CN106842988A - One kind teaching graphical programming system and method - Google Patents
One kind teaching graphical programming system and method Download PDFInfo
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- CN106842988A CN106842988A CN201710119546.2A CN201710119546A CN106842988A CN 106842988 A CN106842988 A CN 106842988A CN 201710119546 A CN201710119546 A CN 201710119546A CN 106842988 A CN106842988 A CN 106842988A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B19/00—Teaching not covered by other main groups of this subclass
- G09B19/0053—Computers, e.g. programming
Abstract
The present invention relates to one kind teaching figure programmed method and system.The teaching figure programmed method includes：S1, based on functional module call instruction from function modules ground calling functional modules；S2, the functional module is placed on flow chart formation zone and the functional module is connected using flowline；Whether S3, decision flow chart complete, if it is, performing step S4, otherwise return to step S1；S4, the flow chart to completing are emulated.Implement teaching figure programmed method and system of the invention, directly flow chart can be associated with emulation so that the flow chart of completion can be directly entered Simulation Interface and emulate, and by using flowline linkage function module so that programming is more succinct understandable.
Description
Technical field
The present invention relates to robotics, more specifically to one kind teaching graphical programming system and method.
Background technology
With the development of science and technology, robot technology is maked rapid progress, and robot is played in modern industry and daily life
Increasing effect.From the production line of automobile to the robot toy of family expenses, the not new expansion of the application field of robot
Greatly, robotic user is also from professional operator to common user.Now, under the background of wound visitor, educational robot
Into a kind of important tool of wound visitor, particularly under the program capability of students in middle and primary schools' zero-base plinth, educational robot it is graphical
Programming is even more and has obtained rapid development with its simple, flexible advantage.
However, the teaching graphical programming system and method for prior art, the generating process of flow chart is complicated, and functional module adds
Add operation is inconvenient, and programming is separated with emulation platform, thus results in checking inconvenience.
The content of the invention
The technical problem to be solved in the present invention is, for the drawbacks described above of prior art, there is provided a kind of flow chart generation
Simply, functional module addition operation is easy and verifies easily impart knowledge to students graphical programming system and method.
The technical solution adopted for the present invention to solve the technical problems is：A kind of teaching figure programmed method of construction, including：
S1, based on functional module call instruction from function modules ground calling functional modules；
S2, the functional module is placed on flow chart formation zone and the functional module is connected using flowline；
Whether S3, decision flow chart complete, if it is, performing step S4, otherwise return to step S1；
S4, the flow chart to completing are emulated.
In teaching figure programmed method of the present invention, the step S1 includes：Receive the click of user or drag
The dynamic generation functional module call instruction, and the functional module is called based on the functional module call instruction.
In teaching figure programmed method of the present invention, the functional module includes：
Sensor function module, for being input into detection signal to main program based on signal detection；
Output function module, for receiving the output control signal of main program output and being believed based on the output control
Number perform corresponding function output；
Time module, for performing time delay in the main program；
Process control module, for performing Branch control flow in the main program.
In teaching figure programmed method of the present invention,
The sensor function module includes digital sensor and analog sensor, and the digital sensor includes：It is infrared
Sensor, sound transducer, touch sensor, magneto-dependent sensor, inclination sensor, vibrating sensor, humidity sensor, cigarette sense
Sensor, flame sensor, track identification sensor, optical pickocff and distance measuring sensor；The analog sensor includes sky
Makings quantity sensor, luminance sensor, chromaticity transducer, temperature sensor, humidity sensor, pressure sensor and the sound intensity sensing
Device；
The output module includes：Motor output unit, optical output device and acoustic output unit；
The process control module includes：Judge control module and loop control module.
In teaching figure programmed method of the present invention, the step S2 includes：
The ID of the functional module that S21, acquisition are called is with the location information based on the ID generation functional modules；
S22, the functional module is placed on by flow chart formation zone based on the location information；
S23, the functional module is connected in flow chart using flowline；
S24, the parameter that the functional module is set based on parameter setting instruction；
S25, the bottom source code of the functional module being connected on the flowline is transferred, and shown in source code
Area is shown and is called for the main program.
In teaching figure programmed method of the present invention, in the step S33, the starting point connection of the flowline
The initial block of main program, the terminal of the flowline connects the termination frame of main program.
In teaching figure programmed method of the present invention, the step S4 includes：
S41, call simulated function and flow chart described at least one is associated with the simulated function；
S42, transmit the modules parameter in the flow chart to the simulated function；
S43, simulating scenes are selected based on the sensor function module in the functional module, and the simulating scenes are set
Attribute；
S44, the sensor function module is set in the simulation scale of at least one robot；
S45, the simulating scenes are recognized based on the sensor function module, and based on the identification in the emulation field
The robot is run in scape.
In teaching figure programmed method of the present invention, the simulating scenes include：Light source scene, sound source scene,
Magnetic source scene, vibration source scene, wet source scene, smog scene, burning things which may cause a fire disaster scene and human body scene.
Another technical scheme that the present invention solves the use of its technical problem is to construct a kind of teaching graphical programming system, bag
Include：
Function modules ground, for memory function module, the functional module includes：Sensor function module, output function
Module, time delay module and process control module；
Flow chart generating platform, for calling the function from the function modules ground based on functional module call instruction
Module；The functional module is placed on flow chart formation zone and the functional module is connected using flowline；
Emulation platform：For emulating the flow chart for completing.
In teaching graphical programming system of the present invention,
The flow chart generating platform is further used for, and the ID of the functional module that acquisition is called is given birth to based on the ID
Into the location information of the functional module；The functional module is placed on by flow chart formation zone based on the location information；
The functional module is connected in flow chart using flowline；The ginseng of the functional module is set based on parameter setting instruction
Number；The bottom source code of the functional module being connected on the flowline is transferred, and is shown in source code viewing area
Show and called for the main program；
The emulation platform is further used for, and calls simulated function and by flow chart described at least one and the emulation letter
Number association；The modules parameter in the flow chart is transmitted to the simulated function；Based on the sensing in the functional module
Device functional module selects simulating scenes, and sets the attribute of the simulating scenes；In the simulation scale of at least one robot
The sensor function module is set；The simulating scenes are recognized based on the sensor function module, and based on the identification
The robot is run in the simulating scenes.
Implement teaching figure programmed method and system of the invention, directly flow chart can be associated with emulation so that complete
Into flow chart can be directly entered Simulation Interface and emulate, and by use flowline linkage function module so that programming
It is more succinct understandable.Clicked or driving style addition functional module it is possible to further simply use, it is convenient for the user to operate.
Started using fixed main program for each functional module, terminate module realizes the top-down functional module of filling one by one simultaneously certainly
The mode of dynamic line, makes programmed readability stronger, it is easier to understand.Further, simplify functional module parameter setting, make just
Scholar can get started quickly, and the sensor function module number that can be used is more, can meet the more creative demands of user.
Brief description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is the flow chart of the first embodiment of teaching figure programmed method of the invention；
Fig. 2 is the flow chart of the flow chart generating portion of the second embodiment of teaching figure programmed method of the invention；
Fig. 3 is shown using the schematic diagram of flowline linkage function module；
Fig. 4 is the flow chart of the emulation part of the 3rd embodiment of teaching figure programmed method of the invention；
Fig. 5 is the theory diagram of the first embodiment of teaching graphical programming system of the invention.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Fig. 1 is the flow chart of the first embodiment of teaching figure programmed method of the invention.As shown in figure 1, in step S1
In, based on functional module call instruction from function modules ground calling functional modules.In a preferred embodiment of the invention,
Function modules ground can include sensor function module, output function module, time module and process control module.The sensing
Device functional module can be shown as parallelogram shape in flow charts, and can be used for based on signal detection to main program
Input detection signal.The output function module can be shown as orthogonal rectangle shape in flow charts, for receiving the main program
The output control signal of output and the output based on output control signal execution corresponding function.The time module is in flow
Orthogonal rectangle shape can be shown as in figure, for performing time delay in the main program.The process control module, in flow chart
In can be shown as rhombus, orthogonal rectangle etc., in the main program perform Branch control flow.In calling functional modules
The icon of different graphics shapes can in flow charts be generated.In other preferred embodiments of the invention, sensor function
Module, output function module, time module and process control module can be indicated using any other figure.At this
In one preferred embodiment of invention, can click on or drag by user, so as to receive the click or dragging life of user
Into the functional module call instruction, and the functional module is called based on the functional module call instruction.
In step s 2, the functional module is placed on flow chart formation zone and the function is connected using flowline
Module.In a preferred embodiment of the invention, the functional module called will in flow charts be generated according to its actual functional capability
Corresponding icon.Then, the icon is placed in flow chart formation zone.Flowline in flow chart is by autoconnect function mould
Block.In a preferred embodiment of the invention, each functional module is formed by the programming of bottom C language.Of the invention
In other preferred embodiments, each functional module can be programmed using other programming languages, such as C++, VB, VCC,
JAVA etc..Preferably, the connected mode between the functional module shape is connected using top-down flowline, and flow
The state that line is triggered in wait all the time, the functional module of next selection will be added to this flowline if triggering
On.The starting point of the flowline connects the initial block of main program forever, and the terminal of flowline connects the termination frame of main program forever.
In step s3, it can be determined that whether flow chart has completed, if it is, performing step S4, otherwise, step is returned to
Rapid S1.In step s3, can be triggered by user and complete button, or main program voluntarily judges to realize whether flow chart is complete
Into judgement.If flow chart has been completed, at this moment, functional module need not be added, then perform step S4, carry out flow
Figure emulation.If now flow chart has not been completed, then return to step S1, other functions module is further chosen, until stream
Untill journey figure is completed.
Implement teaching figure programmed method of the invention, directly flow chart can be associated with emulation so that the stream of completion
Journey figure can be directly entered Simulation Interface and emulate, and by using flowline linkage function module so that programming is simpler
It is clean understandable.
Fig. 2 is the flow chart of the second embodiment of teaching figure programmed method of the invention.As shown in Fig. 2 in step S1
In, based on functional module call instruction from function modules ground calling functional modules.In a preferred embodiment of the invention,
Function modules ground can include sensor function module, output function module, time module and process control module.The sensing
Device functional module can be shown as parallelogram shape in flow charts, and can be used for based on signal detection to main program
Input detection signal.The output function module can be shown as orthogonal rectangle shape in flow charts, for receiving the main program
The output control signal of output and the output based on output control signal execution corresponding function.The time module is in flow
Orthogonal rectangle shape can be shown as in figure, for performing time delay in the main program.The process control module, in flow chart
In can be shown as rhombus, orthogonal rectangle etc., in the main program perform Branch control flow.In calling functional modules
The icon of different graphics shapes can in flow charts be generated.In other preferred embodiments of the invention, sensor function
Module, output function module, time module and process control module can be indicated using any other figure.
In a preferred embodiment of the invention, the sensor function module includes digital sensor and analog sensor.
The digital sensor includes：Infrared sensor, sound transducer, touch sensor, magneto-dependent sensor, inclination sensor, shake
Dynamic sensor, humidity sensor, cigarette propagated sensation sensor, flame sensor, track identification sensor, optical pickocff and range finding sensing
Device.It is 0 or 1, all 0 to represent and do not detect letter that all of digital sensor can be input into a numerical value and the numerical value to main program
Number, all 1 expressions detect signal.The analog sensor includes air mass sensor, luminance sensor, colourity sensing
Device, temperature sensor, humidity sensor, pressure sensor and Sound intensity probe.All of analog sensor can be according to its master
Program is input into measured value.In another preferred embodiment of the invention, the sensor function module can also include the time
Detection functional module, variable assignments functional module, initialization of (a) serial ports functional module, serial ports read functional module, serial ports and write function mould
Block etc..
In a preferred embodiment of the invention, the output module can include：Motor output unit, optical output device
And acoustic output unit；Such as motor, light source, fan, player, general purpose outputs mouth, paintbrush, switching device etc..
In a preferred embodiment of the invention, the time module can include 0.01 second time delay module, 0.1 second time delay mould
Block, second level time delay module etc..
In a preferred embodiment of the invention, the process control module includes：Judge control module and loop control mould
Block, such as condition judgment, condition circulation, do conditions circulation, repeatedly circulation, permanent loops, interruption (break), continuously
(continue) etc..
Those skilled in the art know, except various sensor function modules disclosed above, output function module, time
Outside module and process control module, those skilled in the art can also use any sensor function as known in the art
Module, output function module, time module and process control module realize the present invention.Here, the present invention does not receive sensor
The limitation of the particular type of functional module, output function module, time module and process control module.
In a preferred embodiment of the invention, can click on or drag by user, so as to receive the point of user
The generation functional module call instruction is hit or dragged, and the function mould is called based on the functional module call instruction
Block.
In step s 2, obtain the ID of the functional module called and generate determining for the functional module with based on the ID
Position information.In a preferred embodiment of the invention, the specific of the functional module can be determined according to the ID of functional module
Function, and based on the concrete function, judge the functional module in flow charts should be in which position, so as to generate described
The location information of functional module.
In step s3, the functional module is placed on by flow chart formation zone based on the location information.In this hair
In a bright preferred embodiment, after location information is generated, the location information can be based on by called functional module
It is inserted into the specified location in flow chart.
In step s 4, the functional module is connected in flow chart using flowline.At one of the invention preferably
In embodiment, after position specified during the functional module is automatically inserted into flow chart, drawn automatically from flow chart
Flowline couples together this functional module with upper and lower other functions module.In a preferred embodiment of the invention, it is described
Connected mode between functional module shape is connected using top-down flowline, and flowline is triggered in wait all the time
State, the functional module of next selection will be added on this flowline if triggering.The starting point of the flowline
The initial block of main program is connected, the terminal of the flowline connects the termination frame of main program.
For example, Fig. 3 is shown using the schematic diagram of flowline linkage function module.As shown in figure 3, in flow charts
When also not having functional module, the starting point A of flowline connects the initial block of main program, and terminal B connects the termination frame of main program.This
When, first functional module 100 is transferred, and is inserted into flow chart, and now, the initiating terminal of first functional module 100 connects
The starting point A of flowline is met, clearing end connects the terminal B of flowline.For example, having had first functional module in working as flow chart
When 100, the second functional module 200 is transferred in insertion flow chart, and when needing to be located at functional module 100 afterwards, this first
The starting point A of the initiating terminal connection flowline of functional module 100, the initiating terminal of clearing end the second functional module 200 of connection, and second
The clearing end of functional module 200 connects the terminal B of flowline.Similarly analogize.
In step s 5, the parameter of the functional module is set based on parameter setting instruction.In this preferred reality of the invention
In applying example, functional module in flow charts can eject parameter setting dialog box and port, numerical value etc. are selected after being triggered
Or set.In a preferred embodiment of the invention, for example parameter setting dialog box can be ejected by click function module, is carried out
Parameter setting.Can also be after functional module be added in flow chart, automatic spring parameter setting dialog box is entered line parameter and is set
Put.In simplified embodiment of the invention, it is also possible to default setting parameter, without user input.
In step s 6, the bottom source code of the functional module being connected on the flowline is transferred, and in source
Code viewing area is shown and is called for the main program.In a preferred embodiment of the invention, each functional module
All it is to be formed by the programming of bottom C language.In other preferred embodiments of the invention, each functional module can be using others
Programming language is programmed, for example C++, VB, VCC, JAVA etc..
In the step s 7, it can be determined that whether flow chart has completed, if it is, performing subsequent simulation step, otherwise,
Return to step S1.In the step s 7, can be triggered by user and complete button, or main program voluntarily judges to realize flow chart
The judgement for whether completing.If flow chart has been completed, at this moment, functional module need not be added, then perform simulation process,
Carry out flow chart emulation.If now flow chart has not been completed, then return to step S1, other functions mould is further chosen
Block, untill flow chart is completed.
Implement teaching figure programmed method of the invention, directly flow chart can be associated with emulation so that the stream of completion
Journey figure can be directly entered Simulation Interface and emulate, and by using flowline linkage function module so that programming is simpler
It is clean understandable.Clicked or driving style addition functional module it is possible to further simply use, it is convenient for the user to operate.For each
Individual functional module is started using fixed main program, terminate module realizes top-down filling functional module and automatic connecting one by one
Mode, make programmed readability stronger, it is easier to understand.Further, simplify functional module parameter setting, enable beginner
Get started quickly, the sensor function module number that can be used is more, the more creative demands of user can be met.
Fig. 4 is the flow chart of the emulation part of the 3rd embodiment of teaching figure programmed method of the invention.Such as Fig. 4 institutes
Show, in step sl, call simulated function and flow chart described at least one is associated with the simulated function.In the present invention
In, interface can be transferred by simulated function using any mode known in the art and transfer simulated function.In step s 2, to
The simulated function transmits the modules parameter in the flow chart.For example, can by any of communication mode to
The simulated function transmits the modules parameter in the flow chart.
In step s3, simulating scenes are selected based on the sensor function module in the functional module, and sets described
The attribute of simulating scenes.The simulating scenes include：Light source scene, sound source scene, magnetic source scene, vibration source scene, wet source scene,
Smog scene, burning things which may cause a fire disaster scene and human body scene.In a preferred embodiment of the invention, building for the simulating scenes is divided into
Barrier, colour band, the realization of sensing sources.The barrier includes the attributes such as specific shape, size, position, color, main to use
In emulation real world object, the advance of robot can be hindered.The colour band includes the category such as specific shape, size, position, color
Property, it is mainly used in emulating the track on real ground, bootable robot ambulation.The sensing sources include size, position, color etc.
Attribute, enters line range and draws with circle, is mainly used in simulating the check object of various sensors.Including to light source, sound source, magnetic
Iron, vibration source, wet source, smog, human body, burning things which may cause a fire disaster, optical gate, pressure, raised scene are built.
In a preferred embodiment of the invention, IR evading obstacle sensors, touch sensor can for example be used, is approached
Sensor, ultrasonic range finder sensor build barrier scene.Can for example be built using track identification sensor, chromaticity transducer
Colour band scene.For example light source scene can be built using photosensitive sensors, light sensor, luminance sensor again.For example may be used again
Sound source scene is built with using sound transducer, Sound intensity probe.For example magnet scene can be built using magneto-dependent sensor again,
Vibration source scene is built using vibrating sensor.Can also be passed using humidity (water) sensor, humidity (soil) sensor, humidity (gas)
Sensor builds wet source scene.Such as smog scene is built using cigarette propagated sensation sensor, people is built using infrared sensor of the human body
Body scene, burning things which may cause a fire disaster scene is built using flame sensor, temperature sensor；Optical gate scene is built using optical gate sensor；Using
Pressure sensor builds pressure scene；Raised scene is built using inclination sensor.Furthermore, it is possible to adjust the size of each scene,
Size, color, position.
In step s 4, the sensor function module is set in the simulation scale of at least one robot.In this hair
In a bright preferred embodiment, the emulation of the main program is artificially single with machine, can be entered in the presence of multiple robots simultaneously
Row emulation, can individually carry out the setting of sensing station, scope to each robot respectively.It is preferable to carry out at one of the invention
In example, the robot, the position of sensor or scope are all carried out using pattern layout mode.The position of the sensor is set
Can be included in the effective range of robot carries out putting for 360 ° of comprehensive positions.The position of the sensor is set may be used also
Direction, the distance of its effect are reset after determination sensor putting position to be included in the effective range of robot icon.
Certainly, in simplified embodiment of the invention, can be sensed without setting if no sensor in the main program
The position of device or scope.In other embodiments of the invention, the position of each sensor can all give tacit consent to peace in the main program
The front of robot is placed on, the position of sensor can be set if without specific demand.Each sensor in the main program
Scope all give tacit consent to and have a desired value, the scope of sensor can be set if without specific demand.
In step s 5, the simulating scenes are recognized based on the sensor function module, and based on the identification in institute
State and run the robot in simulating scenes.In a preferred embodiment of the invention, robot exists with the state of object
In simulating scenes, need to change path or stopping after barrier is run into.Simulating scenes can be recognized with one or more sensor
In various scene types.Such as described barrier scene can with IR evading obstacle sensors, touch sensor, proximity transducer,
Ultrasonic range finder sensor is recognized.The colour band scene can be recognized with track identification sensor, chromaticity transducer.The light source scene
Can be recognized with photosensitive sensors, light sensor, luminance sensor.The sound source scene available sounds sensor, sound intensity sensing
Device is recognized.The magnet scene can be recognized with magneto-dependent sensor.The vibration source scene can be recognized with vibrating sensor.The wet source
Scene can be recognized with humidity (water) sensor, humidity (soil) sensor, humidity (gas) sensor.The smog scene can use cigarette sense
Sensor is recognized.The human body scene can be recognized with infrared sensor of the human body.The burning things which may cause a fire disaster scene can use flame sensor, temperature
Sensor is recognized.The optical gate can be recognized with optical gate sensor.The pressure available pressure sensor identification.It is described raised available
Inclination sensor is recognized.Successively decrease from the center of circle to border equal proportion in the sensing sources scene and divide its effective energy.
In a preferred embodiment of the invention, sensor is called to set first during the sensor identification simulating scenes
Position and sensing sources in robot select its return value class in the effective energy of this position further according to the affiliated species of sensor
Type.
In a preferred embodiment of the invention, the flow chart can save as flow chart file, and simulating scenes can
To save as simulation document, and flow chart file and simulation document can bind a project by associated path and filename
File.
Implement teaching figure programmed method of the invention, editable or the multiple main programs of emulation in a program file.Adopt
With the graphical layout type of image, sensor riding position or scope in simulations be set, and the scope of each sensor,
There are a suitable default conditions position, if can directly be placed without special demands.This can meet the emulation in general teaching,
Specific demand when can meet advanced level user using multiple sensors.
Fig. 5 is the theory diagram of the first embodiment of teaching graphical programming system of the invention.As shown in figure 5, of the invention
Teaching graphical programming system, including：Function modules ground 10, flow chart generating platform 20 and emulation platform 30.The function
Module library 10 is used for memory function module.The functional module includes：Sensor function module, output function module, time delay mould
Block and process control module.The flow chart generating platform 20 is used for based on functional module call instruction from the function modules ground
The functional module is called in 10；The functional module is placed on flow chart formation zone and the work(is connected using flowline
Can module.The emulation platform 30 is used to emulate the flow chart for completing.
Implement teaching graphical programming system of the invention, directly flow chart can be associated with emulation so that the stream of completion
Journey figure can be directly entered Simulation Interface and emulate, and by using flowline linkage function module so that programming is simpler
It is clean understandable.
In a preferred embodiment of the invention, function modules ground can include sensor function module, output function module,
Time module and process control module.The sensor function module can be shown as parallelogram shape in flow charts,
And can be used for being input into detection signal to main program based on signal detection.The output function module can show in flow charts
It is orthogonal rectangle shape, for receiving the output control signal of main program output and right based on output control signal execution
Answer the output of function.The time module can be shown as orthogonal rectangle shape in flow charts, for being held in the main program
Line delay.The process control module, can be shown as rhombus, orthogonal rectangle etc. in flow charts, in the main program
Middle execution Branch control flow.The icon of different graphics shapes can be in flow charts generated in calling functional modules.At this
In other preferred embodiments of invention, sensor function module, output function module, time module and process control module can
It is indicated with using any other figure.
In a preferred embodiment of the invention, the sensor function module includes digital sensor and analog sensor.
The digital sensor includes：Infrared sensor, sound transducer, touch sensor, magneto-dependent sensor, inclination sensor, shake
Dynamic sensor, humidity sensor, cigarette propagated sensation sensor, flame sensor, track identification sensor, optical pickocff and range finding sensing
Device.It is 0 or 1, all 0 to represent and do not detect letter that all of digital sensor can be input into a numerical value and the numerical value to main program
Number, all 1 expressions detect signal.The analog sensor includes air mass sensor, luminance sensor, colourity sensing
Device, temperature sensor, humidity sensor, pressure sensor and Sound intensity probe.All of analog sensor can be according to its master
Program is input into measured value.In another preferred embodiment of the invention, the sensor function module can also include the time
Detection functional module, variable assignments functional module, initialization of (a) serial ports functional module, serial ports read functional module, serial ports and write function mould
Block etc..
In a preferred embodiment of the invention, the output module can include：Motor output unit, optical output device
And acoustic output unit；Such as motor, light source, fan, player, general purpose outputs mouth, paintbrush, switching device etc..
In a preferred embodiment of the invention, the time module can include 0.01 second time delay module, 0.1 second time delay mould
Block, second level time delay module etc..
In a preferred embodiment of the invention, the process control module includes：Judge control module and loop control mould
Block, such as condition judgment, condition circulation, do conditions circulation, repeatedly circulation, permanent loops, interruption (break), continuously
(continue) etc..
Those skilled in the art know, except various sensor function modules disclosed above, output function module, time
Outside module and process control module, those skilled in the art can also use any sensor function as known in the art
Module, output function module, time module and process control module realize the present invention.Here, the present invention does not receive sensor
The limitation of the particular type of functional module, output function module, time module and process control module.
In a preferred embodiment of the invention, the flow chart generating platform 20 is further used for, what acquisition was called
The ID of the functional module is with the location information based on the ID generation functional modules；Will be described based on the location information
Functional module is placed on flow chart formation zone；The functional module is connected in flow chart using flowline；Based on parameter
The parameter that instruction sets the functional module is set；Transfer the bottom source generation of the functional module being connected on the flowline
Code, and shown in source code viewing area and called for the main program.In further preferred embodiment of the invention
In, it is referred to the teaching figure programmed method of the invention shown in Fig. 1-3 and constructs above-mentioned flow chart generating platform of the invention
20。
In a preferred embodiment of the invention, the emulation platform 30 is further used for, and calls simulated function and incites somebody to action
Flow chart described at least one is associated with the simulated function；The modules in the flow chart are transmitted to the simulated function
Parameter；Simulating scenes are selected based on the sensor function module in the functional module, and the attribute of the simulating scenes is set；
The sensor function module is set in the simulation scale of at least one robot；Based on sensor function module identification
The simulating scenes, and the robot is run in the simulating scenes based on the identification.Of the invention further
In preferred embodiment, Fig. 1-2, the teaching figure programmed method of the invention construction shown in 4 are referred to of the invention above-mentioned imitative
True platform 30.
Implement teaching graphical programming system of the invention, directly flow chart can be associated with emulation so that the stream of completion
Journey figure can be directly entered Simulation Interface and emulate, and by using flowline linkage function module so that programming is simpler
It is clean understandable.Clicked or driving style addition functional module it is possible to further simply use, it is convenient for the user to operate.For each
Individual functional module is started using fixed main program, terminate module realizes top-down filling functional module and automatic connecting one by one
Mode, make programmed readability stronger, it is easier to understand.Further, simplify functional module parameter setting, enable beginner
Get started quickly, the sensor function module number that can be used is more, the more creative demands of user can be met.Further, one
Editable or the multiple main programs of emulation in individual program file.Sensor is set in simulations using the graphical layout type of image
Riding position or scope, and the scope of each sensor, position have a suitable default conditions, if can without special demands
Directly place.This can meet the emulation in general teaching, it is also possible to special need when meeting advanced level user using multiple sensors
Ask.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, it is all in essence of the invention
Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of teaching figure programmed method, it is characterised in that including：
S1, based on functional module call instruction from function modules ground calling functional modules；
S2, the functional module is placed on flow chart formation zone and the functional module is connected using flowline；
Whether S3, decision flow chart complete, if it is, performing step S4, otherwise return to step S1；
S4, the flow chart to completing are emulated.
2. it is according to claim 1 teaching figure programmed method, it is characterised in that the step S1 includes：Receive user
Click or the dragging generation functional module call instruction, and the function is called based on the functional module call instruction
Module.
3. it is according to claim 2 teaching figure programmed method, it is characterised in that the functional module includes：
Sensor function module, for being input into detection signal to main program based on signal detection；
Output function module, for receiving the output control signal of main program output and being held based on the output control signal
The output of row corresponding function；
Time module, for performing time delay in the main program；
Process control module, for performing Branch control flow in the main program.
4. it is according to claim 3 teaching figure programmed method, it is characterised in that
The sensor function module includes digital sensor and analog sensor, and the digital sensor includes：Infrared sensing
Device, sound transducer, touch sensor, magneto-dependent sensor, inclination sensor, vibrating sensor, humidity sensor, cigarette propagated sensation sense
Device, flame sensor, track identification sensor, optical pickocff and distance measuring sensor；The analog sensor includes air matter
Quantity sensor, luminance sensor, chromaticity transducer, temperature sensor, humidity sensor, pressure sensor and Sound intensity probe；
The output module includes：Motor output unit, optical output device and acoustic output unit；
The process control module includes：Judge control module and loop control module.
5. it is according to claim 1 teaching figure programmed method, it is characterised in that the step S2 includes：
The ID of the functional module that S21, acquisition are called is with the location information based on the ID generation functional modules；
S22, the functional module is placed on by flow chart formation zone based on the location information；
S23, the functional module is connected in flow chart using flowline；
S24, the parameter that the functional module is set based on parameter setting instruction；
S25, the bottom source code of the functional module being connected on the flowline is transferred, and entered in source code viewing area
Row display is simultaneously called for the main program.
6. it is according to claim 5 teaching figure programmed method, it is characterised in that in the step S23, the flow
The starting point of line connects the initial block of main program, and the terminal of the flowline connects the termination frame of main program.
7. it is according to claim 1 teaching figure programmed method, it is characterised in that the step S4 includes：
S41, call simulated function and flow chart described at least one is associated with the simulated function；
S42, transmit the modules parameter in the flow chart to the simulated function；
S43, simulating scenes are selected based on the sensor function module in the functional module, and the category of the simulating scenes is set
Property；
S44, the sensor function module is set in the simulation scale of at least one robot；
S45, the simulating scenes are recognized based on the sensor function module, and based on the identification in the simulating scenes
Run the robot.
8. it is according to claim 7 teaching figure programmed method, it is characterised in that the simulating scenes include：Light source
Scape, sound source scene, magnetic source scene, vibration source scene, wet source scene, smog scene, burning things which may cause a fire disaster scene and human body scene.
9. a kind of teaching graphical programming system, it is characterised in that including：
Function modules ground, for memory function module, the functional module includes：Sensor function module, output function module,
Time delay module and process control module；
Flow chart generating platform, for calling the function mould from the function modules ground based on functional module call instruction
Block；The functional module is placed on flow chart formation zone and the functional module is connected using flowline；
Emulation platform：For emulating the flow chart for completing.
10. teaching graphical programming system according to claim 9, it is characterised in that
The flow chart generating platform is further used for, and the ID of the functional module that acquisition is called generates institute with based on the ID
State the location information of functional module；The functional module is placed on by flow chart formation zone based on the location information；Using
Be connected to the functional module in flow chart by flowline；The parameter of the functional module is set based on parameter setting instruction；Adjust
The bottom source code of the functional module being connected on the flowline is taken, and is shown and is supplied in source code viewing area
The main program is called；
The emulation platform is further used for, and calls simulated function and flow chart described at least one is closed with the simulated function
Connection；The modules parameter in the flow chart is transmitted to the simulated function；Based on the sensor work(in the functional module
Energy module selection simulating scenes, and the attribute of the simulating scenes is set；Set in the simulation scale of at least one robot
The sensor function module；The simulating scenes are recognized based on the sensor function module, and based on the identification in institute
State and run the robot in simulating scenes.
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Application publication date: 20170613 |