WO2020153252A1 - Système de commande, procédé de commande, programme et ensemble de feuilles - Google Patents

Système de commande, procédé de commande, programme et ensemble de feuilles Download PDF

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Publication number
WO2020153252A1
WO2020153252A1 PCT/JP2020/001485 JP2020001485W WO2020153252A1 WO 2020153252 A1 WO2020153252 A1 WO 2020153252A1 JP 2020001485 W JP2020001485 W JP 2020001485W WO 2020153252 A1 WO2020153252 A1 WO 2020153252A1
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WO
WIPO (PCT)
Prior art keywords
sheet
coordinates
moving body
movement
map
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PCT/JP2020/001485
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English (en)
Japanese (ja)
Inventor
哲法 中山
芳範 小番
Original Assignee
株式会社ソニー・インタラクティブエンタテインメント
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Priority to JP2020568122A priority Critical patent/JP7153747B2/ja
Publication of WO2020153252A1 publication Critical patent/WO2020153252A1/fr

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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
    • A63H17/26—Details; Accessories
    • A63H17/36—Steering-mechanisms for toy vehicles
    • A63H17/395—Steering-mechanisms for toy vehicles steered by program
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H18/00—Highways or trackways for toys; Propulsion by special interaction between vehicle and track
    • A63H18/02—Construction or arrangement of the trackway

Definitions

  • the present invention relates to a control system, control method, program and sheet set.
  • Patent Document 1 discloses that a plurality of mats are arranged and a self-propelled device runs on these mats.
  • the present invention has been made in view of the above problems, and an object thereof is to more easily manage a map according to the arrangement of a plurality of sheets when a plurality of sheets are arranged in combination.
  • a control system has a plurality of sheets on which patterns in which coordinates are coded are printed and arranged, a moving body, and coordinates generated from a pattern read by the moving body. And a sheet movement detecting means for detecting the movement of the moving body from the top of the previous sheet to the top of the current sheet based on the obtained coordinates, and to the top of the current sheet.
  • Map update means for updating a map showing the arrangement of the plurality of sheets based on the position, and movement control means for controlling the operation of the moving body based on the map.
  • a control method of a system including a plurality of sheets on which coordinates-encoded patterns are printed and arranged, and a moving body obtains coordinates generated from the pattern read by the moving body. And detecting the movement of the moving body from above the previous sheet to above the current sheet based on the acquired coordinates, and detecting the movement of the moving body above the current sheet. The relative position of the current sheet with respect to the previous sheet based on the coordinates obtained regarding the movement to the current sheet, and the plurality of the plurality of positions based on the detected relative position.
  • the method includes the steps of updating a map indicating the arrangement of the sheets and controlling the operation of the moving body based on the map.
  • the program according to the present invention is a coordinate acquisition unit that acquires a coordinate generated from a pattern read by a moving body on any of a plurality of sheets on which a pattern in which coordinates are encoded is printed, and Sheet movement detection means for detecting movement of the moving body from above the previous sheet to above the current sheet based on the acquired coordinates, when movement of the moving body above the current sheet is detected In, based on the coordinates obtained with respect to the movement to the current sheet, to detect the relative position of the current sheet with respect to the previous sheet, of the plurality of sheets based on the detected relative position.
  • the computer is caused to function as map updating means for updating the map indicating the arrangement and movement control means for controlling the operation of the mobile body based on the map.
  • the sheet set according to the present invention includes a plurality of sheets on which patterns in which coordinates are coded are printed, arranged, and on which the moving body travels. Generated with respect to the movement to the other sheet when the movement of the moving body from one of the plurality of sheets onto the other sheet is detected by the coordinates generated by reading the pattern.
  • the map indicating the arrangement of the plurality of sheets and used for controlling the moving body is updated based on the relative position of the other sheet with respect to the one sheet, which is obtained according to the coordinate.
  • the map according to the arrangement of the plurality of sheets can be managed more easily.
  • the map update means when movement of a moving body on the current sheet is detected, information on an object on the sheet stored in association with the current sheet. May be acquired, and the map may be updated based on the detected relative position and the acquired information on the object.
  • control system obtains information on an event that is associated with a plurality of seats that the mobile body is currently traveling over and is arranged in the map, and the obtained event is acquired.
  • Event control means for executing processing according to any of the information may be further included.
  • the control system prints a pattern in which coordinates different from those of the plurality of sheets are coded, and a piece arranged to be connected to the sheet, and a pattern read by the moving body.
  • the coordinate generated from the above is a coordinate on the piece, further including a conversion means for converting the coordinate to the coordinate on the sheet based on a conversion rule, the conversion means, the moving body is
  • the coordinates generated from the read pattern change from the coordinates on the plurality of sheets to the coordinates on the piece, determine the conversion rule for converting the coordinates on the piece to the coordinates on the sheet. Good.
  • the mobile device capable of self-propelled travels on a plurality of seats according to a user's operation.
  • the control system according to the present invention includes a device control device 10, carriages 20 a and 20 b, a controller 17, and a cartridge 18.
  • the carts 20a and 20b are self-propelled mobile devices having a camera 24, and both have the same function. In the following, these carriages 20a and 20b will be referred to as the carriages 20 unless it is necessary to distinguish them.
  • the device control device 10 controls the carriage 20 wirelessly.
  • the device controller 10 has a recess 32, and when the trolley 20 is fitted into the recess 32, the device controller 10 charges the trolley 20.
  • the controller 17 is an input device that acquires a user's operation, and is connected to the device control device 10 by a cable.
  • the cartridge 18 contains a non-volatile memory.
  • FIG. 2 is a diagram showing an example of the hardware configuration of the control system according to the embodiment of the present invention.
  • the device control device 10 includes a processor 11, a storage unit 12, a communication unit 13, and an input/output unit 14.
  • the dolly 20 includes a processor 21, a storage unit 22, a communication unit 23, a camera 24, and two motors 25.
  • the device control device 10 may be a dedicated device optimized for controlling the carriage 20 or a general-purpose computer.
  • the processor 11 operates according to a program stored in the storage unit 12, and controls the communication unit 13, the input/output unit 14, and the like.
  • the processor 21 operates according to a program stored in the storage unit 22, and controls the communication unit 23, the camera 24, the motor 25, and the like.
  • the program is provided by being stored in a computer-readable storage medium such as a flash memory in the cartridge 18, but may be provided via a network such as the Internet.
  • the storage unit 12 is configured by a DRAM and a non-volatile memory built in the device control device 10, a non-volatile memory in the cartridge 18, and the like.
  • the storage unit 22 is composed of a DRAM, a non-volatile memory, and the like.
  • the storage units 12 and 22 store the above programs.
  • the storage units 12 and 22 store information and calculation results input from the processors 11 and 21 and the communication units 13 and 23.
  • the communication units 13 and 23 are composed of integrated circuits and antennas for communicating with other devices.
  • the communication units 13 and 23 have a function of communicating with each other according to the Bluetooth (registered trademark) protocol, for example.
  • the communication units 13 and 23 input the information received from the other devices to the processors 11 and 21 and the storage units 12 and 22, and transmit the information to the other devices.
  • the communication unit 13 may have a function of communicating with another device via a network such as a LAN.
  • the input/output unit 14 includes a circuit that acquires information from an input device such as the controller 17 and a circuit that controls an output device such as a voice output device or an image display device.
  • the input/output unit 14 acquires an input signal from the input device and inputs information obtained by converting the input signal to the processor 11 and the storage unit 12. Further, the input/output unit 14 causes the speaker to output the sound and the image to the display device under the control of the processor 11 and the like.
  • the motor 25 is a so-called servo motor whose rotation direction, rotation amount, and rotation speed are controlled by the processor 21.
  • One wheel 254 is assigned to each of the two motors 25, and the motor 25 drives the assigned wheel 254.
  • the camera 24 is arranged so as to photograph the lower part of the carriage 20, and photographs the pattern printed on the sheet 31 or the piece 33 (see FIGS. 4 and 15) on which the carriage 20 is placed.
  • a pattern recognized in the infrared frequency region is printed on the sheet 31 and the piece 33, and the camera 24 captures the infrared image.
  • FIG. 3 is a diagram showing an example of the carriage 20.
  • FIG. 3 is a view of the carriage 20 as seen from below.
  • the dolly 20 further includes a power switch 250, a switch 222, and two wheels 254.
  • FIG. 4 is a diagram showing an example of the seat 31 on which the carriage 20 is arranged.
  • the plurality of sheets 31 are arranged so as to be in contact with each other at their boundaries in a plan view.
  • An image that can be visually recognized by the user is printed on each of the plurality of sheets 31, and a pattern that can be captured by the camera 24 is further printed.
  • Unit patterns of a predetermined size are arranged in a matrix on the sheet 31.
  • Each of the unit patterns is an image in which the coordinates of the position where the pattern is arranged are encoded.
  • An area corresponding to the size of the sheet 31 is assigned to the sheet 31 in the coordinate space that can be represented by the encoded coordinates.
  • FIG. 5 is a diagram showing an example of allocation of the sheets 31 to the coordinate space. As shown in FIG. 5, the coordinate area of each sheet 31 is assigned so as to be spread in the coordinate space.
  • the camera 24 of the dolly 20 photographs the unit pattern printed on the sheet 31 and the like, and the dolly 20 or the device control device 10 decodes the unit pattern to obtain the coordinates. As a result, the position of the carriage 20 on the seat 31 or the like is recognized. Further, the carriage 20 or the device control device 10 also calculates the orientation of the carriage 20 by detecting the orientation of the unit pattern in the image captured by the camera 24.
  • the position of the carriage 20 on the sheet 31 or the like can be recognized with high accuracy without using another device such as a stereo camera.
  • a course on which the trolley 20 can travel and objects such as the fire station 41, the police station 42, the house 43, and the warehouse 44 are printed on the plurality of sheets 31.
  • the user operates the controller 17, and the carriage 20 travels on the seat 31 according to the operation.
  • the device control device 10 controls the dolly 20 so as not to travel outside the course, and operates according to an object such as the fire station 41. Instead of the course, a prohibited area where the truck 20 cannot travel may be printed.
  • the control system determines how the plurality of seats 31 are arranged, and It does not recognize where the course and the object are arranged, but recognizes the arrangement according to the movement of the carriage 20. The operation of this control system will be described below.
  • FIG. 6 is a block diagram showing the functions realized by the control system.
  • the control system functionally has a current position acquisition unit 51, a seat identification unit 52, a map update unit 53, a travel control unit 54, an event management unit 55, a coordinate conversion unit 56, a sheet information storage unit 61, and an event information storage unit 62. including.
  • the current position acquisition unit 51, the seat identification unit 52, the map update unit 53, the travel control unit 54, the event management unit 55, and the coordinate conversion unit 56 are mainly stored in the storage unit 12 by the processor 11 included in the device control device 10. It is realized by executing the program described above and controlling the carriage 20 via the communication unit 13.
  • the processor 21 included in the truck 20 executes a program stored in the storage unit 22, and exchanges data with the device control apparatus 10 via the communication unit 23. It is realized by controlling the camera 24 and the motor 25.
  • the sheet information storage unit 61 and the event information storage unit 62 are realized by the storage unit 12 included in the device control apparatus 10.
  • the sheet information storage unit 61 is a kind of database in which information about each of the plurality of sheets 31 is stored
  • the event information storage unit 62 is a kind of database in which information about an event associated with the sheet 31 is stored.
  • the current position acquisition unit 51 recognizes a pattern in which coordinates are encoded from the image captured by the camera 24, and detects the coordinates of the position of the carriage 20 and the direction of the carriage 20 from the coordinates indicated by the pattern.
  • the seat identification unit 52 identifies the seat 31 on which the carriage 20 is currently traveling, based on the acquired coordinates. Further, the seat specifying unit 52 detects whether or not the carriage 20 has moved from above the previous seat 31 to above the current seat 31 based on the acquired coordinates.
  • the map update unit 53 determines the current seat relative to the previous seat 31 based on the coordinates acquired before and after the movement. The relative position of the sheet 31 is detected, and the map indicating the arrangement of the plurality of sheets 31 is updated based on the relative position.
  • the map includes information on objects arranged on the plurality of sheets 31 whose arrangement is stored in the map.
  • the map updating unit 53 stores on the seat 31 stored in the seat information storage unit 61 in association with the current seat 31. The information of the object is acquired, and the information of the object in the map is updated based on the detected relative position and the acquired information of the object.
  • the traveling control unit 54 controls the operation of the carriage 20 based on the coordinates of the carriage 20 and the map.
  • the event management unit 55 acquires event information associated with a plurality of seats 31 on which the cart 20 is currently or in the past traveled and is arranged in the map, and responds to any of the acquired event information. Execute the process.
  • the coordinate conversion unit 56 converts the coordinates to the coordinates based on the seat 31 based on the conversion rule, and the orientation also based on the conversion rule. Convert.
  • FIG. 7 is a flowchart showing an example of processing of the control system.
  • the current position acquisition unit 51 acquires the current coordinates and orientation of the carriage 20 based on the pattern captured by the camera 24 (step S101).
  • the seat identification unit 52 identifies the seat 31 on which the carriage 20 is currently traveling based on the acquired coordinates (step S102). More specifically, the sheet specifying unit 52 determines whether the acquired coordinates are included in the area among the plurality of areas assigned to the sheet 31 in the coordinate space, and corresponds to the determined area. The seat 31 to be driven is specified as the currently running seat 31. Further, the seat specifying unit 52 determines whether the seat 31 on which the carriage 20 is currently traveling has changed from the most recently specified seat 31 (step S103).
  • the map updating unit 53 causes the coordinates acquired last in the previous seat 31 and the coordinates acquired in the current seat 31.
  • the relative position between the previous sheet 31 and the current sheet 31 is specified based on the following (step S104).
  • the map update unit 53 determines the direction of the carriage 20 on the previous seat 31 or the current seat 31, and from the acquisition of the previous coordinates to the acquisition of the current coordinates.
  • the relative position may be detected based on the rotation amount of the motor 25.
  • the map update unit 53 acquires the information of the object and the course currently arranged on the sheet 31 from the sheet information storage unit 61, and updates the map stored in the storage unit 12 (step S105).
  • the map includes sheet layout information, object layout information, and course information.
  • the seat arrangement information is information indicating the arrangement of the plurality of seats 31 on which the carriage 20 has traveled so far and which are arranged.
  • the object arrangement information is information indicating the arrangement of objects on the plurality of sheets 31.
  • the course information is information indicating a course on which the plurality of seats 31 can travel. If the seat 31 on which the carriage 20 is traveling does not change (N in step S103), the processes in steps S104 and S105 are skipped.
  • the traveling control unit 54 determines whether or not the carriage 20 has reached an object arranged in the map, based on the coordinates of the carriage 20 (step S106). Whether or not the trolley 20 has arrived may be determined by whether or not the coordinates of the trolley 20 are within the determination region corresponding to the object.
  • the determination area may be the area of the object to be printed, the area surrounding the object, or the area in the course adjacent to the object.
  • the traveling control unit 54 controls the dolly 20 to perform an operation determined according to the object (Ste S107). If the coordinates of the carriage 20 do not indicate that the carriage 20 has reached the object (N in step S106), the traveling control unit 54 skips step S107. Further, the traveling control unit 54 moves the carriage 20 based on the position of the carriage 20 on the course and the input from the controller 17 (step S108).
  • FIG. 8 is a diagram illustrating movement of the carriage 20 between the seats 31.
  • the carriage 20 moves from the seat 31a to the seat 31b where the fire station 41 is arranged.
  • FIG. 9 is a diagram showing an example of a map updated by the movement of the carriage 20.
  • the seat 31a is arranged in the map before the carriage 20 moves to the seat 31b.
  • the map updating unit 53 updates the map so as to reflect the information of the seat 31b indicated by the alternate long and short dash line.
  • Information about the fire station 41 arranged on the seat 31b and information about a course on which the seat 31b can run are reflected in the map.
  • the map updating unit 53 may determine the relative position of the sheet 31b with respect to the sheet 31a, assuming that the side of the movement source sheet 31a and the side of the movement destination sheet 31b are adjacent to each other.
  • the source side is the side of the sheet 31a closest to the coordinates (source coordinate) detected last in the sheet 31a
  • the destination side is the coordinate first detected on the sheet 31b (target coordinate). Is the side of the sheet 31b closest to
  • the map update unit 53 also detects the orientation in which the sheet 31b is arranged based on the adjacent sides, and updates the map based on the relative position and orientation.
  • the map is managed without the user inputting the arrangement of the sheet 31, and the map is updated. It becomes possible to control the trolley 20 using. Moreover, since the map includes not only the course but also information such as objects, it is possible to increase variations in movement and operation of the carriage 20.
  • FIG. 10 is a diagram showing another example of the updated map.
  • FIG. 10 shows an example in which some of the sides of the sheets 31c and 31d that face each other face each other.
  • the map update unit 53 may calculate the relative position in consideration of the case where only some of the sides of the two sheets 31 facing each other are adjacent.
  • the map updating unit 53 may obtain the relative position of the sheet 31d so that the point indicated by the movement source coordinate and the point indicated by the movement destination coordinate face each other across the sides of the sheets 31c and 31d.
  • the map updating unit 53 may obtain the predicted position from the position indicated by the movement source coordinates, and may obtain the relative position so that the position indicated by the movement destination coordinates and the predicted position match.
  • the map updating unit 53 obtains, as the predicted position, a position moved in the direction of the carriage 20 by a distance indicated by the rotation amount of the motor 25 from the acquisition of the movement source coordinates to the acquisition of the movement destination coordinates.
  • the map updating unit 53 when the seat 31 reflected once on the map is replaced, and then the replaced seat 31 is traveled, the map updating unit 53 replaces the information about the seat 31 before the replacement with the information about the seat 31 after the replacement. You may overwrite with.
  • FIG. 11 is a diagram for explaining the replacement of the seat 31.
  • FIG. 12 is a diagram illustrating updating of the map when the sheet 31 is replaced.
  • FIG. 11 is a diagram showing a state in which, after the state shown in FIG. 8, the carriage 20 is returned onto the seat 31a and the seat 31b is replaced with the seat 31g.
  • the map updating unit 53 superposes it.
  • the sheet layout information regarding the sheet 31b, the position information of the object, and the course information are deleted from the map, and then the map is updated with the information regarding the new sheet 31g.
  • the map updating unit 53 deletes the information about the sheet 31 that is already placed when the sheet 31 that is newly placed in the map is already placed at another location in the map. Good. This is because if there is no sheet 31 to which the same coordinate area is assigned, that sheet 31 is newly arranged. However, when there may be a plurality of sheets 31 to which the same coordinate area is assigned, this deletion process may not be performed.
  • FIG. 13 is a flowchart showing an example of processing of the event management unit 55.
  • the event management unit 55 acquires a list of valid events based on the information stored in the map (step S201).
  • FIG. 14 is a diagram showing an example of event information stored in the event information storage unit 62.
  • the event is stored in association with the object.
  • the object associated with an event is the object needed for that event.
  • the event management unit 55 lists all the events associated with the event as valid object list when the objects are arranged in the map. Add to.
  • the event “fire” is valid when, for example, the fire station 41 and the house 43 are arranged in the map.
  • the event “fire” is an event that requires the fire department 41 and the house 43.
  • the event is associated with the map.
  • events may be directly associated with maps rather than objects.
  • the event management unit 55 adds the event to the list of valid events. The event management unit 55 does not have to add the already executed event to the list of valid events.
  • the event management unit 55 selects one event from one or a plurality of events belonging to the list (step S202). Here, the selection of the event may be performed randomly, or none of the events may be selected. Then, the event management unit 55 executes the program of the selected event (step S203).
  • FIG. 15 is a diagram showing an example of the piece 33 attached on the sheet 31.
  • the piece 33 is, for example, a seal, and is attached on the sheet 31. As a result, the area on the sheet 31 and the piece 33 are connected.
  • the piece 33 is attached so as to overlap the boundary between the sheet 31i and the sheet 31j.
  • a coordinate area different from that of the sheet 31 is assigned to the piece 33.
  • the traveling control unit 54 executes the control using the relative position of the object on the seat 31 and the course. In this case, it is difficult to control if the coordinates on the piece 33 are used as they are. Therefore, the coordinate conversion unit 56 converts the coordinates on the piece 33 acquired by the current position acquisition unit 51 into the coordinates on the sheet 31, and inputs the converted coordinates as the coordinates used by the traveling control unit 54. The conversion will be described below.
  • FIG. 16 is a flow chart showing an example of processing of the coordinate conversion unit 56.
  • step S301 it is determined whether the coordinates acquired from the pattern by the current position acquisition unit 51 are the coordinates on the piece 33. More specifically, when the acquired coordinates are within the coordinate area assigned to the piece 33, the coordinate conversion unit 56 determines that the coordinates are on the piece 33.
  • the coordinates acquired from the pattern are not the coordinates on the piece 33 (N in step S301)
  • the following processing is not performed and the processing ends.
  • the coordinate conversion unit 56 determines whether the coordinate conversion rule for the piece 33 has already been determined (step S302). ..
  • step S302 the coordinate conversion unit 56 sets the coordinates on the piece 33 to the sheet based on the coordinates on the sheet 31 and the current coordinates on the piece 33.
  • a conversion rule for conversion into coordinates on 31 is determined (step S303). When the coordinate conversion rule has already been determined for this piece 33 (Y in step S302), the process in step S303 is skipped.
  • the movement source coordinates are the coordinates on the sheet 31 detected last and the movement destination coordinates are the coordinates on the piece 33 acquired first.
  • the coordinate conversion unit 56 tentatively moves on the sheet 31 based on the position indicated by the movement source coordinates, the direction of the carriage 20, and the rotation amount of the motor 25 from the acquisition of the movement source coordinates to the acquisition of the movement destination coordinates.
  • the predicted coordinates of the current position when the vehicle is traveling are calculated.
  • the coordinate conversion unit 56 matches the position indicated by the predicted coordinate with the position indicated by the movement destination coordinate, and the inclination of the seal with respect to the sheet 31 calculated based on the change in the direction at the movement source coordinate from the direction at the movement destination coordinate.
  • a coordinate conversion formula is generated so that the above is reflected, and the conversion formula is determined as a conversion rule.
  • the coordinate conversion unit 56 converts the current coordinates into the coordinates on the sheet 31 based on the determined conversion rule (step S304). As a result, even when the vehicle is traveling on the piece 33, it is possible to control the movement of the carriage 20 in consideration of the object on the seat 31, the course, and the like.
  • the piece 33 may be connected so as to be adjacent to the side of the seat 31.
  • a mating portion having a thickness substantially the same as that of the sheet 31 and in which the piece 33 is fitted may be provided on the sheet 31.
  • the mating portion may be an opening provided in the sheet 31 and having a shape corresponding to the piece 33, or may be provided at an end portion of the sheet 31 in plan view and has a shape corresponding to a part of the piece 33. It may be uneven.
  • the coordinate conversion unit 56 may determine the conversion rule by selecting the parameter of the conversion formula based on the source coordinate and the destination coordinate. For example, the coordinate conversion unit 56 may determine the parameters of the conversion formula corresponding to the piece 33 (for example, the coordinates and the orientation of the reference position in the piece 33) depending on which piece 33 the destination coordinate is assigned to. In addition, the coordinate conversion unit 56 determines a parameter of the conversion formula corresponding to the mating part (for example, the sheet 31 at the position corresponding to the reference position of the piece 33) depending on which mating part the movement source coordinate is included in (Coordinates at) may be determined. When the direction of the coordinate axis on the sheet 31 and the direction of the coordinate axis on the piece 33 can be regarded as the same by the mating unit, the direction may be omitted as a parameter.
  • the coordinate system common to the plurality of seats 31 arranged in the map may be used for the control of the traveling control unit 54.
  • the coordinate conversion unit 56 converts the coordinates on the new sheet 31 into the coordinates on the map, as in the case of the piece 33.
  • the conversion formula may be determined.
  • the coordinate conversion unit 56 may directly convert the coordinates on the piece 33 into the coordinates on the map.

Landscapes

  • Toys (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Selon la présente invention, lors de l'agencement d'une pluralité de feuilles en combinaison, une carte correspondant à la combinaison de la pluralité de feuilles est facilement gérée. Ce système de commande comprend : un corps mobile (20) ; et une pluralité de feuilles (31) sur laquelle un motif présentant des coordonnées codées est imprimé et agencé. Le système de commande acquiert des coordonnées générées à partir du motif lu par le corps mobile, détecte, sur la base des coordonnées acquises, le mouvement du corps mobile depuis le dessus de la feuille précédente jusqu'au-dessus de la feuille actuelle, détecte, lorsque le mouvement du corps mobile vers le dessus de la feuille actuelle est détecté, la position relative de la feuille actuelle par rapport à la feuille précédente sur la base des coordonnées acquises concernant le mouvement au-dessus de la feuille actuelle, met à jour une carte montrant l'agencement de la pluralité de feuilles sur la base de la position relative détectée et commande le fonctionnement du corps mobile sur la base de la carte.
PCT/JP2020/001485 2019-01-21 2020-01-17 Système de commande, procédé de commande, programme et ensemble de feuilles WO2020153252A1 (fr)

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JP2020568122A JP7153747B2 (ja) 2019-01-21 2020-01-17 制御システム、制御方法、プログラムおよびシートセット

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JP2019007563 2019-01-21

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US20020102910A1 (en) * 2001-01-29 2002-08-01 Donahue Kevin Gerard Toy vehicle and method of controlling a toy vehicle from a printed track
JP2006181241A (ja) * 2004-12-28 2006-07-13 Tomy Co Ltd 走行玩具
WO2018025467A1 (fr) * 2016-08-04 2018-02-08 ソニー株式会社 Dispositif de traitement d'informations, procédé de traitement d'informations et support d'informations
JP3215614U (ja) * 2017-12-20 2018-04-05 安譜國際股▲分▼有限公司 教育玩具
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Publication number Priority date Publication date Assignee Title
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