CN106781869A - A kind of material object programming method of educational robot combining environmental - Google Patents
A kind of material object programming method of educational robot combining environmental Download PDFInfo
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- G—PHYSICS
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Abstract
The present invention proposes a kind of material object programming method of educational robot combining environmental, is related to a kind of robot material object programming method, comprises the following steps：1) task context, 2 are set) programming planning, 3) programming operation, 4) robot implementation, 5) check-node, 6) task completion.The programming mode that the present invention passes through outdoor scene in kind, environment with reference to residing for programming card in kind and children, the enjoyment of children for learning is lifted with the interaction being more embodied, help child's exploitation creative thinking, make full use of the characteristics of cognition of children, with different levels programming study is carried out, the environment and material object of abstract Program Thought image are shown.
Description
Technical field
A kind of a kind of material object the present invention relates to robot material object programming method, especially educational robot combining environmental is compiled
Cheng Fangfa.
Background technology
Children that existing market is related to programming, is broadly divided into two classes, the first kind be based on scratch, Scratch be by
The programming tool that the Massachusetts Institute of Technology releases, is suitable for whole world children for learning programming and the instrument and platform for exchanging, and this is put down
Platform is built using Java, and works can be arbitrarily published on internet and CD USB flash disk, and Scratch utilizes graphic interface, volume
The basic skills that journey needs is included wherein, including modeling, control, animation, event, logic, computing etc., the characteristics of this software
It is：User can not recognize English word, it is also possible to will not use keyboard, and the order of configuration program and parameter pass through building blocks shape
The module of shape realizes, just can be so that middle yl moiety is the journey for editting with mouse drag module to program editing column
Sequence code, the left side may be employed to the functional module of selection, and the right top is program preview and human window, and the right bottom is angle
Color window, with visual software programming as main method；Equations of The Second Kind is Cubetto and Makey Makey, Cubetto mono-
The block toy that can be programmed, the Primo Toys for coming from London have recently been launched and a be intended to be shown in non-computer
The wooden toy of child Program Thought of the teaching more than three years old under the scene of screen, MaKey MaKey are by Massachusetts science and engineering media reality
The two student Jay Silver and Eric Rosenbaum research and development of room are tested, is an extremely simple circuit board, Ke Yirang
Any object turns into a computer entry device, using the circuit interpolation equipment of separation as input, is input into robot and compiled
Journey content.This two classes method, has larger difficulty to underage child, and be difficult the most familiar of surrounding enviroment of children and article band
Enter in whole programming.
The content of the invention
The present invention provides a kind of material object programming method of educational robot combining environmental, makes a kind of programming of outdoor scene in kind
Method, it is allowed to which children, as input, are expressed it and wish what it was performed by its actual object interested to robot
Step, and situation about being performed in scene on the spot by observer robot, are adjusted and performed again, are circulated according to this.
The present invention specifically adopts the following technical scheme that realization：
A kind of material object programming method of educational robot combining environmental, comprises the following steps：
1) task context is set, paints this with task cards by story to set task context；
2) programming planning is, it is necessary to according to mission requirements, complete herein below：
A, arrangement scene on the spot, are placed with the check mark (mark class) of check-node；
B, the article placed card and have mark (input class)；
The step of c, setting will complete required by task and order；
3) programming operation, by step 2) setting the step of sequentially, progressively input instruction, relevant parameter is inserted into the generation of execution
In code, generation performs step；
4) robot is implemented, and robot sequentially, starts progressively perform script according to the step of input, runs into active in need
The node of verification, starts actively to verify, and verification mode is included in a range of image processor；Run into passive verification in need
Node, then suspend perform script, provides prompting, and wait qualified input；Chaff interference is run into, is then performed default or default
Processing scheme；Active/passive verification failure is overtime, then return to step 3) programming operation, it is desirable to it is adjusted；
5) check-node, including actively verification and passive verification,
The active verification includes：
Vision is verified, it is desirable to is completed the retrieval to peripheral vision mark by camera, is fixed the retrieval of angle
Or, the retrieval of full angle and the retrieval of certain distance scope, mark carried out based on gray scale, bar code, Quick Response Code and visual signature
Design；
Radio frequency is verified, it is desirable to which, by RF acquisition equipment, the passive short distance radio frequency equipment to the passive type on periphery is adopted
Collection, including the retrieval of fixed angle, the retrieval of full angle and the retrieval of certain distance scope；
Terrain surface specifications are verified, it is determined that with the presence of the ground article for meeting specific fluctuation rule；
Infrared verification, it is determined that nearby have barrier, or with the presence of the hanging cliff of displacement.
Ultrasonic wave is verified, it is determined that nearby there is the barrier of certain altitude and width；
The passive verification includes：
Touch, there is the touch input specified；
Sound, has the characteristic sounds specified to be input into；
6) task is completed, if step performs completion, and all check-nodes all meet the requirements, then task is completed.
Preferably, the step 3) programming operation, the input instruction include linear instruction and nonlinear instruction.
A kind of material object programming method of educational robot combining environmental that the present invention is provided, its advantage is：Pass through
The programming mode of outdoor scene in kind, the environment with reference to residing for programming card in kind and children, is lifted with the interaction being more embodied
The enjoyment of child's study, helps child's exploitation creative thinking, makes full use of the characteristics of cognition of children, carries out with different levels programming and learns
Practise, the environment and material object of abstract Program Thought image are shown.
Brief description of the drawings
Fig. 1 is the flow chart of material object programming method of the present invention；
Fig. 2 is the earth construction schematic diagram for meeting moving characteristic；
Fig. 3 is the execution flow chart of steps of linear instruction；
Fig. 4 is that the instruction of the non-linear layout of no parity check node performs flow chart of steps；
Fig. 5 is that the instruction of the non-linear layout for having check-node performs flow chart of steps.
Specific embodiment
To further illustrate each embodiment, the present invention is provided with accompanying drawing.These accompanying drawings are the invention discloses one of content
Point, it is mainly used to illustrate embodiment, and the associated description of specification can be coordinated to explain the operation principles of embodiment.Coordinate ginseng
These contents are examined, those of ordinary skill in the art will be understood that other possible implementation methods and advantages of the present invention.In figure
Component be not necessarily to scale, and similar element numbers are conventionally used to indicate similar component.
In conjunction with the drawings and specific embodiments, the present invention is further described.
The application provides a kind of programming scheme of outdoor scene in kind, it is allowed to which children are such as blocked by its actual object interested
Piece, building block, doll, as input, express it and wish the step of it is performed to robot, and by observer robot
Situation about being performed in scene on the spot, is adjusted and performs again, circulates according to this.The robot knot referred in the present embodiment
Structure, referring to the applicant in 27 days 05 month, Application No. 201610359629.4, publication No. in 2016：CN105835061A, it is public
Cloth day is on 08 10th, 2016, and disclosed robot is infrared and ultrasound barrier is prevented falling device.
The material object that robot is combined, is divided into three major types：
1st, input class (instruction), including card in kind, and can attaching mark various articles, it is desirable to article locally has relatively
Flat surface, can aid in the smooth stickup and identification of mark；
2nd, mark class (feature), in robot implementation procedure, some to have the step of checking node, it is necessary to check on the spot
Mark in scene, in this, as the foundation that the step is completed；
3rd, interference class (obstacle), the content for influenceing and changing robot execution, so as to increase difficulty.
As shown in figure 1, a kind of material object programming method of educational robot combining environmental that this implementation is provided, including following step
Suddenly：
1) task context is set, paints this with task cards by story to set task context；
2) programming planning is, it is necessary to according to mission requirements, complete herein below：
A, arrangement scene on the spot, are placed with the check mark (mark class) of check-node；
B, the article placed card and have mark (input class)；
The step of c, setting will complete required by task and order；
3) programming operation, by step 2) setting the step of sequentially, progressively input instruction, relevant parameter is inserted into the generation of execution
In code, generation performs step；
4) robot is implemented, and robot sequentially, starts progressively perform script according to the step of input, runs into active in need
The node of verification, starts actively to verify, and verification mode is included in a range of image processor；Run into passive verification in need
Node, then suspend perform script, provides prompting, and wait qualified input；Chaff interference is run into, is then performed default or default
Processing scheme；Active/passive verification failure is overtime, then return to step 3) programming operation, it is desirable to it is adjusted；
5) check-node, including actively verification and passive verification,
Actively verification includes：
Vision is verified, it is desirable to is completed the retrieval to peripheral vision mark by camera, is fixed the retrieval of angle
Or, the retrieval of full angle and the retrieval of certain distance scope, mark carried out based on gray scale, bar code, Quick Response Code and visual signature
Design；
Radio frequency is verified, it is desirable to which, by RF acquisition equipment, the passive short distance radio frequency equipment to the passive type on periphery is adopted
Collection, including the retrieval of fixed angle, the retrieval of full angle and the retrieval of certain distance scope；
Terrain surface specifications are verified, it is determined that with the presence of the ground article for meeting specific fluctuation rule, mainly meeting movement law
Floor plates, the earth construction schematic diagram for meeting moving characteristic is as shown in Figure 2；
Infrared verification, it is determined that nearby have barrier, or with the presence of the hanging cliff of displacement.
Ultrasonic wave is verified, it is determined that nearby there is the barrier of certain altitude and width；
The passive verification includes：
Touch, there is the touch input specified；
Sound, has the characteristic sounds specified to be input into；
6) task is completed, if step performs completion, and all check-nodes all meet the requirements, then task is completed.
Step 1) in task cards include logic card, action card, number form card and expression card, wherein：
Logic card 15：Start, terminate, time, place, personage, event, increase, reduce, 2 times, setting, remove, such as
Really, while, circulation, pause；
Action card 16：Background music, dancing, advance, retreat, saunter, and turn left, turn right, turn-take, and a left side is seen, the right side is seen, nod,
Shake the head, come back, bow, bow, turn round and sway one's hips；
Number form card 17：Triangle, square, rectangle, circle, heart, five-pointed star, hand, 0,1,2,3,4,5,6,7,8,9；
Expression card 8：It is glad, lovely, surprised, shy, angry, sad, fear, encourage.
Step 3) input instruction includes linear instruction and nonlinear instruction in programming operation.Linear instruction, it is such as " preceding
Enter " " dinosaur " etc., the corresponding contents of robot output configuration are only required in instruction in itself.Nonlinear instruction, including logic
Deng, material object programming in have specific function, such as " beginnings " instruct, for informing that programming starts；" end " is instructed, for informing volume
Journey operation terminates to confirm or directly start to perform, it is necessary to make secondary modification；" event " is instructed, for judging in passive verification
Hold；Whether " place " instructs, for judging the place for reaching specific characteristic in actively verification.Separately have " circulation " " if " etc..
This kind of instruction, is further divided into needing what is verified, and need not verify, start, terminate, circulating etc., it is not necessary to verify, and thing
Part, place etc., then be the instruction for needing verification.
Step 4) in robot implement, start progressively execution script, by special symbol collection, Linear Control robot
Screen, action, sound.Sound class is：<t:>Control the TTS ((TextToSpeech) from text to language) of robot) output,
<sa:>The hardware voice outputs such as the buzzing of robot are controlled,<s1:>The ground floor voice output of robot is controlled,<s2:>Control
The second layer voice output of robot,<sn:>The n-th layer voice output of robot is controlled,<p:>Empty voice, for filling up voice
Time shaft；Action class：<a:>The action output of the power types such as controlled motor, steering wheel,<w:>Action is waited, for filling up action
Time shaft；The outer appearnces such as screen：<l:>The electrical type outward appearances such as control light,<f:>The screen output of machine human feelings sense is controlled,<i:
>The screen output of multimedia graphic is controlled,<z:>The screen output of control captions etc.；Communication class：<step:>Control robot pair
Outer communication,<v:>Control the adaptive behaviors such as the orientation of robot.
According to instruction, robotic programming and the structure of execution unit can be divided into following three kinds：Linear layout, without school
The non-linear layout of node is tested, there is the non-linear layout of check-node.
Linear layout, the content of children's input is all linear instruction (except two instructions of " beginning ", " end "), such as
" advance " etc., robot is performing the execution for being entirely linear instruction generation by step, only needs progressively to perform in order,
Step schematic diagram is performed as shown in figure 3, the task of linear layout, generally as the introduction content of children's programming, common is linear
The task of layout, including story programming, dancing programming etc..
Such as programming introduction, is familiar with robot and is familiar with operation, including touch, card, RFID, ultrasonic wave etc., robot
Corresponding content is exported in first person mode, children obtain content by touch, RFID, remote control etc..
Such as dancing programming, primary free type programming, user's selection music is acted, machine by programming card selection
Device people acts according to the rhythm and length self adaptation of music, exports dancing, uses card sets：Part card in logic card (is opened
Begin, terminate), action card (whole), expression card (whole) can again extend other cards as needed.
Such as story programming, primary free type programming, selects the complexity of story as needed, and children can conform to the principle of simplicity
Single story starts, and the plot of story is selected by programming card and cognitive card, exports the story of oneself making.It is divided into simple
With complicated two class, simply only need to control story content by card；Child is enterprising in every card the need for complexity
Row programming modification.Use card sets：Part card (start, terminate) in logic card, action card (whole), card of expressing one's feelings
(whole), number form card (whole), and other cognition cards.
The non-linear layout of no parity check node, this kind of content of edit is more complicated, the content of children's input, contains non-
Linear instruction (except two instructions of " beginning ", " end "), but (including " do not follow comprising the non-linear instruction for needing to verify
Ring " " while " instruction such as " personage "), the instruction of this quasi-nonlinear to the variable in code, it is necessary to modify, or code is entered
Row is replicated, or code superposition, and it is as shown in Figure 4 that instruction performs step.
There is a non-linear layout of check-node, the content of children's input contains the content of verification, such as the place, time, defeated
Incoming event etc., time-out design is configured by task and completed, and robot is pointed out according to verification content, and verification failure is returned again
Editor, this kind of for task or match, it is as shown in Figure 5 that instruction performs step.
Such as route programming, the planning type programming of middle rank sets traveling, it is necessary to children press mission requirements to robot
Route, reaches desired target area.The traveling base unit of robot can be preset, it is not necessary to draw grid on the ground
Or ground patch.By " setting " card.Task type is divided into three kinds：Life kind, it is only necessary to which robot is sent to bedroom doorway, or
A fruit is sent to Papa and Mama；Event class, according to storyline, it is desirable to which robot completes the task of story requirement, such as to river pair
The farm in face is to milk cow milking, or explores mysterious celestial body；Match class, Duo Tai robots are arrived at from different starting points
Same type target area.In the above-mentioned type, it is allowed to add external equipment, and robot to complete task together；Allow addition outside
The task reference substance such as road sign, auxiliary robot completes task.
Although specifically showing and describing the present invention with reference to preferred embodiment, those skilled in the art should be bright
In vain, do not departing from the spirit and scope of the present invention that appended claims are limited, in the form and details can be right
The present invention makes a variety of changes, and is protection scope of the present invention.
Claims (2)
1. a kind of material object programming method of educational robot combining environmental, it is characterised in that comprise the following steps：
1) task context is set, paints this with task cards by story to set task context；
2) programming planning is, it is necessary to according to mission requirements, complete herein below：
A, arrangement scene on the spot, are placed with the check mark (mark class) of check-node；
B, the article placed card and have mark (input class)；
The step of c, setting will complete required by task and order；
3) programming operation, by step 2) setting the step of sequentially, progressively input instruction, relevant parameter is inserted into the code of execution
In, generation performs step；
4) robot is implemented, and robot sequentially, starts progressively perform script according to the step of input, runs into active verification in need
Node, start actively to verify, verification mode is included in a range of image processor；Run into the section of passive verification in need
Point, then suspend perform script, provides prompting, and wait qualified input；Chaff interference is run into, is then performed default or default
Processing scheme；Active/passive verification failure is overtime, then return to step 3) programming operation, it is desirable to it is adjusted；
5) check-node, including actively verification and passive verification,
The active verification includes：
Vision is verified, it is desirable to complete retrieval to peripheral vision mark by camera, be fixed angle retrieval or, it is complete
The retrieval of angle and the retrieval of certain distance scope, mark are designed based on gray scale, bar code, Quick Response Code and visual signature；
Radio frequency is verified, it is desirable to which, by RF acquisition equipment, the passive short distance radio frequency equipment to the passive type on periphery is acquired, bag
Include the retrieval of fixed angle, the retrieval of full angle and the retrieval of certain distance scope；
Terrain surface specifications are verified, it is determined that with the presence of the ground article for meeting specific fluctuation rule；
Infrared verification, it is determined that nearby have barrier, or with the presence of the hanging cliff of displacement.
Ultrasonic wave is verified, it is determined that nearby there is the barrier of certain altitude and width；
The passive verification includes：
Touch, there is the touch input specified；
Sound, has the characteristic sounds specified to be input into；
6) task is completed, if step performs completion, and all check-nodes all meet the requirements, then task is completed.
2. the material object programming method of a kind of educational robot combining environmental according to claim 1, it is characterised in that：It is described
Step 3) programming operation, the input instruction include linear instruction and nonlinear instruction.
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| CN108009540A (en) * | 2018-02-01 | 2018-05-08 | 张人祺 | The programmable control system of optical pickup device |
| CN108230828A (en) * | 2018-02-12 | 2018-06-29 | 叶昌青 | A kind of material objectization programing system and programmed method |
| CN109271153A (en) * | 2018-08-22 | 2019-01-25 | 深圳点猫科技有限公司 | A kind of educational system based on programming obtains the method and electronic equipment of programming language |
| TWI670695B (en) * | 2018-12-14 | 2019-09-01 | 奇美醫療財團法人柳營奇美醫院 | Garment for practicing hand expression of breast milk |
| CN111383482A (en) * | 2020-04-24 | 2020-07-07 | 上海鲸鱼机器人科技有限公司 | Programming auxiliary jigsaw component, auxiliary programming system and auxiliary programming method |
| CN111399727A (en) * | 2020-02-25 | 2020-07-10 | 帕利国际科技(深圳)有限公司 | Man-machine interaction equipment and interaction method |
| CN111727419A (en) * | 2018-09-07 | 2020-09-29 | 施政 | System and method for creating objects, attributes, methods or events using physical objects by a user |
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| CN108230828A (en) * | 2018-02-12 | 2018-06-29 | 叶昌青 | A kind of material objectization programing system and programmed method |
| CN109271153A (en) * | 2018-08-22 | 2019-01-25 | 深圳点猫科技有限公司 | A kind of educational system based on programming obtains the method and electronic equipment of programming language |
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| TWI670695B (en) * | 2018-12-14 | 2019-09-01 | 奇美醫療財團法人柳營奇美醫院 | Garment for practicing hand expression of breast milk |
| CN111399727A (en) * | 2020-02-25 | 2020-07-10 | 帕利国际科技(深圳)有限公司 | Man-machine interaction equipment and interaction method |
| CN111383482A (en) * | 2020-04-24 | 2020-07-07 | 上海鲸鱼机器人科技有限公司 | Programming auxiliary jigsaw component, auxiliary programming system and auxiliary programming method |
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