Card set and toy system

Abstract

The invention relates to a card set and a toy system. The subject of the invention is to accurately acquire information from a plurality of cards printed with patterns coded with the information. The card group includes a plurality of cards (30) classified into a plurality of types, each of the plurality of cards has a surface including an inner region (31) and a peripheral region (32) surrounding the inner region, and in the inner region of each of the plurality of cards, a plurality of identification patterns (72) which are photographed by a moving body traveling thereon and indicate the type to which the card belongs are printed. In a peripheral region of each of the plurality of cards, an identification pattern indicating any one of the plurality of types is not printed.

Description

Technical Field

[0001] The present invention relates to a card set and a toy system. Background Art

[0002] There is a system that prints a plurality of patterns associated with information different from position information on one side of a sheet-like medium, and controls a moving object running on the card.

[0003] Patent Document 1 discloses that a vehicle travels on a sheet-like medium on which a plurality of second arrangement patterns defining control information are printed, and the travel of the vehicle is controlled by reading the patterns printed on the medium.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: International Publication No. 2018 / 025467 Summary of the invention

[0007] Problems to be solved by the invention

[0008] The inventors are developing a system for controlling the movement of a moving object using a plurality of cards, each of which is a sheet-like medium. Here, when a plurality of cards printed with patterns on which the same information is encoded are arranged in a row, even if the moving object traveling on the cards moves to the next card, the read information does not change. Therefore, it is difficult to accurately identify whether the moving object has obtained information from one card or from a plurality of cards.

[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 capable of accurately acquiring information from a plurality of cards on which patterns on which coded information is printed.

[0010] Means for solving problems

[0011] Effects of the Invention

[0012] In order to solve the above-mentioned problems, the card set involved in the present invention includes a plurality of cards classified into a plurality of categories, each of the plurality of cards having a surface including an internal area and a peripheral area surrounding the internal area, and in the internal area of ​​each of the plurality of cards, a plurality of identification patterns representing the category to which the card belongs, which are photographed by a moving body traveling on the card, are printed, and in the peripheral area of ​​each of the plurality of cards, an identification pattern representing any of the plurality of categories is not printed.

[0013] In one aspect of the present invention, the peripheral area may be arranged at the periphery of each of the plurality of cards.

[0014] In one aspect of the present invention, a pattern that does not represent any of the plurality of types may be printed in the peripheral region.

[0015] In one aspect of the present invention, the plurality of identification patterns may be arranged in the internal area, and the plurality of peripheral patterns may be arranged to surround the internal area.

[0016] In addition, the toy system involved in the present invention includes a plurality of cards classified into a plurality of categories and a moving body including a camera that repeatedly shoots, each of the plurality of cards having a surface including an internal area and a peripheral area surrounding the internal area, a plurality of identification patterns indicating the category to which the card belongs are printed in the internal area of ​​each of the plurality of cards, and a peripheral pattern different from a pattern indicating any category is printed in the peripheral area of ​​each of the plurality of cards, and when any one of the plurality of identification patterns is captured after the peripheral pattern is captured by the camera, the movement of the moving body is controlled based on the captured identification pattern.

[0017] In one aspect of the present invention, when the camera captures the same recognition pattern as that captured last time, the movement of the moving object may not be controlled based on the captured recognition pattern.

[0018] According to the present invention, it is possible to accurately acquire information from a plurality of cards on which patterns on which information is encoded are printed. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a diagram showing an example of a toy system according to an embodiment of the present invention.

[0020] Figure 2 It is a diagram showing an example of the hardware configuration of the toy system.

[0021] Figure 3 This is a diagram showing an example of a moving object as viewed from below.

[0022] Figure 4 This is a diagram for explaining an example of a card.

[0023] Figure 5 This is a diagram showing an example of the relationship between a pattern printed on a card and a movable body.

[0024] Figure 6 is a block diagram showing the functions implemented by the toy system.

[0025] Figure 7 This is a diagram for explaining an example of control of a moving object based on an action command card.

[0026] Figure 8 This is a flowchart showing an example of the processing of the moving object.

[0027] Fig. 9 This is a flowchart showing an example of the processing of the moving object.

[0028] Fig.10 It is a diagram showing an example of a plurality of arranged cards.

[0029] Fig.11 This is a diagram for explaining an example of the operation of a moving body with respect to a plurality of arranged cards.

[0030] Fig.12 This is a diagram for explaining another example of the operation of the moving body with respect to a plurality of arranged cards.

[0031] Fig.13 This is a flowchart showing an example of the driving process. DETAILED DESCRIPTION

[0032] Hereinafter, embodiments of the present invention will be described based on the drawings. Among the components that appear, components that have the same functions are given the same reference numerals, and their descriptions are omitted.

[0033] 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 are provided on the upper surface for enabling other toys to be installed.

[0034] At least a part of the plurality of cards 30 is placed by the user at any place on a plane (eg, a table or floor). When the moving body 20 travels on any card 30, it reads an image and executes an action corresponding to a command indicated by the image.

[0035] The plurality of cards 30 are classified into a plurality of card types, and images are printed with information encoded therein indicating the card types. The card types are further classified into a plurality of hierarchical groups. In the top hierarchical level, the card types are classified into an action instruction group and a setting group. A card belonging to the action instruction group is referred to as an action instruction card.

[0036] The plurality of cards 30 include a plurality of action instruction cards, and each of the plurality of action instruction cards is printed with an image of an instruction (action instruction) indicating an action of the moving body 20. Each of the plurality of action instruction cards is printed with an encoded image indicating any one of the plurality of action instructions of the moving body 20. The type of action instruction corresponds to the type of card in a one-to-one correspondence, and decoding the card type is equivalent to decoding the action instruction.

[0037] In addition, the action instructions based on multiple action instruction cards are classified into multiple categories (groups). The multiple categories include a state change category (system), 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 driving). The behavior category is mainly a group consisting of instructions that make the mobile body 20 perform a predetermined action. In the instructions of the action category, the previous action can be restarted after the execution of the action. In addition, even for the instructions of the action category, sometimes the result of the action and the state of driving will change. The forced category is a group consisting of instructions that make the mobile body 20 stop immediately.

[0038] 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 , and a speaker 26 .

[0039] The processor 21 operates according to the program stored in the storage 22, and controls the communication unit 23, the camera 24, the motor 25, the speaker 26, etc. The above program can be provided from another computer through communication via the communication unit 23. The above program can be provided to another computer by being stored in a computer-readable storage medium such as a flash memory or an optical disk. The number of processors 21 may be one or more.

[0040] 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 stores information input from the processor 21, the communication unit 23, etc., and calculation results.

[0041] 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 a computer) according to the Bluetooth (registered trademark) protocol or the wireless LAN 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.

[0042] The camera 24 is configured to capture the bottom of the moving body 20 and repeatedly capture the bottom of the moving body 20. When the moving body 20 is traveling on the card 30, the camera 24 captures the pattern 71 printed on the card 30 (see FIG. Figure 4 In this embodiment, a pattern 71 that is recognized in the frequency domain of infrared light is printed on the card 30, and the camera 24 captures an image of the infrared light. In addition to the pattern 71, a picture that is recognized by visible light is printed on the card 30.

[0043] The motor 25 is a so-called servo motor whose rotation direction, rotation amount, and rotation speed are controlled by the processor 21 .

[0044] The speaker 26 outputs sound based on the control of the processor 21 and the like.

[0045] Figure 3 2 is a diagram showing an example of a moving body 20 viewed from below. The moving body 20 further includes a switch 222, a power switch 223, and two wheels 254. A motor 25 is assigned to each of the two wheels 254, and the motor 25 drives the assigned wheel 254. The driving structure including the motor 25 and the wheel 254 constitutes a driving device for driving the moving body 20.

[0046] Figure 4 This is a diagram for explaining an example of a card 30. Figure 4 The card 30 includes an inner area 31 surrounded by a dotted line and a peripheral area 32 located outside the dotted line and surrounding the inner area 31. A plurality of patterns 71 are printed on the card 30 in a matrix arrangement. Each of the patterns 71 is an image of a predetermined size, for example, 0.2 mm square. The size of each pattern 71 is smaller than the size of the moving body 20. Figure 4 In FIG. 7 , the pattern 71 is described on a part of the card 30, but is actually arranged to fill the entire card 30. For convenience of explanation, the image "Sound" that can be recognized by visible light is described by a dotted line.

[0047] In the internal area 31, a plurality of identification patterns 72 are arranged in a matrix arrangement in the internal area 31, indicating the type of card to which the card 30 belongs. The identification pattern 72 is an image in which information on the type of card is encoded, and the image of the identification pattern 72 differs depending on the type of card. The plurality of identification patterns 72 are arranged in a matrix in the internal area 31. In the same card 30, the plurality of identification patterns 72 may be the same image. In addition, the internal area 31 may not be rectangular, and the pattern 71 exposed from the internal area 31 may become the peripheral pattern 73 described later instead of the identification pattern 72. In addition, the identification patterns 72 may be arranged in the internal area 31 in a number of, for example, 3×3 or more, so that the moving body 20 traveling in the internal area 31 can definitely identify the pattern 72. The identification pattern 72 does not necessarily have to be arranged in a matrix, and may be arranged in a concentric circle shape, for example.

[0048] The peripheral area 32 is arranged at the periphery of the surface of the card 30. In the peripheral area 32, a plurality of peripheral patterns 73 are arranged so as to surround the internal area 31 in which the plurality of identification patterns 72 are arranged. If the viewpoint is changed, the identification pattern 72 representing any one of the card types is not printed in the peripheral area 32. The peripheral pattern 73 is a pattern 71 that does not represent any of the plurality of card types, and is an image encoded with peripheral information different from the information representing the card type. The peripheral information is independent of the card type in the present embodiment and is a fixed value, but it is not necessarily a fixed value. The plurality of peripheral patterns 73 only need to be arranged so as to be readable by the mobile body 20 traveling from the internal area 31 to the outside of the card 30, and may not necessarily be arranged in a matrix. The width of the peripheral area 32 may be, for example, more than twice the size of the pattern 71.

[0049] In addition, the dot-dash line is not actually printed, but the boundary between the inner region 31 and the peripheral region 32 is obviously present between the adjacent identification pattern 72 and the peripheral pattern 73, and the existence of the inner region 31 and the peripheral region 32 can be easily confirmed. The pattern 71 may not be printed in the peripheral region 32.

[0050] Figure 5 1 is a diagram showing an example of the relationship between the pattern 71 printed on the card 30 and the movable body 20. When the movable body 20 passes over the card 30, the pattern 71 printed at different positions is usually read as time goes by.

[0051] In the toy system according to 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 information. For example, the moving body 20 obtains the motion command from the identification pattern 72 printed on the motion command card as the information. The moving body 20 obtains the surrounding information from the surrounding pattern 73. In addition, the moving body 20 detects the direction of the moving body 20 (for example, the angle A from the reference direction) by detecting the inclination of the pattern 71 in the image captured by the camera 24.

[0052] Figure 6 : 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, and a behavior processing unit 56. 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, and the speaker 26. 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 processing results from other computers.

[0053] 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 mobile body 20 is traveling on any of the multiple cards 30, the card information acquisition unit 51 reads the pattern 71 printed on the card 30 and decodes the information (card type, peripheral information) based on the pattern 71. Here, the card type is decoded based on the identification pattern 72, and the peripheral information is decoded based on the peripheral pattern 73. In addition, the card information acquisition unit 51 acquires the orientation of the mobile body 20 relative to the card 30 based on the inclination of the pattern 71 captured by the camera 24.

[0054] When information (card type) indicating an action instruction is obtained from the identification pattern 72, the action control unit 52 controls the travel device, the speaker 26, etc. according to the action instruction. When the action instruction belongs to a group of state change, the action control unit 52 changes the travel parameter according to the action instruction and controls the travel device (motor 25) according to the changed parameter. In addition, when the identification pattern 72 is not read, the action control unit 52 controls the travel device so that the action corresponding to the action instruction read previously continues until the new identification pattern 72 is read by the moving body 20 traveling on the new card 30. When an action instruction is obtained from a new identification pattern 72, the action control unit 52 controls the action of the moving body 20 according to the new action instruction represented by the new identification pattern 72.

[0055] Furthermore, when the recognition pattern 72 is captured after the peripheral pattern 73 is captured by the camera 24, the motion control unit 52 controls the travel device of the mobile body 20 based on the captured recognition pattern 72. On the other hand, when the same recognition pattern 72 as the previous one is captured by the camera 24, the motion control unit 52 does not control the movement of the mobile body 20 based on the captured recognition pattern 72. Furthermore, when the mobile body 20 starts traveling based on the user's instruction, when the recognition pattern 72 is captured for the first time, the motion control unit 52 may control the travel device of the mobile body 20 based on the captured recognition pattern 72. When a plurality of cards 30 of the same type are arranged, the above-mentioned processing enables the difference of the cards 30 to be identified.

[0056] The card determination unit 53 determines whether the information acquired by the processing of the card information acquisition unit 51 is the card type or the peripheral information, and further determines whether the card type belongs to the action instruction group or the setting group. In addition, when the card type belongs to the action instruction group, in other words, when the information indicates an action instruction, the card determination unit 53 determines the group to which the action instruction belongs. Furthermore, when the action instruction belongs to the state change class, the card determination unit 53 causes the processing of the execution parameter update unit 54 to be executed, and when the action instruction belongs to the behavior class, the card determination unit 53 causes the processing of the behavior processing unit 56 to be executed.

[0057] 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 classified into multiple subgroups. The multiple subgroups include a handle subgroup, a speed subgroup, and a brake subgroup. For each of the subgroups, there is a driving parameter. The handle subgroup includes an instruction to change the state of the steering wheel to the right or left and an instruction to change the state of the steering wheel to go straight. The so-called changing the state of the steering wheel to the right or left means to continuously change the direction of travel of the mobile body 20 to the right or left, and the value corresponding to the instruction is set as the driving parameter of the steering wheel. The speed subgroup includes an instruction to set the driving parameter of the speed to a specified value. The specified value can be any one of a plurality of predetermined candidate values ​​(for example, slow, fast, and very fast), and each of the plurality of instructions included in the speed subgroup can represent a different candidate value from each other. The brake subgroup includes a braking instruction to continuously reduce the speed. According to the braking instruction, the mobile body 20 performs a braking action to continuously reduce the speed. Here, each of the plurality of motion instructions belonging to the state change class may be classified (labeled) into one or more subgroups. For example, a certain motion instruction may be labeled into both the speed subgroup and the direction plate subgroup.

[0058] The parameter updating unit 54 updates the driving parameters of the subgroup into which the motion command represented by the pattern 71 read out of the plurality of subgroups is classified to the information (e.g., value) represented by the motion command. 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. In the case where the motion command represented by the read out pattern 71 is classified into a plurality of subgroups of the state change type, the parameter updating unit 54 can update each of the driving parameters of the plurality of subgroups to which the motion command belongs to the information of the driving parameters of each subgroup corresponding to the motion command.

[0059] The driving processing unit 55 controls the driving device (e.g., the motor 25) based on the set driving parameters. The driving processing unit 55 continuously changes the traveling direction of the moving body 20 to the right or left, or makes the moving body 20 go straight, according to the driving parameters of the steering wheel state. The driving processing unit 55 makes the moving body 20 travel at a speed corresponding to the parameters of the speed subgroup. In addition, when the parameters of the braking state are set, the driving processing unit 55 continuously reduces the speed of the moving body 20.

[0060] The behavior processing unit 56 controls the moving body 20 based on the action command belonging to the behavior category so that the moving body 20 performs the action indicated by the action command. When an instruction to turn (rotate) in a specified direction is obtained from the recognition pattern 72, the behavior processing unit 56 controls the driving device so that the moving body 20 turns in the specified direction. When an instruction to perform a prescribed action is obtained from the recognition pattern 72 as an action command belonging to the behavior category, the behavior processing unit 56 controls the moving body 20 so that the moving body 20 performs the prescribed action. The instruction to perform a prescribed action may be, for example, an instruction to output a prescribed sound or to perform a prescribed driving (snaking, rotating).

[0061] Figure 7 This is a diagram for explaining another example of the control of the moving body 20 based on the motion command card. Figure 7 In the example of , a card 30b with "Fast" and a card 30h with an arrow indicating the direction of travel are configured as action instruction cards. Figure 7 In the example, the mobile body 20 first reads the pattern 71 on the card 30b, updates the parameters of the speed subgroup to the specified (faster) speed, and moves straight at the speed. Then, the pattern 71 on the card 30h is read, and the mobile body 20 performs a turn (direction change) so that the direction indicated by the pattern 71 and the moving direction of the mobile body 20 become a specified angle (the mobile body 20 is facing the direction of the arrow). When the direction change is completed, the mobile body 20 moves straight in the moving direction.

[0062] exist Figure 7 In the example, according to the action instruction of the card 30, such as changing the driving parameters, the moving body 20 continues to perform the action corresponding to the action instruction and moves until it reaches the next card 30. As a result, the reading of the card 30 and the action based on the reading become interactive, and the user can experience more intuitive and easy programming. In addition, the user can place the card 30 at any position, and the degree of freedom of the action of the moving body 20 in the programming experience becomes higher. Among them, even if the cards 30 are arranged in an integral manner, the structure of the internal area 31 and the peripheral area 32 of the card 30 and the control of the moving body 20 are effective. This will be described later.

[0063] Next, the processing for realizing the operation described so far will be described in more detail, and the effects of providing the inner area 31 and the peripheral area 32 of the card 30 will be described. Figure 8 9 is a flowchart showing an example of the processing of the moving body 20. Figure 8 9 mainly show the processing of the card information acquisition unit 51, the card determination unit 53, and the parameter update unit 54. Figure 8The processing represented by 9 is repeatedly executed periodically (for example, every 0.1 seconds). During the operation that requires a certain amount of time to execute the operation according to the action instruction of the behavior class, only the processing (S101 to S107) for determining whether the card type is read from the same card 30 can be executed periodically. Even if another card 30 of the same type is moved during the action, information can be accurately obtained from the card 30 read at the end of the action.

[0064] 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 the information can be decoded based on the acquired image (S102). This process is to determine whether the pattern 71 exists in the acquired image. If the information cannot be decoded ("No (N)" in S102), the card information acquisition unit 51 sets the same card flag to OFF and ends. Figure 8 On the other hand, if the information can be decoded ("Yes" in S102), the card information acquisition unit 51 determines whether the decoded information is peripheral information (S104). Here, the determination can also be made based on whether the decoded information is within the range of values ​​representing the card type. If the decoded information is peripheral information ("Yes" in S104), the card information acquisition unit 51 sets the same card flag to OFF, and ends. Figure 8 And the processing shown in 9. On the other hand, when the decoded information is not peripheral information ("No" of S104), the card information acquisition unit 51 confirms whether the same instruction as the last time is decoded (S105). When the same instruction as the last time is not decoded ("No" of S105), S106 is skipped and the processing after S107 is executed. When the same instruction as the last time is decoded ("Yes" of S105), it is determined whether the same card flag is set to ON (S106).

[0065] If the same card flag is set to ON (Yes in S106), the card information acquisition unit 51 ends the process. Figure 8 On the other hand, when the same card flag is set to OFF (No in S106), the card information acquisition unit 51 sets the same card flag to ON (S107). In addition, the card information acquisition unit 51 acquires an instruction (here, an action instruction) from the decoded card type, acquires the angle A of the mobile body 20 relative to the card 30 (S108), and executes the processing after S111 for causing the mobile body 20 to move according to the instruction.

[0066] Through the processing of S102 to S104 and S106 to S108, it is detected whether the card type information is obtained from the same card 30 as last time. When the card type information is obtained from the same card 30, the control based on the instruction indicated by the card type is not re-executed. In addition, through these processes, when the card type information is obtained from a new card 30, the control based on the instruction indicated by the card type is re-executed. The processing of S105 is a process corresponding to the case where the mobile body 20 is moved by hand and the identification patterns 72 of two cards 30 of different types are forcibly read.

[0067] Fig.10 is a diagram showing an example of a plurality of cards 30 arranged. Fig.10 In the example, two cards 30 are arranged so that a part of them overlap. Fig.10 Move from left to right and read pattern 71 from two cards. In any card 30, there is an internal area 31 and a peripheral area 32, but at the boundary of two cards 30, the peripheral area 32 of the left card 30 is hidden under the right card 30.

[0068] exist Fig.10 In the example, before the camera 24 of the mobile body 20 reads the image of the card 30, the card information acquisition unit 51 cannot decode the information, and the same card flag is set to OFF. In addition, if the camera 24 captures the peripheral pattern 73 located at the position P1, the peripheral information is decoded, and the same card flag remains in the OFF state. In this state, if the camera 24 captures the identification pattern 72 located at the position P2, since the same card flag is set to OFF, the process of controlling the action of the mobile body 20 corresponding to the decoded card type is executed, and the same card flag is set to ON. On the other hand, thereafter, even if the identification pattern 72 is captured in the internal area 31 of the card 30 on the left, since the same card flag is set to ON, the process of controlling the action of the mobile body 20 is not executed.

[0069] Thereafter, if the camera 24 captures the peripheral pattern 72 at position P3, the peripheral information is decoded and the same card flag is set to OFF. Thus, it is determined that the identification pattern 72 read next is information read from a new card 30. Thereafter, if the camera 24 captures the identification pattern 72 at position P4, a process for controlling the movement of the moving body 20 corresponding to the decoded card type is executed.

[0070] Assuming that there is no peripheral area 32 on which the peripheral pattern 73 is printed, and the identification pattern 72 of the same card type is printed on the entire surface of the two cards 30, even if the pattern 71 of the second card 30 is read, the same information as that of the previous card 30 is decoded. Therefore, it is difficult for the mobile body 20 to recognize whether the identification pattern 72 is read from a new card 30. By printing the peripheral area 32 on which the peripheral pattern 73 is printed, it is possible to reliably recognize that the identification pattern 72 is read from a new card 30. In addition, the same effect can be obtained by not printing the pattern 71 in the peripheral area 32, but it is more reliable to recognize when the peripheral pattern 73 is printed. In addition, by the processing of S102, it is possible to prevent malfunction in the case where the peripheral pattern 73 is not read for some reason.

[0071] In addition, instead of using the same card mark, the information decoded from the pattern 71 captured by the camera 24 in the previous process may be stored, and when the information decoded from the pattern 71 captured this time is different, the process of controlling the movement of the mobile body 20 according to the decoded card type may be executed. In this case, if the information cannot be decoded from the image, dummy information is stored instead of the decoded information, so that it can also cope with the case where the peripheral pattern 73 is not read for some reason.

[0072] Furthermore, when the card type is read from the same card 30 , new control is not executed in order to prevent problems caused by repetition of the same processing and waste of processing resources.

[0073] Back to Figure 8 If the processing of S107 is executed, the card determination unit 53 determines whether the acquired action instruction belongs to the state change group (S111). If the acquired action instruction belongs to the state change group ("Yes" in S111), the parameter update unit 54 updates the driving parameter according to the action instruction (S112).

[0074] 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 subgroup, 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 non-braking state).

[0075] 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.

[0076] On the other hand, when the acquired motion instruction does not belong to the state change category, the card determination unit 53 determines whether the acquired motion instruction indicates an instruction to stop the moving body 20 (S113). When the motion instruction indicates an instruction to stop the moving body 20 ("Yes" in S113), the driving processing unit 55 ends the driving processing and stops the moving body 20 (S114).

[0077] On the other hand, if the motion instruction does not indicate a stop instruction for 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. Figure 8 And the processing of 9. When the action instruction belongs to the group of the behavior class ("Yes" of 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" of S116), the driving processing or the behavior processing being executed is stopped (S117). When the driving processing and the behavior processing are not being executed ("No" of S116), the processing of S117 is skipped. Then, the behavior processing unit 56 starts the behavior processing according to the action instruction (S118).

[0078] Among the multiple action instructions of the behavior type, especially for the action instruction such as the card 30h that turns the traveling direction to the specified direction, the behavior processing unit 56 determines the rotation direction and rotation amount of the left and right motors 25 based on the angle read from the card 30. The rotation direction and rotation amount 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 that reads the angle. Then, the behavior processing unit 56 rotates the left and right motors 25 in the determined rotation direction and rotation amount. When the rotation is completed, the processing of the travel processing unit 55 is restarted.

[0079] Among the action commands of the behavior type, for commands for executing a fixed action such as rotation (spin), zigzag travel, or sound output, the behavior processing unit 56 first acquires the time-series control information associated with the action command of the behavior type and recorded in the storage 22. Based on the time-series control information, the behavior processing unit 56 controls at least one of the motor 25 and the speaker 26. When the time-series control ends, the processing of the travel processing unit 55 is restarted.

[0080] An example of the process of the combined action processing unit 56 and the process of acquiring the card type from the new card 30 will be described. Fig.11 12 is a diagram for explaining an example of the movement of the moving body 20 relative to the plurality of arranged cards 30. Fig.11 In the example of , two cards 30s are arranged so as to partially overlap. An identification pattern 72 representing an action instruction for the action of making a sound is printed on the card 30s. Fig.11 In the example, the moving body 20 outputs a sound when the identification pattern 72 is first read on the left card 30s, and further, the sound is also output on the right card 30s. By identifying whether it is the same card 30, it is possible to prevent the situation where the sound is not output on the right card 30s.

[0081] exist Fig.12 In the example of , two cards 30h are arranged so as to partially overlap each other while changing directions. An identification pattern 72 indicating an action instruction for changing the direction in the direction of the arrow is printed on the card 30h. Fig.12 In the example, after the mobile body 20 changes direction on the first card 30h, it also changes direction on the second card 30h. Even in such a case, by identifying whether it is the same card 30, it is possible to prevent the situation where the second direction change cannot be performed. Fig.12 In the example of , the card 30 can theoretically be identified by angle, but since there is also a change in angle caused by driving, it is easier and more reliable to use the peripheral area 32 to identify.

[0082] Next, the details of the travel processing by the travel processing unit 55 will be described. Fig.13 This is a flowchart showing an example of the travel processing by the travel processing unit 55 . Fig.13 The processing shown is executed periodically except during the execution of the stop state and the operation accompanying the behavior processing.

[0083] 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). On the other hand, if the braking state is not set ("No" in S201), S202 is skipped.

[0084] Here, when the value of the speed is 0 (Yes in S203 ), the travel processing unit 55 stops the travel of the moving body 20 and shifts the state of the moving body 20 to the stopped state ( S204 ).

[0085] On the other hand, when 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 parameter 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).

[0086] 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 some wheels 254.

[0087] 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 vehicle 20 drives on a new card 30 and reads a new pattern 71, the driving device can be controlled so as to continue to perform the action corresponding to the action instruction represented by the previously read pattern 71. Furthermore, by combining the use of the surrounding area 32 and not performing new control when the identification pattern 72 is read from the same card 30, information can be accurately obtained from multiple cards, and simple actions with fewer erroneous actions can be performed.

[0088] Description of Reference Numerals

[0089] 20 moving body; 21 processor; 22 storage; 23 communication unit; 24 camera; 25 motor; 26 speaker; 222 switch; 223 power switch; 254 wheel; 30, 30b, 30h, 30s card; 31 internal area; 32 peripheral area; 51 card information acquisition unit; 52 action control unit; 53 card determination unit; 54 parameter update unit; 55 driving processing unit; 56 behavior processing unit; 71 pattern; 72 recognition pattern; 73 peripheral pattern.

Claims

1. A deck comprising a plurality of cards classified into a plurality of categories, Each of the plurality of cards has a face including an inner region and a peripheral region surrounding the inner region, In the inner area of ​​each of the multiple cards, multiple identification patterns representing the category to which the card belongs, which are photographed by a moving body traveling thereon, are printed, and in the peripheral area of ​​each of the multiple cards, no identification pattern representing any of the multiple categories is printed.

2. The card set according to claim 1, wherein: The peripheral area is arranged at the periphery of each of the plurality of cards.

3. The card set according to claim 1 or 2, wherein: In the peripheral area, a pattern that does not represent any of the plurality of types is printed.

4. The card set according to claim 3, wherein: The plurality of recognition patterns are arranged in the inner area, The plurality of peripheral patterns are configured to surround the inner area.

5. A toy system comprising: A plurality of cards, classified into a plurality of categories; and Moving objects, including cameras that shoot repeatedly, Each of the plurality of cards has a face including an inner region and a peripheral region surrounding the inner region, In the inner area of ​​each of the plurality of cards, a plurality of identification patterns indicating the type to which the card belongs are printed, and in the peripheral area of ​​each of the plurality of cards, a peripheral pattern different from the pattern indicating any type is printed, When any one of the plurality of identification patterns is imaged after the peripheral pattern is imaged by the camera, the movement of the moving object is controlled based on the imaged identification pattern.

6. The toy system of claim 5, wherein: When the camera captures the same recognition pattern as the previous one, the movement of the moving object is not controlled based on the captured recognition pattern.

Images