Program and information storage medium

Abstract

To allow a user to experience programming more intuitively.SOLUTION: A program causes a computer to operate as reading means for reading an image when it is running on any of a plurality of operation instruction cards arranged in an optional place by a user respectively, each of which is printed with an encoded image indicating any of a plurality of operation instructions including a handle instruction, and operation control means for controlling running means in accordance with the operation instruction indicated by the read image. The handle instruction is an instruction to change advancing directions to the right or left continuously. The operation control means controls the running means so as to change the advancing directions to the right or left continuously until a new encoded image is read when the image runs on a new operation instruction card of the plurality of operation instruction cards after the image indicating the handle instruction is read.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a program and an information storage medium. [Background technology]

[0002] To learn programming, educational materials are available for sale that involve arranging physical cards with commands written on them. A self-propelled device reads the commands on the cards, and then the device performs the actions according to the read commands.

[0003] Patent document 1 discloses that a self-propelled device runs over a set of cards, reading the images printed on the cards to read a program, and then the self-propelled device runs through a maze according to the program. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 2020 / 036146 Summary of the Invention [Problem to be solved by the invention]

[0005] In the method of reading a program in advance, reading the program and executing it are separated. This makes it difficult for some people to intuitively grasp the relationship between the program and its operations, which may be an obstacle when trying to gain experience with programming.

[0006] The present invention has been made in view of the above-mentioned problems, and its purpose is to provide a technique that enables a more intuitive programming experience. [Means for solving the problem]

[0007] In order to solve the above problem, the toy system of the present invention includes a plurality of action instruction cards, each printed with an encoded image indicating one of a plurality of action instructions and each placed at a location of the user by a user, and a moving body, the moving body including a traveling means that enables the moving body to move, a reading means that reads the image when the moving body moves over one of the plurality of action instruction cards, and an action control means that controls the moving means in accordance with the action instructions indicated by the read image, and if the encoded image is not read, the action control means controls the moving means to continue moving in accordance with the action instructions indicated by the previously read image until a new encoded image is read by the moving body moving over a new action instruction card among the plurality of action instruction cards, and if the new encoded image is read, it controls the moving means in accordance with the new action instructions indicated by the new image.

[0008] In order to solve the above problem, the mobile body of the present invention includes a traveling means that enables travel, a reading means that reads an encoded image indicating one of a plurality of action instruction cards printed on each card and placed at any location by a user when the mobile body travels over one of a plurality of action instruction cards, and an action control means that controls the traveling means in accordance with the action instructions indicated by the read image, wherein if the encoded image is not read, the action control means controls the traveling means to continue operating in accordance with the action instructions indicated by the previously read image until a new encoded image is read by traveling over a new action instruction card among the plurality of action instruction cards, and when the new encoded image is read, the action control means controls the traveling means in accordance with the new action instructions indicated by the new image.

[0009] In addition, the control method of the present invention is a control method for controlling the movement of a mobile body having a reading means and a traveling means, and includes the steps of: when the mobile body travels over one of a plurality of action instruction cards, each of which has an encoded image indicating one of a plurality of action instructions printed on it and which are each placed at a location of the user by a user, reading the image by the reading means; and controlling the traveling means in accordance with the action instructions indicated by the read image; and in the step of controlling the traveling means, if the encoded image is not read, the traveling means is controlled to continue operating in accordance with the action instructions indicated by the previously read image until a new encoded image is read by the mobile body traveling over a new action instruction card among the plurality of action instruction cards, and when the new encoded image is read, the traveling means is controlled in accordance with the new action instructions indicated by the new image.

[0010] In addition, the program of the present invention causes a computer including a traveling means to operate as a reading means that reads an encoded image indicating one of a plurality of action instruction cards, each of which has an encoded image indicating one of a plurality of action instructions printed on it and which is placed at any location by a user, when the computer travels over one of the plurality of action instruction cards, and an action control means that controls the traveling means in accordance with the action instructions indicated by the read image, and if the encoded image is not read, the action control means controls the traveling means to continue operating in accordance with the action instructions indicated by the previously read image until a new encoded image is read by traveling over a new action instruction card among the plurality of action instruction cards, and if the new encoded image is read, controls the traveling means in accordance with the new action instructions indicated by the new image.

[0011] According to the present invention, it is possible for the user to have a more intuitive programming experience.

[0012] In one form of the present invention, the multiple operation instructions are classified into multiple groups, and the operation control means may update the setting of the group to which the operation instruction indicated by the read image belongs to, to information indicated by the operation instruction.

[0013] In one form of the present invention, the plurality of operation instructions include a steering instruction to continuously change the direction of travel to the right or left, and the operation control means may control the driving means to continuously change the direction of travel of the moving body to the right or left after an image indicating the steering instruction is read.

[0014] In one form of the present invention, the plurality of operation instructions may include a speed at which the moving body travels, and the operation control means may control the travel means so that the moving body travels according to the speed after an image indicating the speed is read.

[0015] In one form of the present invention, the plurality of operation instructions may include a braking instruction to continuously reduce the speed of the moving body, and the operation control means may continuously reduce the speed of the moving body after an image indicating the braking instruction is read.

[0016] In one form of the present invention, the operation control means may control the traveling means based on the information set for each of the plurality of groups in accordance with operation instructions indicated by previously read images.

[0017] In one form of the present invention, the plurality of operation instructions may include a direction of travel, and when an image indicating the direction of travel is read, the operation control means may control the traveling means so that the moving body turns toward the direction of travel and continues the operation before the turn. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a diagram illustrating an example of a toy system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a diagram illustrating an example of a hardware configuration of a toy system. [Figure 3] FIG. 2 is a diagram showing an example of a moving object as viewed from below. [Figure 4] FIG. 10 is a diagram showing an example of the relationship between information printed on a card and a moving object. [Figure 5] FIG. 2 is a block diagram showing functions realized by the toy system. [Figure 6] FIG. 10 is a diagram illustrating an example of control of a moving object by a card. [Figure 7] FIG. 10 is a diagram illustrating another example of control of a moving object by a card. [Figure 8] FIG. 10 is a diagram illustrating another example of control of a moving object by a card. [Figure 9] 10 is a flowchart illustrating an example of processing by a moving body. [Figure 10] 10 is a flowchart illustrating an example of processing by a moving body. [Figure 11] 10 is a flowchart showing an example of a driving process performed by a driving processing unit. [Figure 12] 10 is a flowchart illustrating an example of action processing by an action processing unit. DETAILED DESCRIPTION OF THE INVENTION

[0019] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. Among the components appearing, components having the same functions are designated by the same reference numerals, and descriptions thereof will be omitted.

[0020] 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 object 20 and a plurality of cards 30. The moving object 20 has a cube-like outer shape with chamfered corners. The top surface of the moving object 20 is provided with a plurality of protrusions that allow other toys to be attached.

[0021] Each of the multiple cards 30 has printed thereon instructions for the operation of the moving object 20. At least some of the multiple cards 30 have printed thereon an encoded image indicating one of multiple operation instructions for the moving object 20. At least some of the multiple cards 30 are placed by the user at any location on a flat surface (for example, on a desk or floor). When the moving object 20 travels over any of the cards 30, it reads the image and performs an operation according to the instruction indicated by the image.

[0022] The operation instructions by the multiple cards 30 are classified into multiple types (groups). The multiple types include a state change type, an action type, and a forced type. The state change type is a group consisting of instructions that change the operation (for example, the running state) of the moving body 20. The action type is a group mainly consisting of instructions that cause the moving body 20 to perform a predetermined operation. An action type instruction may resume the previous operation after the operation is performed. Note that even an action type instruction may cause the running state to change as a result of the operation. The forced type is a group consisting of instructions that cause the moving body 20 to immediately stop.

[0023] 2 is a diagram showing an example of the hardware configuration of the toy system. The moving object 20 includes a processor 21, a storage 22, a communication unit 23, a camera 24, two motors 25, and a speaker 26.

[0024] The processor 21 operates according to a program stored in the storage 22, and controls the communication unit 23, the camera 24, the motor 25, the speaker 26, etc. The program may be provided from another computer by 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 and provided to the other computer.

[0025] The storage 22 is configured by a DRAM, a nonvolatile memory, etc. The storage 22 stores the above programs. The storage 22 also stores information input from the processor 21, the communication unit 23, etc., and calculation results.

[0026] The communication unit 23 is configured with an integrated circuit, an antenna, etc. for communicating with other devices. The communication unit 23 has a function of communicating with other devices (e.g., computers) according to, for example, the Bluetooth (registered trademark) protocol or a wireless LAN protocol. Based on the control of the processor 21, the communication unit 23 inputs information received from other devices to the processor 21 or the storage 22, and transmits information to other devices. Note that the communication unit 23 may communicate with other devices via a wired network.

[0027] Camera 24 is positioned to capture an image below moving object 20, and captures an image of pattern 71 (see FIG. 4) printed on card 30 on which moving object 20 is placed. In this embodiment, pattern 71 that can be recognized in the infrared frequency range is printed on card 30, and camera 24 captures an infrared image of the pattern 71.

[0028] The motor 25 is a so-called servo motor, the direction, amount and speed of which are controlled by the processor 21 .

[0029] The speaker 26 outputs sound based on the control of the processor 21 or the like.

[0030] 3 is a bottom view of an example of the moving body 20. The moving body 20 further 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 drive mechanism including the motor 25 and the wheels 254 constitute a traveling device that causes the moving body 20 to travel.

[0031] FIG. 4 is a diagram showing an example of the relationship between information printed on a card and a moving object. Card 30 has printed thereon an image visible to the user as well as multiple patterns 71 that are images that can be read by camera 24. Patterns 71 of a predetermined size (e.g., 0.2 mm square) are arranged in a matrix on card 30. The size of each pattern 71 is smaller than the size of card 30 and moving object 20. The information printed on multiple patterns 71 on a given card 30 may be the same. A pattern 71 indicating a position within card 30 may also be printed on a given card 30. Note that when moving object 20 passes over card 30, patterns 71 printed in different positions as time passes are usually read.

[0032] In the toy system according to this embodiment, the camera 24 of the moving object 20 captures an image of the pattern 71 printed on the card 30, and the moving object 20 decodes the pattern 71 to acquire information. Hereinafter, this information will also be referred to as an operation instruction. This allows the moving object 20 to recognize the type of the card 30. Furthermore, the moving object 20 detects the tilt of the pattern 71 in the image captured by the camera 24, thereby detecting the direction of the moving object 20 (for example, angle A from a reference direction).

[0033] 5 is a block diagram showing 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 determination unit 53, a parameter update unit 54, a driving processing unit 55, and an action processing unit 56. These functions are mainly realized by the processor 21 included in the moving object 20 executing a program stored in the storage 22 and controlling the camera 24, the motor 25, and the speaker 26. Note that some of these functions may be realized by the processor 21 sending a processing request to another computer included in the toy system via the communication unit 23 and receiving the result of the request.

[0034] The card information acquisition unit 51 acquires operation instructions for the moving object 20 based on the pattern 71 printed on the card 30. More specifically, when the moving object 20 travels on one of the multiple cards 30, the card information acquisition unit 51 reads the pattern 71 printed on the card 30 and decodes information (operation instructions) from the pattern 71. The card information acquisition unit 51 also acquires the orientation of the moving object 20 relative to the card 30 based on the inclination of the pattern 71 photographed by the camera 24.

[0035] The operation control unit 52 controls the running device, the speaker 26, etc. in accordance with the acquired operation instruction. If the operation instruction is information indicating a change in the running state, the operation control unit 52 controls the running device (motor 25) in accordance with the information after acquiring the acquired pattern 71. Furthermore, if the encoded pattern 71 is not read, the operation control unit 52 controls the running device to continue operating in accordance with the operation instruction indicated by the previously read pattern 71 until a new encoded pattern 71 is read as a result of the mobile object 20 running over a new card 30 among the multiple cards 30. If a new encoded pattern 71 is read, the operation control unit 52 controls the running device in accordance with the new operation instruction indicated by the new pattern 71.

[0036] 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. If the action instruction belongs to the state change type, the card determination unit 53 causes the parameter update unit 54 to execute processing. On the other hand, if the action instruction belongs to the action type, the card determination unit 53 causes the action processing unit 56 to execute processing.

[0037] The parameter update unit 54 updates the driving parameters based on the operation instructions belonging to the state change system. The operation instructions belonging to the state change system are further classified into multiple subgroups. The multiple subgroups include a steering subgroup, a speed subgroup, and a braking subgroup. The steering subgroup includes an instruction to turn the steering wheel right or left and an instruction to keep the steering wheel straight. Turning the steering wheel right or left means continuously changing the traveling direction of the mobile object 20 to the right or left. The speed subgroup includes an instruction to set the speed to a specified value. The specified value may be one of multiple predetermined candidate values ​​(e.g., slow, fast, very fast), and each of the multiple instructions included in the speed subgroup may indicate a different candidate value. The braking subgroup includes a braking instruction to continuously reduce the speed. In response to the braking instruction, the mobile object 20 applies the brakes to continuously reduce the speed. Each of the multiple operation instructions belonging to the state change system may be classified (labeled) into one or more subgroups. For example, a certain motion instruction may be labeled in both a speed subgroup and a handle subgroup.

[0038] The parameter update unit 54 updates the driving parameters of the subgroup to which the operation instruction indicated by the read pattern 71 is classified, among the multiple subgroups, to information (e.g., a value) indicated by the operation instruction. By setting driving parameters for each subgroup and controlling driving using the multiple driving parameters, the movement of the mobile object 20 can be made more diverse. If the operation instruction indicated by the read pattern 71 is classified into multiple subgroups of state change systems, the parameter update unit 54 may update each of the driving parameters of the multiple subgroups to which the operation instruction belongs to information on the driving parameters of the respective subgroups according to the operation instruction.

[0039] The driving processing unit 55 controls the driving device (e.g., the motor 25) based on the operation instructions (e.g., driving parameters) set for each of the multiple subgroups. The driving processing unit 55 controls the driving device so that the moving object 20 drives according to the driving parameters. The driving processing unit 55 continuously changes the direction of travel of the moving object 20 to the right or left, or drives the moving object 20 straight, according to the driving parameters of the steering wheel state. The driving processing unit 55 drives the moving object 20 at a speed according to the parameters of the speed subgroup. Furthermore, the driving processing unit 55 continuously reduces the speed of the moving object 20 when a brake state parameter is set.

[0040] Here, a specific example of the movement of the moving object 20 due to changes in the movement parameters will be described. FIG. 6 is a diagram illustrating an example of the control of the moving object 20 by the cards 30. In the example of FIG. 6, a "Slow" card 30a, a "Fast" card 30b, a right-facing card 30d, and a goal card 30j are arranged. In the example of FIG. 6, the moving object 20 first reads the pattern 71 on the card 30a, sets the speed subgroup parameter to a first speed, and moves straight at that speed. Next, the moving object 20 reads the pattern 71 on the card 30b, updates the speed subgroup parameter to a second speed faster than the first speed, and moves straight at that speed. Next, the moving object 20 reads the pattern 71 on the card 30d, updates the steering subgroup parameter to "right," and moves forward while turning right while maintaining the speed. Then, when the moving object 20 reaches the card 30j, the moving object 20, which has read the pattern 71 on the card 30j, makes a sound and stops.

[0041] Here, for example, a pattern 71 indicating an action instruction combining "Fast" and rightward movement may be printed on a single card 30. In this case, a card 30 may exist in which cards 30b and 30d are integrated, and when the mobile object 20 reads the pattern 71 on the card 30, it updates the parameters of the speed subgroup to a second speed and further updates the driving parameters of the steering subgroup to "right." Thereafter, the mobile object 20 may proceed to turn right at the second speed. Alternatively, a card 30 may exist on which a pattern 71 indicating an action instruction combining another speed and steering state is printed.

[0042] FIG. 7 is a diagram illustrating another example of control of the moving object 20 by the card 30. In the example of FIG. 7, a "Fast" card 30b and a "Brake" card 30g are placed. In the example of FIG. 7, the moving object 20 first reads the pattern 71 on the card 30b, updates the parameters of the speed subgroup to a second speed, and moves straight ahead at that speed. Then, the moving object 20 reads the pattern 71 on the card 30g, and updates the parameters of the brake subgroup to the brake state. Then, the moving object 20 continuously decelerates its speed in accordance with the brake state parameters. Eventually, the speed of the moving object 20 reaches 0 and the moving object 20 stops.

[0043] The action processing unit 56 controls the moving object 20 to perform the action indicated by the action instruction based on the action instruction. When the action processing unit 56 receives an instruction to turn in a direction specified by the card 30, in other words, an instruction to make the moving object 20 travel in a specified direction, the action processing unit 56 controls the traveling device to make the moving object 20 turn in the specified direction.

[0044] FIG. 8 is a diagram illustrating another example of the control of the moving object 20 by the card 30. In the example of FIG. 8, a "Fast" card 30b and an arrow card 30h indicating the direction of travel are placed. In the example of FIG. 8, the moving object 20 first reads the pattern 71 on the card 30b, updates the parameters of the speed subgroup to a second speed, and moves straight at that speed. Then, the pattern 71 on the card 30g is read, and the moving object 20 executes an action of turning so that the direction indicated by the pattern 71 and the moving direction of the moving object form a predetermined angle (actually, the direction of the arrow). After the turn is completed, the moving object 20 moves straight at the second speed in the moving direction.

[0045] In this way, the driving state, such as driving parameters or direction of travel, is changed by the action instruction on the card 30, and the moving object 20 then continues to move according to the action instruction until it reaches the next card 30, and the driving state is changed again by the action instruction, and this process is repeated. This makes the reading of the card 30 and the resulting action interactive, allowing the user to experience programming more intuitively and easily. Furthermore, because there is no restriction on arranging the cards 30 without separating them, the user can place the cards 30 in any position, increasing the degree of freedom in the movement of the moving object 20 during the programming experience.

[0046] Next, the processing for realizing the above operation will be described in more detail. Figures 9 and 10 are flowcharts showing an example of the processing of the mobile object 20. Figures 9 and 10 mainly show the processing of the card information acquisition unit 51, the card determination unit 53, and the parameter update unit 54. The processing shown in Figures 9 and 10 is repeatedly executed periodically (for example, every 0.1 seconds).

[0047] First, the card information acquisition unit 51 acquires an image read by the camera 24 of the moving object 20 (S101). The card information acquisition unit 51 determines whether it is possible to acquire an operation instruction from the acquired image (S102). More specifically, the card information acquisition unit 51 determines whether a pattern 71 exists in the acquired image. If it is not possible to acquire an operation instruction, 9 and 10 ends (N in S102). If it is possible to acquire the operation instruction (Y in S102), the card information acquisition unit 51 acquires the operation instruction of the card 30 and the angle A of the moving object 20 relative to the card 30 from the image (S103). The process using the angle A will be described later.

[0048] When an operational instruction for the card 30 is acquired, the card information acquisition unit 51 determines whether the operational instruction is the same as the operational instruction acquired last time (S103). If the operational instruction is the same (Y in S103), the processing in Figures 9 and 10 ends. If the operational instruction is the same as the previous one, there is a high probability that the same card 30 is being read, and problems caused by repeating the same processing and waste of processing resources are prevented.

[0049] If the acquired operation instruction is different from the previously acquired operation instruction (N in S104), the card determination unit 53 determines whether the acquired operation instruction belongs to the state change group (S105). If the acquired operation instruction belongs to the state change group (Y in S105), the parameter update unit 54 updates the driving parameters in accordance with the operation instruction (S106).

[0050] More specifically, the parameter update unit 54 updates the driving parameters of the subgroup to which the operation instruction is classified to values ​​indicated by the operation instruction. If the operation instruction belongs to a speed subgroup, the parameter update unit 54 sets the speed parameter to a value corresponding to the operation instruction. If the operation instruction belongs to a steering subgroup, the parameter update unit 54 updates the steering state parameter to a value indicated by the operation instruction (for example, right, left, or straight). If the operation instruction belongs to a braking subgroup, the parameter update unit 54 updates the brake parameter to a braking state (or a no-brake state).

[0051] When an action instruction belongs to multiple subgroups, the parameter update unit 54 updates the driving parameters of each of the multiple subgroups to the value indicated by the action instruction. For example, when an action instruction belongs to a speed subgroup and a steering subgroup, the parameter update unit 54 sets the speed parameter to a value corresponding to the action instruction and updates the steering state parameter to the value indicated by the action instruction. In this case, there may be multiple action instructions that correspond one-to-one to each combination of a candidate value of the speed parameter (e.g., slow, fast, very fast) and a candidate value of the steering state parameter (e.g., right, left, straight). There may be a card 30 that corresponds one-to-one to each of the multiple action instructions.

[0052] On the other hand, if the acquired operation instruction does not belong to the state change system (N in S105), the card determination unit 53 determines whether the acquired operation instruction indicates an instruction to stop the moving object 20 (S111). If the operation instruction indicates an instruction to stop the moving object (Y in S111), the travel processing unit 55 ends the travel processing and stops the moving object 20 (S112).

[0053] On the other hand, if the action instruction does not indicate an instruction to stop the moving object 20 (N in S111), the card determination unit 53 determines that the acquired action instruction belongs to the action group (S113). If the action instruction does not belong to the action group (N in S113), the processing of FIGS. 9 and 10 is terminated. If the action instruction belongs to the action group (Y in S113), the card determination unit 53 determines whether the running process of the running processing unit 55 or the action process of the action processing unit 56 is currently being executed (S114). If the running process or action process is being executed (Y in S114), the running running process or action process is stopped (S115). If the running process or action process is not being executed (N in S114), the processing of S115 is skipped. Then, the action processing unit 56 starts the action process in response to the action instruction (S116). An example of the action process will be described later.

[0054] Next, a description will be given of details of the driving processing performed by the driving processing unit 55. Fig. 11 is a flowchart showing an example of the driving processing performed by the driving processing unit 55. The processing shown in Fig. 11 is executed periodically except during a stopped state or while an action processing is being executed.

[0055] First, the driving processing unit 55 determines whether the brake state is set among the driving parameters (S201). If the brake state is set (Y in S201), a predetermined value is subtracted from the speed value stored as a driving parameter (S202). On the other hand, if the brake state is not set (N in S201), S202 is skipped.

[0056] If the speed value is 0 (Y in S203), the driving processing unit 55 stops the moving object 20 and transitions the state of the moving object 20 to a stopped state (S204). On the other hand, if the speed value is not 0 (N in S203), the driving processing unit 55 determines the rotation speeds of the left and right wheels 254 based on the current speed value and the steering wheel state parameters (S205). The driving processing unit 55 controls the rotation of the left and right motors 25 based on the determined rotation speeds (S206).

[0057] In this embodiment, the two wheels 254 are driven by different motors 25, and therefore, by controlling the rotation speed of the wheels 254 (motors 25), the moving object 20 can be made to go straight, turn continuously to the right, or turn continuously to the left. When going straight, the difference in rotation speed between the left and right wheels is almost zero. When the moving object 20 includes a steering mechanism, the travel processing unit 55 may control the moving object 20 to go straight, turn right, or turn left by setting the orientation of some of the wheels 254.

[0058] In this way, by running according to the running parameters set by the card 30, it is possible to control the running device so that even if it moves away from the card 30, it continues to operate according to the operation instructions indicated by the previously read pattern 71 until a new pattern 71 is read as the mobile object 20 runs over a new card 30.

[0059] Fig. 12 is a flowchart showing an example of action processing by the action processing unit 56. Fig. 12 shows processing executed by an action instruction, such as that of card 30h, to turn the direction of travel in a specified direction, among a plurality of action-based operation instructions. The processing shown in Fig. 12 starts at S116 in Fig. 10.

[0060] First, the action processing unit 56 reduces the rotation speed of the two motors 25 and temporarily stops the rotation of the wheels 254 (S301). Next, based on the angle read from the card 30 in S103 of FIG. 9, the action processing unit 56 determines the direction and amount of rotation of the left and right motors 25 (S302). The direction and amount of rotation are determined so that the orientation of the moving object 20 after rotation is in a predetermined direction with respect to the card 30 (for example, the direction of the arrow on card 30h). The action processing unit 56 also determines the direction and amount of rotation so that the rotation directions of the left and right wheels 254 are opposite and the moving object 20 faces the predetermined direction with the minimum rotation.

[0061] Here, if the value of the speed of the running parameter is 0 (Y in S304), the action processing unit 56 stops the moving object 20 and transitions the state of the moving object 20 to a stopped state (S305). If the value of the speed of the running parameter is not 0 (N in S304), the action processing unit 56 resumes the running processing of the running processing unit 55 (S306), and the processing in FIG. 12 ends.

[0062] In this process, the direction of travel is physically changed by the action set by the card 30. After the action, the travel process is resumed, causing the moving object 20 to travel according to the travel parameters set previously. As a result, the traveling device can be controlled to continue operating according to the previous operation instructions until a new pattern 71 is read as the moving object 20 travels over a new card 30.

[0063] The processing executed by the action processing unit 56 is not limited to the above. For example, in other operation instructions belonging to the action subgroup, instead of the processing shown in S301 to S303, a typical operation such as snaking or spinning may be executed by reproducing time-series motor control information stored in the storage 22. Furthermore, in other operation instructions, instead of the processing shown in S301 to S303, a process of reproducing audio previously stored in the storage 22 from the speaker 26 may be executed. [Explanation of symbols]

[0064] 20 Mobile object, 21 Processor, 22 Storage, 23 Communication unit, 24 Camera, 25 Motor, 26 Speaker, 222 Switch, 223 Power switch, 254 Wheels, 30, 30a, 30b, 30d, 30g, 30h, 30j Card, 51 Card information acquisition unit, 52 Operation control unit, 53 Card determination unit, 54 Parameter update unit, 55 Driving processing unit, 56 Action processing unit, 71 Pattern.

Claims

1. A computer including a vehicle, a reading means for reading an image when the vehicle travels over one of a plurality of operation instruction cards, each of which has an encoded image showing one of a plurality of operation instructions including a steering instruction printed thereon and which is placed at an arbitrary location by a user; an operation control means for controlling the traveling means in accordance with an operation instruction indicated by the read image; and operate as The steering instruction is an instruction to continuously change the direction of travel to the right or left, the operation control means controls the traveling means to continuously change the traveling direction of the computer to the right or left after the image indicating the steering instruction is read, until a new coded image is read by traveling on a new operation instruction card among the plurality of operation instruction cards; program.

2. 2. The program according to claim 1, the plurality of operation instructions are classified into a plurality of groups, and the operation control means updates a setting of a group to which the operation instruction indicated by the read image belongs, among the plurality of groups, to information indicated by the operation instruction. program.

3. 3. The program according to claim 1 or 2, the plurality of operation instructions include a speed at which the computer should run; the operation control means controls the traveling means so that the computer travels according to the speed after the image indicating the speed is read; program.

4. 3. The program according to claim 1 or 2, the plurality of operation instructions include a brake instruction to continuously reduce the speed of the computer; the operation control means continuously reduces the speed of the computer after the image indicating the brake instruction is read; program.

5. 3. The program according to claim 2, the operation control means controls the traveling means based on the information set for each of the plurality of groups in response to an operation instruction indicated by a previously read image. program.

6. 2. The program according to claim 1, the plurality of operation instructions include a direction of travel; When the image indicating the traveling direction is read, the operation control means controls the traveling means so that the computer turns toward the traveling direction and continues the operation before turning. program.

7. A computer including a vehicle, a reading means for reading an image when the vehicle travels over one of a plurality of operation instruction cards, each of which has an encoded image showing one of a plurality of operation instructions including a steering instruction printed thereon and which is placed at an arbitrary location by a user; an operation control means for controlling the traveling means in accordance with an operation instruction indicated by the read image; and operate as The steering instruction is an instruction to continuously change the direction of travel to the right or left, the operation control means controls the driving means to continuously change the traveling direction of the computer to the right or left after the image indicating the steering instruction is read, until a new coded image is read by driving on a new operation instruction card among the plurality of operation instruction cards; An information storage medium that stores programs.

Images