Traveling system and traveling path

Abstract

To provide a system in which a traveling device autonomously travels on a mirror surface.SOLUTION: A system 100 includes a traveling path 10 and a traveling device 20 traveling thereon. The traveling path 10 includes: a mirror surface 11; a film 12 provided on the mirror surface to block light of a specific wavelength outside a visible light range; and a guide line 13 provided on the film 12 to reflect the light of the specific wavelength. The traveling device 20 includes: a sensor for detecting the guide line 13 by irradiating the light of the specific wavelength; and traveling control means traveling along the guide line 13 based on detection information of the sensor.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a system including a traveling device capable of autonomous travel and a travel path that guides the traveling device. The present invention also relates to the travel path itself. [Background technology]

[0002] Conventionally, there has been known a running toy that runs autonomously along a track drawn on a running surface (for example, Patent Document 1). The running toy described in Patent Document 1 is equipped with a photosensor (optical sensor) for detecting the track drawn on the running surface, and is configured to optically detect the track based on the reflected light from the running surface by the photosensor. Patent Document 1 also states that the track on the running surface may be, for example, a line drawn with a marker or a tape attached on the running surface. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2006-181241 A Summary of the Invention [Problem to be solved by the invention]

[0004] The applicant is considering creating a system that draws guiding lines on the mirror surface and automatically moves the traveling device along the guiding lines. By making the traveling device move along the mirror surface in this way, it is believed that the viewer will be able to visually recognize the traveling device as if it were floating in the air.

[0005] However, in such a system using a mirror surface, when a photosensor is mounted to detect guiding lines as in the traveling device disclosed in Patent Document 1, the light reflected from the mirror surface is directly incident on the light receiving element of the photosensor, which causes the photosensor to easily erroneously detect the guiding lines. In other words, the light emitted from the light emitting element of the photosensor is easily reflected on the mirror surface and incident on the light receiving element while maintaining its strong light energy, or external light is easily reflected on the mirror surface and incident on the light receiving element, making it difficult for the photosensor of the traveling device to accurately detect the guiding lines on the mirror surface.

[0006] Furthermore, if the guide lines are drawn directly on the mirror surface with oil-based markers or the like, when changing the travel route of the traveling device or removing the guide lines, the guide lines on the mirror surface must be completely erased, which is a time-consuming task. The same is true when forming guide lines by sticking tape or the like on the mirror surface, and when changing the route of the traveling device or removing the guide lines, the tape must be removed from the mirror surface. For this reason, it can be said that it is not preferable to form guide lines directly on the mirror surface.

[0007] Furthermore, in a system using a mirror surface, if the guiding lines of the traveling device are drawn with an oil-based marker or the like as disclosed in Patent Document 1, the guiding lines will be visually conspicuous, making it difficult to give the viewer the impression that the traveling device is floating in the air, and there is a problem that the aesthetics of the entire system will be marred. Also, if the guiding lines are drawn with an oil-based marker or the like, it will be easier for the viewer to predict the movement path of the traveling device, making it difficult to surprise the viewer.

[0008] Therefore, a main object of the present invention is to solve at least one of the above-mentioned problems in a system in which a traveling device travels autonomously on a mirror surface. [Means for solving the problem]

[0009] A first aspect of the present invention relates to a traveling system 100. The traveling system 100 according to the present invention includes a traveling path 10 and a traveling device 20 that travels on the traveling path 10. The traveling path 10 includes a mirror surface 11, a film 12, and a guide line 13. The mirror surface 11 is a planar member that reflects light. A half mirror may be used as the mirror surface 11. The film 12 is provided on the mirror surface 11 and blocks light of a specific wavelength outside the visible range (approximately 380 to 800 nm). The "blocking" of light means preventing the transmission of light by absorbing or diffusing light, and includes not only completely blocking the transmission of light, but also attenuating a part of the light energy. For this reason, in the area on the mirror surface 11 where the film 12 is attached, light of a specific wavelength is blocked by the film 12 and does not reach the mirror surface 11, or even if it is reflected by the mirror surface 11, the film 12 hardly transmits the light. In addition, the film 12 is preferably attached to the entire mirror surface 11, but is not limited thereto, and may be attached to the mirror surface 11 at least in the vicinity of the moving path of the traveling device 20. The guide lines 13 are provided on the film 12 and are configured to reflect light of a specific wavelength. In other words, when light of a specific wavelength is irradiated to the guide lines 13 provided on the film 12, the light is reflected only by the guide lines 13 and is hardly reflected in the area where the film 12 is attached. In addition, "reflecting light of a specific wavelength" here means in a broad sense that light of a certain wavelength is emitted in response to light containing a component of a specific wavelength. Specifically, "reflection" here is not limited to the case where light of a specific wavelength is reflected as it is, but also includes the case where light of a specific wavelength is absorbed and light of a different wavelength is emitted, and the case where only light of a specific wavelength is reflected from light containing components of different wavelengths such as natural light. Meanwhile, the traveling device 20 includes a sensor 27 and traveling control means 21 to 26. The sensor 27 detects the guide lines 13 on the mirror surface 11 by irradiating light of a specific wavelength. The light emitted from the sensor 27 only needs to contain at least a component of a specific wavelength, and may contain other wavelength components. The travel control means 21 to 26 include various elements for traveling along the guide line 13 based on the detection information of the sensor 27.

[0010] As in the above configuration, by attaching the film 12 that blocks (absorbs or diffuses) light of a specific wavelength onto the mirror surface 11 and providing the guide line 13 that reflects light of a specific wavelength on top of that, it is possible to prevent the sensor 27 of the traveling device 20 from erroneously detecting the guide line 13 even when the traveling device 20 travels on the mirror surface 11. Furthermore, in the present invention, the guide line 13 is not directly formed on the mirror surface 11, but the film 12 is provided on the mirror surface 11 and the guide line 13 is formed on that instead. Therefore, the guide line 13 can be easily changed or removed by peeling off the film 12.

[0011] In the traveling system 100 according to the present invention, the guiding wire 13 is preferably one that receives light of a specific wavelength and emits light of another wavelength. For example, the guiding wire 13 may contain a fluorescent pigment. The guiding wire 13 containing a fluorescent pigment absorbs light energy of a specific wavelength and emits light of a wavelength different from the energy (a wavelength longer than the specific wavelength). Specifically, the fluorescent pigment contained in the guiding wire 13 may be one that absorbs ultraviolet light and emits visible light. This makes it easier to detect the guiding wire 13 by the sensor 27 of the traveling device 20. In particular, if a fluorescent pigment with a powder color close to white is used for the guiding wire 13, the guiding wire 13 will be less noticeable to viewers even if it is drawn on the mirror surface 11. This does not impair the aesthetic appearance of the entire system compared to drawing the guiding wire 13 with an oil-based marker or the like, and it is easier to give viewers the impression that the traveling device 20 is floating in the air.

[0012] In the traveling system 100 according to the present invention, the film 12 is preferably a transparent or semi-transparent film that transmits light in the visible light region. This makes it possible to prevent the film 12 from impairing the aesthetic appearance of the mirror surface 11, even when the film 12 is attached to the mirror surface 11.

[0013] A second aspect of the present invention relates to a running path 10 for running the running device 20. As described above, the running path 10 includes a mirror surface 11, a film 12 provided on the mirror surface 11 for blocking light of a specific wavelength outside the visible range, and a guide line 13 provided on the film 12 for guiding the running of the running device 20 by reflecting light of the specific wavelength. Effect of the Invention

[0014] According to the present invention, a system can be provided in which a traveling device autonomously travels on a mirror surface. [Brief description of the drawings]

[0015] [Figure 1] FIG. 1 is a schematic diagram showing an example of a traveling device that autonomously travels on a mirrored surface of a traveling road. [Diagram 2] FIG. 2 is a perspective view showing an example of a running path. [Diagram 3] FIG. 3 is an exploded perspective view showing the components of the track. [Figure 4] FIG. 4 is a block diagram showing an example of components of the traveling device. [Diagram 5] FIG. 5 is a cross-sectional view that illustrates a mechanism for detecting guiding lines on a travel path by a sensor of a travel device. [Figure 6] FIG. 6 is a block diagram showing an example of components of a control device for a traveling device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Hereinafter, the embodiments of the present invention will be described with reference to the drawings. The present invention is not limited to the embodiments described below, and includes appropriate modifications of the embodiments described below within the scope obvious to those skilled in the art.

[0017] FIG. 1 shows a state where the traveling device 20 travels on the mirror surface of the traveling path 10. Note that FIG. 1 shows an extracted part of the traveling path 10 with the traveling device 20 at the center, and in a normal case, the traveling path 10 extends to the front, rear, left and right of the traveling device 20. As shown in FIG. 1, the traveling device 20 according to this embodiment is almost entirely covered by a hemispherical cover 30. In addition, the traveling surface of the traveling path 10 is mirrored, and the hemispherical traveling device 20 is reflected in this mirror surface. Therefore, when the actual traveling device 20 and its mirror image reflected on the traveling path 10 are viewed together, the viewer sees an approximately spherical object floating in the air. Note that the traveling device 20 is equipped with a light-emitting element inside the cover 30, and the light emitted from this light-emitting element passes through the cover 30. Therefore, the traveling device 20 traveling on the traveling path 10 can be viewed even in the dark.

[0018] 1 and 2, guide lines 13 are formed on the running path 10 using inconspicuous paint or tape. As will be described in detail later, the running device 20 detects the guide lines 13 using a sensor and performs autonomous control so as to run along the guide lines 13. This, combined with the fact that the running device 20 runs on a mirror surface, makes the running route of the running device 20 difficult to predict, which can attract the interest of viewers.

[0019] First, a configuration example of the running path 10 will be described with reference to Figures 2 and 3. As shown in Figures 2 and 3, the running path 10 includes a mirror surface 11, a film 12, and a guide wire 13, which are superimposed in this order toward the upper layer. That is, the film 12 is attached onto the mirror surface 11, and the guide wire 13 is formed on this film 12. Although not shown, the running path 10 may include a base (made of metal, plastic, wood, etc.) for supporting the mirror surface 11 below the mirror surface 11.

[0020] The mirror surface 11 can be a general mirror that reflects light (specifically, visible light). For example, the mirror surface 11 can be a polished type in which the surface of a metal such as stainless steel is mirror-polished, or a vapor deposition type in which a metal with high reflectivity such as silver or aluminum is vapor-deposited on one side of a transparent plate such as glass or an acrylic plate. In addition to a general mirror with a light reflectance of 80 to 100%, a half mirror with a light reflectance of less than 80% and a light transmittance of 10 to 50% can also be used as the mirror surface 11. When the incident light is 100%, the sum of the reflectance, transmittance, and absorptance is 100%. A general half mirror has a reflectance of 20 to 40%, a transmittance of about 20 to 40%, and the remainder is absorptance.

[0021] The film 12 is a transparent film that is attached to the mirror surface 11. The film 12 does not necessarily need to be attached to the entire mirror surface 11, but may be attached to the mirror surface 11 in the vicinity of the travel path of the traveling device 20, more specifically, in the area where light emitted from the sensor of the traveling device 20 hits. The film 12 transmits visible light, but has the property of blocking (absorbing or diffusing, etc.) light of a specific wavelength outside the visible range. Specifically, it is preferable to use a general ultraviolet light blocking film as the film 12. The ultraviolet light blocking film can suppress the ultraviolet light from passing through the film by blocking ultraviolet light (light with a wavelength of 380 nm or less) while transmitting visible light. The structure of the ultraviolet light blocking film is not particularly limited, but for example, a laminate of transparent plastic films bonded together by an adhesive layer containing an ultraviolet light absorbent can be used. In this way, by using a transparent film as the film 12, the beauty of the traveling path 10 is not impaired even when the film 12 is attached to the mirror surface 11.

[0022] The induction line 13 is a line formed on the film 12, and is detected by the traveling device 20. The induction line 13 is preferably one that reflects light of a wavelength blocked by the film 12. For example, when a film that blocks ultraviolet light is used as the film 12, the induction line 13 may be one that reflects at least ultraviolet light. Specifically, the induction line 13 may contain a fluorescent pigment that is excited by ultraviolet light and has the property of emitting visible light when returning to the ground state (photoluminescence). It is particularly preferable to use a fluorescent pigment that has a powder color of white and a colored emission color such as blue, yellow, green, red, or orange. Note that "white" refers to the color of the light that is excited by ultraviolet light and has the property of emitting visible light when returning to the ground state (photoluminescence). * a * b * L in color space * The color has a value of 60 or more, particularly 80 or more, and "colored" means a color other than white. The guiding lines 13 can be drawn on the film 12 by applying paint containing such a fluorescent pigment. Alternatively, the guiding lines 13 can be formed by attaching a tape containing such a fluorescent pigment onto the film 12. In particular, by forming the guiding lines 13 using a fluorescent pigment whose powder color is white, the guiding lines 13 on the mirror surface 11 become inconspicuous unless exposed to ultraviolet light (black light). Therefore, the guiding lines 13 do not mar the aesthetic appearance of the running path 10.

[0023] Next, a configuration example of the traveling device 20 will be described with reference to FIG. 4 to FIG. 6. As shown in FIG. 4, the traveling device 20 includes a control device 21 and two motors 22, 23. Each of the motors 22, 23 is electrically connected to the control device 21 via the electronic board or the like, and is controlled by the control device 21. Each of the motors 22, 23 is independently attached with wheels 24, 25. The wheels 24, 25 are rotated by supplying power from a battery (not shown) to each of the motors 22, 23, and the traveling device 20 obtains a propulsive force by contacting the wheels 24, 25 with the road surface of the travel path 10. In this embodiment, the traveling device 20 employs a rear-wheel drive system, and therefore each of the motors 22, 23 is mounted on the rear of the chassis of the traveling device 20. In the illustrated example, the first motor 22 rotates the first wheel 24 on the right side, and the second motor 23 rotates the second wheel 25 on the left side, based on the traveling direction of the traveling device 20. The traveling device 20 is not limited to a rear-wheel drive type, and may be a front-wheel drive type.

[0024] A known motor can be used as each of the motors 22 and 23. Specifically, each of the motors 22 and 23 includes a rotating part including a stator and a rotor, and an output shaft (shaft) for outputting the rotational force obtained by the rotating part to the outside. Also, each of the wheels 24 and 25 can be used as a known motor. Specifically, each of the wheels 24 and 25 includes a wheel member made of metal or plastic, and a tire member made of rubber with high friction attached to the outer periphery of the wheel member. Since the tire member is a consumable item, it can be removed from the wheel member and replaced as needed. In this embodiment, the wheel member of each of the wheels 24 and 25 is directly fixed to the output shaft of each of the motors 22 and 23. The wheel member and the output shaft may be fixed by a frictional force generated between them, or a known fixing method such as adhesive or welding may be adopted. However, the output shaft of the motor and the wheel member of the wheel can be interlocked by interposing an intermediate part such as a gear or a shaft.

[0025] 4, the traveling device 20 includes one or more driven wheels 26 that come into contact with the road surface of the traveling path 10, in addition to the wheels 24, 25 (drive wheels) fixed to the motors 22, 23. The driven wheels 26 are not connected to a drive source such as a motor, and are wheels that assist the traveling of the traveling device 20. In this embodiment, the driven wheels 26 are disposed at two locations, left and right, in front of the chassis of the traveling device 20. The number of driven wheels 26 can be increased or decreased depending on the size of the traveling device 20, etc.

[0026] In addition, the traveling device 20 includes a sensor 27 for detecting the guiding line 13 of the traveling path 10, as shown in FIG. 4. This sensor 27 is connected to the control device 21 and transmits detection information to the control device 21. As described above, the guiding line 13 reflects light of a specific wavelength. For this reason, the sensor 27 may be a photoelectric sensor that can detect the guiding line 13 by projecting light of a specific wavelength onto the guiding line 13 and receiving the reflected light. Specifically, the sensor 27 has a light projecting unit 27a and a light receiving unit 27b. When a fluorescent pigment is used as the guiding line 13, the light projecting unit 27a of the sensor 27 irradiates ultraviolet light (black light) around the guiding line 13, and the light receiving unit 27b receives the ultraviolet light and receives visible light emitted from the fluorescent pigment of the guiding line 13. When the light receiving portion 27b receives visible light from the fluorescent pigment of the guide wire 13, the light receiving portion 27b converts information relating to the relative position of the guide wire 13 with respect to the light receiving portion 27b into an electrical signal and transmits it to the control device 21.

[0027] FIG. 5 is a schematic diagram showing how light emitted from the light-projecting unit 27a of the sensor 27 is received by the light-receiving unit 27b. The light-projecting unit 27a of the traveling device 20 emits ultraviolet light toward the traveling path 10. As described above, the traveling path 10 has a film 12 provided on the mirror surface 11, and the guiding line 13 is formed on the film 12. Since the guiding line 13 contains a fluorescent pigment, it becomes excited when it receives ultraviolet light from the light-projecting unit 27a and emits visible light when it returns to the ground state. The light-receiving unit 27b of the sensor 27 detects the position of the guiding line 13 by receiving the visible light emitted from the fluorescent pigment. Meanwhile, the ultraviolet light from the light-projecting unit 27a is also irradiated to parts of the traveling path 10 other than the guiding line 13. Here, the traveling path 10 has a film 12 that blocks ultraviolet light attached to the mirror surface 11. Therefore, the ultraviolet light irradiated to a portion other than the guiding line 13 is blocked by the film 12 and does not reach the mirror surface 11, or even if it reaches the mirror surface 11, it is blocked again by the film 12 and most of its light energy is attenuated. Therefore, as shown in FIG. 5, the ultraviolet light irradiated to a portion other than the guiding line 13 of the running path 10 does not reach the light receiving unit 27b of the sensor 27, or even if it reaches, it does not have enough light energy to be detected by the sensor 27. If the ultraviolet light irradiated from the light projecting unit 27a is reflected by the mirror surface 11 and directly enters the light receiving unit 27b, there is a concern that the light energy of the ultraviolet light is too strong and the light receiving unit 27b cannot detect the guiding line 13 or the position of the guiding line 13 is erroneously detected. In response to this, by attaching the film 12 that blocks ultraviolet light to the mirror surface 11 as in the present invention, it is possible to prevent the ultraviolet light irradiated from the light projecting unit 27a from directly entering the light receiving unit 27b. Therefore, the light receiving portion 27b of the sensor 27 can detect the position of the guide wire 13 more reliably and accurately.

[0028] In addition, the traveling device 20 may further include one or more light-emitting elements 28 as shown in FIG. 4. The multiple light-emitting elements 28 are electrically connected to the control device 21 via an electronic board or the like, and are controlled by the control device 21. In addition, since the cover 30 of the traveling device 20 is transparent or semi-transparent, when the light-emitting elements 28 emit light, the light passes through the cover 30 and is visible from the outside. For the cover 30, for example, a known polycarbonate material or a silicon material can be used. Furthermore, the cover 30 may be made of a half mirror. The half mirror transmits light going from the inside to the outside, and reflects light going from the outside to the inside. In this case, for example, a half mirror film may be attached to the inner surface of the cover 30 made of a silicon member.

[0029] FIG. 6 is a block diagram showing a control system centered on the control device 21. In the example shown in FIG. 6, the control device 21 includes a processor 21a, a memory 21b, a communication module 21c, a drive control circuit 21d, a sensor control circuit 21e, and a light emission control circuit 21f. Examples of the processor 21a include a known CPU or other control circuits. The processor 21a performs a predetermined calculation process according to the programs and data stored in the memory 21b, and executes various control processes while writing the calculation results in the working space of the memory 21b. The memory 21b is composed of a volatile memory such as a RAM (Random Access Memory) or a non-volatile memory such as a flash memory, and is used for the calculation process by the processor 21a. In this embodiment, the processor 21a reads out the programs stored in the memory 21b, and performs processes for driving the motors 22 and 23 and for causing the light emitting elements 28 to emit light according to the programs.

[0030] The communication module 21c is a communication device for wireless communication with an external device. The communication module 21c may be a module for wireless communication using a known wireless communication standard such as Wi-Fi (registered trademark), Bluetooth (registered trademark), or NFC, other proprietary standards, frequencies such as the SubGHz band, or P2MP or Mesh communication other than WLAN. For example, the control device 21 communicates with an external server device (not shown) via the communication module 21c. In this case, the control device 21 can control the driving state of each of the motors 22 and 23 and the light-emitting state of each of the light-emitting elements 28 based on an instruction command received from the external server device. The control devices 21 of the multiple traveling devices 20 can also communicate with each other via the communication module 21c. In this case, the multiple traveling devices 20 may share information with each other to control the driving state of each of the motors 22 and 23 and the light-emitting state of each of the light-emitting elements 28. For example, the multiple traveling devices 20 may share position information with each other to adjust the traveling speed so as not to collide with each other on the traveling path 10. Also, for example, position information may be shared among a plurality of traveling devices 20, and the light emitting state of each light emitting element 28 may be changed according to the distance between them. Each traveling device 20 can specify or estimate its own position information using the communication module 21c from an NFC tag, a Bluetooth (registered trademark) beacon, or the like arranged on the lane.

[0031] The drive control circuit 21d is a circuit that supplies power from the battery to each of the first motor 22 and the second motor 23 so that the first motor 22 and the second motor 23 are driven under predetermined rotation conditions (rotation speed, rotation direction, etc.) based on a control command from the processor 21a. Note that the forward and reverse directions of the traveling device 20 can be switched by switching the rotation directions of the motors 22 and 23. In addition, the drive control circuit 21d can control the first motor 22 and the second motor 23 independently.

[0032] Specifically, in order to move the traveling device 20 straight, the rotation speeds of the left and right motors 22, 23 should basically be equal. On the other hand, in order to move the traveling device 20 toward the right side, the rotation speed of the first motor 22 provided on the right side of the chassis is made slower than the rotation speed of the second motor 23 provided on the left side of the chassis (only the first motor 22 may be stopped). In addition, the traveling device 20 can be turned clockwise by rotating the first motor 22 provided on the right side of the chassis in the backward direction and rotating the second motor 23 provided on the left side of the chassis in the forward direction. Similarly, on the other hand, in order to move the traveling device 20 toward the left side, the rotation speed of the first motor 22 provided on the right side of the chassis is made faster than the rotation speed of the second motor 23 provided on the left side of the chassis (only the second motor 23 may be stopped). In addition, the traveling device 20 can be turned counterclockwise by rotating the first motor 22 provided on the right side of the chassis in the forward direction and rotating the second motor 23 provided on the left side of the chassis in the backward direction. In this way, the traveling direction of the traveling device 20 can be adjusted by independently controlling the rotation speed and rotation direction of each motor 22, 23.

[0033] The sensor control circuit 21e is a circuit that supplies power from a battery to the light projecting unit 27a and the light receiving unit 27b to control the on / off of the sensor 27 based on a control command from the processor 21a, and transmits information (electrical signals) obtained by the light receiving unit 27b to the processor 21a. The processor 21a generates control commands for driving the first motor 22 and the second motor 23 based on position information of the guide wire 13 on the travel path 10 detected by the light receiving unit 27b, and outputs the control commands to the drive control circuit 21d.

[0034] In this embodiment, the traveling device 20 is caused to travel along the guide line 13 of the travel path 10 based on the detection information from the sensor 27. Therefore, the processor 21a may generate control commands for the motors 22 and 23 so that the center of the traveling device 20 moves along the guide line 13. For example, when the position of the guide line 13 coincides with the center of the traveling device 20, the traveling device 20 may be caused to travel straight as it is, so the rotation speeds of the first motor 22 and the second motor 23 are made equal for a predetermined time. On the other hand, when the position of the guide line 13 is to the right of the center of the traveling device 20, the traveling device 20 needs to travel to the right, so the rotation speed of the first motor 22 is made slower than that of the second motor 23 for a predetermined time. Similarly, when the position of the guide line 13 is to the left of the center of the traveling device 20, the traveling device 20 needs to travel to the left for a predetermined time, so the rotation speed of the first motor 22 is made faster than that of the second motor 23. When the trajectory of the guide wire 13 is greatly curved, the traveling device 20 can be turned by reversing the rotation direction of either the first motor 22 or the second motor 23. In this way, the traveling device 20 can be made to travel along the trajectory of the guide wire 13 by adjusting the rotation speed and rotation direction of each of the motors 22, 23 based on the detection information from the sensor 27.

[0035] The light emission control circuit 21f is a circuit that supplies power from a battery to each of the light emitting elements 28 so that each of the light emitting elements 28 emits light under predetermined light emission conditions (e.g., light emission color, brightness, etc.) based on a control command from the processor 21a. This light emission control circuit 21f is capable of independently controlling each of the light emitting elements 28.

[0036] Additionally, the traveling device 20 includes a battery (not shown). The battery may be a primary battery or a secondary battery. However, since repeatedly rechargeable batteries provide higher operational efficiency, it is preferable to use secondary batteries as the battery. The power of the battery is supplied to, for example, the control device 21, the motors 22 and 23, the sensor 27, and the light-emitting element 28.

[0037] In the above, in order to express the contents of the present invention, the present specification has described the embodiments of the present invention with reference to the drawings. However, the present invention is not limited to the above-mentioned embodiments, and includes modifications and improvements that are obvious to a person skilled in the art based on the matters described in the present specification.

[0038] For example, in the above-described embodiment, a means for adjusting the traveling direction of the traveling device 20 by independently controlling the two motors 22, 23 is adopted as the traveling control means of the traveling device 20. However, the traveling control means of the traveling device 20 is not limited to this. For example, in addition to the two motors for rotating the driving wheels (rear wheels), a steering motor for rotating the direction (yaw angle) of one or the driven wheels (front wheels) can be provided, and the direction of the driven wheels can be controlled by this steering motor to adjust the traveling direction of the entire traveling device 20. In this case, the two motors for rotating the driving wheels (rear wheels) do not need to be independently controlled, and they can simply be set to the same number of rotations and the same direction. The traveling direction of the traveling device 20 is determined by the direction of the driven wheels. Other known means for controlling the traveling device 20 can be adopted. [Explanation of symbols]

[0039] 10...Runway 11...Mirror surface 12...Film 13...Induction wire 20...Traveling device 21...Control device 21a... Processor 21b... Memory 21c... communication module 21d... drive control circuit 21e... sensor control circuit 21f... light emission control circuit 22...First motor 23...Second motor 24...1st wheel 25...2nd wheel 26...Driven wheel 27...Sensor 27a: Light-emitting section 27b: Light-receiving section 28...Light emitting element 30...Cover 100…Running system

Claims

1. A system including a road and a traveling device that travels on the road, The travel path is: Mirror surface and A film that is provided on the mirror surface and blocks light of a specific wavelength outside the visible light range; The film includes a guide line that reflects light of the specific wavelength, The traveling device is A sensor that detects the induction wire by irradiating the light of the specific wavelength; a travel control means for traveling along the guide line based on detection information from the sensor, system.

2. The induction wire receives light of the specific wavelength and emits light of another wavelength, The sensor detects light of the different wavelength. The system of claim 1 .

3. The guide wire contains a fluorescent pigment. The system of claim 2.

4. The film is a transparent or translucent film that transmits light in the visible range. A system according to any one of claims 1 to 3.

5. A running path for running a running device, Mirror surface and A film that is provided on the mirror surface and blocks light of a specific wavelength outside the visible light range; A guide line is provided on the film and reflects the light of the specific wavelength, for guiding the traveling device. Driving path.

Images