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. When the mobile body travels over any one of multiple action instruction cards on each of which an encoded image that indicates any one of multiple action instructions is printed, the toy system controls the travel means in accordance with the action instruction indicated by the scanned image. When an image indicating an interrupt record instruction is scanned by the mobile body travelling over an interrupt setting card, The toy system stores, in association with an execution condition, the action instruction indicated by the image scanned from the action instruction card on which the mobile body travels over next. When the execution condition is satisfied, the toy system executes an action in accordance with the action instruction associated with the execution condition, and then restart a previous action.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to a toy system, a moving 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 on sale. A self-propelled device reads the commands on 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 the 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] 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, an interrupt setting card printed with an encoded image indicating an interrupt recording instruction associated with an execution condition, 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 interrupt setting card and the plurality of operation instruction cards, and operation control means for controlling the traveling means according to an operation instruction indicated by an image read from 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 encoded image is read by the moving body traveling on any one of the plurality of operation instruction cards. When an image indicating the interrupt recording instruction is read, the operation control means stores, in association with the execution condition, an operation instruction indicated by an image read from an operation instruction card on which the moving body will travel next. When the execution condition is satisfied, the operation control means executes an operation according to the operation instruction stored in association with the execution condition, and resumes the operation before the execution condition was satisfied after the execution of the operation.

[0008] In addition, the mobile body according to the present invention includes traveling means enabling traveling, a plurality of operation instruction cards on each of which an encoded image indicating any one of a plurality of operation instructions is printed, and a reading means for reading the image when traveling on any one of interrupt setting cards on which an encoded image indicating an interrupt recording instruction associated with an execution condition is printed, and operation control means for controlling the traveling means according to the operation instruction indicated by the image read from any one of the plurality of operation instruction cards. When the encoded image is read 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. When the image indicating the interrupt recording instruction is read, the operation control means stores the operation instruction indicated by the image read from the operation instruction card on which the mobile body will travel next in association with the execution condition. When the execution condition is satisfied, the operation control means executes an operation according to the operation instruction associated with the execution condition, and resumes the operation before the execution condition was satisfied after the execution of the operation.

[0009] In addition, the card set according to the present invention includes a plurality of operation instruction cards, on each of which an encoded image indicating any one of a plurality of operation instructions, which is an image read when a mobile body provided with traveling means enabling traveling travels, is printed and which are respectively arranged by a user, and an interrupt setting card on which an encoded image indicating an interrupt recording instruction associated with an execution condition is printed. 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. When an image indicating the interrupt recording instruction is read, the operation instruction indicated by the image read from the operation instruction card on which the mobile body will travel next is stored in association with the execution condition. When the execution condition is satisfied, an operation according to the operation instruction stored in association with the execution condition is executed, and the operation before the execution condition was satisfied is resumed after the execution of the operation.

[0010] 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 plurality of operation instruction cards, each having an encoded image indicating any one of a plurality of operation instructions printed thereon and arranged by a user, and an interrupt setting card having an encoded image indicating an interrupt recording instruction associated with an execution condition printed thereon, when the moving body travels over any one of them, the reading means reads the image, and controls the traveling means according to the operation instruction indicated by the read image, and in the step of controlling the traveling means, when the encoded image is read by the moving body traveling over 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 the image indicating the interrupt recording instruction is read, further includes the step of storing, in association with the execution condition, the operation instruction indicated by the image read from the operation instruction card over which the moving body will next travel, and in the step of controlling the traveling means, when the execution condition is satisfied, an operation corresponding to the operation instruction associated with the execution condition is executed, and after the execution of the operation, the operation before the execution condition was satisfied is resumed.

[0011] In addition, the program according to the present invention causes a computer including traveling means to function as reading means for reading the image when traveling on any one of a plurality of operation instruction cards on which an encoded image indicating any one of a plurality of operation instructions is printed, and an interrupt setting card on which an encoded image indicating an interrupt recording instruction associated with an execution condition is printed, operation control means for controlling the traveling means according to the operation instruction indicated by the image read from the plurality of operation instruction cards. When the encoded image is read 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. When the image indicating the interrupt recording instruction is read, the operation control means stores the operation instruction indicated by the image read from the operation instruction card on which the moving body will travel next in association with the execution condition. When the execution condition is satisfied, the operation control means executes an operation according to the operation instruction associated with the execution condition, and resumes the operation before the execution condition was satisfied after the execution of the operation.

[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 execution condition may be that a predetermined period has elapsed since the start time or since the execution condition was satisfied previously.

[0014] In one embodiment of the present invention, the execution condition includes a first condition and a second condition. The first condition is that a first period has elapsed since the start time or the previous execution according to the first condition. The second condition is that a second period longer than the first period has elapsed since the start time or the previous execution according to the second condition. When the second condition is satisfied, the operation control means may execute an operation only according to the operation instruction associated with the second condition regardless of whether the first condition is satisfied, and resume the operation before the execution condition was satisfied after the execution of the operation.

[0015] In one embodiment of the present invention, the execution condition may be that an acceleration sensor detects an impact on the moving body.

[0016] In one embodiment of the present invention, the execution condition may be that a magnetic sensor detects a magnetic field that satisfies a detection condition.

[0017] In one embodiment of the present invention, the execution condition may be that an image in which information corresponding to the execution condition is encoded is read by the reading means.

[0018] In one embodiment of the present invention, when an image indicating the interrupt recording instruction is read, the operation control means causes the moving body to travel in a predetermined direction based on the direction of the moving body acquired from the image, and stores, in association with the execution condition, an operation instruction indicated by an image read from an operation instruction card, which is an operation instruction card on which the moving body will travel next and is arranged in the predetermined direction.

Brief Description of the Drawings

[0019]

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Mode for Carrying Out the Invention

[0020] 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 given the same reference numerals, and the description thereof is omitted.

[0021] 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.

[0022] The plurality of cards 30 includes a plurality of operation instruction cards, a plurality of interrupt setting cards, and an interrupt execution card. An image indicating an instruction for the operation of the moving body 20 (operation instruction) is printed on each of the plurality of operation instruction cards. Encoded images indicating any one of the plurality of operation instructions of the moving body 20 are printed on at least some of the plurality of operation instruction cards.

[0023] The interrupt setting card is a card for setting a kind of interrupt process. The interrupt process is also called an event process. The plurality of interrupt setting cards correspond one-to-one to a plurality of interrupt execution conditions, and an encoded image indicating an interrupt setting instruction for the corresponding interrupt execution condition is printed on each of the plurality of interrupt setting cards. The interrupt execution condition is an event that triggers the set process. The interrupt execution card is an instruction (execution instruction) corresponding to a specific one of the plurality of interrupt execution conditions, and an encoded image indicating the execution instruction is printed thereon.

[0024] 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.

[0025] The operation instructions by the 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 running state). The action type is mainly a group consisting of instructions for causing the moving body 20 to execute a predetermined operation. In the case of an action type instruction, the previous operation may be resumed after the operation is executed. Note that even in the case of an action type instruction, the running 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 interrupt setting card and the interrupt execution card will be described later.

[0026] FIG. 2 is a diagram showing an example of the hardware configuration of the toy system. The mobile body 20 includes a processor 21, a storage 22, a communication unit 23, a camera 24, two motors 25, a speaker 26, and a sensor 27.

[0027] 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 to another computer stored in a computer-readable storage medium such as a flash memory or an optical disk.

[0028] 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.

[0029] 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 (for example, a computer) according to, for example, the Bluetooth (registered trademark) protocol or the wireless LAN protocol. The communication unit 23 inputs information received from other devices to the processor 21 and the storage 22, and transmits information to other devices based on the control of the processor 21. Note that the communication unit 23 may communicate with other devices via a wired network.

[0030] The camera 24 is arranged to photograph the lower part of the mobile body 20, and photographs a pattern 71 (see FIG. 4) printed on the card 30 on which the mobile body 20 is placed. In the present embodiment, the card 30 is printed with a pattern 71 recognized in the infrared frequency region, and the camera 24 photographs the infrared image. Note that in addition to the pattern 71, a picture recognized by visible light is printed on the card 30.

[0031] The motor 25 is a so-called servo motor whose rotation direction, rotation amount, and rotation speed are controlled by the processor 21.

[0032] The speaker 26 outputs sound based on control by the processor 21 or the like.

[0033] The sensor 27 includes at least one of an acceleration sensor and a magnetic sensor. The acceleration sensor is, for example, a six-axis acceleration sensor and detects the acceleration applied to the moving body 20. Based on the output of the acceleration sensor, the fall of the moving body 20 or the impact on the moving body 20 is detected. The magnetic sensor is, for example, a three-axis magnetic sensor and may be installed, for example, under the upper surface of the moving body 20.

[0034] 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.

[0035] FIG. 4 is a view 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 pattern 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.

[0036] In the toy system according to this embodiment, the camera 24 of the mobile body 20 captures the pattern 71 printed on the card 30, and the mobile body 20 decodes the pattern 71 to obtain information. The information obtained from the pattern 71 printed on the operation instruction card is an operation instruction. Thereby, the mobile body 20 recognizes the type of the operation instruction card. The information obtained from the pattern 71 printed on the interrupt setting card is an interrupt setting instruction regarding the corresponding interrupt execution condition. The information obtained from the pattern 71 printed on the interrupt execution card is an execution instruction corresponding to a specific one of a plurality of interrupt execution conditions, and an encoded image indicating the execution instruction is printed. Further, the mobile body 20 detects the direction (for example, the angle A from the reference direction) of the mobile body 20 by detecting the inclination of the pattern 71 in the image captured by the camera 24.

[0037] FIG. 5 is a block diagram showing the functions realized by the toy system. Functionally, the toy system 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 travel processing unit 55, an action processing unit 56, an interrupt setting unit 57, and an interrupt control unit 58. These functions are mainly realized by the processor 21 included in the mobile body 20 executing a program stored in the storage 22 and controlling the camera 24, the motor 25, the speaker 26, and the sensor 27. 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.

[0038] The card information acquisition unit 51 reads the pattern 71 (image) printed on the card 30 and obtains the information indicated by the pattern 71. More specifically, when the mobile 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 the information (operation instruction, interrupt setting instruction, execution instruction) from the pattern 71. Further, the card information acquisition unit 51 obtains the orientation (angle) of the mobile body 20 with respect to the card 30 based on the inclination of the pattern 71 captured by the camera 24.

[0039] When the operation control unit 52 acquires an operation instruction as information, it controls the traveling device, the speaker 26, etc. according to the acquired operation instruction. When the operation instruction is information indicating a change in traveling parameters, the operation control unit 52 controls the traveling device (motor 25) according to the changed parameters after the acquired pattern 71 has been acquired. Further, when the encoded pattern 71 is not read, the operation control unit 52 controls the traveling device so that the traveling body 20 continues to perform an operation according to the operation instruction indicated by the previously read pattern 71 until a new encoded pattern 71 is read by 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, interrupt setting instruction, and execution instruction indicated by the new pattern 71.

[0040] When the operation control unit 52 acquires an interrupt setting instruction, it stores, in the storage 22, the operation instruction indicated by the image read from the operation instruction card on which the moving body 20 will travel next, in association with the interrupt execution condition corresponding to the interrupt setting instruction.

[0041] When any of the interrupt execution conditions is satisfied, the operation control unit 52 executes an operation according to the operation instruction stored in the storage 22 in association with the satisfied interrupt execution condition, and after the execution of the operation, resumes the operation of the traveling device before the interrupt execution condition was satisfied.

[0042] The card determination unit 53 determines what kind of instruction the information of the card 30 acquired by the processing of the card information acquisition unit 51 indicates, and also determines the group to which the operation instruction belongs when the information indicates an operation instruction. 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.

[0043] 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. 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 a plurality of subgroups. For example, a certain operation instruction may be labeled in both the speed subgroup and the steering subgroup.

[0044] 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 driving parameters of the subgroup indicated by the operation instruction. By setting the driving parameters for each subgroup 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 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 corresponding to the operation instruction.

[0045] The travel processing unit 55 controls the travel device (e.g., the motor 25) based on the operation instructions (e.g., travel parameters) set for each of the plurality of sub - groups. The travel processing unit 55 controls the travel device so that the moving body 20 travels according to the travel parameters. The travel 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 travel parameters of the steering state. The travel 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 travel processing unit 55 continuously reduces the speed of the moving body 20.

[0046] When an interrupt setting instruction is acquired, the interrupt setting unit 57 acquires the operation instruction indicated by the image read from the operation instruction card for the next travel of the moving body 20 and the orientation of the moving body 20, and associates the interrupt execution condition corresponding to the interrupt setting instruction with the operation instruction and the orientation and stores them in the storage 22. The interrupt execution condition includes at least a part of one or more time intervals for execution, detection of impact by an acceleration sensor, detection of magnetism satisfying the detection condition by a magnetic sensor, and reading of a special pattern 71. The special pattern 71 may be printed on the interrupt execution card, and the pattern 71 may be an image in which the execution instruction is encoded. When the pattern 71 indicating the interrupt recording instruction is read, the interrupt setting unit 57 first makes the moving body 20 travel in a predetermined direction based on the orientation of the moving body 20 obtained from the inclination of the photographed pattern 71. Then, the interrupt setting unit 57 associates the operation instruction and the orientation indicated by the image read from the operation instruction card arranged in the predetermined direction with the interrupt execution condition and stores them in the storage 22. Note that a visible image indicating the orientation for arranging the next card may be printed on the interrupt setting card.

[0047] When any of the interrupt execution conditions is satisfied, the interrupt control unit 58 executes an operation according to the operation instruction stored in the storage 22 in association with the satisfied interrupt execution condition. This operation may be an operation executed by an operation instruction during normal travel, may be to control the traveling device, or may be to output sound to the speaker 26. Further, after executing the operation, the interrupt control unit 58 causes the traveling device to resume the operation before the interrupt execution condition is satisfied (for example, an operation according to the traveling parameters).

[0048] Here, a specific example of the travel of the moving body 20 due to a change in the travel 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 wheel subgroup to "right", and proceeds to turn right while maintaining the speed. 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.

[0049] Here, for example, a pattern 71 indicating an operation instruction of a combination of "Fast" and rightward may be printed on one card 30. In this case, there is a card 30 in which the card 30b and the card 30d are integrated. When the moving body 20 reads the pattern 71 on the card 30, the moving body 20 updates the parameter of the speed subgroup to the second speed, and further updates the traveling parameter of the steering wheel subgroup to "right". Thereafter, the moving body 20 may proceed to turn right at the second speed. Further, there may be a card 30 on which a pattern 71 indicating an operation instruction of a combination of other speeds and steering wheel states is printed.

[0050] FIG. 7 is a diagram for explaining another example of the control of the moving body 20 by the 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 travels 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.

[0051] 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 obtains 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.

[0052] FIG. 8 is a diagram for explaining another example of the control of the moving body 20 by the 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 travels 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 travels straight in its traveling direction at the second speed.

[0053] In this way, the operation instruction of the card 30 changes the running state such as the running parameters and the traveling direction, for example. After that, the moving body 20 moves until it reaches the next card 30 while continuing the operation according to the operation instruction, 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.

[0054] Next, the case of using an interrupt setting card and an interrupt execution card will be described. FIG. 9 is a diagram for explaining an example of setting an interrupt operation. In the example of FIG. 9, as an operation instruction card, a card 30h with an arrow indicating a direction change is arranged. Further, a card 30r is arranged as an interrupt setting card. In the example of FIG. 9, the interrupt execution condition is a time interval of 2 seconds (every 2 seconds), and the interrupt operation for the interrupt execution condition is recorded. More specifically, the moving body 20 reads the card 30r indicating the interrupt setting and moves forward. Next, the moving body 20 reads the card 30h for changing the direction diagonally to the right, and associates the operation instruction and the angle obtained from the card 30h with the interrupt execution condition of a time interval of 2 seconds and stores them in the storage 22.

[0055] FIG. 10 is a diagram showing a modified example of the interrupt setting card. As shown in FIG. 10, an opening having a size and a shape corresponding to the operation instruction card is provided in the card 30q which is an interrupt setting card, and the operation instruction card may be fitted into the opening. In the example of FIG. 10, a card 30k indicating an action-based operation instruction indicating rotation is fitted into the opening. The interrupt execution condition corresponding to the interrupt setting card of FIG. 10 is to read the interrupt execution card.

[0056] When the mobile body 20 reads an interrupt setting instruction from this interrupt setting card, it then acquires an operation instruction from the operation instruction card inserted into the opening, and associates the operation instruction with the interrupt execution condition of reading the interrupt execution card and stores it in the storage 22.

[0057] FIG. 11 is a diagram for explaining an example of an operation according to the interrupt setting shown in FIG. 9. In the example of FIG. 11, an operation instruction indicating a direction change and information indicating an angle of diagonally right indicating the direction to change are stored in association with the interrupt execution condition at a time interval of 2 seconds. Every 2 seconds, the operation instruction is executed, and the mobile body 20 changes its direction diagonally to the right. After the direction change, the mobile body resumes moving forward as before. As a result, the path that the mobile body 20 travels becomes as shown by the broken line in FIG. 11.

[0058] FIG. 12 is a diagram for explaining an example of an operation by an interrupt execution card. In FIG. 12, card 30p is arranged as the interrupt execution card. Also, it is assumed that an operation instruction of rotating once is stored in association with the interrupt execution condition of reading the interrupt execution card as shown in FIG. 10. In the example of FIG. 12, when the mobile body 20 reads the pattern 71 of the interrupt execution card after moving straight, the mobile body 20 rotates. Then the mobile body 20 moves straight again after rotating. The interrupt execution card can cause the same operation as the rotation card 30k. In this way, it is also possible to substantially increase the number of a specific type of operation instruction card.

[0059] Next, the processing for realizing the operations described so far will be described in more detail. FIGS. 13 to 15 are flowcharts showing an example of the processing of the mobile body 20. FIGS. 13 to 15 mainly show the processing of the card information acquisition unit 51, the card determination unit 53, the parameter update unit 54, the interrupt setting unit 57, and the interrupt control unit 58. The processing shown in FIGS. 13 to 15 is repeatedly executed periodically (for example, every 0.1 seconds), but the repetition of the processing may be suppressed while the operations associated with the interrupt setting instruction and the operations corresponding to the interrupt execution conditions are being executed.

[0060] First, the interrupt control unit 58 operates the moving body 20 based on whether each of a plurality of interrupt execution conditions is satisfied (S101). Strictly speaking, the plurality of interrupt execution conditions targeted by this process exclude the reading of the interrupt execution card. Details of this process will be described later.

[0061] Next, 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, interrupt setting instruction, interrupt execution instruction) from the acquired image (S103). More specifically, the card information acquisition unit 51 determines that it is possible to acquire an instruction when the pattern 71 exists in the acquired image and the information decoded from the image indicates some instruction (for example, indicates a value in the range assigned to the instruction). If it is impossible to acquire an instruction (N in S103), the processes shown in FIGS. 13 to 15 end. If it is possible to acquire an instruction (Y in S103), the card information acquisition unit 51 acquires the instruction of 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.

[0062] When the instruction of 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. 13 to 15 end. Whether the instruction is acquired from the same card 30 can be determined by whether the same instruction is read. Furthermore, if no instruction was read last time, it may be determined that no instruction is 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.

[0063] If the instruction is not read from the same card 30 as the previous time (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.

[0064] When the acquired instruction is an operation instruction (Y in S106), the card determination unit 53 determines whether the acquired operation instruction belongs to the state change system group (S111). When the acquired operation instruction belongs to the state change system (Y in S111), the parameter update unit 54 updates the travel parameters according to the operation instruction (S112).

[0065] More specifically, the parameter update unit 54 updates the travel 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, any one 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).

[0066] When the operation instruction belongs to a plurality of subgroups, the parameter update unit 54 updates the travel parameters of each of the plurality of subgroups to the value indicated by the operation instruction. For example, when the operation instruction belongs to the speed subgroup and the steering wheel subgroup, 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 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 ahead). There may be a card 30 that corresponds one-to-one to each of the plurality of operation instructions.

[0067] 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).

[0068] 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 system group (S115). When the operation instruction does not belong to the action system group (N in S115), the processes in FIGS. 13 to 15 are ended. When the operation instruction belongs to the action system group (Y in S115), the card determination unit 53 determines whether the traveling process of the traveling processing unit 55 or the action process of the action processing unit 56 is currently being executed (S116). When the traveling process or the action process is being executed (Y in S116), the ongoing traveling process or action process is stopped (S117). When the traveling process and the action process are not being executed (N in S116), the process of S117 is skipped. Then, the action processing unit 56 starts the action process according to the operation instruction (S118). Examples of the action process will be described later.

[0069] 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 an interrupt setting instruction (S121). When the acquired instruction is an interrupt setting instruction (Y in S121), the interrupt setting unit 57 controls the traveling device so that the moving body 20 turns in the direction of the next card 30 and then moves forward, and waits until the card information acquisition unit 51 reads an operation instruction (and an angle) from the next card 30 (S122). The next card 30 is arranged by the user in a predetermined direction (for example, the right direction of the card 30 in FIGS. 9 and 10) with respect to the interrupt setting card. Based on the angle A acquired by the card information acquisition unit 51 from the inclination of the photographed pattern 71 of the interrupt setting card, the interrupt setting unit 57 controls the traveling device so that the moving body 20 turns in the predetermined direction and moves forward in that direction. By turning the direction, it becomes possible to read the operation instruction card even if the direction in which the moving body 20 is placed is shifted.

[0070] When the operation instruction is read, the interrupt setting unit 57 stores the operation instruction and the angle in the storage 22 in association with the interrupt execution condition corresponding to the interrupt setting instruction (S123). Further, the interrupt setting unit 57 stops the motor 25 (S124) and ends the processes in FIGS. 13 to 15.

[0071] When the acquired instruction is not an interrupt setting instruction (N in S121), the card determination unit 53 determines whether the acquired instruction is an execution instruction for a predetermined interrupt execution condition (S125). When the acquired instruction is the execution instruction (Y in S125), the interrupt control unit 58 acquires the operation instruction and the angle stored in association with the interrupt execution condition from the storage 22, and controls at least a part of the traveling device and the speaker 26 so as to execute an operation according to the operation instruction (S127).

[0072] By the processes described so far, not only can the moving body 20 be operated simply according to the instructions of the card 30, but it is also possible to set the moving body 20 to operate according to various interrupt execution conditions. This improves the programming freedom and enables a more diverse and advanced programming experience by arranging the cards 30.

[0073] Next, the details of the running process by the running processing unit 55 will be described. FIG. 16 is a flowchart showing an example of the running process by the running processing unit 55. The process shown in FIG. 16 is executed periodically, except during the execution of the stop state, the operation accompanying the action process, the operation accompanying the interrupt setting instruction, or the operation corresponding to the interrupt execution condition.

[0074] 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.

[0075] 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). If the recording mode is ON, the same process as when the recording end instruction is acquired (see S125) may be performed.

[0076] On the other hand, if the speed value is not 0 (N in S203), the running processing unit 55 determines the rotation speeds of the left and right wheels 254 based on the current speed value and the parameter of the steering wheel state (S205). The running processing unit 55 controls the rotation of the left and right motors 25 based on the determined rotation speeds (S206).

[0077] In this embodiment, since the two wheels 254 are driven by different motors 25, by controlling the rotational speeds of the wheels 254 (motors 25), the moving body 20 can be made to move straight forward, continuously turn to the right, or continuously turn to the left. When moving straight forward, the difference in rotational speeds between the left and right is approximately zero. When the moving body 20 includes a steering mechanism, the traveling processing unit 55 may control the moving body 20 to move straight forward, turn to the right, or turn to the left by setting the directions of some of the wheels 254.

[0078] In this way, by traveling according to the traveling parameters set by the card 30, even when leaving the card 30, until the moving body 20 travels over a new card 30 and a new pattern 71 is read, the traveling device can be controlled to continue operating according to the operation instructions indicated by the previously read pattern 71.

[0079] FIG. 17 is a flowchart showing an example of action processing by the action processing unit 56. FIG. 17 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. 17 starts at S118 in FIG. 14.

[0080] First, the action processing unit 56 reduces the rotational 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 from the storage 22), the directions and amounts of rotation of the left and right motors 25 are determined (S302). The directions and amounts of rotation are determined such that the direction of the moving body 20 after rotation is in a predetermined direction (for example, the direction of the arrow on the card 30h) with respect to the card 30 from which the angle was read. Also, the action processing unit 56 determines the directions and amounts of rotation such that the directions of rotation of the left and right wheels 254 are opposite and the moving body 20 faces the predetermined direction with the minimum rotation.

[0081] Here, when the value of the speed among the driving parameters 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 among the driving parameters is not 0 (N in S304), the action processing unit 56 resumes the driving process of the driving processing unit 55 (S306) and ends the process of FIG. 17.

[0082] In this process, the traveling direction is physically changed by the action set by the card 30. Also, after the action, by resuming the driving process, the moving body 20 travels according to the driving parameters set before that. By these, until a new pattern 71 is read by the moving body 20 traveling on the new card 30, the traveling device can be controlled to continue the operation according to the previous operation instruction.

[0083] The process 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 processes shown in S301 to S303, by reproducing the time-series motor control information stored in the storage 22, stereotypical operations such as rotation (spin) and serpentine traveling may be executed. Also, in other operation instructions, instead of the processes shown in S301 to S303, a process of reproducing the voice previously stored in the storage 22 from the speaker 26 may be executed.

[0084] FIG. 18 is a flowchart showing an example of a process of operating the moving body 20 according to interrupt execution conditions.

[0085] First, the interrupt control unit 58 determines whether the acceleration sensor has detected an impact on the moving body 20 (S401). The detection of an impact is one of a plurality of interrupt execution conditions. If an impact is detected (Y in S401), the interrupt control unit 58 executes an operation according to the operation instruction (and angle) associated with the interrupt execution condition for the detection of the impact (S402). More specifically, the interrupt control unit 58 acquires the operation instruction and angle stored in association with the interrupt execution condition from the storage 22, and controls at least a part of the traveling device and the speaker 26 so as to execute an operation according to the operation instruction.

[0086] If no impact is detected (N in S401), the interrupt control unit 58 determines whether the magnetic sensor has detected a magnetic field having a strength exceeding a threshold value (S403). The detection of this magnetic field is one of a plurality of interrupt execution conditions. If a magnetic field having a strength exceeding the threshold value is detected (Y in S403), the interrupt control unit 58 executes an operation according to the operation instruction (and angle) associated with the interrupt execution condition for the detection of the magnetic field (S404).

[0087] If no magnetic field exceeding the threshold value is detected (N in S403), in S405, the interrupt control unit 58 determines whether the interrupt execution condition at 3-second intervals is satisfied. Actually, the interrupt control unit 58 determines whether 3 seconds have elapsed since the start of the operation or the previous execution time T3. The start of the operation may be, for example, the time when the moving body 20 is placed on the table. The execution time T3 is the time when this interrupt execution condition was satisfied last time. The interrupt control unit 58 may determine whether the interrupt execution condition at 3-second intervals is satisfied simply by whether the elapsed time from the start of the operation is divisible by 3 seconds. If 3 seconds have elapsed since the start of the travel or the previous execution time T3 (Y in S405), the interrupt control unit 58 executes an operation according to the operation instruction (and angle) associated with the interrupt execution condition at 3-second intervals (S406).

[0088] If the elapsed time since the start of travel or the previous execution time T3 is less than 3 seconds (N in S405), in S407, the interrupt control unit 58 determines whether the interrupt execution condition at 2-second intervals is satisfied. Actually, the interrupt control unit 58 determines whether 2 seconds have elapsed since the start of operation or the previous execution time T2. The execution time T2 is the time when this interrupt execution condition was last satisfied. The interrupt control unit 58 may determine whether the interrupt execution condition at 2-second intervals is satisfied simply by whether the elapsed time since the start of operation is divisible by 2 seconds. If 2 seconds have elapsed since the start of travel or the previous execution time T2 (Y in S407), the interrupt control unit 58 executes an operation according to the operation instruction (and angle) associated with the interrupt execution condition at 2-second intervals (S408).

[0089] If the elapsed time since the start of travel or the previous execution time T2 is less than 2 seconds (N in S407), in S409, the interrupt control unit 58 determines whether the interrupt execution condition at 1-second intervals is satisfied. Actually, the interrupt control unit 58 determines whether 1 second has elapsed since the start of operation or the previous execution time T1. The execution time T1 is the time when this interrupt execution condition was last satisfied. The interrupt control unit 58 may determine whether the interrupt execution condition at 1-second intervals is satisfied simply by whether the elapsed time since the start of operation is divisible by 1 second. If 1 second has elapsed since the start of travel or the previous execution time T1 (Y in S409), the interrupt control unit 58 executes an operation according to the operation instruction (and angle) associated with the interrupt execution condition at 1-second intervals (S409).

[0090] The order of processing of S401 to S402, S403 to S404, and S405 to S410 may be different from that shown in FIG. 18. However, it is desirable that the processing from S405 to S410 be executed in the order of higher priority for longer time intervals. For example, when 2 seconds have elapsed since the start of operation, not only the interrupt execution condition at 2-second intervals but also the interrupt execution condition at 1-second intervals is satisfied. However, if the operation according to the interrupt execution condition at 1-second intervals is prioritized, the operation at 2-second intervals will not be executed, resulting in a lack of diversity. Also, by combining operations with multiple time intervals, a complex operation with a least common multiple period can be realized, enabling more diverse programming.

[0091] As can be understood from what has been described so far, not only can the mobile body 20 be operated simply in response to the instructions of the card 30, but also the mobile body 20 can be operated in response to interrupt execution conditions such as specific cards, time intervals, impact detection, and timing detection. It is also possible to incorporate changes in operations by using time intervals, and various ideas can be developed, such as programming operations to respond to obstacles using, for example, impact detection or timing detection. This improves the degree of freedom in programming and makes it possible to make the programming experience more diverse and advanced by arranging the cards 30.

Explanation of Signs

[0092] 20 Mobile body, 21 Processor, 22 Storage, 23 Communication unit, 24 Camera, 25 Motor, 26 Speaker, 27 Sensor, 222 Switch, 223 Power switch, 254 Wheel, 30, 30a, 30b, 30d, 30g, 30h, 30k, 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 Interrupt setting unit, 58 Interrupt control unit, 71 Pattern.

Claims

1. A plurality of operation instruction cards on which encoded images indicating any one of a plurality of operation instructions are printed, An interrupt setting card on which an encoded image indicating an interrupt recording instruction associated with an execution condition is printed, A moving body, and The moving body Traveling means enabling traveling, Reading means for reading the image when the moving body travels over any one of the interrupt setting card and the plurality of operation instruction cards, Operation control means for controlling the traveling means according to an operation instruction indicated by an image read from any one of the plurality of operation instruction cards, and When the encoded image is read by the moving body traveling over 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 an image indicating the interrupt recording instruction is read, the operation control means stores, in association with the execution condition, an operation instruction indicated by an image read from an operation instruction card to be next read by the moving body, When the execution condition is satisfied, the operation control means executes an operation according to the operation instruction stored in association with the execution condition, and resumes the operation before the execution condition was satisfied after the execution of the operation, A toy system.

2. In the toy system according to claim 1, The execution condition is that a predetermined period has elapsed since the start time or since the execution condition was satisfied previously, A toy system.

3. In the toy system according to claim 2, The execution condition includes a first condition and a second condition, The first condition is that a first period has elapsed since the start time or since the previous execution according to the first condition, The second condition is that a second period longer than the first period has elapsed since the start time or since the previous execution according to the second condition, When the second condition is satisfied, the operation control means executes an operation only according to the operation instruction associated with the second condition regardless of whether the first condition is satisfied, and resumes the operation before the execution condition was satisfied after the execution of the operation, A toy system.

4. In the toy system according to claim 1, The execution condition is that an acceleration sensor detects an impact on the moving body, A toy system.

5. In the toy system according to claim 1, The execution condition is that the magnetic sensor detects magnetism that satisfies the detection condition. Toy system.

6. In the toy system according to claim 1, the execution condition is that the reading means reads an image in which information corresponding to the execution condition is encoded. Toy system.

7. In the toy system according to any one of claims 1 to 6, when an image indicating the interrupt recording instruction is read, the operation control means causes the moving body to travel in a predetermined direction based on the direction of the moving body obtained from the image, and the moving body is an operation instruction card on which it will next travel. The operation instruction indicated by the image read from the operation instruction card arranged in the predetermined direction is stored in association with the execution condition. Toy system.

8. A moving body, traveling means that enables the moving body to travel, a plurality of operation instruction cards on which encoded images indicating any one of a plurality of operation instructions are printed respectively, and a reading means for reading the image when traveling on any one of the interrupt setting cards on which an encoded image indicating an interrupt recording instruction associated with an execution condition is printed, and operation control means for controlling the traveling means according to the operation instruction indicated by the image read from any one of the plurality of operation instruction cards, when the encoded image is read 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, when an image indicating the interrupt recording instruction is read, the operation control means stores the operation instruction indicated by the image read from the operation instruction card that the moving body will next read in association with the execution condition, when the execution condition is satisfied, the operation control means executes an operation according to the operation instruction associated with the execution condition, and resumes the operation before the execution condition was satisfied after the execution of the operation. Moving body.

9. A plurality of operation instruction cards on which encoded images indicating any one of a plurality of operation instructions are printed respectively, and each of which is arranged by the user, and which are images read when a moving body provided with traveling means enabling traveling travels, and an interrupt setting card on which an encoded image indicating an interrupt recording instruction associated with an execution condition is printed. 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. When an image indicating the interrupt recording instruction is read, the operation instruction indicated by the image read from the operation instruction card that the mobile body will read next is stored in association with the execution condition. When the execution condition is satisfied, an operation corresponding to the operation instruction stored in association with the execution condition is executed, and after the execution of the operation, the operation before the execution condition is satisfied is resumed. Card set.

10. A control method for controlling the traveling of a mobile body having a reading means and a traveling means, A plurality of operation instruction cards each printed with an encoded image indicating any one of a plurality of operation instructions and arranged by a user, and an interrupt setting card printed with an encoded image indicating an interrupt recording instruction associated with an execution condition. When the mobile body travels on any one of them, the step of the reading means reading the image, Controlling the traveling means according to the operation instruction indicated by the read image, including: In the step of controlling the traveling means, when the encoded image is read by the mobile 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 an image indicating the interrupt recording instruction is read, further including the step of storing the operation instruction indicated by the image read from the operation instruction card that the mobile body will read next in association with the execution condition. In the step of controlling the traveling means, when the execution condition is satisfied, an operation corresponding to the operation instruction associated with the execution condition is executed, and after the execution of the operation, the operation before the execution condition is satisfied is resumed. Control method.

11. 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 an interrupt setting card printed with an encoded image indicating an interrupt recording instruction associated with an execution condition, An operation control means for controlling the traveling means according to the operation instruction indicated by the image read from the plurality of operation instruction cards, Function as When the encoded image is read 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. When the image indicating the interrupt recording instruction is read, the operation control means stores the operation instruction indicated by the image read from the operation instruction card that the reading means of the computer will read next, in association with the execution condition. When the execution condition is satisfied, the operation control means executes an operation according to the operation instruction associated with the execution condition, and resumes the operation before the execution condition was satisfied after the execution of the operation. Program.

Images