JPH11244510A - Travel control device of traveling body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To minimize an accumulated error of a travel distance by reading a distance information pattern formed on a traveling board and obtaining the travel distance of a traveling body on the basis of a read result. SOLUTION: A distance information pattern 5 is disposed on a traveling board 4, and a traveling body 8 detects a distance information pattern 5 while traveling to detect the distance on the traveling board. The traveling body 8 is provided with rotation detecting sensors 20a, 20b for detecting the rotation of the driving wheels 12a, 12b, and pattern read sensors 38a, 38b, 38c for detecting the distance information pattern, and the pattern read sensor is adapted to read the distance information pattern 5 in timing of signals generated by the rotation detecting sensors 20a, 20b.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling control device for a traveling body for detecting the distance traveled by the traveling body on a traveling board.

[0002]

2. Description of the Related Art In a conventional apparatus, when detecting the travel distance of a traveling body, an encoder attached to the driving motor of the traveling body detects the rotation of the driving motor and detects the rotation of the driving motor. Is counted by a counter, and the count value is directly used as the moving distance of the traveling body. The obtained moving distance of the traveling body has been corrected by detecting markers provided in some places with a marker detecting sensor.

[0003]

Since the count value obtained by counting the signal generated by the encoder that has detected the rotation of the drive motor is directly used as the travel distance of the traveling body, a cumulative error is included between the count value and the true travel distance. Was something.

[0004]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention provides a traveling board with a distance information pattern, and a traveling body has a pattern reading sensor for reading the distance information pattern. A color detection unit that determines information, a rotation detection sensor that detects rotation of the drive wheels,
A counter for counting the signal of the rotation detection sensor is provided. Then, based on the information of the color detection unit and the counter, the pattern information is analyzed or the distance is updated to obtain the moving distance of the traveling body.

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A traveling control apparatus for a traveling body according to the present invention includes a traveling board, a distance information pattern of the traveling board disposed on the traveling board, and a distance information pattern detecting means. This is a travel control device for a traveling body that travels while detecting the distance, comprising a rotation detection sensor for detecting rotation of a drive wheel of the traveling body, and a pattern reading sensor for detecting a distance information pattern. The pattern reading sensor is characterized in that a distance information pattern is read at the timing of a signal generated by the rotation detection sensor. Further, the pattern reading sensor reads the distance information pattern at the timing of the signal generated by the rotation detection sensor, uses the timing at which the read value of the pattern reading sensor changes as a change point of the distance information pattern, and controls the travel based on the change point information. May be configured. The pattern reading sensor reads the distance information pattern at the timing of the signal generated by the rotation detection sensor, and counts the signal generated by the rotation detection sensor with a counter until the read value of the pattern reading sensor changes. Then, the count value of the counter may be set to be the length of the distance information pattern detected by the pattern reading sensor.

In addition, left and right rotation detection sensors for detecting at least rotation of the left and right independent driving wheels of the traveling body and sensors for detecting a distance information pattern are arranged at positions corresponding to the left and right independent driving wheels, respectively. And a central pattern reading sensor arranged at a position on the center line of the left and right independent driving wheels, and the left and right pattern reading sensors rotate the driving wheels at positions corresponding to the respective pattern reading sensors. The distance information pattern is read at the timing of each signal generated by the rotation detection sensor that detects the rotation, and the center pattern reading sensor counts the signals generated by the left and right rotation detection sensors with the same counter, and the counted value is Even when the distance information pattern is read at a timing that is an integral multiple of two, There.

In the above left and right pattern reading sensors, the distance information pattern is read at the timing when the left and right rotation detecting sensors for detecting the rotation of the driving wheels located at the positions corresponding to the respective pattern reading sensors are read. The timing at which the read value of the sensor changes is taken as the point of change of the distance information pattern. The central pattern read sensor reads the distance information pattern at both timings of the signals generated by the left and right rotation detection sensors, The timing of the signal generated by the left or right rotation detection sensor when the state has changed may be set as a change point of the distance information pattern, and travel control may be performed based on the change point information.

In the above left and right pattern reading sensors, the distance information pattern is read at the timing when the rotation detecting sensor for detecting the rotation of the driving wheel located at the position corresponding to each of the pattern reading sensors generates the distance information pattern. Until the read value changes, the signal generated by each rotation detection sensor is obtained by counting with a counter, and the count value of each counter is taken as the pattern length of the distance information pattern detected by the left and right pattern reading sensors, The central pattern reading sensor reads the distance information pattern at the timing of the signal generated by each rotation detection sensor, and counts the signal generated by each rotation detection sensor with a counter until the reading of the pattern reading sensor changes. Sought, sought count 1/2 2008 may be configured to a pattern length of the distance information pattern detected by the central pattern reading sensor of. Further, without using the central pattern reading sensor, the count value of each of the counters is set to the pattern length of the distance information pattern detected by the left and right pattern reading sensors, and the average value of the count values of the respective counters is run. It may be configured to be the moving distance of the body.

[0009]

Embodiments of the present invention will be described below with reference to the drawings. This example is an example implemented in a horse race game, and as shown in FIG. 1, an annular course 2 including a straight portion 2a and a curved portion 2b is provided on an upper surface of a game table 1. Multiple model bodies 3 simulating a racehorse on the course
Are arranged so that they can run freely. FIG. 2 is an enlarged view showing a structure for running one model body 3. The game table 1 has a hollow structure, and the above-mentioned course 2 is provided on the upper surface thereof. The straight section 4a shown in FIG. The traveling board 4 including the portion 4b is laid. A traveling body 8 for traveling the model body 3 is disposed in the hollow portion of the game table 1 and on the traveling board 4.

On the back surface of the course 2, that is, on the surface on the hollow portion side,
As shown in FIG. 4, a plurality of trace lines 7 for trace traveling of the traveling body 8 are provided at equal intervals along the outer circumference, and each trace line indicates which line the traveling body 8 is traveling. Is transmitted.
In order for the model body 3 to follow the traveling body 8, a magnet 9 is fixed on the model body side with a slight gap from the surface of the course 2, and on the traveling body 8 side, slightly from the surface of the trace line 7. The magnet 10 is fixed facing the magnet 9 with a gap of.

As shown in FIG. 5, the traveling body 8 can travel on the traveling board 4 while being supported by front and rear auxiliary wheels 11f and 11r provided on the bottom surface thereof and left and right driving wheels 12a and 12b. is there. Further, on a substrate 38 connected to the bottom surface, pattern reading sensors 38a, 38b, 38c for detecting a distance information pattern formed on the traveling board 4 are provided. As shown in FIG. 2, the left and right driving wheels 12a and 12b are driven by independent motors Ma and Mb (FIG. 7) by a driving device 14 provided in a cover 13 formed in a box shape.
(Shown in the drawing).
It is possible to run in any direction above. Drive device 14
Transmits the torque of the motors Ma and Mb to the transmission trains 15a.
5b are transmitted to the drive wheels 12a, 12b. One of the gears in the transmission wheel train is provided with an encoder composed of a slit disk and a sensor facing the slit, that is, rotation detection sensors 20a and 20b for detecting the rotation of the drive wheels.

A support plate 16 is provided on an upper portion of the cover 13, and as shown in FIG. 6, upper auxiliary wheels 17f, 17r for smoothly moving the back surface of the course 2 on the upper surface thereof.
And trace sensors 21 to 27 for tracing the trace line 7 and detecting line signals. As shown in FIG. 2, the support plate 16 is connected to the upper surface of the cover 13 by a stretchable column by a spring 18, and a pressing force is applied to the course 2. Further, a sensor substrate 19 is fixed on an upper surface of the cover 13 in a gap between the support plate 16 and a light emitting element 19a and a light receiving element 1 for transmitting and receiving an optical signal to and from a controller described later on the sensor substrate.
9b is attached.

As shown in FIG. 3, distance information patterns 5 and 6 are provided on the traveling board 4. The distance information pattern 5 is provided on the straight portion 4a of the traveling board 4, and the distance information pattern 6 is provided on the curved section 4b of the traveling board 4. Each of the distance information patterns is composed of a plurality of bit patterns representing section position information divided into a plurality of sections, and the bit patterns of each section are arranged at regular intervals. Curved part 4b
Are formed in a radial pattern from the center of the arc on the inner periphery of the curved portion, and therefore, the linear portion formed in a parallel line pattern is formed. From the distance information pattern 5 described above. The control of the driving device 14 is performed by a traveling control unit 34 provided in front of the driving device 14. The travel control unit 34 is a circuit mainly composed of a microprocessor, and includes a calculation circuit, a storage circuit, and a clock circuit.

That is, as shown in FIG.
The power of b is detected by the pattern detection unit 35, and the position detection unit 36 determines the position of the traveling body 8 and sets the position to the position counting unit 37 from the detected pattern information. The position is updated based on the pattern detection information from. In addition, the line signals supplied from the line signal generator 30 to the trace line 7 are detected by the trace sensors 21 to 27, and the state of the trace line 7 is detected by the trace detection unit 33. Based on this, the traveling control unit 34 performs the trace traveling. Optical signals are transmitted and received between the light emitting element 29a and the light receiving element 29b on the controller 28 side and the light emitting element 19a and the light receiving element 19b on the traveling body 8 side.
The signal is decoded by the communication control unit 31, and the travel of the traveling body 8 is controlled by the travel control unit 34 based on the travel data 32 and other instructions from the decoded controller 28. In this way, the traveling control of the traveling body 8 is performed based on the detected position information, trace information, traveling data, and other instructions.

FIG. 8 shows the distance information pattern 5 in an enlarged manner. To describe this bit pattern in detail,
The pattern length of "black" and "white" is arranged at a constant interval (pattern pitch) where L = 15, and the pattern of "black" length L = 10 is represented by a binary number "1". , The pattern of length L = 5 of “black” is represented by “0” in binary notation, and the boundary between sections is equal to or an integral multiple of the pattern pitch. In this example, “white” is equal to the length of “black”. It is provided as a part of the direction bit B next to the direction bit B of L = 10. Then, next to the direction bit B, a direction bit F having a length L = 5 of “black”
Is provided. In FIG. 3, such a distance information pattern 5
Are arranged on the traveling board 4 for a plurality of blocks, that is, for 28 sections. This distance information pattern is a pattern that facilitates the detection of distance by arranging it at regular intervals. By making the pattern a pattern showing section position information, the distance information pattern of the traveling body 8 on the traveling board is determined. This is a pattern that can be detected.

Next, in describing the detection of the distance information pattern 5, the left and right pattern reading sensors 38a, 38b are used at the timing of each signal generated by the rotation detecting sensors 20a, 20b for detecting the rotation of the driving wheels 12a, 12b.
c reads the distance information patterns 5 and 6, and the left and right rotation detection sensors 20
The operation of the first embodiment in which the signals generated by the signals a and 20b are counted by the same counter and the distance information patterns 5 and 6 are read at timing when the counted value becomes an integral multiple of 2 will be described. Here, a block diagram (FIG. 10) showing the pattern detection unit 35 is also used for easy explanation.

When the traveling body 8 starts traveling (moving straight) from the position x100 in FIG. 8, the rotation of the left and right drive wheels 12a and 12b is detected, and the left and right encoders 20a and 20b generate signals. The counter R and the color detection unit R receive the signal of the right encoder 20a, the counter R adds the received signals, and the color detection unit R reads the color information from the pattern reading sensor 38a. The counter L and the color detection unit L receive the signal of the left encoder 20b, the counter L adds the received signals, and the color detection unit L outputs the pattern reading sensor 38.
Read color information from c. Also, the left and right encoders 20a,
20b is received by the counter A, and the counter A sends a signal to the counter c and the color detection unit c when the received signal is an integral multiple of 2, and the counter c adds the received signal to perform color detection. Part c is a pattern reading sensor 38b
Read color information from. Here, the count at which the count value of the signal generated by the left or right encoder is an integral multiple of 2 is the sum of the respective moving distances due to the rotation of the left and right drive wheels 12a, 12b of the traveling body 8. Is treated as the moving distance of the center position of the left and right driving wheels, that is, the average value of the moving distances of the left and right, and the left or right encoder 20a,
This means that the timing can be handled on the same distance scale as the moving distance of the traveling body 8 detected in 20b. As described above, the pattern detection unit 35 reads information from the three sensors and sends the information to the position detection unit 36. The subsequent position detection method will be described later.

Next, a description will be given of a second embodiment in which a change point of the distance information pattern 5 is detected and the distance information pattern 5 is detected. Here, a block diagram (FIG. 11) showing the pattern detection unit 35 is also used for easy explanation. When the traveling body 8 starts traveling (straight running) from the position of x100 in FIG.
The rotation of the left and right drive wheels 12a, 12b is detected, and the left and right encoders 20a, 20b generate signals. The counter R and the color detection unit R receive the signal of the right encoder 20a, and the counter R adds the received signals, and the color detection unit R
Reads color information from the pattern reading sensor 38a. When the state has changed (change from black to white or from white to black), the color detection unit R notifies the reception unit R of information. Similarly, the counter L and the color detection unit L receive the signal of the left encoder 20a,
The counter L adds the received signals, and the color detection unit L reads the color information from the pattern reading sensor 38c. When the state has changed (change from black to white or from white to black), the color detection unit L notifies the reception unit L of information. The signals of the left and right encoders 20a and 20b are converted into counters c1 and c2.
And the color detection unit c. The counter c1 and the counter c2 add signals, and the color detection unit c reads color information from the pattern reading sensor 38b. When the state changes (from black to white or from white to black), the color detector c receives the information.
Inform Therefore, when the distance reaches x101, the state of the distance information pattern 5 changes from “white” to “black”, and the color detection unit notifies the reception unit of the change. The pattern detection unit 35 receives the information at the reception unit, and recognizes the pattern based on the value of the counter at that time. The values of the counters c1 and c2 corresponding to the central sensor 38b are summed up in the pattern detection unit 35, and the values are halved and treated as an average distance.

Here, when the length of the actual distance information pattern 5 is applied, the distance information pattern 5 from x100 to x101 in FIG. 8 is counted c1 and c2 if the actual distance from x100 to x101 is 5. The total value of the count is 10,
The count value when the change point of the distance information pattern 5 was previously detected is 0 immediately after the start of traveling, so the count value of the distance of the change point x101 of the distance information pattern 5 is 10;
This value is halved internally. The length of the distance information pattern 5 detected from the result is L = 5, and the state at that time can be detected as “white”. Subsequently, the traveling body 8 is moved to x101 in FIG.
The detection result of the distance information pattern 5 by traveling from x101 to x102 is that if the actual distance from x101 to x102 is 10, the total count of the counters c1 and c2 is 20, and the length of the distance information pattern 5 is L = 10 Thus, the state at that time can be detected as "black". As described above, the pattern detection unit 35 reads information from the three sensors and sends the information to the position detection unit 36. In this embodiment, the central sensor 38
counters c1 and c2 as counters corresponding to b
Although two counters are used, one counter may be used to receive encoder signals from left and right.

Next, position detection after the pattern information (length and color of the pattern) is transmitted to the position detecting section 36 as described above in the first and second embodiments will be described. Running body 8
However, while traveling from x100 to x118 in FIG. 8, the pattern detection unit 35 notifies the position detection unit 36 of the pattern information. Based on the pattern information received from the pattern detection unit 35, the position detection unit 36 detects boundaries between sections from the length L = 20 of “white” that is the detection result of the pattern of x102 to x103.

Thereafter, the direction information "F" is detected from the length L = 5 of "black" which is the detection result of the pattern of x103 to x104 in FIG. A pattern change condition when the distance is updated by the unit 37 is set. The direction of the setting content is set in the direction in which the section position information is directed from the direction information "F" to the direction information "B", that is, in the counterclockwise direction on the traveling board 4, and the pattern change condition is changed from white to black. Is set as the changing point of. Similarly, based on the pattern detection results of x105 to x118 in FIG.
6 converts the section position information into a binary pattern bit pattern of "0000011", and converts the bit pattern into a section position "7" of the section position "3" as shown in FIG.
Is detected as the position of the traveling body 8.

When the detection of the position of the traveling body 8 is completed, the position counting section 37 starts updating the distance of the traveling body 8 during traveling. That is, it is determined from the length L = 5 of “white”, which is the pattern detection result of x118 to x119, that a change point of the pattern from “white” to “black” has been detected. The pattern pitch (L = 15) of the distance information pattern is updated from the position "7" in the section at a certain section position "3" as the moving distance of the traveling body 8. Then, in FIG.
At x119 to x120, the direction information B is detected this time in the same manner as at x103 to x104 described above. Here, the moving distance of the traveling body 8 is not updated, and the position in the section increases by one to “8”. Becomes Next, in x120 to x121, x102 to x103 described above
Similarly, the boundary between sections is detected, and when it reaches x121, the moving distance is updated here. That is, since the position in the section increases by one and becomes “0”, the section position increases by one and becomes “4”, and the traveling body position is updated. In this way, by detecting the pattern of the distance information pattern 5, the section position of the traveling body 8 on the traveling board 4 and the traveling distance during traveling can be detected from the result. Of the horse race game by the game.

The distance information pattern 5 is detected by the left and right pattern reading sensors 38a and 38c.
May be an average value of the left and right pattern lengths obtained by the left and right encoders 20a and 20b. That is, the signals generated by the rotation detection sensors 20a and 20b are respectively counted by counters, and the count value is set as the pattern length of the distance information pattern detected by the left and right pattern reading sensors 38a and 38c, and counted by the respective counters. The average value of the count values of the left and right counters is defined as the moving distance of the traveling body 8.

Further, the encoder and the pattern reading sensor for detecting the rotation of the driving wheel are not limited to the above-described embodiment, but may be any as long as the rotation of the driving wheel of the traveling body can be detected. A plurality of sensors or a single sensor may be provided. A third wheel and an encoder for detecting the rotation of the third wheel may be arranged at a position corresponding to the central pattern reading sensor on the center line of the driving wheel of the traveling body. The distance information pattern can be read by the central pattern reading sensor without providing an encoder interlocked with.

[0025]

According to the present invention, since the distance information pattern is arranged on the traveling board, the moving distance of the traveling body traveling on the traveling board can be easily detected. Further, since the moving distance of the traveling body is obtained based on the result of reading the distance information pattern, the accumulated error of the traveling distance can be minimized. Also, left and right rotation detection sensors for detecting the rotation of left and right independent drive wheels attached to the traveling body and left and right pattern reading sensors for detecting distance information patterns at corresponding positions, or left and right independent. The left and right rotation sensors for detecting the rotation of the driven wheels and the central pattern reading sensor for detecting the distance information pattern located on the center line of the left and right drive wheels read the distance information pattern, and Since the distance is also detected on the center line of the drive wheel, that is, the center line of the traveling body, the traveling body can be controlled more accurately.

[Brief description of the drawings]

FIG. 1 is a perspective view showing the appearance of an embodiment of the present invention.

FIG. 2 is an enlarged view showing a structure for running one model body.

FIG. 3 is a plan view showing a traveling board.

FIG. 4 is a plan view showing a trace line.

FIG. 5 is a bottom view of the traveling body.

FIG. 6 is a top view of the traveling body.

FIG. 7 is a block diagram showing a driving mechanism of the traveling body.

FIG. 8 is an enlarged plan view of a distance information pattern.

FIG. 9 is a bit pattern table of a distance information pattern.

FIG. 10 is a block diagram showing a mechanism around a pattern detection unit according to the first embodiment of the present invention.

FIG. 11 is a block diagram showing a mechanism around a pattern detection unit according to a second embodiment of the present invention.

[Explanation of symbols]

 Reference Signs List 4 Running board 5, 6 Distance information pattern 8 Running body 12a, 12b Drive wheel 20a, 20b Rotation detection sensor 38a, 28b, 38c Pattern reading sensor

Claims (7)

[Claims] 1. A traveling body, comprising: a traveling board; a distance information pattern of the traveling board disposed on the traveling board; and a means for detecting the distance information pattern, wherein the traveling body travels while detecting the distance information pattern. A travel control device, comprising: a rotation detection sensor that detects rotation of a drive wheel of the traveling body; and a pattern reading sensor that detects the distance information pattern, wherein the pattern reading sensor is a rotation detection sensor. Wherein the distance information pattern is read at the timing of a signal generated by the traveling body. 2. A traveling body, comprising: a traveling board; a distance information pattern of the traveling board disposed on the traveling board; and means for detecting the distance information pattern, wherein the traveling body travels while detecting the distance information pattern. A travel control device, comprising: a rotation detection sensor that detects rotation of a drive wheel of the traveling body; and a pattern reading sensor that detects the distance information pattern, wherein the pattern reading sensor is a rotation detection sensor. A travel body which reads the distance information pattern at a timing of a signal generated by the controller, and sets a timing at which a read value of the pattern reading sensor changes as a change point of the distance information pattern, and performs travel control based on the change point information. Travel control device. 3. A traveling body having a traveling board, a distance information pattern of the traveling board disposed on the traveling board, and a detecting means for the distance information pattern, wherein the traveling body travels while detecting the distance information pattern. A travel control device, comprising: a rotation detection sensor that detects rotation of a drive wheel of the traveling body; and a pattern reading sensor that detects the distance information pattern, wherein the pattern reading sensor is a rotation detection sensor. The distance information pattern is read at the timing of the signal generated by the counter, and the signal generated by the rotation detection sensor is obtained by counting with a counter until the read value of the pattern reading sensor changes. Is a length of the distance information pattern detected by the pattern reading sensor. . 4. A traveling body having a traveling board, a distance information pattern of the traveling board disposed on the traveling board, and a detecting means for the distance information pattern, wherein the traveling body travels while detecting the distance information pattern. A travel control device, wherein at least right and left rotation detection sensors for detecting rotation of left and right independent drive wheels of the traveling body and a sensor for detecting the distance information pattern are moved to positions corresponding to left and right independent drive wheels. It has a left and right pattern reading sensor and a central pattern reading sensor disposed at a position on the center line of the left and right independent driving wheels, and the left and right pattern reading sensors are located at positions corresponding to the respective pattern reading sensors. The distance information pattern is read at the timing of each signal generated by the rotation detection sensor that detects the rotation of the drive wheel, and the center pattern is read. The reading sensor counts signals generated by the left and right rotation detecting sensors by the same counter, and reads the distance information pattern at a timing when the counted value becomes an integral multiple of two. Body running control device. 5. A traveling body having a traveling board, a distance information pattern of the traveling board disposed on the traveling board, and a detecting means for the distance information pattern, wherein the traveling body travels while detecting the distance information pattern. A travel control device, wherein at least right and left rotation detection sensors for detecting rotation of left and right independent drive wheels of the traveling body and a sensor for detecting the distance information pattern are moved to positions corresponding to left and right independent drive wheels. It has a left and right pattern reading sensor and a central pattern reading sensor disposed at a position on the center line of the left and right independent driving wheels, and the left and right pattern reading sensors are located at positions corresponding to the respective pattern reading sensors. The distance information pattern is read at the timing when the left and right rotation detecting sensors for detecting the rotation of the drive wheels are generated. The timing at which the take value changes is defined as a change point of the distance information pattern, and the central pattern reading sensor reads the distance information pattern at both timings of the signals generated by the left and right rotation detection sensors, and reads the read pattern reading sensor. A travel control device for a traveling body, wherein a timing of a signal generated by a left or right rotation detection sensor when a state changes is set as a change point of the distance information pattern, and travel control is performed based on the change point information. 6. A traveling body having a traveling board, a distance information pattern of the traveling board disposed on the traveling board, and a detecting unit for the distance information pattern, wherein the traveling body travels while detecting the distance information pattern. A control device, wherein at least right and left rotation detection sensors for detecting rotation of left and right independent driving wheels of the traveling body and a sensor for detecting the distance information pattern are respectively moved to positions corresponding to the left and right independent driving wheels. It has a left and right pattern reading sensor and a central pattern reading sensor disposed at a position on the center line of the left and right independent driving wheels, and the left and right pattern reading sensors have driving at positions corresponding to the respective pattern reading sensors. The distance information pattern is read at the timing of the signal generated by the rotation detection sensor that detects the rotation of the wheel, and the pattern reading sensor reads Until the value changes, a signal generated by each of the rotation detection sensors is obtained by counting with a counter, and the count value of each of the counters is calculated by the pattern length of the distance information pattern detected by the left and right pattern reading sensors. The central pattern reading sensor reads the distance information pattern at the timing of the signal generated by each of the rotation detecting sensors, and generates the distance information pattern until the reading of the pattern reading sensor changes. A travel control device for a traveling body, wherein a signal is obtained by counting a signal with a counter, and の of the obtained count value is used as a pattern length of a distance information pattern detected by the central pattern reading sensor. 7. A traveling body having a traveling board, a distance information pattern of the traveling board disposed on the traveling board, and a detecting unit for the distance information pattern, wherein the traveling body travels while detecting the distance information pattern. A control device, wherein at least right and left rotation detection sensors for detecting rotation of left and right independent driving wheels of the traveling body and a sensor for detecting the distance information pattern are respectively moved to positions corresponding to the left and right independent driving wheels. It has left and right pattern reading sensors arranged, and in the left and right pattern reading sensors, a distance information pattern is generated at a timing of a signal generated by a rotation detection sensor that detects rotation of a driving wheel at a position corresponding to each pattern reading sensor. And the signals generated by the rotation detection sensors are counted until the reading of the pattern reading sensor changes. The count value of each of the counters is taken as the pattern length of the distance information pattern detected by the left and right pattern reading sensors, and the average value of the count values of the respective counters is taken as the travel distance of the traveling body. A traveling control device for a traveling body, comprising: