 is obtained, the card information acquisition unit 51 determines whether the instruction is obtained from the same card 30 as last time (S105). If the instruction is obtained from the same card 30 ("Yes" in S105), the process ends. Figures 13 to 15 Whether the instruction is obtained from the same card 30 can be determined by whether the same instruction is read. In other words, if the instruction was not read last time, it can be determined that the instruction was not read from the same card 30 as last time. This process can prevent problems caused by repeated execution of the same process and waste of processing resources.

[0084] When a command is not read from the same card 30 as last time (No in S105), the card determination unit 53 determines whether the acquired command is an operation command (S106). The processing when the acquired command is not an operation command will be described later.

[0085] When the acquired instruction is an action instruction ("Yes" in S106), the card determination unit 53 determines whether the acquired action instruction belongs to the state change group (S111). When the acquired action instruction belongs to the state change group ("Yes" in S111), the parameter updating unit 54 updates the driving parameter according to the action instruction (S112).

[0086] More specifically, the parameter updating unit 54 updates the driving parameters of the subgroup into which the action command is classified to the value indicated by the action command. When the action command belongs to the speed subgroup, the parameter updating unit 54 sets the speed parameter to a value corresponding to the action command. When the action command belongs to the steering wheel group, the parameter updating unit 54 updates the steering wheel state parameter to the value indicated by the action command (e.g., any one of right, left, and straight). When the action command belongs to the braking subgroup, the parameter updating unit 54 updates the braking parameter to the braking state (or no braking state).

[0087] In the case where the action instruction belongs to a plurality of subgroups, the parameter updating unit 54 updates the driving parameters of each of the plurality of subgroups to the value indicated by the action instruction. For example, in the case where the action instruction belongs to the speed subgroup and the steering wheel subgroup, the parameter updating unit 54 sets the speed parameter to the value corresponding to the action instruction and updates the steering wheel state parameter to the value indicated by the action instruction. In this case, there may be a plurality of action instructions corresponding one-to-one to each of the combinations of candidate values ​​of the speed parameter (e.g., slow, fast, very fast) and candidate values ​​of the steering wheel state parameter (e.g., right, left, straight). There may be a card 30 corresponding one-to-one to each of the plurality of action instructions.

[0088] In addition, when the acquired action instruction does not belong to the state change category, the card determination unit 53 determines whether the acquired action instruction is an instruction indicating that the moving body 20 stops (S113). When the action instruction indicates an instruction to stop the moving body 20 ("Yes" in S113), the driving processing unit 55 ends the driving processing, thereby stopping the moving body 20 (S114).

[0089] In addition, when the motion instruction does not indicate an instruction to stop the moving body 20 ("No" in S113), the card determination unit 53 determines whether the acquired motion instruction belongs to a group of behavior classes (S115). If the motion instruction does not belong to a group of behavior classes ("No" in S115), the card determination unit 53 ends. Figures 13 to 15 Processing. When the action instruction belongs to a group of behavior classes ("Yes" in S115), the card determination unit 53 determines whether the travel processing of the travel processing unit 55 or the behavior processing of the behavior processing unit 56 is currently being executed (S116). When the travel processing or the behavior processing is being executed ("Yes" in S116), the travel processing or the behavior processing being executed is stopped (S117). When the travel processing and the behavior processing are not being executed ("No" in S116), the processing of S117 is skipped. Then, the behavior processing unit 56 starts the behavior processing according to the action instruction (S118). An example of behavior processing will be described later.

[0090] In S106, when the instruction acquired by the card information acquisition unit 51 is not an action instruction ("No" in S106), the card determination unit 53 determines whether the acquired instruction is an interruption setting instruction (S121). When the acquired instruction is an interruption setting instruction ("Yes" in S121), the interruption setting unit 57 controls the driving device so that the moving body 20 turns in the direction of the next card 30, then moves forward, and waits until the card information acquisition unit 51 reads the action instruction (and angle) from the next card 30 (S122). The next card 30 is configured by the user in a predetermined direction relative to the interruption setting card (for example, Fig. 9 , 10The interruption setting unit 57 controls the travel device to rotate the moving body 20 in a predetermined direction and advance in the direction based on the angle A acquired by the card information acquisition unit 51 according to the inclination of the captured pattern 71 of the interruption setting card. By rotating the direction, the action instruction card can be read even if the direction in which the moving body 20 is placed deviates.

[0091] If the action command is read, the interruption setting unit 57 associates the action command and the angle with the interruption execution condition corresponding to the interruption setting command and stores them in the memory 22 (S123). The interruption setting unit 57 stops the motor 25 (S124) and ends the operation. Figures 13 to 15 processing.

[0092] When the acquired instruction is not an interrupt setting instruction (No in S121), the card determination unit 53 determines whether the acquired instruction is an execution instruction for a predetermined interrupt execution condition (S125). When the acquired instruction is the execution instruction (Yes in S125), the interrupt control unit 58 acquires the action instruction and angle stored in association with the interrupt execution condition from the storage 22, and controls at least a part of the travel device and the speaker 26 so as to execute an action corresponding to the action instruction (S127).

[0093] According to the processing described so far, the movable body 20 can be set to operate not only according to the instruction of the card 30, but also according to various interrupt execution conditions. This can increase the degree of freedom of the program, making the programming experience based on the arrangement card 30 more diverse and advanced.

[0094] Next, the travel processing by the travel processing unit 55 will be described in detail. Fig.16 It is a flowchart showing an example of the travel processing by the travel processing unit 55. Fig.16 The processing shown is executed periodically except when a stop state, an action accompanying a behavior process, an action accompanying an interrupt setting instruction, or an action corresponding to an interrupt execution condition is executed.

[0095] First, the driving processing unit 55 determines whether the braking state among the driving parameters is set (S201). If the braking state is set ("Yes" in S201), a predetermined value is subtracted from the value of the speed stored as the driving parameter (S202). If the braking state is not set ("No" in S201), S202 is skipped.

[0096] Here, when the speed value is 0 ("Yes" in S203), the travel processing unit 55 stops the travel of the moving body 20 and changes the state of the moving body 20 to the stopped state (S204). In addition, when the recording mode is turned on (ON), the same processing as the case where the recording end instruction has been obtained can be performed (refer to S125).

[0097] If the speed value is not 0 (No in S203), the driving processing unit 55 determines the rotation speed of the left and right wheels 254 based on the current speed value and the parameters of the steering wheel state (S205). The driving processing unit 55 controls the rotation of the left and right motors 25 based on the determined rotation speed (S206).

[0098] Since the two wheels 254 in this embodiment are driven by different motors 25, the moving body 20 can be made to go straight, turn right or turn left by controlling the rotation speed of the wheels 254 (motor 25). In the case of going straight, the difference in the rotation speeds of the left and right is almost 0. In the case where the moving body 20 includes a steering mechanism, the travel processing unit 55 can also control the moving body 20 to go straight, turn right or turn left by setting the direction of one wheel 254.

[0099] In this way, by driving according to the driving parameters set by the card 30, even if the vehicle leaves the card 30, until the moving body 20 drives on the new card 30 and reads a new pattern 71, the driving device can be controlled to continue to perform the action corresponding to the action instruction represented by the previously read pattern 71.

[0100] Fig.17 It is a flowchart which shows an example of the behavior processing by the behavior processing part 56. Fig.17 This shows processing to be executed in response to an action instruction to change the direction of travel to a designated direction, such as the card 30h, among a plurality of action-type action instructions. Fig.17 The processing shown is done by Fig.14 Start with S118.

[0101] First, the behavior processing unit 56 reduces the rotation speed of the two motors 25 and temporarily stops the rotation of the wheels 254 (S301). Next, based on the angle read from the card 30 (or obtained from the storage 22), the direction and amount of rotation of the left and right motors 25 are determined (S302). The direction and amount of rotation are determined so that the direction of the rotating moving body 20 becomes a predetermined direction (for example, the direction of the arrow on the card 30h) relative to the card 30 whose angle is read. In addition, the behavior processing unit 56 determines the direction and amount of rotation so that the rotation directions of the left and right wheels 254 are opposite and the moving body 20 is oriented in the predetermined direction with the minimum rotation.

[0102] Here, when the value of the speed of the driving parameter is 0 ("Yes" in S304), the behavior processing unit 56 stops the moving body 20 and changes the state of the moving body 20 to the stopped state (S305). When the value of the speed of the driving parameter is not 0 ("No" in S304), the behavior processing unit 56 restarts the driving processing of the driving processing unit 55 (S306), and ends the driving process. Fig.17 processing.

[0103] In this process, the traveling direction is physically changed by the behavior set by the card 30. And after the behavior, by restarting the driving process, the moving body 20 drives according to the driving parameters set previously. Thus, until the moving body 20 drives on the new card 30 and reads the new pattern 71, the driving device can be controlled so as to continue the operation corresponding to the previous operation instruction.

[0104] The processing performed by the behavior processing unit 56 is not limited to the above. For example, in other action instructions belonging to the subgroup of the behavior class, by reproducing the time-series motor control information stored in the memory 22 instead of the processing shown in S301 to S303, a fixed action such as rotation (spin) and zigzag driving can be performed. In other action instructions, instead of the processing shown in S301 to S303, a processing in which the speaker 26 reproduces the sound stored in the memory 22 in advance can also be performed.

[0105] Fig.18 This is a flowchart showing an example of a process for operating the moving body 20 according to the interrupt execution condition.

[0106] First, the interrupt control unit 58 determines whether the acceleration sensor can detect the impact on the moving body 20 (S401). The detection of the impact is one of the multiple interrupt execution conditions. When the impact is detected ("Yes" in S401), the interrupt control unit 58 executes an action corresponding to the action instruction (and angle), and the action instruction is associated with the interrupt execution condition of the detection of the impact (S402). More specifically, the interrupt control unit 58 obtains the action instruction and angle stored in association with the interrupt execution condition from the storage 22, and controls at least a part of the driving device and the speaker 26 so that the action corresponding to the action instruction is executed.

[0107] When no impact is detected ("No" in S401), the interrupt control unit 58 determines whether the magnetic sensor can detect a magnetic force with an intensity exceeding the threshold value (S403). The detection of the magnetic force is one of the multiple interrupt execution conditions. When a magnetic force with an intensity exceeding the threshold value is detected ("Yes" in S403), the interrupt control unit 58 executes an action corresponding to an action instruction (and an angle) associated with the interrupt execution condition of the detection of the magnetic force (S404).

[0108] In the case where the magnetic force exceeding the threshold value is not detected ("No" in S403), in S405, the interrupt control unit 58 determines whether the interrupt execution condition of the 3-second interval is satisfied. In fact, the interrupt control unit 58 determines whether 3 seconds have passed since the start of the action or since the last execution time T3. For example, the start of the action can be the time point when the moving body 20 is placed on the table. The execution time T3 is the moment when the interrupt execution condition was last satisfied. The interrupt control unit 58 can determine whether the interrupt execution condition of the 3-second interval is satisfied only based on whether the elapsed time from the start of the action is divisible by 3 seconds (cut). In the case where 3 seconds have passed since the start of driving or the last execution time T3 ("Yes" in S405), the interrupt control unit 58 executes an action corresponding to the action instruction (and angle), and the action instruction is associated with the interrupt execution condition of the 3-second interval (S406).

[0109] When 3 seconds have not passed since the start of travel or the last execution time T3 ("No" in S405), in S407, the interruption control unit 58 determines whether the interruption execution condition of the 2-second interval is satisfied. In fact, the interruption control unit 58 determines whether 2 seconds have passed since the start of the action or the last execution time T2. The execution time T2 is the time when the interruption execution condition was last satisfied. The interruption control unit 58 can determine whether the interruption execution condition of the 2-second interval is satisfied only based on whether the elapsed time from the start of the action is divisible by 2 seconds. When 2 seconds have passed since the start of travel or the last execution time T2 ("Yes" in S407), the interruption control unit 58 executes an action corresponding to the action instruction (and angle), and the action instruction is associated with the interruption execution condition of the 2-second interval (S408).

[0110] When 2 seconds have not passed since the start of driving or the last execution time T2 ("No" in S407), in S409, the interrupt control unit 58 determines whether the interrupt execution condition of 1 second interval is satisfied. In fact, the interrupt control unit 58 determines whether 1 second has passed since the start of the action or the last execution time T1. Execution time T1 is the time when the interrupt execution condition was last satisfied. The interrupt control unit 58 can determine whether the interrupt execution condition of 1 second interval is satisfied only based on whether the elapsed time from the start of the action is divisible by 1 second. When 1 second has passed since the start of driving or the last execution time T1 ("Yes" in S409), the interrupt control unit 58 executes an action corresponding to the action instruction (and angle), and the action instruction is associated with the interrupt execution condition of 1 second interval (S409).

[0111] The order of the processing from S401 to S402, S403 to S404, and S405 to S410 may also be the same as Fig.18 The order shown is different. However, it is preferred that the processing from S405 to S410 is in the order in which the longer the time interval is, the more priority is given to execution. For example, when 2 seconds have passed since the start of the action, not only the 2-second interval but also the 1-second interval interrupt execution condition is satisfied. However, if the action corresponding to the 1-second interval interrupt execution condition is given priority, the 2-second interval action will not be executed, thereby lacking diversity. Moreover, by combining actions of multiple time intervals, complex actions of the least common multiple cycle can be realized, thereby enabling more diverse programming.

[0112] As can be seen from the contents described so far, the mobile body 20 can be operated not only according to the instructions of the card 30, but also according to interrupt execution conditions such as a specific card, time interval, collision detection, and period detection. It is also possible to introduce changes in the action using the time interval, for example, using collision detection and time detection to program actions for dealing with obstacles, etc., which creates room for various methods. In this way, the degree of freedom of programming can be increased, so that the programming experience based on the arrangement card 30 can be made more diverse and advanced.

[0113] Description of Reference Numerals

[0114] 20 Mobile

[0115] 21 processors

[0116] 22 Storage

[0117] 23 Ministry of Communications

[0118] 24 cameras

[0119] 25 Motor

[0120] 26 speakers

[0121] 27 Sensors

[0122] 222 switch

[0123] 223 Power switch

[0124] 254 wheels

[0125] 30, 30a, 30b, 30d, 30g, 30h, 30k, 30j, 30p, 30q, 30r cards

[0126] 51 Card Information Acquisition Department

[0127] 52 Motion Control Unit

[0128] 53 Card Judgment Department

[0129] 54 parameter update unit

[0130] 55 Driving Processing Unit

[0131] 56 Behavior Processing Department

[0132] 57 Interrupt setting unit

[0133] 58 Interrupt Control Unit

[0134] 71 patterns.

Claims

1. A toy system comprising: A plurality of action instruction cards, each of which is printed with an encoded image representing any one of the plurality of action instructions; An interrupt setting card having printed thereon a coded image representing an interrupt recording instruction associated with an execution condition; as well as Mobile body, The mobile body comprises: A travel unit that enables the mobile body to travel; a reading unit configured to read the image when the moving body travels on any one of the interruption setting card and the plurality of action instruction cards; as well as an action control unit configured to control the travel unit according to an action instruction represented by an image read from any one of the plurality of action instruction cards, When the mobile body travels on any one of the plurality of motion instruction cards and reads the encoded image, the motion control unit controls the travel unit according to the motion instruction indicated by the image. When the image indicating the interrupt recording instruction is read, the action control unit stores the action instruction indicated by the image read from the action instruction card on which the moving body will next travel in association with the execution condition, When the execution condition is satisfied, the action control unit executes an action corresponding to an action instruction, the action instruction being associated with the execution condition and stored, and after executing the action, restarts the action before the execution condition is satisfied.

2. The toy system of claim 1, wherein: The execution condition is a prescribed time elapsed from a start time or from a time when the execution condition was previously satisfied.

3. The toy system of claim 2, wherein: The execution condition includes a first condition and a second condition. The first condition is that a first period has passed since the start time or since the last execution based on the first condition, The second condition is that a second period longer than the first period has passed since the start time or since the last execution based on the second condition. When the second condition is satisfied, regardless of whether the first condition is satisfied, the action control unit executes an action corresponding only to an action instruction associated with the second condition, and after executing the action, starts the action before the execution condition is satisfied again.

4. The toy system of claim 1, wherein: The execution condition is that the acceleration sensor detects an impact on the moving object.

5. The toy system of claim 1, wherein: The execution condition is that the magnetic sensor detects a magnetic force that satisfies a detection condition.

6. The toy system of claim 1, wherein: The execution condition is an image in which information corresponding to the execution condition is encoded by reading the image through the reading unit.

7. A toy system according to any one of claims 1 to 6, wherein: When an image representing the interrupt recording instruction is read, the action control unit causes the moving body to move in a specified direction based on the direction of the moving body obtained from the image, and stores the action instruction represented by the image read from the action instruction card configured in the specified direction in association with the execution condition, and the action instruction card is the action instruction card on which the moving body will move next.

8. A mobile object, comprising: A travel unit, which enables the moving body to travel; a reading unit for reading an image when the moving body is traveling on any one of a plurality of action instruction cards, the plurality of action instruction cards having the coded image representing any one of a plurality of action instructions printed thereon, and an interruption setting card having the coded image representing an interruption record instruction associated with an execution condition printed thereon; as well as an action control unit for controlling the travel unit according to an action instruction represented by an image read from any one of the plurality of action instruction cards, When the coded image is read by traveling on any one of the plurality of motion instruction cards, the motion control unit controls the traveling unit according to the motion instruction indicated by the image. When the image indicating the interrupt recording instruction is read, the action control unit stores the action instruction indicated by the image read from the action instruction card on which the moving body will next travel in association with the execution condition, When the execution condition is met, the action control unit executes an action corresponding to an action instruction associated with the execution condition, and after executing the action, starts the action before the execution condition is met again.

9. A card set, comprising: a plurality of motion instruction cards, each configured by a user and each printed with a coded image representing any one of a plurality of motion instructions, the image being an image read when a moving body having a travel unit that enables the moving body to travel travels; and an interruption setting card on which a coded image representing an interruption recording instruction associated with an execution condition is printed, When an image representing any one of the plurality of motion instructions is read, the travel unit is controlled according to the motion instruction represented by the image. When the image indicating the interrupt recording instruction is read, the action instruction indicated by the image read from the action instruction card on which the moving body will next travel is associated with the execution condition and stored. When the execution condition is satisfied, an action corresponding to the action instruction stored in association with the execution condition is executed, and after the action is executed, the action before the execution condition is satisfied is restarted.

10. A control method for controlling the travel of a mobile body having a reading unit and a travel unit, the control method comprising: The reading unit reads the image when the moving body is traveling on any one of a plurality of action instruction cards and an interruption setting card, wherein the plurality of action instruction cards are respectively configured by a user and are respectively printed with the coded image representing any one of a plurality of action instructions, and the interruption setting card is printed with the coded image representing the interruption record instruction associated with the execution condition; and The step of controlling the travel unit according to the action instruction represented by the read image, In the step of controlling the travel unit, when the coded image is read by the mobile body traveling on any one of the plurality of action instruction cards, the travel unit is controlled according to the action instruction represented by the image, The control method further comprises the steps of: when an image representing the interrupt recording instruction is read, storing the action instruction represented by the image read from the action instruction card on which the moving body will next travel in association with the execution condition; In the step of controlling the travel unit, when the execution condition is satisfied, an action corresponding to an action instruction is executed, the action instruction is associated with the execution condition, and after the action is executed, the action before the execution condition is satisfied is started again.

11. A program for causing a computer including a travel unit to function as the following unit: a reading unit that reads the image while traveling on any one of a plurality of action instruction cards, each of which is printed with an image encoded to represent any one of a plurality of action instructions, and an interruption setting card, each of which is printed with an image encoded to represent an interruption record instruction associated with an execution condition; and an action control unit for controlling the travel unit according to the action instructions represented by the images read from the plurality of action instruction cards, When the coded image is read by traveling on any one of the plurality of motion instruction cards, the motion control unit controls the traveling unit according to the motion instruction indicated by the image. When the image indicating the interrupt recording instruction is read, the action control unit stores the action instruction indicated by the image read from the action instruction card on which the moving body will next travel in association with the execution condition, When the execution condition is met, the action control unit executes an action corresponding to an action instruction associated with the execution condition, and after executing the action, starts the action before the execution condition is met again.

Images