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

Abstract

To allow a user to experience programming more intuitively.SOLUTION: A toy system controls travel of a mobile body having scan means and travel means. There are placed, by a user respectively at arbitrary locations, multiple cards printed with encoded images each indicating any one of multiple action instructions. When the mobile body travels over any one of the multiple cards thereby scanning the image, the toy system controls the travel means in accordance with the action instruction indicated by the image. When a record instruction is obtained, each time the encoded image is scanned by the mobile body travelling over a new one of the action instruction cards, the toy system stores, in a storage, the action instruction indicated by the image and time information indicating a current time. When a reproduction instruction is obtained, the toy system controls the travel means in accordance with the stored time information and action instruction.SELECTED DRAWING: Figure 5

Description

Technical Field

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

Background Art

[0002] For learning programming, teaching materials for programming by arranging physical cards with commands written on them are sold. A self-propelled device reads the commands of the arranged cards, and then the self-propelled device executes an operation according to the read commands.

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

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the method of reading a program in advance, the reading of the program and the execution by the program are separated. Therefore, for some people, it is difficult to intuitively grasp the relationship between the program and the operation, and there is a risk of becoming an obstacle when experiencing programming.

[0006] The present invention has been made in view of the above problems, and an object thereof is to provide a technology capable of experiencing programming more intuitively.

Means for Solving the Problems

[0007] In order to solve the above problems, the toy system according to the present invention includes a plurality of motion instruction cards each printed with an encoded image indicating any one of a plurality of motion instructions and each placed at an arbitrary location by a user, and a moving body. The moving body includes traveling means enabling traveling, reading means for reading the image when the moving body travels on any one of the plurality of motion instruction cards, and motion control means for controlling the traveling means according to the motion instruction indicated by the read image. When the encoded image is read by the moving body traveling on any one of the plurality of motion instruction cards, the motion control means controls the traveling means according to the motion instruction indicated by the image. When a recording instruction is acquired, the motion control means stores, in a storage, the motion instruction indicated by the image and time information indicating the current time each time an encoded image is read by the moving body traveling on a new motion instruction card. When a playback instruction is acquired, the motion control means controls the traveling means according to the stored time information and motion instructions.

[0008] In order to solve the above problems, the moving body according to the present invention includes traveling means enabling traveling, reading means for reading the image when the moving body travels on any one of a plurality of motion instruction cards each printed with an encoded image indicating any one of a plurality of motion instructions and each placed at an arbitrary location by a user, and motion control means for controlling the traveling means according to the motion instruction indicated by the read image. When the encoded image is read by the moving body traveling on any one of the plurality of motion instruction cards, the motion control means controls the traveling means according to the motion instruction indicated by the image. When a recording instruction is acquired, the motion control means stores, in a storage, the motion instruction indicated by the image and time information indicating the current time each time an encoded image is read by the moving body traveling on a new motion instruction card. When a playback instruction is acquired, the motion control means controls the traveling means according to the stored time information and motion instructions.

[0009] Further, the control method according to the present invention is a control method for controlling the travel of a moving body having a reading means and a traveling means, wherein a coded image indicating any one of a plurality of operation instructions is printed on each of a plurality of operation instruction cards that are each placed at an arbitrary location by a user, and when the moving body travels on any one of the plurality of operation instruction cards, the reading step of the reading means reading the image, and the step of controlling the traveling means according to the operation instruction indicated by the read image, and in the step of controlling the traveling means, when the coded image is read by the moving body traveling on any one of the plurality of operation instruction cards, the traveling means is controlled according to the operation instruction indicated by the image, and when a recording instruction is acquired, each time a coded image is read by the moving body traveling on a new operation instruction card, the operation instruction indicated by the image and time information indicating the current time are stored in a storage, and when a playback instruction is acquired, further including the step of controlling the traveling means according to the stored time information and operation instruction.

[0010] Further, the program according to the present invention causes a computer including a traveling means to function as a reading means for reading an image when the moving body travels on any one of a plurality of operation instruction cards on each of which a coded image indicating any one of a plurality of operation instructions is printed and which are each placed at an arbitrary location by a user, and an operation control means for controlling the traveling means according to the operation state indicated by the read image. When the coded image is read by the moving body traveling on any one of the plurality of operation instruction cards, the operation control means controls the traveling means according to the operation instruction indicated by the image. When a recording instruction is acquired, each time a coded image is read by the moving body traveling on a new operation instruction card, the operation control means stores the operation instruction indicated by the image and time information indicating the current time in a storage. When a playback instruction is acquired, the operation control means controls the traveling means according to the stored time information and operation instruction.

[0011] In addition, the card set according to the present invention includes a plurality of operation instruction cards, each having a coded image printed thereon that is an image to be read when a moving body equipped with traveling means and storage capable of traveling travels, and that indicates any one of a plurality of operation instructions, and each of which is arranged at an arbitrary location by a user; a recording instruction card having a coded image printed thereon that indicates a recording instruction; and a reproduction instruction card having a coded image printed thereon that indicates a reproduction instruction. When the image indicating the operation instruction is read by the moving body, the traveling means is controlled according to the operation instruction. When the image indicating the recording instruction is read by the moving body, each time an image coded by the moving body traveling over a new operation instruction card is read, the operation instruction indicated by the image and time information indicating the current time are stored in the storage. When the image indicating the reproduction instruction is read by the moving body, the traveling means is controlled according to the stored time information and operation instruction.

[0012] According to the present invention, it becomes possible for a user to experience programming more intuitively.

[0013] In one aspect of the present invention, when the recording instruction is acquired, the operation control means stores the operation state of the moving body at the time when the recording instruction is acquired in the storage. When the reproduction instruction is acquired, the operation control means may control the traveling means so as to be in the stored operation state, and then control the traveling means according to the stored time information and operation instruction.

[0014] In one aspect of the present invention, the toy system further includes a recording instruction card printed with an encoded image indicating the recording instruction, and a playback instruction card printed with an encoded image indicating the playback instruction. When the moving body travels over the recording instruction card and the playback instruction card, the reading means reads the images printed on the recording instruction card and the playback instruction card, respectively. When an image indicating the recording instruction is read, the operation control means stores, in the storage, the operation instruction indicated by the image and the time information indicating the current time each time an encoded image is read as the moving body travels over a new operation instruction card. When an image indicating the playback instruction is read, the operation control means may control the traveling means according to the stored time information and operation instruction.

[0015] In one aspect of the present invention, after an image indicating the recording instruction is read, when the moving body travels over any one of the plurality of operation instruction cards, the reading means repeatedly reads the image. When the operation instruction indicated by the currently read image is the same as the operation instruction indicated by the previously read image, the operation control means may not store, in the storage, the operation instruction indicated by the image and the time information indicating the current time.

[0016] In one aspect of the present invention, the toy system further includes a recording end card printed with an encoded image indicating a recording end instruction. When the moving body travels over the recording end card, the reading means reads the image printed on the recording end card. When an image indicating the recording instruction is read, the operation control means may store, in the storage, the operation instruction indicated by the image and the time information indicating the current time each time an encoded image is read as the moving body travels over a new operation instruction card until an image indicating the recording end instruction is read.

[0017] In one embodiment of the present invention, when the encoded image is not read, the moving body travels over a new operation instruction card among the plurality of operation instruction cards until a new encoded image is read, and the traveling means is controlled to continue the operation according to the operation instruction indicated by the previously read image. When the new encoded image is read, the traveling means may be controlled according to the operation instruction indicated by the new image.

Brief Description of the Drawings

[0018]

Figure 1

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Embodiments for Carrying Out the Invention

[0019] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Among the components that appear, those having the same function are denoted by the same reference numerals, and the description thereof will be omitted.

[0020] FIG. 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 cube-shaped outer shape, and its corners are chamfered. Further, a plurality of protrusions for attaching other toys are provided on the upper surface.

[0021] The plurality of cards 30 include a plurality of operation instruction cards, a recording start card, a recording end card, and a playback card. An image indicating an instruction (operation instruction) for the operation of the moving body 20 is printed on each of the plurality of operation instruction cards. Encoded images indicating any one of a plurality of operation instructions of the moving body 20 are printed on at least some of the plurality of operation instruction cards. Encoded images indicating the start or end of recording and the instruction for playback are printed on the recording start card, the recording end card, and the playback card, respectively.

[0022] At least a part of the plurality of cards 30 are arranged by the user at an arbitrary location on a plane (for example, on a desk or the floor). When the moving body 20 travels on any one of the cards 30, it reads an image and executes an operation according to the instruction indicated by the image.

[0023] The operation instructions by a plurality of operation instruction cards are classified into a plurality of types (groups). The plurality of types include a state change type, an action type, and a forced type. The state change type is a group consisting of instructions for changing the operation of the moving body 20 (for example, the traveling state). The action type is mainly a group consisting of instructions for causing the moving body 20 to execute a predetermined operation. In the action type instruction, the previous operation may be resumed after the execution of the operation. Note that even in the action type instruction, the traveling state may change as a result of the operation. The forced type is a group consisting of instructions for immediately stopping the moving body 20. Details of the recording start card, the recording end card, and the playback card will be described later.

[0024] FIG. 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.

[0025] The processor 21 operates according to a program stored in the storage 22 and controls the communication unit 23, the camera 24, the motors 25, the speaker 26, etc. The above program may be provided from another computer by communication via the communication unit 23, or may be stored and provided in a computer-readable storage medium such as a flash memory or an optical disk for another computer.

[0026] The storage 22 is composed of a DRAM, a non-volatile memory, etc. The storage 22 stores the above program. In addition, the storage 22 stores information and calculation results input from the processor 21, the communication unit 23, etc.

[0027] 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 (e.g., a computer) according to, for example, the Bluetooth (registered trademark) protocol or the wireless LAN protocol. Based on the control of the processor 21, the communication unit 23 inputs the information received from other devices to the processor 21 and the storage 22, and transmits information to other devices. Note that the communication unit 23 may communicate with other devices via a wired network.

[0028] The camera 24 is arranged to photograph the lower part of the moving body 20, and photographs a pattern 71 (see FIG. 4) printed on a card 30 on which the moving body 20 is placed. In the present embodiment, the pattern 71 recognized in the infrared frequency region is printed on the card 30, and the camera 24 photographs the infrared image.

[0029] The motor 25 is a so-called servo motor whose rotation direction, rotation amount, and rotation speed are controlled by the processor 21.

[0030] The speaker 26 outputs sound based on the control of the processor 21 or the like.

[0031] FIG. 3 is a view of an example of the moving body 20 seen from below. 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 for causing the moving body 20 to travel.

[0032] FIG. 4 is a diagram showing an example of the relationship between the information printed on the card 30 and the moving body 20. On the card 30, a plurality of patterns 71, which are images readable by the camera 24, are printed together with an image visible to the user. On the card 30, patterns 71 of a predetermined size (for example, 0.2 mm square) are arranged in a matrix. The size of each of the patterns 71 is smaller than the sizes of the card 30 and the moving body 20. The information printed on the plurality of patterns 71 on a certain card 30 may be the same. A pattern 71 indicating the position within the card 30 may be printed on a certain card 30. When the moving body 20 passes over the card 30, usually, the patterns 71 printed at different positions are read as time progresses.

[0033] 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 acquire information. The information acquired from the pattern 71 printed on the operation instruction card is an operation instruction. Thereby, the moving body 20 recognizes the type of the operation instruction card. The information acquired from the pattern 71 printed on the card 30 indicating the start or end of recording and playback is a recording start instruction, a recording end instruction, and a playback instruction, respectively. Further, 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 within the image captured by the camera 24.

[0034] FIG. 5 is a block diagram showing the functions realized by the toy system. The toy system functionally includes a card information acquisition unit 51 and an operation control unit 52. The operation control unit 52 functionally includes a card determination unit 53, a parameter update unit 54, a traveling processing unit 55, an action processing unit 56, a recording control unit 57, and a playback control unit 58. These functions are mainly realized by the processor 21 included in the moving body 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.

[0035] The card information acquisition unit 51 reads the pattern 71 (image) printed on the card 30 and acquires the information indicated by the pattern 71. More specifically, when the moving body 20 travels on any one of the plurality of cards 30, the card information acquisition unit 51 reads the pattern 71 printed on the card 30 and decodes information (operation instruction, recording start instruction, recording end instruction, or playback instruction) from the pattern 71. The card information acquisition unit 51 also acquires the orientation of the moving body 20 with respect to the card 30 based on the inclination of the pattern 71 photographed by the camera 24.

[0036] When an operation instruction is acquired as information, the operation control unit 52 controls the traveling device, the speaker 26, etc. according to the acquired operation instruction. When the operation instruction is information indicating a change in the traveling state, the operation control unit 52 controls the traveling device (motor 25) according to the information after the acquired pattern 71 is acquired. When the encoded pattern 71 is not read, the operation control unit 52 controls the traveling device to continue the operation according to the operation instruction indicated by the previously read pattern 71 until a new encoded pattern 71 is read by the moving body 20 traveling on a new card 30 among the plurality of cards 30. When a new encoded pattern 71 is read, the operation control unit 52 controls the traveling device according to the new operation instruction indicated by the new pattern 71.

[0037] When the recording start instruction is acquired, the operation control unit 52 additionally stores, in the storage 22, the operation instruction indicated by the image and the time information indicating the current time each time an image encoded by the traveling body 20 traveling over a new operation instruction card is read until the recording end condition is satisfied.

[0038] When the reproduction instruction is acquired, the operation control unit 52 controls the traveling device according to the time information and the operation instruction stored in the storage 22. Further, when the reproduction instruction is acquired, the operation control unit 52 may control the traveling device according to the time information and the operation instruction stored in the storage 22 after controlling the traveling device to be in the initial state stored in the storage 22.

[0039] The card determination unit 53 determines the group to which the operation instruction of the card 30 acquired by the processing of the card information acquisition unit 51 belongs. Then, when the operation instruction belongs to the state change system, the card determination unit 53 causes the parameter update unit 54 to execute the processing. On the other hand, when the operation instruction belongs to the action system, the card determination unit 53 causes the action processing unit 56 to execute the processing.

[0040] The parameter update unit 54 updates the driving parameters based on the operation instructions belonging to the state change system. Here, the operation instructions belonging to the state change system are further classified into a plurality of sub-groups. The plurality of sub-groups include a steering sub-group, a speed sub-group, and a brake sub-group. The steering sub-group includes an instruction to turn the steering wheel to the right or left and an instruction to turn the steering wheel straight ahead. Turning the steering wheel to the right or left means continuously changing the traveling direction of the moving body 20 to the right or left. The speed sub-group includes an instruction to set the speed to a specified value. The specified value may be any one of a plurality of predetermined candidate values (e.g., slow, fast, very fast), and each of the plurality of instructions included in the speed sub-group may indicate a different candidate value. The brake sub-group includes a brake instruction to continuously decrease the speed. With the brake instruction, the moving body 20 performs a braking operation to continuously decrease the speed. Here, each of the plurality of operation instructions belonging to the state change system may be classified (labeled) into one or more sub-groups. For example, a certain operation instruction may be labeled in both the speed sub-group and the steering sub-group.

[0041] The parameter update unit 54 updates the driving parameters of the sub-group in which the operation instruction indicated by the read pattern 71 is classified among the plurality of sub-groups to the information (e.g., value) of the driving parameters of the sub-group indicated by the operation instruction. By setting the driving parameters for each sub-group and controlling the driving with a plurality of driving parameters, the operation of the moving body 20 can be made more diverse. When the operation instruction indicated by the read pattern 71 is classified into a plurality of sub-groups of the state change system, the parameter update unit 54 may update each of the driving parameters of the plurality of sub-groups to which the operation instruction belongs to the information of the driving parameters of each sub-group corresponding to the operation instruction.

[0042] The traveling processing unit 55 controls the traveling device (e.g., the motor 25) based on the operation instructions (e.g., traveling parameters) set for each of the plurality of sub - groups. The traveling processing unit 55 controls the traveling device so that the moving body 20 travels according to the traveling parameters. The traveling processing unit 55 continuously changes the traveling direction of the moving body 20 to the right or left, or makes the moving body 20 travel straight, according to the traveling parameters of the steering state. The traveling processing unit 55 makes the moving body 20 travel at a speed according to the parameters of the speed sub - group. Also, when the parameters of the brake state are set, the traveling processing unit 55 continuously reduces the speed of the moving body 20.

[0043] When the recording start instruction is acquired, the recording control unit 57 additionally stores in the storage 22 the operation instruction indicated by the image and the time information indicating the current time each time an image encoded by the traveling of the moving body 20 over a new operation instruction card is read until the recording end condition is satisfied. The recording start instruction may be acquired by reading an image indicating the recording start instruction from the pattern 71 printed on the recording start card. The recording end condition may be that a recording end instruction is acquired from the pattern 71 printed on the recording end card. The recording end condition may be that the moving body 20 stops, or that a predetermined time has elapsed. The operation control unit 52 may store in the storage 22 the operation state (e.g., traveling parameters) of the moving body 20 at that time as the initial state when a recording start instruction is acquired from the pattern 71 printed on the recording start card.

[0044] When the reproduction instruction is acquired, the reproduction control unit 58 controls the traveling device according to the time information and the operation instruction stored in the storage 22. The reproduction instruction may be acquired by reading an image indicating the reproduction instruction from the reproduction card. When the reproduction instruction is acquired, after controlling the traveling device to be in the initial state stored in the storage 22, the traveling device may be controlled according to the time information and the operation instruction stored in the storage 22.

[0045] Here, a specific example of the traveling of the moving body 20 due to the change of traveling parameters will be described. FIG. 6 is a diagram for explaining an example of the control of the moving body 20 by an operation instruction card. In the example of FIG. 6, as the operation instruction cards, a "Slow" card 30a, a "Fast" card 30b, a rightward card 30d, and a goal card 30j are arranged. In the example of FIG. 6, the moving body 20 first reads the pattern 71 on the card 30a, sets the parameter of the speed subgroup as the first speed, and travels straight at that speed. Next, the moving body 20 reads the pattern 71 on the card 30b, updates the parameter of the speed subgroup to a second speed faster than the first speed, and travels straight at that speed. Next, the moving body 20 reads the pattern 71 on the card 30d, updates the parameter of the steering subgroup to "right", and proceeds to turn right while maintaining the speed. Then, when the moving body 20 reaches the card 30j, the moving body 20 that has read the pattern 71 on the card 30j makes a sound and stops.

[0046] Here, for example, on one card 30, a pattern 71 indicating an operation instruction of a combination of "Fast" and rightward may be printed. In this case, there exists a card 30 that is like an integration of the card 30b and the card 30d. When the moving body 20 reads the pattern 71 on the card 30, it updates the parameter of the speed subgroup to the second speed, and further updates the traveling parameter of the steering subgroup to "right". After that, the moving body 20 may proceed to turn right at the second speed. Also, there may exist a card 30 on which a pattern 71 indicating an operation instruction of a combination of other speeds and steering states is printed.

[0047] FIG. 7 is a diagram for explaining another example of controlling the moving body 20 by an operation instruction card. In the example of FIG. 7, as the operation instruction cards, a "Fast" card 30b and a "Brake" card 30g are arranged. In the example of FIG. 7, the moving body 20 first reads the pattern 71 on the card 30b, updates the parameter of the speed subgroup to the second speed, and moves straight at that speed. Then it reads the pattern 71 on the card 30g and updates the parameter of the brake subgroup to the brake state. Then the moving body 20 continuously decelerates the speed of the moving body 20 according to the parameter in the brake state. Finally, the speed of the moving body 20 becomes 0 and it stops.

[0048] The action processing unit 56 controls the moving body 20 to perform the action indicated by the operation instruction based on the operation instruction belonging to the action system. When the action processing unit 56 acquires an instruction to turn in the direction specified by the card 30, in other words, an instruction to make the moving body 20 travel in the specified direction, it controls the traveling device so that the moving body 20 turns in the specified direction.

[0049] FIG. 8 is a diagram for explaining another example of controlling the moving body 20 by an operation instruction card. In the example of FIG. 8, as the operation instruction cards, a "Fast" card 30b and a card 30h with an arrow indicating the traveling direction are arranged. In the example of FIG. 8, the moving body 20 first reads the pattern 71 on the card 30b, updates the parameter of the speed subgroup to the second speed, and moves straight at that speed. Then it reads the pattern 71 on the card 30g, and the moving body 20 executes an action of turning (changing direction) so that the direction indicated by the pattern 71 and the traveling direction of the moving body 20 form a predetermined angle (actually the direction of the arrow). After the direction change is completed, the moving body 20 moves straight at the second speed in its traveling direction.

[0050] In this way, the operation instruction of the card 30 changes the running state such as, for example, the running parameters and the traveling direction. After that, the moving body 20 moves while continuing the operation according to the operation instruction until it reaches the next card 30, and the running state is repeatedly changed by the operation instruction. As a result, the reading of the card 30 and the operation thereby become interactive, and the user can experience more intuitive and easy programming. In addition, since there is no restriction on arranging the cards 30 side by side without releasing them, the user can place the card 30 at an arbitrary position, and the degree of freedom of the operation of the moving body 20 in the programming experience is increased.

[0051] Next, the case of using a recording start card, a recording end card, and a playback card will be described. FIG. 9 is a diagram for explaining an example of recording an operation instruction. In the example of FIG. 9, as the operation instruction cards, a card 30b of "Fast" and a card 30h with two arrows indicating a change in direction are arranged. In addition, a card 30r is arranged as the recording start card, and a card 30q is arranged as the recording end card. In the example of FIG. 9, after the moving body 20 passes through the card 30b of "Fast" and changes its speed to the second speed, it reads the card 30r indicating the start of recording and starts recording the subsequent operation instruction cards. The running parameters including the second speed are recorded as the initial state. After the recording is started, the moving body 20 reads the card 30h for changing the direction to the lower left in the figure and changes the direction, and further reads the card 30h for changing the direction to the right in the figure and changes the direction. Then, the moving body 20 moves straight and reads the card 30q indicating the end of recording to end the recording. The recording control unit 57 may stop the moving body 20 at the end of the recording.

[0052] FIG. 10 is a diagram for explaining an example of reproduction of a recorded operation instruction. In the example of FIG. 10, a card 30p as a reproduction card and a card 30h with an arrow indicating a direction change as an operation instruction card are arranged. In the example of FIG. 10, when the moving body 20 reads the card 30p indicating a reproduction instruction, the moving body 20 becomes the second speed as an initial state and moves as recorded in FIG. 9. Also, when the movement ends, the moving body 20 stops. In addition to the card 30p indicating a reproduction instruction, a card 30 indicating a repeated reproduction instruction may exist. When the moving body 20 reads the card 30 indicating a repeated reproduction instruction, the recorded operation is repeated without stopping at the end of the operation explained in FIG. 10.

[0053] Next, the processing for realizing the operations described so far will be explained in more detail. FIGS. 11 to 13 are flowcharts showing an example of the processing of the moving body 20. FIGS. 11 to 13 mainly show the processing of a card information acquisition unit 51, a card determination unit 53, a parameter update unit 54, a recording control unit 57, and a reproduction control unit 58. The processing shown in FIGS. 11 to 13 is repeatedly executed periodically (for example, every 0.1 seconds). In the example of FIGS. 11 to 13, in addition to a mode of normal running, there exist a recording mode for recording an operation instruction while running and a reproduction mode for reproducing the recorded operation instruction.

[0054] First, the reproduction control unit 58 determines whether the reproduction mode is ON (S101). When the reproduction mode is ON (Y in S101), the reproduction control unit 58 executes the processing from S109 and subsequent steps, and the details of the processing will be described later.

[0055] When the playback mode is OFF (N in S101), the card information acquisition unit 51 acquires the image read by the camera 24 of the moving body 20 (S102). The card information acquisition unit 51 determines whether it is possible to acquire an instruction (operation instruction, recording start instruction, recording end instruction, or playback instruction) from the acquired image (S103). More specifically, the card information acquisition unit 51 determines whether the pattern 71 exists in the acquired image. If it is not possible to acquire an instruction (N in S103), the processes shown in FIGS. 11 to 13 end. If it is possible to acquire an instruction (Y in S103), the card information acquisition unit 51 acquires the instruction for the card 30 and the angle A of the moving body 20 with respect to the card 30 from the image (S104). The process using the angle A will be described later.

[0056] When the instruction for the card 30 is acquired, the card information acquisition unit 51 determines whether the instruction is acquired from the same card 30 as the previous time (S105). If the instruction is acquired from the same card 30 (Y in S105), the processes in FIGS. 11 to 13 end. Whether the instruction is acquired from the same card 30 may be determined by whether the same instruction was read during the previous reading. Here, if no information was read during the previous reading, or the read information does not indicate any instruction and the operation instruction is read this time, it is determined that the instruction is not read from the same card 30 as the previous time. By this process, the occurrence of problems and waste of processing resources due to repeating the same process are prevented.

[0057] When the acquired operation instruction is different from the operation instruction acquired previously (N in S105), the card determination unit 53 determines whether the acquired instruction is an operation instruction (S106). The process when the acquired instruction is not an operation instruction will be described later.

[0058] When the obtained instruction is an operation instruction (Y in S106), the recording control unit 57 determines whether the recording mode is ON (S107). When the recording mode is ON (Y in S107), the recording control unit 57 appends the operation instruction and the angle A obtained by the card information acquisition unit 51 and the time information indicating the current time to the storage 22 (S108). When the recording mode is OFF (N in S107), the process of S108 is skipped.

[0059] FIG. 14 is a diagram showing an example of operation instructions and the like stored in the storage 22. This figure shows, in tabular form, an example of the information stored in the storage 22 when the operation described in FIG. 9 is performed. The "Time" column indicates the time information. In the example of FIG. 14, the time information is the difference between the time when the operation instruction is read and the start time of recording. The time information may be the current time. In this case, the time when the recording start instruction is obtained as the initial state may be recorded separately. The operation instruction is shown in command format, but may actually be a binary code corresponding to the command, or may be the information itself obtained by decoding the pattern 71. In the example of FIG. 14, the angle is represented in the format of -180 degrees to +180 degrees, but may be represented in the format of 0 to 360 degrees, or may be represented as an angle with one revolution divided into n steps (for example, n is an integer of 8 or more). Also, when the recording control unit 57 obtains a recording end instruction, it may store the time information and the like in the storage 22. In the example of FIG. 14, as an example, the row in which "recording end" is described in the operation instruction is shown. Note that the storage 22 in which the operation instructions and the like are stored may be, for example, a memory possessed by the moving body 20.

[0060] If the playback mode is ON in S101 (Y in S101), the processes from S102 to S108 are not performed. Further, the playback control unit 58 acquires, from the storage 22, the earliest operation instruction (next operation instruction) among the unread operation instructions, and the time information and angle stored in association with the operation instruction (S109). In the processes from S111 to S1108, this operation instruction and angle are treated in the same manner as those acquired by S104. The playback control unit 58 waits until the time indicated by the time information (S110). Although not shown in the figure, if information indicating the end of recording is read from the storage 22 in S109, the playback control unit 58 controls the traveling means so that the moving body 20 stops. Also, when the playback mode becomes ON by reading an image indicating the instruction from the card 30 for repeated playback, if information indicating the end of recording is read from the storage 22, the process of S127 may be executed instead of stopping.

[0061] When the processes of N in S107, S108, and S110 are completed, the card determination unit 53 determines whether the acquired operation instruction belongs to the group of state change systems (S111). If the acquired operation instruction belongs to the state change system (Y in S111), the parameter update unit 54 updates the traveling parameters according to the operation instruction (S112).

[0062] More specifically, the parameter update unit 54 updates the traveling parameters of the subgroup to which the operation instruction is classified to the value indicated by the operation instruction. When the operation instruction belongs to the speed subgroup, the parameter update unit 54 sets the speed parameter to a value according to the operation instruction. When the operation instruction belongs to the steering wheel subgroup, the parameter update unit 54 updates the parameter of the steering wheel state to the value indicated by the operation instruction (for example, any of right, left, and straight ahead). When the operation instruction belongs to the brake subgroup, the parameter update unit 54 updates the brake parameter to the brake state (or non-brake state).

[0063] When the operation instruction belongs to a plurality of sub - groups, the parameter update unit 54 updates the running parameters of each of the plurality of sub - groups to the value indicated by the operation instruction. For example, when the operation instruction belongs to the speed sub - group and the steering wheel sub - group, the parameter update unit 54 sets the parameter of the speed to a value corresponding to the operation instruction, and updates the parameter of the steering wheel state to the value indicated by the operation instruction. In this case, there may be a plurality of operation instructions that correspond one - to - one to each combination of the candidate values of the speed parameter (for example, slow, fast, very fast) and the candidate values of the steering wheel state parameter (for example, right, left, straight). There may be a card 30 that corresponds one - to - one to each of the plurality of operation instructions.

[0064] On the other hand, when the acquired operation instruction does not belong to the state change system (N in S111), the card determination unit 53 determines whether the acquired operation instruction indicates an instruction to stop the moving body 20 (S113). When the operation instruction indicates an instruction to stop the moving body 20 (Y in S113), the traveling processing unit 55 ends the traveling processing and stops the moving body 20 (S114).

[0065] On the other hand, when the operation instruction does not indicate an instruction to stop the moving body 20 (N in S113), the card determination unit 53 determines whether the acquired operation instruction belongs to the action - based group (S115). When the operation instruction does not belong to the action - based group (N in S115), the processing of FIGS. 11 to 13 is ended. When the operation instruction belongs to the action - based group (Y in S115), the card determination unit 53 determines whether the traveling processing of the traveling processing unit 55 or the action processing of the action processing unit 56 is currently being executed (S116). When the traveling processing or the action processing is being executed (Y in S116), the currently executed traveling processing or action processing is stopped (S117). When the traveling processing and the action processing are not being executed (N in S116), the processing of S117 is skipped. Then, the action processing unit 56 starts the action processing according to the operation instruction (S118). Examples of the action processing will be described later.

[0066] In S106, when the instruction acquired by the card information acquisition unit 51 is not an operation instruction (N in S106), the card determination unit 53 determines whether the acquired instruction is a recording start instruction (S121). When the acquired instruction is a recording start instruction (Y in S121), the recording control unit 57 sets the recording mode to ON (S122), stores the current driving parameters in the storage 22 in the initial state (S123), and then ends the processes from FIGS. 11 to 13.

[0067] When the acquired instruction is not a recording start instruction (N in S121), the card determination unit 53 determines whether the acquired instruction is a recording end instruction (S124). When the acquired instruction is a recording end instruction (Y in S124), the recording control unit 57 sets the recording mode to OFF and stops the motor 25 (S125), and then ends the processes from FIGS. 11 to 13.

[0068] When the acquired instruction is not a recording end instruction (N in S124), the card determination unit 53 determines whether the acquired instruction is a playback instruction (S126). When the acquired instruction is a playback instruction (Y in S126), the playback control unit 58 acquires the information in the initial state from the storage 22, and controls the motor 25 according to the acquired initial state (for example, driving parameters). More specifically, the playback control unit 58 updates the driving parameters according to the acquired initial state, and further controls the rotation of the motor 25 so that the traveling state of the moving body 20 becomes the initial state, in other words, the rotation state of the wheels 254 corresponds to the speed and the direction of the steering wheel indicated by the driving parameters. Then, the playback control unit 58 sets the playback mode to ON (S128).

[0069] In FIGS. 11 to 13, the processes of S106, S121, S124, and S126 may be executed in other orders. Also, the processes of S111, S113, and S115 may be executed in other orders.

[0070] In the embodiments described so far, instead of recording the positions of the arranged cards 30 and the like, the operation instructions and time information read during the actual running of the moving body 20 are recorded, and by reproducing them, it becomes possible to reproduce the operations simply and faithfully. Also, it is possible to handle the reproduction of the recorded content like a subroutine, and it becomes possible to make the programming experience by arranging the cards 30 more diverse and advanced.

[0071] In the examples of FIGS. 11 to 13, whether the recording mode is on or off, if the new operation instruction is the same as the previous operation instruction, it is ignored (refer to the order of S105 and S107). By these processes, it is possible to more simply reduce the capacity of the storage 22 associated with the recording while suppressing the occurrence of differences between the operations during recording or non-recording and the operations during reproduction.

[0072] Next, the details of the running process by the running processing unit 55 will be described. FIG. 15 is a flowchart showing an example of the running process by the running processing unit 55. The process shown in FIG. 15 is executed periodically except while in the stopped state or while the action process is being executed.

[0073] First, the running processing unit 55 determines whether the brake state is set among the running parameters (S201). If the brake state is set (Y in S201), a predetermined value is subtracted from the speed value stored as the running parameter (S202). On the other hand, if the brake state is not set (N in S201), S202 is skipped.

[0074] Here, if the speed value is 0 (Y in S203), the running processing unit 55 stops the running of the moving body 20 and shifts the state of the moving body 20 to the stopped state (S204). When the recording mode is ON, the same processing as when the recording end instruction is acquired (refer to S125) may be performed.

[0075] On the other hand, when the value of the speed is not 0 (N in S203), the traveling processing unit 55 determines the rotation speeds of the left and right wheels 254 based on the current speed value and the parameters of the steering state (S205). The traveling processing unit 55 controls the rotation of the left and right motors 25 based on the determined rotation speeds (S206).

[0076] Since the two wheels 254 in the present embodiment are driven by different motors 25, by controlling the rotation speeds of the wheels 254 (motors 25), the moving body 20 can be made to move straight, continuously turn right, or continuously turn left. When moving straight, the difference in the rotation speeds of the left and right is almost 0. When the moving body 20 includes a steering mechanism, the traveling processing unit 55 may control the moving body 20 to move straight, turn right, or turn left by setting the directions of some of the wheels 254.

[0077] In this way, by traveling according to the traveling parameters set by the card 30, even when leaving the card 30, the traveling device can be controlled to continue operating according to the operation instructions indicated by the previously read pattern 71 until the moving body 20 travels over a new card 30 and a new pattern 71 is read.

[0078] FIG. 16 is a flowchart showing an example of the action processing by the action processing unit 56. FIG. 16 shows the processing executed by an operation instruction to turn in a specified direction, such as the card 30h, among a plurality of action-based operation instructions. The processing shown in FIG. 16 starts at S118 in FIG. 12.

[0079] First, the action processing unit 56 reduces the rotation speeds of the two motors 25 and temporarily stops the rotation of the wheels 254 (S301). Next, based on the angle read from the card 30 (or acquired in S109), the action processing unit 56 determines the rotation directions and amounts of rotation of the left and right motors 25 (S302). The rotation directions and amounts of rotation are determined such that the direction of the moving body 20 after rotation becomes a predetermined direction with respect to the card 30 (for example, the direction of the arrow of the card 30h). Also, the action processing unit 56 determines the rotation directions and amounts of rotation such that the rotation directions of the left and right wheels 254 are opposite and the moving body 20 faces the predetermined direction with the minimum rotation.

[0080] Here, when the value of the speed of the travel parameter is 0 (Y in S304), the action processing unit 56 stops the moving body 20 and shifts the state of the moving body 20 to the stopped state (S305). When the value of the speed of the travel parameter is not 0 (N in S304), the action processing unit 56 resumes the travel processing of the travel processing unit 55 (S306) and ends the processing of FIG. 16.

[0081] In this process, the traveling direction is physically changed by the action set by the card 30. Also, after the action, by resuming the travel processing, the moving body 20 travels according to the travel parameters set before that. Thus, the traveling device can be controlled to continue the operation according to the previous operation instructions until a new pattern 71 is read by the moving body 20 traveling on the new card 30.

[0082] 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-based subgroup, instead of the processing shown in S301 to S303, typical operations such as serpentine traveling and spinning may be executed by reproducing the time-series motor control information stored in the storage 22. Also, in other operation instructions, instead of the processing shown in S301 to S303, a process of reproducing the voice previously stored in the storage 22 from the speaker 26 may be executed.

Explanation of Reference Numerals

[0083] 20 Mobile body, 21 Processor, 22 Storage, 23 Communication unit, 24 Camera, 25 Motor, 26 Speaker, 222 Switch, 223 Power switch, 254 Wheel, 30, 30a, 30b, 30d, 30g, 30h, 30j, 30p, 30q, 30r Card, 51 Card information acquisition unit, 52 Operation control unit, 53 Card determination unit, 54 Parameter update unit, 55 Travel processing unit, 56 Action processing unit, 57 Recording control unit, 58 Reproduction control unit, 71 Pattern.

Claims

1. A plurality of action instruction cards, each printed with an encoded image indicating one of a plurality of action instructions and each placed by a user at an arbitrary location, and a moving body, wherein the moving body has traveling means enabling it to travel, has reading means for reading the image when the moving body travels on any one of the plurality of action instruction cards, and has action control means for controlling the traveling means according to the action instruction indicated by the read image, wherein the action control means controls the traveling means according to the action instruction indicated by the image when the encoded image is read by the moving body traveling on any one of the plurality of action instruction cards, wherein the action control means, when a recording instruction is acquired, stores in a storage an action state including the speed of the moving body at the time when the recording instruction is acquired, wherein the action control means, when a recording instruction is acquired, stores in a storage the action instruction indicated by the image and time information indicating the current time each time an image encoded by the moving body traveling on a new action instruction card is read, wherein the action control means, when a playback instruction is acquired, controls the traveling means so as to be in the stored action state and then controls the traveling means according to the stored time information and action instruction, a toy system.

2. In the toy system according to claim 1, further comprising a recording instruction card printed with an encoded image indicating the recording instruction and a playback instruction card printed with an encoded image indicating the playback instruction, wherein the reading means reads the images printed on the recording instruction card and the playback instruction card respectively when the moving body travels on the recording instruction card and the playback instruction card, wherein the action control means, when the image indicating the recording instruction is read, stores in a storage the action instruction indicated by the image and time information indicating the current time each time an image encoded by the moving body traveling on a new action instruction card is read, wherein the action control means, when the image indicating the playback instruction is read, controls the traveling means according to the stored time information and action instruction, a toy system.

3. In the toy system according to claim 2, After the image indicating the recording instruction is read, when the moving body travels on any one of the plurality of operation instruction cards, the reading means repeatedly reads the image. When the operation instruction indicated by the currently read image is the same as the operation instruction indicated by the previously read image, the operation control means does not store the operation instruction indicated by the image and the time information indicating the current time in the storage. Toy system.

4. In the toy system according to claim 2, It further includes a recording end card printed with an encoded image indicating a recording end instruction. When the moving body travels on the recording end card, the reading means reads the image printed on the recording end card. When the image indicating the recording instruction is read, until the image indicating the recording end instruction is read, each time an encoded image is read by the moving body traveling on a new operation instruction card, the operation control means stores the operation instruction indicated by the image and the time information indicating the current time in the storage. Toy system.

5. In the toy system according to claim 1, When the encoded image is not read, the traveling means is controlled to continue the operation according to the operation instruction indicated by the previously read image until a new encoded image is read by the moving body traveling on a new operation instruction card among the plurality of operation instruction cards. When the new encoded image is read, the traveling means is controlled according to the operation instruction indicated by the new image. Toy system.

6. A moving body including a traveling means enabling traveling, a reading means, and an operation control means, When the moving body travels on any one of the plurality of operation instruction cards, each of which is printed with an encoded image indicating any one of a plurality of operation instructions and is arbitrarily placed by the user, the reading means reads the image. The operation control means controls the traveling means according to the operation instruction indicated by the read image. When the encoded image is read by the moving body traveling on any one of the plurality of operation instruction cards, the operation control means controls the traveling means according to the operation instruction indicated by the image. When the operation control means acquires a recording instruction, it stores in the storage the operation state including the speed of the moving body at the time when the recording instruction is acquired. When the operation control means acquires the recording instruction, every time an image encoded by the moving body traveling on a new operation instruction card is read, it stores in the storage the operation instruction indicated by the image and the time information indicating the current time. When the operation control means acquires a reproduction instruction, after controlling the traveling means so as to be in the stored operation state, it controls the traveling means according to the stored time information and operation instruction. Moving body.

7. A control method for controlling the traveling of a moving body having a reading means and a traveling means, When the moving body travels on any one of a plurality of operation instruction cards, each of which has an encoded image indicating any one of a plurality of operation instructions printed thereon and is arranged at an arbitrary location by a user, a step of the reading means reading the image; A step of controlling the traveling means according to the operation instruction indicated by the read image, and including: In the step of controlling the traveling means, when the encoded image is read by the moving body traveling on any one of the plurality of operation instruction cards, the traveling means is controlled according to the operation instruction indicated by the image. When a recording instruction is acquired, a step of storing in the storage the operation state including the speed of the moving body at the time when the recording instruction is acquired; When the recording instruction is acquired, every time an image encoded by the moving body traveling on a new operation instruction card is read, a step of storing in the storage the operation instruction indicated by the image and the time information indicating the current time; When a reproduction instruction is acquired, after controlling the traveling means so as to be in the stored operation state, a step of further controlling the traveling means according to the stored time information and operation instruction. Control method.

8. A computer including a traveling means, A reading means for reading an image when the moving body travels on any one of a plurality of operation instruction cards, each of which has an encoded image indicating any one of a plurality of operation instructions printed thereon and is arranged at an arbitrary location by a user, and An operation control means for controlling the traveling means according to the operation state indicated by the read image. function to operate as When the computer runs over any one of the plurality of operation instruction cards and the encoded image is read, the operation control means controls the traveling means according to the operation instruction indicated by the image. When a recording instruction is acquired, the operation control means stores in the storage an operation state including the speed of the computer by the traveling means when the recording instruction is acquired. When the recording instruction is acquired, each time an encoded image is read as the computer runs over a new operation instruction card, the operation control means stores in the storage the operation instruction indicated by the image and time information indicating the current time. When a reproduction instruction is acquired, the operation control means controls the traveling means so as to be in the stored operation state, and then controls the traveling means according to the stored time information and operation instruction. Program.

9. When a moving body equipped with traveling means enabling traveling and a storage travels, an image to be read, on which an encoded image indicating any one of a plurality of operation instructions is printed, and a plurality of operation instruction cards each printed with the encoded image and arranged at an arbitrary location by the user. A recording instruction card printed with an encoded image indicating a recording instruction. A reproduction instruction card printed with an encoded image indicating a reproduction instruction. When the image indicating the operation instruction is read by the moving body, the traveling means is controlled according to the operation instruction. When the image indicating the recording instruction is read by the moving body, the operation state including the speed of the moving body when the recording instruction is acquired is stored in the storage. When the image indicating the recording instruction is read by the moving body, each time an encoded image is read as the moving body runs over a new operation instruction card, the operation instruction indicated by the image and time information indicating the current time are stored in the storage. When the image indicating the reproduction instruction is read by the moving body, the traveling means is controlled according to the stored time information and operation instruction after controlling the traveling means so as to be in the stored operation state. Card set.

Images