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

Abstract

To allow a user to experience programming more intuitively.SOLUTION: A toy system includes: travel means that enables travel; scan means that, when a mobile body travels on any one of multiple cards which are printed with encoded images each indicating any one of multiple action instructions and which are placed at arbitrary locations, respectively, by a user, scans the image; and action control means that controls the travel means according to the action instruction indicated by the scanned image. When the encoded image is scanned by the travel of the mobile body over the action instruction card, the action control means controls the travel means according to the action instruction indicated by the image. After an image indicating a handle instruction to continuously change a traveling direction to right or left is scanned the operation control means controls the travel means so as to change the traveling direction to the right or left with a turning radius according to a current speed of the mobile body.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 in learning 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, a toy system according to the present invention includes a plurality of operation instruction cards, each printed with an encoded image indicating any one of a plurality of operation instructions and each arranged 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 operation instruction cards, and operation control means for controlling 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. The plurality of operation instructions include a steering instruction for continuously changing the traveling direction to the right or left. After the image indicating the steering instruction is read, the operation control means controls the traveling means to change the traveling direction to the right or left with a turning radius corresponding to the current speed of the moving body.

[0008] In order to solve the above problems, a moving body according to the present invention includes traveling means enabling traveling, reading means for reading an image when traveling on any one of a plurality of operation instruction cards, each printed with an encoded image indicating any one of a plurality of operation instructions and each arranged by a user, and operation control means for controlling 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. The plurality of operation instructions include a steering instruction for continuously changing the traveling direction to the right or left. After the image indicating the steering instruction is read, the operation control means controls the traveling means to change the traveling direction to the right or left with a turning radius corresponding to the current speed.

[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 respectively arranged by a user, and when the moving body travels on any one of the plurality of operation instruction cards, the reading means reads the image, and a 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, the plurality of operation instructions include a steering instruction for continuously changing the traveling direction to the right or left, and in the step of controlling the traveling means, after the image indicating the steering instruction is read, the traveling means is controlled to change the traveling direction to the right or left with a turning radius corresponding to the current speed.

[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 computer travels on any one of a plurality of operation instruction cards respectively printed with a coded image indicating any one of a plurality of operation instructions and respectively arranged by a user, and an operation control means for controlling the traveling means according to the operation instruction 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. The plurality of operation instructions include a steering instruction for continuously changing the traveling direction to the right or left. After the image indicating the steering instruction is read, the operation control means controls the traveling means to change the traveling direction to the right or left with a turning radius corresponding to the current speed.

[0011] In addition, the card set according to the present invention includes a plurality of operation instruction cards that are each printed with an encoded image that is read when a moving body having traveling means enabling traveling travels, and that indicates any one of a plurality of operation instructions, and that are each arranged by a user. The plurality of operation instructions include a steering instruction for continuously changing the traveling direction to the right or left. When an image indicating any one of the plurality of operation instructions is read, the traveling means is controlled according to the operation instruction indicated by the image. After an image indicating the steering instruction is read, the traveling means is controlled to change the traveling direction to the right or left with a turning radius corresponding to the current speed of the moving body.

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

[0013] In one embodiment of the present invention, the plurality of operation instructions further include the speed at which the moving body travels. After an image indicating the speed is read, the operation control means may control the traveling means so that the moving body travels according to the speed.

[0014] In one embodiment of the present invention, the plurality of operation instructions further include a brake instruction for continuously decreasing the speed of the moving body. After an image indicating the brake instruction is read, the operation control means may continuously decrease the speed of the moving body so as to stop with a braking distance corresponding to the speed.

[0015] In one embodiment of the present invention, after an image indicating the brake instruction and an image indicating the steering instruction are read, the operation control means may control the traveling means to change the direction to the right or left while the turning radius is monotonically decreasing.

Brief Description of the Drawings

[0016]

Figure 1

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Figure 13

Embodiments for Carrying Out the Invention

[0017] 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.

[0018] 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 enabling the attachment of other toys are provided on the upper surface.

[0019] On each of the plurality of cards 30, instructions for the operation of the moving body 20 are printed. On at least some of the plurality of cards 30, a coded image indicating any one of the plurality of operation instructions of the moving body 20 is printed. At least some 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 over any one of the cards 30, it reads the image and executes an operation according to the instruction indicated by the image.

[0020] The instructions for the operation by the plurality of cards 30 are classified into a plurality of types (groups). The plurality of types include a state change system, an action system, and a forced system. The state change system is a group consisting of instructions for changing the operation (for example, the running state) of the moving body 20. The action system is mainly a group consisting of instructions for causing the moving body 20 to execute a predetermined operation. In the instructions of the action system, the previous operation may be resumed after the execution of the operation. Note that even in the instructions of the action system, the running state may change as a result of the operation. The forced system is a group consisting of instructions for immediately stopping the moving body 20.

[0021] 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.

[0022] 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 provided by being stored in a computer-readable storage medium such as a flash memory or an optical disk for another computer.

[0023] The storage 22 is composed of a DRAM, a non-volatile memory, etc. The storage 22 stores the above program. Further, the storage 22 stores information and calculation results input from the processor 21, the communication unit 23, etc.

[0024] The communication unit 23 is composed of an integrated circuit, an antenna, etc. for communicating with other devices. The communication unit 23 has a function of communicating with other devices (such as a computer) according to, for example, the Bluetooth (registered trademark) protocol or the wireless LAN protocol. The communication unit 23 inputs the information received from other devices to the processor 21 and the storage 22 based on the control of the processor 21, and transmits information to other devices. Note that the communication unit 23 may communicate with other devices via a wired network.

[0025] 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 the card 30 on which the moving body 20 is placed. In the present embodiment, a pattern 71 recognized in the infrared frequency region is printed on the card 30, and the camera 24 photographs the infrared image.

[0026] The motor 25 is a so-called servo motor whose rotation direction, rotation amount, and rotation speed are controlled by the processor 21.

[0027] The speaker 26 outputs sound based on the control of the processor 21 or the like.

[0028] 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 traveling the moving body 20.

[0029] 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, the 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 may be the same for a certain card 30. A pattern 71 indicating a 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 goes on.

[0030] 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. Hereinafter, this information is also referred to as an operation instruction. Thereby, the moving body 20 recognizes the type of the card 30. Further, the moving body 20 detects the direction (for example, the angle A from the reference direction) of the moving body 20 by detecting the inclination of the pattern 71 in the image captured by the camera 24.

[0031] FIG. 5 is a block diagram showing 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, and an action processing unit 56. 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 transmitting a processing request to another computer included in the toy system via the communication unit 23 and receiving the result.

[0032] The card information acquisition unit 51 acquires an operation instruction for the moving body 20 based on the pattern 71 printed on the card 30. More specifically, when the moving body 20 travels over 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) from the pattern 71. Further, the card information acquisition unit 51 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.

[0033] 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. Further, 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 when the moving body 20 travels over 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.

[0034] The card determination unit 53 determines the group to which the operation instruction of the card 30 acquired by the process 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 process. 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 process.

[0035] 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 subgroups. The plurality of subgroups include a steering subgroup, a speed subgroup, and a brake subgroup. The steering subgroup 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 subgroup 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 (for example, slow, fast, very fast), and each of the plurality of instructions included in the speed subgroup may indicate a different candidate value. The brake subgroup includes a brake instruction to continuously decrease the speed. By 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 a plurality of subgroups. For example, a certain operation instruction may be labeled in both the speed subgroup and the steering subgroup.

[0036] The parameter update unit 54 updates the driving parameters of the subgroup in which the operation instruction indicated by the read pattern 71 is classified among the plurality of subgroups to the information (for example, value) of the operation instruction. By setting the driving parameters for each subgroup and controlling the driving by the 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 subgroups of the state change system, the parameter update unit 54 may update each of the driving parameters of the plurality of subgroups to which the operation instruction belongs to the information of the driving parameters of each subgroup according to the operation instruction.

[0037] The traveling processing unit 55 controls a traveling device (e.g., motor 25) based on operation instructions (e.g., traveling parameters) set for each of a plurality of sub - groups. The traveling processing unit 55 causes the moving body 20 to travel at a speed corresponding to the parameters of the speed sub - group. Also, when parameters of the brake state are set, the traveling processing unit 55 continuously reduces the speed of the moving body 20 so as to stop at a braking distance corresponding to the speed at the time of setting. The 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 causes the moving body 20 to go straight, according to the traveling parameters of the steering state. After an image indicating a steering instruction to change the traveling direction to the right or left is read, the traveling processing unit 55 controls the traveling device to change the traveling direction to the right or left with a turning radius corresponding to the current speed of the moving body 20. More specifically, when an instruction to turn the steering wheel to the right or left is set in the traveling parameters of the steering sub - group, the traveling processing unit 55 controls the traveling device to change the traveling direction to the right or left with a turning radius corresponding to the current speed of the moving body 20.

[0038] Here, a specific example of the traveling of the moving body 20 due to a change in the traveling parameters will be described. FIG. 6 is a diagram for explaining an example of the control of the moving body 20 by the card 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 body 20 first reads the pattern 71 on the card 30a, sets the parameters of the speed sub - group as the first speed, and goes straight at that speed. Next, the moving body 20 reads the pattern 71 on the card 30b, updates the parameters of the speed sub - group to a second speed faster than the first speed, and goes straight at that speed. Next, the moving body 20 reads the pattern 71 on the card 30d, updates the parameters of the steering sub - group to "right", and proceeds while maintaining the speed and turning to the right. 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.

[0039] Here, for example, a pattern 71 indicating an operation instruction of a combination of "Fast" and rightward may be printed on a single card 30. In this case, there is a card 30 in which cards 30b and 30d are integrated. 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 handle subgroup to "right". Then, the moving body 20 may proceed to turn right at the second speed. Also, there may be a card 30 on which a pattern 71 indicating an operation instruction of a combination of other speeds and handle states is printed. The operation by the card 30g indicating a brake instruction will be described later.

[0040] The action processing unit 56 controls the moving body 20 to perform the operation indicated by the operation instruction based on the operation instruction belonging to the action system. When an instruction to turn in the direction specified by the card 30 (for example, the direction of the arrow described on the card 30) is acquired, the action processing unit 56 controls the traveling device so that the moving body 20 turns in the specified direction.

[0041] In this way, the traveling state such as the traveling parameter is changed by the operation instruction of the card 30, and then the moving body 20 moves until it reaches the next card 30 while continuing the operation according to the operation instruction, and the traveling state is changed by the operation instruction is repeated. 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. Also, by pseudo-reproducing operations in the real world such as the handle and the brake, the toy system can cultivate a higher level of thinking ability while attracting the user's interest.

[0042] In the examples described so far, there is no restriction on arranging the cards 30 without releasing them. In this case, the user can place the card 30 at any position, increasing the degree of freedom of movement of the moving body 20 in the programming experience and enabling the user to have an advanced experience. However, there may be a restriction on the arrangement method of the card 30 according to this embodiment. For example, using a sheet having a plurality of recesses, the card 30 may be fitted into any of the plurality of recesses. Alternatively, the cards 30 may be arranged such that the sides constituting the outer periphery of the card 30 are in contact or adjacent to each other. When arranging the cards 30 without releasing them, among the plurality of cards 30, there may be a card 30 that does not change the operation of the moving body 20, and it may be arranged between the cards 30 indicating the operation instruction.

[0043] Next, the process for realizing the operation of the moving body 20 according to this embodiment will be described in more detail. FIGS. 7 and 8 are flowcharts showing an example of the process of the moving body 20. FIGS. 7 and 8 mainly show the processes of the card information acquisition unit 51, the card determination unit 53, and the parameter update unit 54. The processes shown in FIGS. 7 and 8 are repeatedly executed periodically (for example, every 0.1 seconds).

[0044] First, the card information acquisition unit 51 acquires an image read by the camera 24 of the moving body 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 the pattern 71 exists in the acquired image. If it is not possible to acquire an operation instruction (N in S102), the processes in FIGS. 9 and 10 end. If it is possible to acquire an 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 body 20 with respect to the card 30 from the image (S103). The process using the angle A will be described later.

[0045] When an operation instruction for the card 30 is acquired, the card information acquisition unit 51 determines whether the operation instruction is acquired from the same card 30 as the previous time (S104). If the instruction is acquired from the same card 30 (Y in S104), the processes of FIGS. 7 and 8 are terminated. Whether the instruction is acquired from the same card 30 may be determined based on 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 current operation instruction is read, 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 the waste of processing resources due to repeating the same process are prevented.

[0046] If the acquired operation instruction is different from the operation instruction acquired previously (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 according to the operation instruction (S106).

[0047] More specifically, the parameter update unit 54 updates the driving 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 corresponding 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, one of right, left, and straight). 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).

[0048] 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 speed parameter 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 candidate values of the speed parameter (e.g., slow, fast, very fast) and candidate values of the parameter of the steering wheel state (e.g., right, left, straight). There may be a card 30 that corresponds one - to - one to each of the plurality of operation instructions.

[0049] On the other hand, when 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 body 20 (S111). When the operation instruction indicates an instruction to stop the moving body 20 (Y in S111), the running processing unit 55 ends the running process and stops the moving body 20 (S112).

[0050] On the other hand, when the operation instruction does not indicate an instruction to stop the moving body 20 (N in S111), the card determination unit 53 determines whether the acquired operation instruction belongs to the action - system group (S113). When the operation instruction does not belong to the action - system group (N in S113), the processes of FIGS. 7 and 8 are ended. When the operation instruction belongs to the action - system 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). When the running process or the action process is being executed (Y in S114), the running process or the action process being executed is stopped (S115). When the running process and the action process are not being executed (N in S114), the process of S115 is skipped. Then, the action processing unit 56 starts the action process according to the operation instruction (S116).

[0051] For example, when an instruction to turn in the direction specified by the card 30 (e.g., the direction of the arrow described on the card 30) is acquired, the action processing unit 56 determines the rotation direction and rotation amount of the left and right motors 25 based on the angle read from the card 30 in S103 of FIG. 7, and controls the motor 25 based on the determination. The rotation direction and rotation amount are determined such that the direction of the moving body 20 after rotation becomes a predetermined direction (e.g., the direction of the arrow of the card 30h) with respect to the card 30.

[0052] In other operation instructions belonging to the action system subgroup, the action processing unit 56 may execute stereotypical operations such as serpentine running and spinning by reproducing the time-series motor control information stored in the storage 22.

[0053] Next, the details of the running process by the running processing unit 55 will be described. FIG. 9 is a flowchart showing an example of the running process by the running processing unit 55. The process shown in FIG. 9 is executed periodically except during the stop state or when the action process is being executed.

[0054] 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.

[0055] 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 stop state (S204).

[0056] FIG. 10 is a diagram for explaining an example of the difference in the operation of the moving body 20 according to speed. In the upper example of FIG. 10, the "Slow" card 30a and the "Brake" card 30g are arranged. In the lower example of FIG. 10, the "Fast" card 30b and the "Brake" card 30g are arranged. In the upper example, the moving body 20 first reads the pattern 71 on the card 30a, updates the parameters of the speed subgroup to the first speed, and moves straight at that speed. Then the moving body 20 reads the pattern 71 on the card 30g and updates the parameters of the brake subgroup to the braking state. Then the moving body 20 advances and stops while continuously decelerating the speed of the moving body 20 according to the parameters in the braking state until the speed becomes 0 (by the braking distance ds). On the other hand, in the lower example, the moving body 20 first reads the pattern 71 on the card 30b, updates the parameters of the speed subgroup to the second speed faster than the first speed, and moves straight at that speed. The moving body 20 reads the pattern 71 on the card 30g and updates the parameters of the brake subgroup to the braking state. The moving body 20 then advances and stops by the braking distance df while reducing the speed.

[0057] In the process of FIG. 9, when the braking state is set, reducing the speed by a certain amount is periodically executed. Therefore, the higher the speed, the longer the time until the speed becomes 0, and since the average speed during traveling is also large, the braking distance becomes larger as the speed is higher. This is similar to uniformly accelerated motion due to the acceleration in the opposite direction of the traveling direction. The motor 25 of the moving body 20 is a servo motor, and it is easy to suddenly stop rotating regardless of the speed. By controlling the motor 25 so that the braking distances ds and df according to the speed are obtained, and approaching the physical movement, the effect of the programming experience is improved.

[0058] The following describes the continuation of the process. In S203, 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 wheel state (S205). The traveling processing unit 55 controls the rotation of the left and right motors 25 based on the determined rotation speeds (S206).

[0059] In the present embodiment, since the two wheels 254 are driven by different motors 25, by controlling the rotation speeds of the wheels 254 (motors 25), the moving body 20 can move straight, continuously turn right, or continuously turn left. When moving straight, the difference in the rotation speeds of the left and right is approximately 0.

[0060] Here, in S205, when the parameter of the steering wheel state is set to right or left, the traveling processing unit 55 determines the rotation speeds of the left and right wheels 254 such that the greater the speed parameter among the traveling parameters, the larger the turning radius (the turning radius corresponds to the curvature of the locus). For example, the traveling processing unit 55 may determine the rotation speeds of the left and right wheels 254 such that the difference in the rotation speeds of the left and right wheels 254 is constant and the sum of the rotation speeds of the left and right wheels 254 is proportional to the speed parameter. In this case, the turning radius is approximately proportional to the speed. The rotation speeds may be calculated by other mathematical formulas, or the traveling processing unit 55 may determine the rotation speeds by referring to a table in which the rotation speeds of the left and right wheels 254 are stored for each speed.

[0061] FIGS. 11 and 12 are diagrams for explaining another example of the difference in the operation of the moving body 20 depending on the speed. In the example of FIG. 11, the moving body 20 first reads the pattern 71 on the "Slow" card 30a, changes its speed to the first speed, then reads the pattern 71 on the rightward card 30d, updates the parameter of the steering wheel state to "right", and proceeds to turn right while maintaining the speed. At this time, the moving body 20 turns right with a turning radius rs.

[0062] In the example of FIG. 12, the moving body 20 first reads the pattern 71 on the "Fast" card 30b, changes its speed to a faster second speed, then reads the pattern 71 on the card 30d, and turns right with a turning radius df. The turning radius df is larger than the turning radius ds.

[0063] In the conventional programming teaching materials for arranging cards, the place where a device such as the moving body 20 travels was also in a grid pattern. Also, since it was not considered that the device operates ignoring the grid, instead of changing the direction like a steering wheel, the device was turned on the card in 90-degree units.

[0064] On the other hand, in the examples of FIGS. 11 and 12, further, when turning right or left like a steering wheel operation, a condition is added that the turning radius increases as the speed increases. Then, the operation of the moving body 20 becomes diverse, and the room for the user to devise when arranging the cards 30 increases. Also, that condition is similar to the behavior of an actual car, etc., and is easy for the user to intuitively understand. Thereby, while attracting the user's interest, it becomes possible to give a more advanced programming experience. Note that this condition cannot be realized in the moving body 20 used as a toy unless the rotation speed is consciously controlled. Therefore, the traveling processing unit 55 intentionally controls the left and right rotation speeds and pseudo-simulates this phenomenon.

[0065] Also, when combined with the braking state, etc., a more interesting experience is provided. FIG. 13 is a diagram for explaining another example of the difference in the operation of the moving body depending on the speed. In the example of FIG. 13, first, the pattern 71 on the "Fast" card 30b is read, the speed of the moving body 20 becomes the second speed, the pattern 71 on the "Brake" card 30g is read, and the pattern 71 on the card 30d is read while the speed is continuously decreasing. The moving body 20 turns right while decreasing its speed, and at that time, it turns right so that the turning radius monotonically decreases according to the speed. With simple control, spiral movement becomes possible, providing a more advanced experience for the user.

[0066] When the moving body 20 includes a steering mechanism, the travel processing unit 55 may control the moving body 20 to go straight, turn right, or turn left by setting the directions of some of the wheels 254.

[0067] By the processes shown in FIGS. 7 to 9, the moving body 20 travels according to the travel parameters set by the card 30. Also, even when the moving body 20 leaves the card 30, the operation control unit 52 controls the travel device so that the moving body 20 continues to operate according to the operation instruction indicated by the previously read pattern 71 until a new pattern 71 is read when the moving body 20 travels over a new card 30.

Explanation of Signs

[0068] 20 Moving body, 21 Processor, 22 Storage, 23 Communication unit, 24 Camera, 25 Motor, 26 Speaker, 222 Switch, 223 Power switch, 254 Wheel, 30, 30a, 30b, 30d, 30g, 30h, 30j Card, 51 Card information acquisition unit, 52 Operation control unit, 53 Card determination unit, 54 Parameter update unit, 55 Travel processing unit, 56 Action processing unit, 71 Pattern.

Claims

1. A plurality of operation instruction cards, each printed with an encoded image indicating one of a plurality of operation instructions and each arranged by a user, and a moving body, wherein 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 operation instruction cards, operation control means for controlling 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, the plurality of operation instructions include a steering instruction for continuously changing the traveling direction to the right or left, the plurality of operation instructions further include the speed at which the moving body travels, after the image indicating the speed is read, the operation control means controls the traveling means so that the moving body travels according to the speed, after the image indicating the steering instruction is read, the operation control means controls the traveling means to change the traveling direction to the right or left with a turning radius corresponding to the current speed of the moving body, A toy system.

2. In the toy system according to claim 1, the plurality of operation instructions further include a brake instruction for continuously reducing the speed of the moving body, after the image indicating the brake instruction is read, the operation control means continuously reduces the speed of the moving body so as to stop at a braking distance corresponding to the speed, A toy system.

3. In the toy system according to claim 2, after the image indicating the brake instruction and the image indicating the steering instruction are read, the operation control means controls the traveling means to change the direction to the right or left while the turning radius is monotonically decreasing, A toy system.

4. Traveling means enabling traveling, reading means for reading the image when traveling on any one of a plurality of operation instruction cards, each printed with an encoded image indicating one of a plurality of operation instructions and each arranged by a user, operation control means for controlling the traveling means according to the operation instruction indicated by the read image, When the operation control means reads the encoded image by 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. The plurality of operation instructions include a steering instruction for continuously changing the traveling direction to the right or left. The plurality of operation instructions further include the speed of traveling by the traveling means. After the image indicating the speed is read, the operation control means controls the traveling means to travel according to the speed. After the image indicating the steering instruction is read, the operation control means controls the traveling means to change the traveling direction to the right or left with a turning radius corresponding to the current speed. Moving body.

5. 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 printed with an encoded image indicating any one of a plurality of operation instructions and each arranged by a user, a step of the reading means reading the image; Controlling the traveling means according to the operation instruction indicated by the read image, 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. The plurality of operation instructions include a steering instruction for continuously changing the traveling direction to the right or left and an instruction of the speed at which the moving body travels. In the step of controlling the traveling means, after the image indicating the speed is read, the traveling means is controlled so that the moving body travels according to the speed. In the step of controlling the traveling means, after the image indicating the steering instruction is read, the traveling means is controlled to change the traveling direction to the right or left with a turning radius corresponding to the current speed. Control method.

6. A computer including a traveling means, A reading means for reading the image when traveling on any one of a plurality of operation instruction cards each printed with an encoded image indicating any one of a plurality of operation instructions and each arranged by a user, An operation control means for controlling the traveling means according to the operation instruction indicated by the read image, Function as When the operation control means reads the encoded image by 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. The plurality of operation instructions include a steering instruction for continuously changing the traveling direction to the right or left. The plurality of operation instructions further include the speed of traveling by the traveling means. After the image indicating the speed is read, the operation control means controls the traveling means to travel according to the speed. After the image indicating the steering instruction is read, the operation control means controls the traveling means to change the traveling direction to the right or left with a turning radius corresponding to the current speed. Program.

7. An image read when a moving body having traveling means enabling traveling travels, the image being a plurality of operation instruction cards printed with an encoded image indicating any one of a plurality of operation instructions and arranged by a user respectively. The plurality of operation instructions include a steering instruction for continuously changing the traveling direction to the right or left and an instruction for the speed at which the moving body travels. When an image indicating any one of the plurality of operation instructions is read, the traveling means is controlled according to the operation instruction indicated by the image. After the image indicating the speed is read, the traveling means is controlled so that the moving body travels according to the speed. After the image indicating the steering instruction is read, the traveling means is controlled to change the traveling direction to the right or left with a turning radius corresponding to the current speed of the moving body. Card set.

Images