Card Set and Toy System

Abstract

To provide a card set and a toy system in which information can be correctly acquired from multiple cards on which patterns with information encoded are printed.SOLUTION: A card set comprises multiple cards (30) classified into multiple kinds, and each of the multiple cards has: a surface including an internal region (31) and a peripheral region (32) surrounding the internal region. In the internal region of each card, multiple identification patterns (72) which are imaged by a movable body traveling on the card and indicate a kind to which the card belongs, are printed, and on the peripheral region of each of the multiple cards, an identification pattern for indicating a kind out of the multiple kinds is not printed.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a card set and a toy system.

Background Art

[0002] There is a system that controls a moving body traveling on a card by printing a plurality of patterns associated with information different from position information on one side of a sheet-like medium.

[0003] Patent Document 1 discloses that a carriage travels on a sheet-like medium on which a plurality of second array patterns defining control information are printed, and the travel of the carriage is controlled by reading the patterns printed on the medium.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] The inventors have developed a system that controls the operation of a moving body using a plurality of cards each of which is a sheet-like medium. Here, when a plurality of cards on which patterns encoding the same information are printed are arranged continuously, the information read does not change even when the moving body moves onto the next card. Therefore, it has been difficult to accurately recognize whether the moving body is obtaining information from one card or from a plurality of cards.

[0006] The present invention has been made in view of the above problems, and an object thereof is to provide a technique capable of accurately acquiring information from a plurality of cards on which patterns encoding information are printed.

Means for Solving the Problems

[0007] In order to solve the above problems, the card set according to the present invention includes a plurality of cards classified into a plurality of types. Each of the plurality of cards has a surface including an internal area and a peripheral area surrounding the internal area. In the internal area of each of the plurality of cards, a plurality of identification patterns indicating the type to which the card belongs and photographed by a moving body traveling thereon are printed. In the peripheral area of each of the plurality of cards, no identification pattern indicating any of the plurality of types is printed.

[0008] In one aspect of the present invention, the peripheral area may be disposed at the periphery of each of the plurality of cards.

[0009] In one aspect of the present invention, a pattern indicating none of the plurality of types may be printed in the peripheral area.

[0010] In one aspect of the present invention, the plurality of identification patterns may be disposed within the internal area, and the plurality of peripheral patterns may be disposed so as to surround the internal area.

[0011] Further, a toy system according to the present invention includes a plurality of cards classified into a plurality of types and a moving body including a camera that repeatedly takes pictures. Each of the plurality of cards has a surface including an internal area and a peripheral area surrounding the internal area. In the internal area of each of the plurality of cards, a plurality of identification patterns indicating the type to which the card belongs are printed. In the peripheral area of each of the plurality of cards, a peripheral pattern different from any pattern indicating any type is printed. When any of the plurality of identification patterns is photographed after the peripheral pattern is photographed by the camera, the operation of the moving body is controlled based on the photographed identification pattern.

[0012] In one aspect of the present invention, when the same identification pattern as the previous time is photographed by the camera, the operation of the moving body may not be controlled based on the photographed identification pattern.

Advantages of the Invention

[0013] According to the present invention, information can be accurately obtained from a plurality of cards on which patterns with encoded information are printed.

Brief Description of the Drawings

[0014]

Figure 1

Figure 2

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Figure 4

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Figure 7

Figure 8

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Figure 10

Figure 11

Figure 12

Figure 13

Embodiments for Carrying Out the Invention

[0015] 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.

[0016] 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 with chamfered corners. Further, a plurality of protrusions for attaching other toys are provided on the upper surface.

[0017] At least a part of the plurality of cards 30 is arranged by the user at an arbitrary location on a plane (for example, on a desk or a floor). When the moving body 20 travels on any one of the cards 30, it reads an image and executes an operation according to the instruction indicated by the image.

[0018] The plurality of cards 30 are classified into a plurality of card types, and an image in which information indicating the card type is encoded is printed. The card types are further classified into a plurality of hierarchical groups. At the highest level, the card types are classified into an operation instruction group and a setting group. A card belonging to the operation instruction group is called an operation instruction card.

[0019] The plurality of cards 30 include a plurality of operation instruction cards, and an image indicating an instruction (operation instruction) for the operation of the moving body 20 is printed on each of the plurality of operation instruction cards. An encoded image indicating any one of the plurality of operation instructions of the moving body 20 is printed on each of the plurality of operation instruction cards. The type of operation instruction corresponds one-to-one with the card type, and the decoding of the card type corresponds to the decoding of the operation instruction.

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

[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 the 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. The above program may be stored and provided to another computer in a computer-readable storage medium such as a flash memory or an optical disk. The number of processors 21 may be one or plural.

[0023] The storage 22 is composed of a DRAM, a non-volatile memory, etc. The storage 22 stores the above program. Also, 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 (e.g., a computer) according to, for example, the Bluetooth (registered trademark) protocol or the wireless LAN protocol. Based on the control of the processor 21, the communication unit 23 inputs the information received from other devices to the processor 21 and the storage 22, and transmits information to other devices. Note that the communication unit 23 may communicate with other devices via a wired network.

[0025] The camera 24 is arranged to photograph the lower part of the moving body 20 and repeatedly photographs the lower part of the moving body 20. When the moving body 20 travels on the card 30, the camera 24 photographs the pattern 71 (see FIG. 4) printed on the card 30. In the present embodiment, the pattern 71 recognized in the infrared frequency region is printed on the card 30, and the camera 24 photographs the infrared image. Note that, in addition to the pattern 71, a picture recognized by visible light is printed on the card 30.

[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 causing the moving body 20 to travel.

[0029] FIG. 4 is a diagram for explaining an example of the card 30. The front surface of one card 30 includes an internal area 31 surrounded by the dashed line in FIG. 4 and a peripheral area 32 outside the dashed line that surrounds the internal area 31. A plurality of patterns 71 are printed on the card 30 in a matrix arrangement. Each of the patterns 71 is an image of a predetermined size, for example, 0.2 mm square. The size of each pattern 71 is smaller than the size of the moving body 20. In FIG. 4, the pattern 71 is shown in part on the card 30, but actually, it is arranged so as to fill the entire card 30. For ease of explanation, the image "Sound" that can be recognized by visible light is shown by a dashed line.

[0030] In the internal area 31, a plurality of identification patterns 72 indicating the card type to which the card 30 belongs among the patterns 71 are arranged. The identification pattern 72 is an image in which the information of the card type is encoded, and the image of the identification pattern 72 differs depending on the card type. The plurality of identification patterns 72 are arranged in a matrix within the internal area 31. In the same card 30, the plurality of identification patterns 72 may be the same image. Note that the internal area 31 does not have to be rectangular, and the pattern 71 that protrudes from the internal area 31 becomes a peripheral pattern 73 described later instead of the identification pattern 72. Also, in order for the moving body 20 traveling within the internal area 31 to always recognize the identification pattern 72, for example, a number of identification patterns 72 of 3×3 or more are arranged within the internal area 31. The identification pattern 72 does not necessarily have to be arranged in a matrix, and may be arranged, for example, in a concentric circle pattern.

[0031] The peripheral area 32 is arranged at the periphery of the front surface of the card 30. In the peripheral area 32, a plurality of peripheral patterns 73 are arranged so as to surround an internal area 31 in which a plurality of identification patterns 72 are arranged. Put another way, in the peripheral area 32, no identification pattern 72 indicating any of the card types is printed. The peripheral pattern 73 is a pattern 71 that does not indicate any of the plurality of card types, and is an image in which peripheral information different from the information indicating the card type is encoded. The peripheral information is a fixed value regardless of the card type in the present embodiment, but it does not necessarily have to be a fixed value. The plurality of peripheral patterns 73 only need to be arranged so as to be surely read by the moving body 20 traveling from the internal area 31 to the outside of the card 30, and do not necessarily have to be arranged in a matrix. The width of the peripheral area 32 may be, for example, twice or more the size of the pattern 71.

[0032] Note that the dashed-dotted line is not actually printed, but it is obvious that the boundary between the internal area 31 and the peripheral area 32 exists between the adjacent identification pattern 72 and the peripheral pattern 73, and the existence of the internal area 31 and the peripheral area 32 can be easily confirmed. The pattern 71 does not have to be printed in the peripheral area 32.

[0033] FIG. 5 is a diagram showing an example of the relationship between the pattern 71 printed on the card 30 and the moving body 20. When the moving body 20 passes over the card 30, usually, the pattern 71 printed at different positions as time progresses is read.

[0034] In the toy system according to the present embodiment, the camera 24 of the moving body 20 photographs the pattern 71 printed on the card 30, and the moving body 20 decodes the pattern 71 to acquire information. For example, the moving body 20 acquires an operation instruction as the information from the identification pattern 72 printed on the operation instruction card. The moving body 20 acquires peripheral information from the peripheral pattern 73. Further, the moving body 20 detects the direction of the moving body 20 (for example, the angle A from the reference direction) by detecting the inclination of the pattern 71 in the image photographed by the camera 24.

[0035] FIG. 6 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 sending a processing request to another computer included in the toy system via the communication unit 23 and receiving a processing result from the other computer.

[0036] The card information acquisition unit 51 reads the pattern 71 (image) printed on the card 30 and acquires the information indicated by the pattern 71. More specifically, when the moving body 20 travels on any one of the plurality of cards 30, the card information acquisition unit 51 reads the pattern 71 printed on the card 30 and decodes information (card type, peripheral information) from the pattern 71. Here, the card type is decoded from the identification pattern 72, and the peripheral information is decoded from the peripheral pattern 73. The card information acquisition unit 51 also acquires the orientation (angle) of the moving body 20 with respect to the card 30 based on the inclination of the pattern 71 photographed by the camera 24.

[0037] When the operation control unit 52 acquires information (card type) indicating an operation instruction from the identification pattern 72, it controls the traveling device, the speaker 26, etc. according to the operation instruction. When the operation instruction belongs to the group of state change systems, the operation control unit 52 changes the traveling parameters according to the operation instruction and controls the traveling device (motor 25) according to the changed parameters. When the identification pattern 72 is not read, the operation control unit 52 controls the traveling device so that the operation according to the previously read operation instruction continues until a new identification pattern 72 is read by the moving body 20 traveling on a new card 30. When an operation instruction is acquired from a new identification pattern 72, the operation control unit 52 controls the operation of the moving body 20 according to the new operation instruction indicated by the new identification pattern 72.

[0038] In addition, when the identification pattern 72 is photographed after the peripheral pattern 73 is photographed by the camera 24, the operation control unit 52 controls the traveling device of the moving body 20 based on the photographed identification pattern 72. On the other hand, when the same identification pattern 72 as the previous time is photographed by the camera 24, the operation control unit 52 does not control the operation of the moving body 20 based on the photographed identification pattern 72. When the identification pattern 72 is photographed for the first time when the moving body 20 starts traveling based on a user's instruction, the operation control unit 52 may control the traveling device of the moving body 20 based on the photographed identification pattern 72. The above processing enables recognition of the difference between the cards 30 when a plurality of cards 30 of the same type are arranged side by side.

[0039] The card determination unit 53 determines whether the information acquired by the processing of the card information acquisition unit 51 is the card type or peripheral information, and further determines whether the card type belongs to the operation instruction group or the setting group. Also, the card determination unit 53 determines the group to which the operation instruction belongs when the card type belongs to the operation instruction group, in other words, 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 process, and when the operation instruction belongs to the action system, the card determination unit 53 causes the action processing unit 56 to execute the process.

[0040] The parameter update unit 54 updates the travel parameters based on the operation instructions belonging to the state change system. Here, the operation instructions belonging to the state change system are further classified into a plurality of sub-groups. The plurality of sub-groups include a steering sub-group, a speed sub-group, and a brake sub-group. There are travel parameters for each of the sub-groups. The steering sub-group includes an instruction to turn the steering wheel to the right or left and an instruction to keep the steering wheel straight. To turn the steering wheel to the right or left means to continuously change the traveling direction of the moving body 20 to the right or left, and the value corresponding to the instruction is set as the travel parameter of the steering wheel. The speed sub-group includes an instruction to set the travel parameter of 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 sub-group may indicate a different candidate value. The brake sub-group includes a brake instruction to continuously reduce the speed. By the brake instruction, the travel parameter of the brake state is set. With that travel parameter, the moving body 20 performs a braking operation to continuously reduce 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 sub-groups. For example, a certain operation instruction may be labeled in both the speed sub-group and the steering sub-group.

[0041] The parameter update unit 54 updates the travel 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) indicated by the operation instruction. By setting the travel parameters for each subgroup and controlling the travel with a plurality of travel 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 type, the parameter update unit 54 may update each of the travel parameters of the plurality of subgroups to which the operation instruction belongs to the information of the travel parameters of each subgroup corresponding to the operation instruction.

[0042] The travel processing unit 55 controls a travel device (for example, the motor 25) based on the set 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 wheel state. The travel processing unit 55 makes the moving body 20 travel at a speed corresponding to the parameters of the speed subgroup. Further, when the parameters of the brake state are set, the travel processing unit 55 continuously decreases the speed of the moving body 20.

[0043] 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 an instruction to turn in the direction specified from the identification pattern 72 is acquired, the action processing unit 56 controls the travel device so that the moving body 20 turns in the specified direction. When an instruction to perform a predetermined action is acquired from the identification pattern 72 as an operation instruction belonging to the action system, the action processing unit 56 controls the moving body 20 to perform the predetermined action. The instruction to perform a predetermined action may be, for example, an instruction to output a predetermined sound or an instruction to perform a predetermined travel (such as meandering or rotation).

[0044] 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. 8, as the operation instruction cards, a "Fast" card 30b and an arrow card 30h 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 specified (faster) speed, and moves straight at that speed. Then, after reading the pattern 71 on the card 30h, 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 (the moving body 20 faces the direction of the arrow). When the direction change is completed, the moving body 20 moves straight ahead in its traveling direction.

[0045] In the example of FIG. 7, for example, the traveling parameters are 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. As a result, the reading of the card 30 and the operation based on it become interactive, and the user can experience more intuitive and easy programming. Also, the user can place the card 30 at an arbitrary position, increasing the degree of freedom of the operation of the moving body 20 in the programming experience. However, even if the cards 30 are arranged without being separated, the configuration of the internal area 31 and the peripheral area 32 of the card 30 and the control of the moving body 20 are effective. This will be described later.

[0046] Next, while explaining in more detail the processes for realizing the operations described so far, the effects of providing the internal area 31 and the peripheral area 32 of the card 30 will be described. FIGS. 8 and 9 are flowcharts showing an example of the processing of the moving body 20. FIGS. 8 and 9 mainly show the processing of the card information acquisition unit 51, the card determination unit 53, and the parameter update unit 54. The processing shown in FIGS. 8 and 9 is repeatedly executed periodically (for example, every 0.1 seconds). While an action-based operation instruction is executing an operation that takes a certain amount of time, only the processing (from S101 to S107) for determining whether the card type has been read from the same card 30 may be executed periodically. Even when moving to another card 30 of the same type during the action operation, it becomes possible to accurately acquire information from the card 30 read at the end of the action.

[0047] First, the card information acquisition unit 51 acquires the image read by the camera 24 of the moving body 20 (S101). The card information acquisition unit 51 determines whether it is possible to decrypt information from the acquired image (S102). This process is a process of determining whether the pattern 71 exists in the acquired image. If it is not possible to decrypt the information (N in S102), the card information acquisition unit 51 sets the same card flag to OFF and ends the processing shown in FIGS. 8 and 9. On the other hand, if it is possible to decrypt the information (Y in S102), the card information acquisition unit 51 determines whether the decrypted information is peripheral information (S104). Here, this determination may be made based on whether the decrypted information is within the range of values indicating the card type. If the decrypted information is peripheral information (Y in S104), the card information acquisition unit 51 sets the same card flag to OFF and ends the processing shown in FIGS. 8 and 9. On the other hand, if the decrypted information is not peripheral information (N in S104), the card information acquisition unit 51 checks whether the same instruction as the previous time has been decrypted (S105). If the same instruction as the previous time has not been decrypted (N in S105), S106 is skipped and the processing after S107 is executed. If the same instruction as the previous time has been decrypted (Y in S105), it is determined whether the same card flag is set to ON (S106).

[0048] When the same card flag is set to ON (Y in S106), the card information acquisition unit 51 ends the processes shown in FIGS. 8 and 9. On the other hand, when the same card flag is set to OFF (N in S106), the card information acquisition unit 51 sets the same card flag to ON (S107). Further, the card information acquisition unit 51 acquires an instruction (here, an operation instruction) from the decoded card type, acquires the angle A of the moving body 20 with respect to the card 30 (S108), and the processes after S111 for operating the moving body 20 according to the instruction are executed.

[0049] By the processes from S102 to S104 and from S106 to S108, it is detected whether information on the card type is acquired from the same card 30 as the previous time. When information on the card type is acquired from the same card 30, control based on the instruction indicated by the card type is not newly executed. Further, by these processes, when information on the card type is acquired from a new card 30, control based on the instruction indicated by the card type is newly executed. The process of S105 is a process corresponding to the case where the moving body 20 is manually moved and the identification patterns 72 of two different types of cards 30 are forcibly read.

[0050] FIG. 10 is a diagram showing an example of a plurality of arranged cards 30. In the example of FIG. 10, two cards 30 are arranged so that a part of them overlaps. Further, the moving body 20 moves from left to right in FIG. 10 and reads the pattern 71 from the two cards. Although the internal region 31 and the peripheral region 32 exist in both cards 30, at the boundary between the two cards 30, the peripheral region 32 of the left card 30 is hidden under the right card 30.

[0051] In the example of FIG. 10, before the camera 24 of the moving body 20 reads the image of the card 30, the card information acquisition unit 51 cannot decrypt the information and sets the same card flag to OFF. Also, when the camera 24 captures the peripheral pattern 73 at the position P1, the peripheral information is decrypted and the same card flag remains OFF. When the camera 24 captures the identification pattern 72 at the position P2 in this state, since the same card flag is set to OFF, the process of controlling the operation of the moving body 20 according to the decrypted card type is executed, and the same card flag is set to ON. On the other hand, even if the identification pattern 72 is captured in the inner region 31 of the left card 30 thereafter, since the same card flag is set to ON, the process of controlling the operation of the moving body 20 is not executed.

[0052] After that, when the camera 24 captures the peripheral pattern 72 at the position P3, the peripheral information is decrypted and the same card flag is set to OFF. Thereby, it is determined that the identification pattern 72 to be read next is information read from a new card 30. After that, when the camera 24 captures the identification pattern 72 at the position P4, the process of controlling the operation of the moving body 20 according to the decrypted card type is executed.

[0053] If there is no peripheral area 32 where the peripheral pattern 73 is printed, and the identification patterns 72 of the same card type are printed on the entire surfaces of two cards 30, even if the pattern 71 of the second card 30 is read, the same information as the previous card 30 is decrypted. Therefore, it is difficult for the moving body 20 to recognize whether the identification pattern 72 has been read from a new card 30. The peripheral area 32 where the peripheral pattern 73 is printed enables reliable recognition of whether the identification pattern 72 has been read from a new card 30. Note that a similar effect can also be obtained by not printing the pattern 71 in the peripheral area 32, but the peripheral pattern 73 can be recognized more reliably when printed. Also, the process of S102 can prevent malfunction when the peripheral pattern 73 cannot be read for some reason.

[0054] Instead of using the same card flag, information decoded from pattern 71 captured by camera 24 in the previous process may be stored, and when it is not the same as the information decoded from pattern 71 captured this time, a process of controlling the operation of the moving body 20 according to the decoded card type may be executed. In this case, when information cannot be decoded from the image, if dummy information is stored instead of the decoded information, it is possible to handle the case where the peripheral pattern 73 is not read for some reason.

[0055] Note that when the card type is read from the same card 30, no new control is executed to prevent the occurrence of problems due to repeating the same process and wasting processing resources.

[0056] Returning to the description of the processes in FIGS. 8 and 9. When the process of S107 is executed, the card determination unit 53 determines whether the acquired operation instruction belongs to the group of state change systems (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).

[0057] 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 the 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, 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).

[0058] 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.

[0059] 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 running processing unit 55 ends the running process and stops the moving body 20 (S114).

[0060] On the other hand, when the operation instruction does not indicate an instruction to stop the moving body 20 (N in S113), the card determination unit 53 determines whether the acquired operation instruction belongs to the action - based group (S115). When the operation instruction does not belong to the action - based group (N in S115), the processes in FIGS. 8 and 9 are ended. When the operation instruction belongs to the action - based group (Y in S115), 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 (S116). When the running process or the action process is being executed (Y in S116), the running process or the action process being executed is stopped (S117). When the running 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).

[0061] Among the action-based operation instructions, particularly for an operation instruction to turn in a specified direction such as the card 30h, 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. This rotation direction and rotation amount 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 of the card 30h) with respect to the card 30 from which the angle was read. Then, the action processing unit 56 rotates the left and right motors 25 with the determined rotation direction and rotation amount. When the rotation is completed, the processing of the travel processing unit 55 is resumed.

[0062] Among the action-based operation instructions, for an instruction to execute a stereotypical operation such as rotation (spin), serpentine travel, or voice output, the action processing unit 56 first acquires the time-series control information recorded in the storage 22 in association with the action-based operation instruction. The action processing unit 56 controls at least one of the motor 25 and the speaker 26 based on the time-series control information. When this time-series control is completed, the processing of the travel processing unit 55 is resumed.

[0063] An example of the combined processing of the processing of the action processing unit 56 and the acquisition of the card type from a new card 30 will be described. FIGS. 11 and 12 are diagrams for explaining an example of the operation of the moving body 20 with respect to a plurality of arranged cards 30. In the example of FIG. 11, two cards 30s are arranged overlapping each other. The card 30s is printed with an identification pattern 72 indicating an action instruction to produce sound. In the example of FIG. 11, when the moving body 20 first reads the identification pattern 72 on the left card 30s, it outputs sound, and further outputs sound on the right card 30s. By identifying whether it is the same card 30, it is possible to prevent a situation where no sound is output on the right card 30s.

[0064] In the example of FIG. 12, two cards 30h are arranged partially overlapping while changing directions. On the card 30h, an identification pattern 72 indicating an action instruction for changing the direction in the direction of the arrow is printed. In the example of FIG. 12, the moving body 20 changes its direction at the first card 30h and then also changes its direction at the second card 30h. Even in such a case, by identifying whether it is the same card 30 or not, it is possible to prevent a situation where the second direction change is not made. In the example of FIG. 12, theoretically, it is also possible to recognize the difference in the card 30 from the angle, but since there are also fluctuations in the angle due to driving, it is easier and more reliable to use the peripheral area 32 for recognition.

[0065] Next, the details of the running process by the running processing unit 55 will be described. FIG. 13 is a flowchart showing an example of the running process by the running processing unit 55. The process shown in FIG. 13 is periodically executed except during the stop state and the operation accompanying the action process.

[0066] 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.

[0067] 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).

[0068] 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).

[0069] 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 the rotational speeds of the left and right wheels is approximately zero. When the moving body 20 includes a steering mechanism, the travel 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.

[0070] In this way, by traveling according to the travel 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 travel device can be controlled to continue operating according to the operation instructions indicated by the previously read pattern 71. Furthermore, by using the peripheral area 32 and combining it with not performing new control when the identification pattern 72 is read from the same card 30, accurate information can be obtained from a plurality of cards, enabling a simple operation with few malfunctions.

Explanation of Reference Numerals

[0071] 20 Moving body, 21 Processor, 22 Storage, 23 Communication unit, 24 Camera, 25 Motor, 26 Speaker, 222 Switch, 223 Power switch, 254 Wheel, 30, 30b, 30h, 30s Card, 31 Internal area, 32 Peripheral area, 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, 72 Identification pattern, 73 Peripheral pattern.

Claims

1. Comprising a plurality of cards classified into a plurality of types, Each of the plurality of cards has a surface including an inner region and a peripheral region surrounding the inner region, In the inner region of each of the plurality of cards, a plurality of identification patterns, which are images encoded with information of the type to which the card itself belongs and are photographed by a moving body traveling on the card, are printed. In the peripheral region of each of the plurality of cards, no identification pattern indicating any of the plurality of types is printed. Card set.

2. In the card set according to Claim 1, The peripheral region is disposed at the periphery of each of the plurality of cards. Card set.

3. In the card set according to Claim 1 or 2, In the peripheral region, a plurality of peripheral patterns, which are images encoded with peripheral information different from the information indicating the plurality of types, are printed. Card set.

4. In the card set according to Claim 3, The plurality of identification patterns are disposed within the inner region, In the peripheral region, the plurality of peripheral patterns are disposed so as to surround the inner region. Card set.

5. Comprising a plurality of cards classified into a plurality of types and a moving body including a camera that repeatedly photographs, Each of the plurality of cards has a surface including an inner region and a peripheral region surrounding the inner region, In the inner region of each of the plurality of cards, a plurality of identification patterns, which are images encoded with information of the type to which the card itself belongs, are printed. In the peripheral region of each of the plurality of cards, a peripheral pattern different from any pattern indicating any type is printed. When any of the plurality of identification patterns is photographed after the peripheral pattern is photographed by the camera, the operation of the moving body is controlled based on the photographed identification pattern. Toy system.

6. In the toy system according to Claim 5, When the same identification pattern as the previous time is photographed by the camera, the operation of the moving body is not controlled based on the photographed identification pattern. Toy system.

Images