JP2009236521A - Running confirmation system, running device and running confirmation method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a running confirmation system, a running device and a running confirmation method which make it easy for a user to confirm a route. <P>SOLUTION: The running confirmation system 1 has a printing medium 50 in which patterns convertible to values of coordinates indicating positions on the printing medium 50 are printed, a moving device 10 wherein a reading part 12 reading the patterns to output them as reading data is disposed and which moves along a designated route on the printing medium 50, a conversion table which converts the data read by the moving device 10 into location information, and a control part 36 which produces control data used for control of movement of the moving device 10, based on indication data for indicating a running route of the moving device 10 and on the location information. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a travel confirmation system, a travel device, and a travel confirmation method.

  Research is being conducted on a map information processing system including paper on which position information is recorded in a dot pattern and an electronic pen that acquires the position information by reading the dot pattern and converts it into electronically readable position information. This map information processing system can convert paper position information acquired by an electronic pen into coordinates on an electronic map.

  There is a proposal for inputting a destination of a navigation device using an electronic pen by using the map information processing system as described above (see, for example, Patent Document 1).

Japanese Patent Application Laid-Open No. 2004-294942 (Claims etc.)

  Conventionally, when a route set by a user is confirmed or simulated by a navigation device, it is necessary to confirm by displaying on a liquid crystal monitor or the like. When the route is confirmed by the monitor, the range that can be confirmed by the size of the monitor is limited. For this reason, in order to display a wide range, there is a problem that the display becomes small, and if the image is enlarged and displayed, the whole cannot be seen.

  In addition, for example, when a route is selected in a navigation device while viewing a map of a paper medium, there is a problem that it is difficult to understand the correspondence between the display on the navigation screen and the map of the paper medium.

  In addition to simulating with navigation systems such as car navigation, it is necessary to simulate the route in many cases, such as when walking around a tourist spot or checking the travel itinerary. However, there is no appropriate situation.

In view of the above problems, an object of the present invention is to provide a travel confirmation system, a travel device, and a travel confirmation method that make it easy for a user to confirm a route.

  In order to achieve such an object, a print medium on which a pattern that can be converted into a coordinate value indicating a position on the print medium is printed, and a reading unit that reads the pattern and outputs it as read data are arranged. The mobile device moves on the basis of the designated route, the conversion table for converting the read data read by the mobile device into the position information, the instruction data for instructing the travel route of the mobile device, and the position information. And a control unit that generates control data for use in the vehicle.

  In another invention, in addition to the above-described invention, the control data is generated based on a route set in the navigation device.

  In another invention, in addition to the above-described invention, the control data is transmitted from the navigation device and includes the traveling speed of the vehicle that changes based on the road information.

  According to another aspect of the invention, a reading unit that reads a pattern of a printing medium on which a pattern that can be converted into a coordinate value indicating a position on the printing medium is printed, instruction data that indicates a travel route, and position information that the reading unit reads. The travel device includes a receiving unit that receives control data generated based on the control data from an external device, and a travel control unit that performs travel according to the instruction data based on the control data.

  In another invention, a reading step of reading a pattern of a print medium on which a pattern that can be converted into a coordinate value indicating a position on the print medium is read by a mobile device that runs on the print medium, and the read pattern is used. Based on the read data output step for outputting the read data, the conversion step for converting the read data read by the mobile device into position information, the instruction data for instructing the travel route of the mobile device and the position information, the mobile device is controlled for movement. A control data generating step for generating control data to be used; a control data receiving step for receiving the control data by the moving device; and a moving step for moving the print medium along the designated route based on the control data; The travel confirmation method has

  In another invention, in addition to the above-described invention, in the control data generation step, it is determined whether or not the current position is the target position based on the position information.

  According to the present invention, it is possible to provide a travel confirmation system, a travel device, and a travel confirmation method that make it easy for a user to confirm a route.

(First embodiment)
Hereinafter, a first embodiment of the present invention will be described with reference to FIG. FIG. 1 is a diagram showing an overall configuration of a simulation system 1 as a travel confirmation system according to a first embodiment of the present invention. In this example, the simulation system 1 includes a travel device 10 serving as a mobile device, a navigation device 30, and a map book 50 as a print medium on which absolute coordinates are written by a special array of dots.

  First, the map book 50 as a print medium in the present embodiment will be described. In the map book 50, map information is printed with normal ink that transmits infrared rays, and an optical dot pattern is printed with ink that absorbs infrared rays. When the reading unit 12 of the traveling device 10 reads the optical dot pattern, the position on the map can be obtained as a coordinate value by a method described later.

  FIG. 2 is a diagram for explaining the details of the optical dot pattern printed on a predetermined page of the map book 50. As shown in this figure, each page of the map book 50 has, for example, 0 as shown in FIG. 2B in which a part of FIG. 2A shown on the left in FIG. The dots arranged at any one of the upper, lower, left and right center points of the orthogonal grid-like vertical and horizontal lines that absorb infrared rays at intervals of 3 mm are printed together with the map information. As shown in FIG. 2C, which is further enlarged to the right in FIG. 2, these dots are printed with a predetermined amount of deviation from the center of the grid in any of the vertical and horizontal directions. 6 × 6 = 36 dots are collected to form one optical dot pattern, which can be converted into a coordinate value at the center of the pattern. That is, in the example of FIG. 2, the 36-dot optical dot pattern DP1 represents a region PC1 surrounded by four dots at the center. The optical dot pattern representing one left region PC2 of the region PC1 is a 36-dot pattern in which the optical dot pattern DP1 is shifted to the left by one grid lattice. Since there are four types of one dot, there are four combinations of 4 to the 36th power in one optical dot pattern of 1.8 mm × 1.8 mm size. One optical dot pattern can be converted into a coordinate value indicating a predetermined position on a predetermined page of the map book 50.

  In addition, as a method of knowing which page has been designated among a plurality of pages, for example, there is a method of storing information about a page in an optical dot pattern. There is also a method of storing position information of the same coordinate system for all pages. That is, when all pages are arranged on a plane to form a large sheet, the coordinate system can be set so that the upper left corner of the large sheet is the origin.

  Next, the structure of the traveling apparatus 10 in this Embodiment is demonstrated. Traveling apparatus 10 in the present embodiment has reading unit 12 and driving unit 16. The reading unit 12 reads the optical dot pattern at each point printed on the map book 50 on a predetermined page of the map book 50. The reading unit 12 of the traveling device 10 irradiates the optical dot pattern with infrared light, reads the optical dot pattern irradiated with the infrared light with the reflected wave of the irradiated infrared light, and converts it into coordinate values. Moreover, the obtained coordinate value is transmitted to the navigation apparatus 30 by radio as read data. In addition, the traveling device 10 wirelessly receives control data transmitted from the navigation device 30 and drives the drive unit 16 based on the control data.

  FIG. 3 is a view showing the appearance of the traveling device 10 from the side. As shown in FIG. 3, the traveling device 10 has a housing 11 that imitates a vehicle. In addition, the shape of the traveling apparatus 10 is good also as another shape. A reading unit 12 is provided at the top of the housing 11 and at a part of the bottom. The reading unit 12 reads an optical dot pattern printed on the map book 50. The reading unit 12 mainly includes an infrared LED (Light Emitting Diode) 13, a C-MOS (Complementary Metal-Oxide Semiconductor) camera 14, and an image processing unit 23.

  The reading unit 12 can read a dot pattern at a location where the housing 11 is located. At this time, the coordinate value is acquired based on the optical dot pattern obtained by reading the infrared ray emitted from the infrared LED 13 by the C-MOS camera 14, and the coordinate value is transmitted to the navigation device 30 as read data. Is done.

  On the upper surface of the housing 11, LEDs 15 that can emit light of each color are provided. The LED 15 can be lit in each color.

  FIG. 4 is a block diagram illustrating a configuration example of the traveling device 10 illustrated in FIG. 3. As shown in this figure, the traveling device 10 mainly includes an infrared LED 13, a C-MOS camera 14, an LED 15, a drive unit 16, a CPU (Central Processing Unit) 21, an image processing unit 23, a memory 24, and a communication unit 25. As a component.

  Here, the infrared LED 13 irradiates a predetermined page of the map book 50 as a print medium with infrared rays based on the control of the CPU 21. The C-MOS camera 14 receives the infrared light reflected from the map book 50 and reads the optical dot pattern.

  FIG. 5 is a diagram showing a cross-sectional structure of a part of a predetermined page of the map book 50. As shown in this figure, an optical dot pattern shown in FIG. 2 is printed on a paper portion 51 serving as a base of a map book 50 by dot ink 52 that absorbs infrared rays. Further, the map information is printed on it by the normal ink 53 that transmits infrared rays. Of the infrared light emitted from the infrared LED 13, the portion irradiated to the dot ink 52 is absorbed and does not enter the C-MOS camera 14. Further, the portion irradiated with the normal ink 53 is transmitted, and then the infrared rays passing through the portion other than the dot ink 52 are reflected by the paper portion 51 and are incident on the C-MOS camera 14. As a result, an infrared image of an inverted figure corresponding to the optical dot pattern is incident on the C-MOS camera 14.

  The LED 15 functions as a notification unit of the traveling device 10. For example, the LED 15 is caused to emit light or blink under the control of the CPU 21.

  The CPU 21 processes each input signal and output signal and controls each part of the traveling device 10. In the present embodiment, the CPU 21 controls the infrared LED 13, the LED 15, the driving unit 16, the image processing unit 23, the memory 24, the communication unit 25, and the like.

  The drive unit 16 includes, for example, a gear mechanism (not shown) connected to wheels and a drive motor (not shown) that drives them. Based on the control data, the drive unit 16 receives an instruction from the CPU 21. For example, when the drive unit 16 receives control data for moving the traveling device 10 forward, the drive motor included in the drive unit 16 is driven. Then, the wheel attached to the motor is driven by the gear mechanism connected to the drive motor, and the traveling device 10 can travel.

  The image processing unit 23 receives the reflected infrared image data corresponding to the optical dot pattern formed by the infrared rays incident on the C-MOS camera 14 and performs image processing, thereby being included in the optical dot pattern. Information (coordinate values) is extracted and supplied to the CPU 21.

  The memory 24 is configured by a flash memory or other storage medium, and stores basic programs executed by the CPU 21 and constants. The memory 24 temporarily stores a program or data in the middle of calculation when the CPU 21 executes calculation processing, or temporarily stores communication information from the communication unit 25 based on a control command from the CPU 21. Remember.

  The communication unit 25 functions as both a reception unit and a transmission unit. The communication unit 25 exchanges information with the navigation device 30 via an antenna based on wireless communication, for example, a standard such as Bluetooth (registered trademark). Instead of wireless communication, the navigation device 30 and the traveling device 10 may be connected by wire using, for example, a USB (Universal Serial Bus) cable, and information may be exchanged. However, when connected wirelessly, the traveling device 10 can be more easily used.

  Next, the navigation apparatus 30 in this Embodiment is demonstrated. The navigation device 30 according to the present embodiment is installed in a car or the like, and as a device for navigating (guidance) the route from the current location to the destination by inputting images or voices by inputting the destination or a desired route. Function. In the present embodiment, the navigation device 30 communicates with the traveling device 10 in both directions. Specifically, first, the navigation device 30 compares the coordinate value received from the traveling device 10 with the coordinate value obtained by converting the latitude and longitude of the route set for navigation into the coordinate value, and the coordinate value of the movement destination. That is, the target coordinates are determined. Then, the navigation device 30 transmits control data for turning and moving forward so that the traveling device 10 reaches the target coordinates, to the traveling device 10.

  FIG. 6 is a block diagram illustrating a configuration of the navigation device 30. In the present embodiment, the navigation device 30 includes an input unit 31, a communication unit 32, a storage unit 33, an image processing unit 34, a display unit 35, an information processing unit 36, and the like as main components.

  The input unit 31 is a device for giving an instruction to the navigation device 30. The input unit 31 can be configured using any one or a plurality of input members such as a button, a remote controller, and a touch panel.

  The communication unit 32 performs communication between the navigation device 30 and the traveling device 10. Therefore, it is comprised so that communication can be performed based on the same standard as the communication part 25 of the traveling apparatus 10. FIG. Further, the communication unit 32 can obtain various information such as map information and traffic jam information by communicating with the outside.

  The storage unit 33 is a part that stores one or more of various information, data, programs, and the like, and one or more of HDD, flash memory, ROM, RAM, and the like can be employed. The storage unit 33 can store a control program and constants for the information processing unit 36 to control each unit, and can temporarily store communication information with various devices. Moreover, the memory | storage part 33 can memorize | store the conversion table for converting the latitude longitude of each point of a path | route into a coordinate value. When the storage unit 33 has an additional storage area in which additional data can be written, information such as a conversion table can be updated.

  The image processing unit 34 converts the image data input from the information processing unit 36 into an output image signal. That is, the image processing unit 34 serves as a decoder, and the image signal is output as an image on the display unit 35.

  The display unit 35 is preferably composed of a liquid crystal display or the like. In addition, when the video signal converted by the image processing unit 34 is input to the display unit 35, a video based on the video signal can be displayed and output on the display unit 35.

  The information processing unit 36 is a control unit that controls the navigation device 30. The information processing unit 36 operates by reading and executing the control program stored in the storage unit 33. Further, the information processing unit 36 converts the latitude and longitude of each point of a route into coordinate values in the map book 50 corresponding to each point of the route based on the conversion table stored in the storage unit 33. .

  The conversion database 37 is a conversion table that links the coordinate values generated from the reading unit 12 of the traveling device 10 based on the optical dot pattern printed on the map book 50 and the position information of latitude and longitude. . In the present embodiment, the latitude and longitude of each point on the route input to the navigation device 30 are converted into coordinate values. Further, the coordinate value obtained from the reading unit 12 may be converted into latitude and longitude information.

  The instruction data is data for instructing a travel speed and notification of each information as a route set by the navigation device 30 and a travel situation on the route. The route is indicated by data representing each point in the route by latitude and longitude. The traveling speed is shown as data relating each point in the route with time. Further, the notification data of each information is, for example, when the user wants to know whether or not there is a traffic jam, when the traveling device 10 reaches the location where the traffic jam occurs, the user is notified that the traffic jam has occurred. It is data. For example, in a place where there is a traffic jam, the user can be notified of the presence or absence of the traffic jam during the simulation by turning on the LED 15.

  The table in FIG. 7 is an explanatory diagram for explaining the control data. The control data is data for controlling the traveling state of the traveling device 10 by controlling the drive unit of the traveling device 10. The control data is created based on position information indicating the current position of the traveling device 10 and instruction data, and includes target coordinates, a rotation angle of the traveling device 10, a traveling speed, and an LED 15 lighting instruction. In the present embodiment, the control data has four items of “target coordinates”, “rotation angle”, “speed”, and “LED”. Further, the rotation angle is calculated by the information processing unit 36 as an angle formed by the traveling direction of the locus traveled by the traveling device 10 immediately before and the direction from the current position of the traveling device 10 to the target coordinates. Therefore, immediately after the traveling device 10 starts traveling, the traveling device 10 once makes a trial run in a straight line. And the information processing part 36 can determine a rotation angle from the locus | trajectory of the test run.

  Next, the simulation system 1 of the present embodiment will be described with reference to FIGS. In the present embodiment, the user can perform the simulation set in the navigation device 30 by the traveling device 10 traveling along the same route in the map book 50 based on the route set in the navigation device 30. For example, in this embodiment, the user uses the simulation system 1 to set a travel route from point 61 to point 65 in FIG. 8 in the navigation device and perform a travel simulation of the travel route.

  First, based on FIG. 9, operation | movement of the traveling apparatus 10 which comprises the simulation system 1 of this Embodiment is demonstrated.

  The traveling device 10 is in a state where the power is turned on by a power switch (not shown) and is operable. When the traveling device 10 is placed on the map book 50, first, the CPU 21 of the traveling device 10 starts the infrared LED 13 to emit infrared light. Then, the C-MOS camera 14 starts reading the optical dot pattern of the map book 50 (step S101: optical pattern reading step).

  The CPU 21 specifies a 6 × 6 dot image included in the optical dot pattern supplied from the C-MOS camera 14 input to the image processing unit 23, and 1 is assigned to the specified 6 × 6 dot combination. A coordinate value corresponding to one-to-one (coordinate value corresponding to one-to-one in the read coordinate pattern) is calculated (step S102: conversion step).

  Next, the CPU 21 supplies the obtained coordinate value to the communication unit 25. The communication unit 25 transmits the coordinate value to the communication unit 32 of the navigation device 30 (step S103: coordinate value transmission step). For example, in FIG. 8, when the traveling device 10 first reads the point 61 portion, the traveling device 10 transmits the coordinate value of the point 61 to the navigation device 30. Note that when the traveling device 10 is placed at a position away from the point 61, the traveling device 10 transmits the coordinate value of the placed point to the navigation device 30.

  After transmitting the coordinate value, it is determined whether or not the communication unit 25 detects control data (step S104: control data detection step). In step S104, when communication unit 25 does not detect control data (NO in step S104), the operation ends. On the other hand, when the communication unit 25 detects control data (YES in step S104), the CPU 21 does not include, for example, data for lighting the LED 15 in addition to the traveling data included in the control data. Or whether it is included (step S105).

  If the control data includes data for turning on the LED 15 (NO in step S105), the CPU 21 turns on the LED 15 according to the data (step S106). For example, in FIG. 8, since “1” is associated with the “LED” column of the point 63, the point 64, and the point 65, when the traveling device 10 reaches the point 63, the point 64, and the point 65, the CPU 21 Then, control for turning on the LED 15 is performed. When the traveling device 10 is placed at a place other than the point 61, the traveling device 10 first travels toward the point 61. At that time, YES is determined in step S105 described above.

  When the data for lighting LED 15 is not included in the control data (YES in step S105) and after step S106, CPU 21 operates drive unit 16 based on the control data to run the travel device. (Step S106: travel step). For example, when the traveling device 10 is located at the point 61 of the coordinates (100, 200), the velocity is 3 toward the coordinates of the next point 62, that is, toward the coordinates (101, 203). The drive unit 16 causes the traveling device 10 to travel.

  After step S107, the process returns to step S101 at regular time intervals to read the optical pattern again.

  Next, based on FIG. 10, the processing operation of the navigation apparatus 30 which comprises the simulation system 1 of this Embodiment is demonstrated. The user first inputs a desired route from the input unit of the navigation device 30. For example, in this embodiment, the vehicle travels so as to connect point 62, point 63, and point 64 next to point 61, and point 65 is the end of the route. When the route is input, the information processing unit 36 converts the latitude and longitude of a plurality of points in the route into coordinates by the conversion database 37, and displays a table of target coordinates, travel speed, and LED lighting instruction as shown in FIG. create.

  Next, the information processing unit 36 of the navigation device 30 receives coordinate values from the traveling device 10 (step S201: coordinate value receiving step). The information processing unit 36 determines whether or not the coordinate value is a target coordinate (step S202: determination step). If it is determined that the coordinate point is not the target coordinate (NO in step S202), a target coordinate that approaches the coordinate to be advanced is set (step S203: target coordinate additional setting step). For example, when the information processing unit 36 receives a coordinate value of a point that is not the point 62 even though the vehicle travels from the point 61 to the point 62, the new target that is the same as the point 62 or close to the point 62. Set the coordinates as the next target coordinates.

  When the information processing unit 36 determines that the coordinate value received from the traveling device 10 is the target coordinate (YES in step S202), or after step S203, the coordinate value received from the traveling device 10 is The information processing unit 36 determines whether it is the end of the route (step S204: route end determination step).

  In step S204, if the information processing unit 36 determines that the coordinate value received from the traveling device 10 is the end of the route (YES in step S204), the information processing unit 36 controls the traveling device 10. The operation is terminated without transmitting data. That is, the traveling device 10 is in a stopped state because it does not receive control data.

  On the other hand, when a negative (NO) determination is made in step S204, the information processing unit 36 creates control data based on the next target coordinates, and the created control data is transmitted from the communication unit 32 to the traveling device. 10 (step S205).

  After step S205, that is, after the information processing unit 36 transmits control data from the communication unit 32 to the traveling device 10, the process returns to step S201 to receive the next coordinate value.

  As described above, the traveling device 10 reads the optical pattern, transmits the coordinate value to the navigation device, and the information processing unit 36 compares the route input to the navigation device with the acquired coordinate value, thereby obtaining information. The processing unit 36 can perform traveling control of the traveling device 10. The user can easily associate the route input to the navigation device 30 with the route of the map book 50.

  Further, the simulation system 1 enables the user to see detailed information on the screen 32 of the navigation device 30 while following the route input to the navigation device 30 with the map book 50 of the wide area map.

  Further, according to the present embodiment, the user can select a more appropriate route by turning on the LED 15 according to certain conditions while the traveling device 10 is traveling during the simulation. For example, when the LED 15 is lit at a traffic jam location, the user can recognize that the road on which the traveling device 10 travels in a state where the LED 15 is not lit is a road where no traffic jam occurs.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to these embodiment, A various deformation | transformation is possible.

  For example, in each embodiment, the traveling device 10 obtains coordinate values from the optical dot pattern of the map book 50 and transmits the obtained coordinate values. However, the present invention is not limited to such a form. For example, the read optical dot pattern itself may be transmitted from the traveling device 10 to the navigation device 30. Alternatively, the coordinate value may be converted into latitude / longitude information and transmitted from the traveling device 10 to the navigation device 30. In addition, it is preferable that the traveling device 10 transmits coordinate values because the volume of data to be transmitted is reduced.

  In the above-described embodiment, in step S202, the coordinate value transmitted from the traveling device 10 is compared with the latitude / longitude of each point of the route input to the navigation device 30 converted into the coordinate value. However, it is not limited to such a form. For example, the coordinate value transmitted from the traveling device 10 may be converted into latitude and longitude and compared with the latitude and longitude of each point on the route input to the navigation device 30.

  In the above-described embodiment, when the target coordinate matches the received coordinate value in step S202, the control data based on the next target coordinate value is transmitted. Absent. For example, the simulation system 1 may set such that an allowable range is set for the target coordinate value and the vehicle travels toward the next target coordinate when the target coordinate value is within a certain range.

  In the simulation system 1 according to the above-described embodiment, the navigation device 30 communicates with the traveling device 10. However, the present invention is not limited to this, and the simulation system 1 may be configured such that the control data can be converted from the optical dot pattern inside the traveling device 10, that is, the entire processing is performed inside the traveling device 10.

  Moreover, in this Embodiment, although the data for making driving speed and LED15 light on are included in control data, it is not limited to such a form. There may be no data such as traveling speed, or other data may be included.

  Further, in the map book 50 according to the above-described embodiment, the dots on the grid of 0.3 mm intervals that absorb infrared rays as shown in FIG. 2 are printed together with information that transmits infrared rays. However, the pattern is not limited to this and may be any pattern that can be obtained as coordinate values. For example, by setting a dot pattern in which dots are also located at intersections on the lattice, a pattern type of 5 to the 36th power can be obtained. For example, instead of displaying 6 × 6 dots, it may be displayed as 8 × 8 dots. Further, instead of the orthogonal lattice, a diamond lattice may be used, or the shape of the dots may be changed. Further, a pattern not composed of dots may be used.

  Further, in the present embodiment, traffic jam is exemplified as information for notifying the user via the LED 15, but the traffic jam is not limited to the traffic jam. It is good also as what notifies a point etc. In addition, for example, the communication unit 32 may acquire the notification contents from the outside through the Internet or VICS. Alternatively, the user may input or change his / her favorite place or store position.

  In the above-described embodiment, the LED 15 emits light as a method for notifying a location that matches a predetermined condition. However, the present invention is not limited to this. For example, an LCD may be provided to display characters and figures on the LCD, or a speaker may be provided and notified by sound from the speaker, or a user may be notified when the traveling device 10 vibrates. But it ’s okay.

  In addition, as a method of notifying a location that matches a predetermined condition, the traveling apparatus 10 may notify the user of predetermined information step by step using red, blue, and yellow light. Alternatively, the notification level may be changed instead of changing the color and the notification method. For example, in the case of notification by light, notification may be made in stages depending on the intensity of light and the difference in blinking speed. As another example, when the notification is made with sound, the notification may be made in stages depending on the volume of the sound or the pitch of the sound. In this way, by changing the notification level according to the strength and height, etc., it is possible to notify more stages in an easy-to-understand manner.

  Moreover, it is good also as a system which does not notify from LED15 of the traveling apparatus 10, but notifies also from the screen etc. which were attached to the screen of the navigation apparatus 30, or the navigation apparatus 30. FIG.

  Moreover, in this Embodiment, although the drive part 16 and the reading part 12 shall be included in the inside of the traveling apparatus 10, it is not restricted to such a form. For example, the traveling device 10 may be a traveling device 10 that includes only the drive unit 16 that can control traveling wirelessly or by wire and has a pen gripping mechanism 29 as shown in FIG. The electronic pen 200 may function as a reading unit by causing the pen gripping mechanism 29 to grip the electronic pen 200 having a communication function. Since the electronic pen 200 can transmit coordinate values by using the electronic pen 200 as a reading unit, the navigation device 30 can control the drive unit 16 based on the coordinate values from the electronic pen 200. As described above, the electronic pen 200 may be one of the components of the simulation system 1.

  Moreover, although the example of the confirmation of the route set by the navigation device 30 was given in the above-described embodiment, the present invention is not limited to such a form, and can be used in other forms. For example, as illustrated in FIG. 11, the traveling device 10 </ b> A may include a pen gripping mechanism 29. For example, the pen holding mechanism 29 may hold the pen 200 that can be written, so that the pen tip contacts the map book 50 so that writing can be performed. In this case, for example, the vehicle travels while saving the route traveled while traveling in the navigation device 30. Then, after returning home from the trip, the travel device 10A holding the pen travels along the route, so that the route taken for the travel can be written in the map book 50 in commemoration. When writing the path, control may be performed so that the color of the ink at the nib changes.

  In the present embodiment, the car navigation device 30 simulates the travel route. However, the present invention is not limited to such a form. For example, the present invention can be used to simulate the route in many cases, such as when a person walks around a sightseeing spot or confirms a travel route.

1 is a system diagram illustrating an example of a simulation system according to a first embodiment of the present invention. It is explanatory drawing for demonstrating the map book which comprises the simulation system shown in FIG. 1, (A) is an external appearance of the map book which a user sees, (B) is attached to the map book of (A) of FIG. (C) is an enlarged view for explaining the optical pattern in more detail by enlarging a part of FIG. 2 (B). It is a side view of the state in which the traveling apparatus which comprises the simulation system shown in FIG. 1 was set | placed on the map book. It is a block diagram which shows the structural example of the traveling apparatus shown in FIG. It is explanatory drawing for demonstrating the reading principle of the traveling apparatus shown in FIG. It is a block diagram which shows the structural example of the navigation apparatus which comprises the simulation system shown in FIG. It is the control data which the navigation apparatus in the simulation system shown in FIG. 1 has. It is an example of the map book used in the simulation system shown in FIG. 1, and is a map for demonstrating operation | movement of a navigation apparatus. 2 is a flowchart for explaining an operation after a traveling device receives control data in the navigation system shown in FIG. 1. 2 is a flowchart for explaining an operation from receiving a coordinate value to transmitting notification data in the navigation system shown in FIG. 1. It is explanatory drawing explaining the modification of this Embodiment.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Simulation system (travel confirmation system), 10 ... Travel apparatus (moving apparatus), 15 ... LED, 25 ... Communication part, 30 ... Navigation apparatus (control part), 36 ... Information processing part (control part), 50 ... Map Book (print media)

Claims (6)

A print medium on which a pattern that can be converted into a coordinate value indicating a position on the print medium is printed;
A reading unit that reads the pattern and outputs it as read data is disposed, and a mobile device that moves on the print medium along a designated route;
A conversion table for converting read data read by the mobile device into position information;
A control unit that generates control data used for movement control of the mobile device based on the instruction data that instructs the travel route of the mobile device and the position information;
A travel confirmation system comprising:   The travel confirmation system according to claim 1, wherein the control data is generated based on a route set in a navigation device.   3. The travel confirmation system according to claim 1, wherein the control data is transmitted from a navigation device and includes a travel speed of a vehicle that changes based on road information. 4. A reading unit that reads the pattern of the print medium on which a pattern that can be converted into a coordinate value indicating a position on the print medium is printed;
A receiving unit for receiving from the external device control data generated based on the instruction data for instructing the travel route and the position information read by the reading unit;
A travel control unit for traveling along the instruction data based on the control data;
A traveling device comprising: A reading step in which the mobile device that travels the print medium reads the pattern of the print medium on which a pattern that can be converted into a coordinate value indicating a position on the print medium is printed;
A read data output step for outputting read data based on the read pattern;
A conversion step of converting read data read by the mobile device into position information;
A control data generation step for generating the control data used for movement control of the mobile device based on the instruction data indicating the travel route of the mobile device and the position information;
A control data receiving step in which the mobile device receives the control data;
Based on the control data, a moving step in which the mobile device moves the print medium along a designated route;
A travel confirmation method characterized by comprising:   6. The travel confirmation method according to claim 5, wherein, in the control data generation step, it is determined whether or not a current position is a target position based on the position information.