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

Abstract

The invention provides a toy system, a moving body, a card set, a control method, and a program which enable a user to experience programming more intuitively. The toy system includes: a traveling unit capable of traveling; a reading unit that reads an image while traveling on any one of a plurality of cards on which an encoded image indicating any one of a plurality of operation instructions is printed, the plurality of cards being respectively configured by a user; and a motion control means for controlling the traveling means in accordance with a motion instruction indicated by the read image, the motion control means controlling the traveling means in accordance with the motion instruction indicated by the image when the encoded image is read by the moving body moving upward on the motion instruction card. After an image indicating a steering wheel instruction that continuously changes the direction of travel to the right or to the left is read, the motion control unit controls the travel unit so that the direction of travel is changed to the right or to the left at a rotation radius corresponding to the current speed of the moving body.

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] For learning (training) of programming, teaching materials are sold in which physical cards with instructions recorded thereon are arranged and programmed. The self-propelled device reads the instructions on the arranged cards, and then the self-propelled device performs an action corresponding to the read instructions.

[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 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] In the method of pre-reading a program, reading the program and executing the program are performed separately. Therefore, it is difficult for people to intuitively grasp the relationship between the program and the action, which becomes an obstacle to learning programming.

[0008] 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.

[0009] In order to solve the above-mentioned problems, the toy system involved in the present invention includes: a plurality of action instruction cards, each of which is printed with an encoded image representing any one of a plurality of action instructions, and the plurality of action instruction cards are respectively configured by a user; and a moving body, the moving body including: a moving unit capable of moving; a reading unit, which reads the image when the moving body moves on any one of the plurality of action instruction cards; and an action control unit, which controls the moving unit according to the action instruction represented by the read image, and when the encoded image is read by the moving body moving on any one of the plurality of action instruction cards, the action control unit controls the moving unit according to the action instruction represented by the image, the plurality of action instructions including: a steering wheel instruction for continuously changing the moving direction to the right or left, and after the image representing the steering wheel instruction is read, the action control unit controls the moving unit to change the moving direction to the right or left by a rotation radius corresponding to the current speed of the moving body.

[0010] In order to solve the above-mentioned problems, the mobile body involved in the present invention includes: a traveling unit capable of traveling; a reading unit, which reads an image when traveling on any one of a plurality of action instruction cards, each of which is printed with an encoded image representing any one of a plurality of action instructions, and a plurality of action instruction cards are respectively configured by a user; and an action control unit, which controls the traveling unit according to the action instruction represented by the read image, and 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 represented by the image, and the plurality of action instructions include: a steering wheel indication for continuously changing the traveling direction to the right or left, and after the image representing the steering wheel indication is read, the action control unit controls the traveling unit to change the traveling direction to the right or left with a rotation radius corresponding to the current speed.

[0011] Moreover, the control method involved in the present invention is to control the travel of a mobile body having a reading unit and a traveling unit, and the control method includes: a reading step, in which the reading unit reads an image when the mobile body travels on any one of a plurality of action instruction cards, each of which is printed with the encoded image representing any one of a plurality of action instructions, and the plurality of action instruction cards are respectively configured by a user; and a control step, in which the traveling unit is controlled according to the action instruction represented by the read image, in which, when the encoded image is read by the mobile body traveling on any one of the plurality of action instruction cards, the traveling unit is controlled according to the action instruction represented by the image, the plurality of action instructions including: a steering wheel instruction for continuously changing the travel direction to the right or to the left, and in which, after the image representing the steering wheel instruction is read, the traveling unit is controlled so as to change the travel direction to the right or to the left with a rotation radius corresponding to the current speed.

[0012] Moreover, the program involved in the present invention enables a computer including a traveling unit to function as a reading unit and an action control unit. When traveling on any one of a plurality of action instruction cards, the reading unit reads an image. On each of the action instruction cards, an encoded image representing any one of a plurality of action instructions is printed. The plurality of action instruction cards are respectively configured by users. The action control unit controls the traveling unit according to the action instruction represented by the read image. 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 represented by the image. The plurality of action instructions include: a steering wheel indication for continuously changing the traveling direction to the right or left. After the image representing the steering wheel indication is read, the action control unit controls the traveling unit to change the traveling direction to the right or left with a rotation radius corresponding to the current speed.

[0013] Moreover, the card set involved in the present invention includes a plurality of action instruction cards, each of which is printed with an image that is read when a mobile body equipped with a traveling unit capable of traveling is traveling, that is, an encoded image representing any one of a plurality of action instructions, and the plurality of action instruction cards are respectively configured by users, and the plurality of action instructions include: a steering wheel indication for continuously changing the traveling direction to the right or to the left, and when an image representing any one of the plurality of action instructions is read, the traveling unit is controlled according to the action indication represented by the image, and after the image representing the steering wheel indication is read, the traveling unit is controlled to change the traveling direction to the right or to the left with a rotation radius corresponding to the current speed of the mobile body.

[0014] According to the present invention, the user can experience programming more intuitively.

[0015] In one aspect of the present invention, the plurality of action instructions may further include a speed of the moving body, and after an image indicating the speed is read, the action control unit controls the moving unit to make the moving body move according to the speed.

[0016] In one embodiment of the present invention, the plurality of action instructions may also include a braking instruction for continuously reducing the speed of the moving body, and after the image representing the braking instruction is read, the action control unit continuously reduces the speed of the moving body so that the moving body stops at a braking distance corresponding to the speed.

[0017] In one aspect of the present invention, after the image indicating the brake instruction and the image indicating the steering wheel instruction are read, the motion control unit may control the travel unit so that the rotation radius decreases monotonically and the direction changes to the right or left. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a diagram showing an example of a toy system according to an embodiment of the present invention.

[0019] Figure 2 This is a diagram showing an example of the hardware configuration of a toy system.

[0020] Figure 3 This is a diagram showing an example of a moving object as viewed from below.

[0021] Figure 4 This is a diagram showing an example of the relationship between information printed on a card and a movable body.

[0022] Figure 5 It is a block diagram showing the functions implemented by the toy system.

[0023] Figure 6 This is a diagram for explaining an example of control of a moving object using a card.

[0024] Figure 7 This is a flowchart showing an example of the processing of the moving object.

[0025] Figure 8 This is a flowchart showing an example of the processing of the moving object.

[0026] Fig. 9 This is a flowchart showing an example of the progress processing by the progress processing unit.

[0027] Fig.10 This is a diagram for explaining an example of the difference in the behavior of a moving object based on speed.

[0028] Fig.11 This is a diagram for explaining another example of the difference in the behavior of a moving object based on speed.

[0029] Fig.12 This is a diagram for explaining another example of the difference in the behavior of a moving object based on speed.

[0030] Fig.13 This is a diagram for explaining another example of the behavior of a moving object based on the difference in speed. DETAILED DESCRIPTION

[0031] Hereinafter, embodiments of the present invention will be described based on the drawings. Among the components that appear, components having the same functions are denoted by the same reference numerals, and their descriptions are omitted.

[0032] Figure 11 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 for mounting other toys are provided on the upper surface.

[0033] An instruction of the movement of the mobile body 20 is printed on each of the plurality of cards 30. A coded image indicating any one of the plurality of movement instructions of the mobile body 20 is printed on at least a portion of the plurality of cards 30. At least a portion of the plurality of cards 30 is placed at an arbitrary position on a plane (e.g., a table or floor) by a user. The mobile body 20 reads the image when traveling on any of the cards 30, and performs the movement corresponding to the instruction indicated by the image.

[0034] Instructions for actions based on multiple cards 30 are classified into multiple categories (groups). The multiple categories include a state change category, a behavior (action) category, and a forced category. The state change category is a group consisting of instructions that change the action of the mobile body 20 (for example, the state of travel). The behavior category is mainly a group consisting of instructions that cause the mobile body 20 to perform a predetermined action. In the instructions of the action category, the previous action can also be started after the action is performed. In addition, even for the instructions of the action category, there are cases where the result of the action or the state of travel changes. The forced category is a group consisting of instructions that cause the mobile body 20 to stop immediately.

[0035] Figure 2 2 is a diagram showing an example of a hardware configuration of a toy system. A moving body 20 includes a processor 21 , a storage 22 , a communication unit 23 , a camera 24 , two motors 25 , and a speaker 26 .

[0036] The processor 21 operates according to the program stored in the memory 22, and controls 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 stored in a computer-readable storage medium such as a flash memory or an optical disk for other computers.

[0037] The memory 22 is composed of a DRAM (Dynamic Random Access Memory) 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.

[0038] The communication unit 23 is composed of an integrated circuit, an antenna, etc. for communicating with other devices. The communication unit 23 has a function of communicating with other devices (such as computers) according to the Bluetooth (registered trademark) protocol or the wireless LAN (local area network) protocol. Based on the control of the processor 21, the communication unit 23 inputs information received from other devices to 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.

[0039] The camera 24 is configured to capture images of the bottom of the moving body 20 and to capture images of a pattern 71 (see FIG. 1 ) printed on the card 30 placed on the moving body 20. Figure 4 In the present embodiment, a pattern 71 that is recognized by the frequency domain of infrared rays is printed on the card 30, and the camera 24 captures the infrared image.

[0040] The motor 25 is a so-called servo motor whose rotation direction, rotation amount, and rotation speed are controlled by the processor 21 .

[0041] The speaker 26 outputs sound based on the control of the processor 21 and the like.

[0042] 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. One motor 25 is assigned to each of the two wheels 254, and the motor 25 drives the assigned wheel 254. The driving mechanism including the motor 25 and the wheel 254 constitutes a traveling device that causes the moving body 20 to travel.

[0043] Figure 4 2 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, there are printed images that can be visually confirmed by the user and multiple patterns 71 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. The information printed on multiple patterns 71 on a certain card 30 can also 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 can usually be read over time.

[0044] In the toy system according to the present embodiment, the camera 24 of the mobile body 20 captures the pattern 71 printed on the card 30, and the mobile body 20 decodes the pattern 71 and obtains information. This information is also described as an action instruction below. Thus, the mobile body 20 identifies the type of the card 30. Furthermore, the mobile body 20 detects the direction of the mobile body 20 (for example, the angle A deviating from the reference direction) by detecting the inclination of the pattern 71 in the image captured by the camera 24.

[0045] Figure 5 : is a block diagram showing the functions realized by the toy system. Functionally, the toy system has a card information acquisition unit 51 and an action control unit 52. Functionally, the action control unit 52 includes a card judgment unit 53, a parameter update unit 54, a travel processing unit 55, and a behavior processing unit 56. These functions are mainly realized 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, and the speaker 26. In addition, some of these functions can also be realized 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.

[0046] The card information acquisition unit 51 acquires the action instruction of the mobile body 20 based on the pattern 71 printed on the card 30. More specifically, when the mobile body 20 travels 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 information (action instruction) from the pattern 71. Furthermore, the card information acquisition unit 51 acquires the direction of the mobile body 20 relative to the card 30 based on the inclination of the pattern 71 captured by the camera 24.

[0047] The motion control unit 52 controls the travel device, the speaker 26, etc. according to the acquired motion instruction. In the case where the motion instruction is information indicating a change in the state of travel, after the acquired pattern 71 is acquired, the motion control unit 52 controls the travel device (motor 25) according to the information. Moreover, in the case where the encoded pattern 71 is not read, the motion control unit 52 controls the travel device to continue the action corresponding to the motion instruction indicated by the previously read 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. In the case where the new encoded pattern 71 is read, the motion control unit 52 controls the travel device according to the new motion instruction indicated by the new pattern 71.

[0048] The card determination unit 53 determines the group to which the action instruction of the card 30 acquired by the processing of the card information acquisition unit 51 belongs. Then, when the action instruction belongs to the state change class, the card determination unit 53 executes the processing of the parameter update unit 54. On the other hand, when the action instruction belongs to the behavior class, the behavior processing unit 56 executes the processing.

[0049] The parameter updating unit 54 updates the travel parameters based on the action instructions belonging to the state change class. Here, the action instructions belonging to the state change class are further classified into multiple subgroups. The multiple 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 forward. Setting the state of the steering wheel to the right or left means continuously changing the traveling direction of the mobile body 20 to the right or left. The speed subgroup includes an instruction to set the speed to a specified value. The specified value may also be any one of a plurality of predetermined candidate values ​​(e.g., slow, fast, and super fast), and the plurality of instructions included in the speed subgroup may also represent mutually different candidate values. 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, the plurality of action instructions belonging to the state change class may also be classified (labeled) into one or more subgroups. For example, a certain action instruction may also be labeled as both the speed subgroup and the handle subgroup.

[0050] The parameter updating unit 54 updates the travel parameters of the subgroups into which the action instructions represented by the read pattern 71 are classified, among the plurality of subgroups, to the information (e.g., value) represented by the action instructions. By setting the travel parameters for each subgroup and controlling the travel according to the plurality of travel parameters, the movement of the moving body 20 can be more diverse. In the case where the action instructions represented by the read pattern 71 are classified into a plurality of subgroups of the state change type, the parameter updating unit 54 may also update each of the travel parameters of the plurality of subgroups to which the action instructions belong to the information of the travel parameters of each subgroup corresponding to the action instructions.

[0051] 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 for each of the plurality of subgroups. The travel processing unit 55 causes the moving body 20 to travel 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 so as to stop at a braking distance corresponding to the speed at the time of setting. The travel processing unit 55 controls the travel device so that the moving body 20 travels according to the travel parameters. The travel processing unit 55 continuously changes the travel direction of the moving body 20 to the right or left, or causes the moving body 20 to move forward, according to the travel parameters of the steering wheel state. After the image of the steering wheel instruction indicating the change of the travel direction to the right or left is read, the travel processing unit 55 controls the travel device so as to change the travel direction to the right or left at a rotation radius corresponding to the current speed of the moving body 20. More specifically, when the travel parameters of the steering wheel assembly are instructed to set the state of the steering wheel to the right or left, the travel processing unit 55 controls the travel device to change the travel direction to the right or left by a rotation radius corresponding to the current speed of the moving body 20 .

[0052] 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 figure explains an example of controlling the moving body 20 based on the card 30. Figure 6 In the example of , a slow card 30a, a fast card 30b, a right card 30d, and a goal card 30j are configured. 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 as the first speed, and moves forward at this speed. Next, 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 forward at this speed. Next, the moving body 20 reads the pattern 71 on the card 30d, and updates the parameters of the direction plate group to "right", maintains the speed and moves forward while turning right. Then, if the moving body 20 reaches the card 30j, the moving body 20 that reads the pattern 71 on the card 30j makes a sound and stops.

[0053] Here, for example, a pattern 71 indicating a combination of "Fast" and rightward may be printed on one card 30. In this case, there is a card 30 in which card 30b and 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 travel parameters of the steering wheel group are updated to "right". Then, the moving body 20 can also travel by turning right at the second speed. There may also be a card 30 printed with a pattern 71 indicating a combination of other speeds and steering wheel states. The action based on the card 30g indicating the braking instruction will be described later.

[0054] The behavior processing unit 56 controls the moving body 20 to perform the action indicated by the action instruction based on the action instruction belonging to the behavior class. When an instruction to turn in the direction specified by the card 30 (for example, the direction of the arrow recorded on the card 30) is obtained, the behavior processing unit 56 controls the travel device to turn the moving body 20 in the specified direction.

[0055] In this way, the following is repeated: according to the action instruction of the card 30, for example, the state of travel such as changing the travel parameters is changed, and then the action corresponding to the action instruction is continued until the moving body 20 moves to the next card 30, and the state of travel is changed according to the action instruction. As a result, the reading of the card 30 and the action based on it become interactive, and the user can experience more intuitive and easy programming. In addition, by virtually reproducing real-world actions such as steering wheels and brakes, the toy system can also cultivate more advanced thinking while attracting the user's interest.

[0056] In the examples described so far, there is no restriction on arranging the cards 30 continuously. In this case, the user can place the card 30 at any position, and the degree of freedom of the movement of the moving body 20 in the programming experience becomes higher, allowing the user to have an advanced experience. However, the arrangement method of the cards 30 involved in the present embodiment may also be limited. For example, a sheet having a plurality of recesses may be used, and the card 30 may be embedded in any one of the plurality of recesses. Alternatively, the cards 30 may be arranged in a manner that the edges constituting the outer periphery of the card 30 are in contact or adjacent. In the case of arranging the cards 30 continuously, a card 30 that does not change the movement of the moving body 20 may be included among the plurality of cards 30, and is arranged between the cards 30 indicating the action instructions.

[0057] Next, the processing for realizing the operation of the moving body 20 according to the present embodiment will be described in more detail. Figure 7 , Figure 8 This is a flowchart showing an example of the processing of the moving object 20 . Figure 7 , Figure 8The processing of the card information acquisition unit 51, the card determination unit 53, and the parameter update unit 54 is mainly shown. Figure 7 , Figure 8 The processing shown in is repeatedly executed periodically (for example, every 0.1 seconds).

[0058] First, the card information acquisition unit 51 acquires the image read by the camera 24 of the mobile body 20 (S101). The card information acquisition unit 51 determines whether an action instruction can be acquired from the acquired image (S102). More specifically, the card information acquisition unit 51 determines whether there is a pattern 71 on the acquired image. If the action instruction cannot be acquired (No in S102), Fig. 9 , 10 When the operation instruction can be obtained (Yes in S102), the card information acquisition unit 51 obtains the operation instruction of the card 30 and the angle A of the moving body 20 relative to the card 30 from the image (S103). The processing using the angle A will be described later.

[0059] If the action instruction of the card 30 is obtained, the card information acquisition unit 51 determines whether the action instruction is obtained from the same card 30 as last time (S104). If the instruction is obtained from the same card 30 (Yes in S104), the process ends. Figure 7 , Figure 8 It is also possible to determine whether the instruction is taken from the same card 30 by whether the same instruction was read in the last reading. Here, if no information was read in the last reading, or the read information does not show any instruction and an action instruction is read this time, it is determined that no instruction is read from the same card 30 as last time. Through this processing, the occurrence of problems caused by repeated identical processing and the waste of processing resources are prevented.

[0060] When the acquired action instruction is different from the action instruction acquired last time (No in S104), the card determination unit 53 determines whether the acquired action instruction belongs to the group of the state change class (S105). When the acquired action instruction belongs to the state change class (Yes in S105), the parameter updating unit 54 updates the travel parameter according to the action instruction (S106).

[0061] More specifically, the parameter updating unit 54 updates the traveling parameter of the subgroup into which the action instruction is classified to the value indicated by the action instruction. When the action instruction belongs to the speed subgroup, the parameter updating unit 54 sets the parameter of the speed to the value corresponding to the action instruction. When the action instruction belongs to the steering wheel group, the parameter updating unit 54 updates the parameter of the steering wheel state to the value indicated by the action instruction (for example, any one of right, left, and forward). When the action instruction belongs to the braking subgroup, the parameter updating unit 54 updates the parameter of the braking to the braking state (or the non-braking state).

[0062] In the case where the action instruction belongs to multiple subgroups, the parameter updating unit 54 updates the travel parameters of each of the multiple subgroups to the values ​​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 parameter of the speed to the value corresponding to the action instruction and updates the parameter of the steering wheel state to the value indicated by the action instruction. In this case, there may also be multiple action instructions that correspond one-to-one to each combination of candidate values ​​of the speed parameter (e.g., slow, fast, super fast) and candidate values ​​of the steering wheel state parameter (e.g., right, left, forward). There may also be a card 30 that corresponds one-to-one to each action instruction of the multiple action instructions.

[0063] On the other hand, when the acquired action instruction does not belong to the state change category (No in S105), the card determination unit 53 determines whether the acquired action instruction indicates an instruction to stop the moving body 20 (S111). When the action instruction indicates an instruction to stop the moving body 20 (Yes in S111), the travel processing unit 55 ends the travel processing and stops the moving body 20 (S112).

[0064] On the other hand, if the action instruction does not indicate the stop of the moving body 20 (No in S111), the card determination unit 53 determines whether the acquired action instruction is an action belonging to the group of the behavior class (S113). If the action instruction does not belong to the group of the behavior class (No in S113), the card determination unit 53 ends. Figure 7 , Figure 8 In the case where the action instruction belongs to a group of behavior classes (Yes in S113), the card judgment unit 53 judges whether to execute the progress processing of the progress processing unit 55 or the behavior processing of the behavior processing unit 56 at this time (S114). In the case where the progress processing or the behavior processing is executed (Yes in S114), the progress processing or the behavior processing in execution is stopped (S115). In the case where the progress processing and the behavior processing are not executed (No in S114), the processing of S115 is skipped. Then, the behavior processing unit 56 starts the behavior processing according to the action instruction (S116).

[0065] For example, when the behavior processing unit 56 receives an instruction to turn in a direction specified by the card 30 (for example, the direction of an arrow indicated on the card 30), Figure 7 In S103, the direction and amount of rotation of the left and right motors 25 are determined based on the angle read from the card 30, and the motors 25 are controlled based on the determination. The direction and amount of rotation are determined so that the direction of the rotating moving body 20 becomes a predetermined direction relative to the card 30 (for example, the direction of the arrow on the card 30h).

[0066] In other action instructions belonging to the sub-group of the behavior class, the behavior processing unit 56 may reproduce the time-series motor control information stored in the memory 22 to execute a fixed action such as zigzag or spin.

[0067] Next, details of the progress processing by the progress processing unit 55 will be described. Fig. 9 This is a flowchart showing an example of the progress processing by the progress processing unit 55 . Fig. 9 The processing shown is executed regularly except during the stop state or the period when the action processing is executed.

[0068] First, the traveling processing unit 55 determines whether the braking state in the traveling parameter 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 traveling parameter (S202). On the other hand, if the braking state is not set (No in S201), S202 is skipped.

[0069] Here, when the speed value is 0 (Yes in S203 ), the travel processing unit 55 stops the travel of the moving body 20 , and the state of the moving body 20 shifts to the stopped state ( S204 ).

[0070] Fig.10 This is an example of explaining the movement of the moving object 20 based on the difference in speed. Fig.10 In the example on the upper side, the configuration is (Slow) slow card 30a and (Brake) brake card 30g, Fig.10 In the example on the lower side, a (Fast) card 30b and a (Brake) card 30g are configured. In the example on the upper side, first, the moving body 20 reads the pattern 71 on the card 30a, updates the parameters of the speed subgroup to the first speed, and moves forward at the speed. In addition, the moving body 20 reads the pattern 71 on the card 30g, and updates the parameters of the brake subgroup to the braking state. Then, according to the parameters of the braking state, the moving body 20 continues to decelerate the speed of the moving body 20 and stops forward until the speed is 0 (the braking distance is only ds). On the other hand, in the example on the lower side, first, the moving body 20 reads the pattern 71 on the card 30b, updates the parameters of the speed subgroup to the second speed faster than the first speed, and moves forward at the speed. The moving body 20 reads the pattern 71 on the card 30g, and updates the parameters of the brake subgroup to the braking state. Then, the moving body 20 stops forward only at the braking distance df while reducing the speed.

[0071] exist Fig. 9In the process, a certain amount of speed reduction is performed regularly when the braking state is set. Therefore, the faster the speed, the longer it takes for the speed to become 0, and the average speed during travel is also greater, so the faster the speed, the greater the braking distance. This is similar to the constant acceleration motion caused by the acceleration opposite to the direction of travel. The motor 25 of the moving body 20 is a servo motor, which is independent of the speed and is easy to stop rotating suddenly. Here, by controlling the motor 25 so as to become the braking distance ds and df corresponding to the speed, it is close to the physical motion to improve the effect of the programming experience.

[0072] The following is a description of the subsequent processing. In S203, when the speed value is not 0 (No in S203), the travel processing unit 55 determines the number of rotations of the left and right wheels 254 based on the current speed value and the parameters of the steering wheel state (S205). The travel processing unit 55 controls the rotation of the left and right motors 25 based on the determined number of rotations (S206).

[0073] Since the two wheels 254 in this embodiment are driven by different motors 25, the vehicle 20 can move forward, continue to turn right, or continue to turn left by controlling the rotation speed of the wheels 254 (motor 25). When moving forward, the difference in the rotation speed between the left and right becomes almost zero.

[0074] Here, in S205, when the parameter of the steering wheel state is set to right or left, the traveling processing unit 55 determines the number of rotations of the left and right wheels 254 in such a way that the faster the parameter of the speed in the traveling parameter is, the larger the rotation radius (the rotation radius corresponds to the curvature of the trajectory). For example, the traveling processing unit 55 may also determine the number of rotations of the left and right wheels 254 in such a way that the difference in the number of rotations of the left and right wheels 254 is constant and the sum of the number of rotations of the left and right wheels 254 is proportional to the parameter of the speed. In this case, the rotation radius is almost proportional to the speed. The number of rotations may also be calculated by other formulas, or the number of rotations may be determined by the traveling processing unit 55 referring to a table of the number of rotations of the left and right wheels 254 stored at each speed.

[0075] Fig.11 , Fig.12 FIG. 2 is a diagram for explaining another example of the movement of the moving object 20 based on the difference in speed. Fig.11 In the example, first, the moving body 20 reads the pattern 71 on the "Slow" card 30a, changes its speed to the first speed, then reads the pattern 71 on the right card 30d, updates the parameter of the steering wheel state to "right", and moves forward while turning right while maintaining the speed. At this time, the moving body 20 turns right with a rotation radius rs.

[0076] On the other hand, Fig.12In the example, first, the moving body 20 reads the pattern 71 on the "Fast" card 30b, changes its own speed to a faster second speed, and then reads the pattern 71 on the card 30d, turning right with a rotation radius df. The rotation radius df is greater than the rotation radius ds.

[0077] In the existing teaching materials for programming by arranging cards, the place where the device such as the moving body 20 moves is formed in a grid shape. In addition, since it is not considered that the device ignores the grid and operates, instead of changing the direction like a steering wheel, the device changes direction in units of 90 degrees on the card.

[0078] On the other hand, Fig.11 , Fig.12 In the example, a condition is further added that the faster the speed is when turning right or left, such as when operating the steering wheel, the larger the rotation radius is. As a result, the actions of the mobile body 20 become diverse, and the user has more room for research when arranging the cards 30. In addition, this condition is similar to the behavior of an actual vehicle, etc., and it is easy for the user to understand intuitively. As a result, a more advanced programming experience can be performed while attracting the user's interest. In addition, this condition cannot achieve conscious non-control of the rotation speed for the mobile body 20 used as a toy. Therefore, the travel processing unit 55 intentionally controls the number of rotations on the left and right to approximately simulate this phenomenon.

[0079] In addition, it also provides interesting experiences combined with braking status, etc. Fig.13 FIG. 2 is a diagram illustrating another example of the difference in the motion of a moving object based on speed. Fig.13 In the example, first, the pattern 71 on the card 30b of "Fast" is read, and the speed of the moving body 20 becomes the second speed. The pattern 71 on the card 30g of "Brake" is read, and the pattern 71 on the card 30d is read while the speed continues to decrease. The moving body 20 turns right while reducing the speed, and at this time, it turns right in a manner in which the rotation radius decreases monotonically corresponding to the speed. Through simple control, spiral motion can be performed, providing users with a more advanced experience.

[0080] Furthermore, when the moving body 20 includes a steering mechanism, the travel processing unit 55 may control the moving body 20 to move forward, turn right, or turn left by setting the direction of one wheel 254 .

[0081] According to Figures 7 to 9In the process shown, the moving body 20 moves according to the travel parameters set by the card 30. Furthermore, the motion control unit 52 controls the moving device so that even if the moving body 20 leaves the card 30, the moving device continues to perform the action corresponding to the action instruction indicated by the previously read pattern 71 until the moving body 20 reads a new pattern 71 by moving on a new card 30.

[0082] Description of Reference Numerals

[0083] 20 moving body; 21 processor; 22 storage; 23 communication unit; 24 camera; 25 motor; 26 speaker; 222 switch; 223 power switch; 254 wheel; 30, 30a, 30b, 30d, 30g, 30h, 30j card; 51 card information acquisition unit; 52 action control unit; 53 card judgment unit; 54 parameter update unit; 55 travel processing unit; 56 behavior processing unit; 71 pattern.

Claims

1. A toy system, comprising: a plurality of action instruction cards, each of which has a coded image printed thereon representing any one of a plurality of action instructions, the plurality of action instruction cards being respectively configured by a user; as well as Mobile body, The mobile body comprises: A traveling unit capable of traveling; a reading unit configured to read the image when the moving body travels on any one of the plurality of action instruction cards; and an action control unit, which controls the travel unit according to the action instruction represented by the read image, When the mobile body travels on any one of the plurality of action instruction cards and reads the encoded image, the action control unit controls the travel unit according to the action instruction indicated by the image. The plurality of action instructions include: a steering wheel instruction to continuously change the direction of travel to the right or to the left, After the image indicating the steering wheel indication is read, the motion control unit controls the travel unit to change the travel direction to the right or left by a rotation radius corresponding to the current speed of the moving body.

2. The toy system of claim 1, wherein: The plurality of action instructions also include: the speed of the moving body, After the image indicating the speed is read, the motion control unit controls the travel unit to cause the moving body to travel according to the speed.

3. A toy system according to claim 1 or 2, wherein: The plurality of action instructions further include: a braking instruction for continuously reducing the speed of the moving body; After the image indicating the braking instruction is read, the motion control unit continuously reduces the speed of the moving body so that the moving body stops at a braking distance corresponding to the speed.

4. The toy system of claim 3, wherein: After the image indicating the braking instruction and the image indicating the steering wheel instruction are read, the action control unit controls the traveling unit so that the rotation radius decreases monotonically and the direction changes to the right or left.

5. A mobile object, comprising: A traveling unit capable of traveling; a reading unit that reads an image while traveling on any one of a plurality of action instruction cards, each of which has printed thereon the coded image representing any one of a plurality of action instructions, the plurality of action instruction cards being respectively configured by a user; and an action control unit, which controls the travel unit according to the action instruction represented by the read image, When the coded 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. The plurality of action instructions include: a steering wheel instruction to continuously change the direction of travel to the right or to the left, After the image indicating the steering wheel indication is read, the motion control unit controls the travel unit to change the travel direction to the right or left by a rotation radius corresponding to the current speed.

6. A control method for controlling the movement of a moving body having a reading unit and a moving unit, the control method comprising: a reading step, wherein the reading unit reads an image when the moving body travels on any one of a plurality of action instruction cards, each of which is printed with the coded image representing any one of a plurality of action instructions, the plurality of action instruction cards being respectively configured by a user; as well as a control step of controlling the traveling unit according to the action instruction represented by the read image, In the step of controlling the traveling unit, when the coded image is read by the moving body traveling on any one of the plurality of action instruction cards, the traveling unit is controlled according to the action instruction indicated by the image, The plurality of action instructions include: a steering wheel instruction to continuously change the direction of travel to the right or to the left, In the step of controlling the traveling unit, after the image representing the steering wheel indication is read, the traveling unit is controlled so as to change the traveling direction to the right or left by a rotation radius corresponding to the current speed.

7. A procedure, The program causes the computer including the traveling unit to function as a reading unit and an action control unit. The reading unit reads the image when traveling on any one of a plurality of action instruction cards, each of which is printed with the coded image representing any one of a plurality of action instructions, the plurality of action instruction cards being configured by the user, The motion control unit controls the travel unit according to the motion instruction represented by the read image, When the coded 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. The plurality of action instructions include: The steering wheel indicates that the direction of travel will be continuously changed to the right or left. After the image indicating the steering wheel indication is read, the motion control unit controls the travel unit to change the travel direction to the right or left by a rotation radius corresponding to the current speed.

8. A card group, The invention comprises a plurality of action instruction cards, each of which is printed with an image read by a moving body having a moving unit capable of moving when the moving body moves, that is, a coded image representing any one of a plurality of action instructions, and the plurality of action instruction cards are respectively configured by a user. The plurality of action instructions include: The steering wheel indicates that the direction of travel will be continuously changed to the right or left. 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, After the image representing the steering wheel indication is read, the traveling unit is controlled so as to change the traveling direction rightward or leftward by a rotation radius corresponding to the current speed of the moving body.

Images