KR102525276B1 - Robot system and smart coding method therefor - Google Patents

Abstract

One embodiment includes a display panel, displays a plurality of code blocks on the display panel, matches a program code to each code block, recognizes a user operation on the display panel, and displays the display position of the code blocks. a display device for moving; a plurality of code cards on which a low-visibility fine pattern and a high-visibility code mark are printed; And wheels are disposed on the lower side, and a camera is disposed to face the bottom surface, and a plurality of fine patterns recognized through the camera are matched with program codes, and a program is created by combining the program codes or in the display device. Provided is a robot system including a robot that generates the program by combining the program codes according to the arrangement of the code blocks and moves the body by manipulating the wheels according to the execution of the program.

Description

Robot system and its smart coding method {ROBOT SYSTEM AND SMART CODING METHOD THEREFOR}

This embodiment relates to a robot system.

Robots can perform mechanical operations by commands. Those whose commands are created by the robot's own calculation results are also called artificial intelligence robots. Most robots have not reached the level of artificial intelligence robots, and their commands must be transmitted directly or indirectly by humans.

There are various ways to deliver commands to the robot. If the robot can understand voice, humans can deliver commands to the robot through voice. If the robot does not understand the voice, the command is transmitted through communication between the terminal device and the robot. For example, a human can input a command through a computer and transmit the command to the robot through communication between the computer and the robot. there is.

Humans use various user manipulation means to input commands to terminal devices. A touch panel is a typical user manipulation means. If the terminal device includes a touch panel, a human can apply a user operation to the touch panel. And, the terminal device can recognize such user manipulation and generate a command corresponding to it. Another example of the user operation means is a keyboard. A human can apply a user manipulation to the keyboard, and the terminal device can recognize the user manipulation on the keyboard and generate a corresponding command.

Meanwhile, in order for the robot to perform continuous complex motions rather than single motions, a human may create a program by combining a plurality of commands and execute the program to control the robot. Here, a command may correspond to a program code. A human inputs a plurality of program codes through a terminal device, and the terminal device may generate a program by combining these program codes. And, according to the execution of these programs, the robot can perform continuous complex motions.

The program code can also be input by the user operation means of the terminal device as described above, but such user operation means is not suitable for low-skilled people - for example, children - because it is not intuitive and requires a high degree of skilled knowledge. did not For example, it is practically difficult for children to handle programming languages such as C and Python through keyboard manipulation.

Against this background, the purpose of this embodiment is, in one aspect, to present a simple method by which a low-skilled person can create a program. In another aspect, an object of the present embodiment is to provide a learning means for a low-skilled person to learn a concept about programming and to have an interest in it. In another aspect, an object of the present embodiment is to provide a robot control interface that is friendly to a less skilled user. In another aspect, an object of the present embodiment is to suggest a method for performing various interesting activities using a robot.

In order to achieve the above object, an embodiment includes a display panel, displays a plurality of code blocks on the display panel, matches a program code to each code block, and performs a user operation on the display panel. a display device for recognizing and moving the display positions of the code blocks; a plurality of code cards on which a low-visibility fine pattern and a high-visibility code mark are printed; And wheels are disposed on the lower side, and a camera is disposed to face the bottom surface, and a plurality of fine patterns recognized through the camera are matched with program codes, and a program is created by combining the program codes or in the display device. Provided is a robot system including a robot that generates the program by combining the program codes according to the arrangement of the code blocks and moves the body by manipulating the wheels according to the execution of the program.

The robot may recognize the fine pattern printed on the book through the camera, and read the content corresponding to the fine pattern printed on the book through a speaker.

The body of the robot is formed in the shape of a car, at least one button is disposed on the rear surface of the body, and the robot recognizes manipulation of the at least one button to control some of the functions of the robot. .

Each of the at least one button may include a lighting device, and the robot may control on/off of the lighting device according to one of the program codes.

A headlamp is disposed on a front surface of the body of the robot, and the robot may control on/off of the headlamp according to another one of the program codes.

The display device receives the program codes or program information corresponding to the program through communication with the robot, and displays the code blocks corresponding to the program codes on the display panel according to the program information. can

A plurality of example code blocks are displayed on the first window of the screen displayed on the display panel, and some of the example code blocks are moved to the second window of the screen according to a drag operation and designated as code blocks. The program codes can be generated with the code blocks displayed in the second window.

An execution order of program codes corresponding to each code block may be determined according to the arrangement positions of the code blocks.

An execution order of program codes corresponding to each fine pattern may be determined according to the sequence of the plurality of fine patterns recognized.

Another embodiment includes displaying a plurality of example code blocks on a first window of a screen of a display panel; Recognizing a drag operation and displaying some example code blocks among the plurality of example code blocks by moving them to a second window of the screen; Recognizing some of the example code blocks moved to the second window as code blocks, and matching program codes to the code blocks; generating a program by combining the program codes while determining an execution order of the program codes according to the arrangement of the code blocks; And it provides a coding method comprising the step of manipulating the robot while executing the program.

Wheels may be disposed below the body of the robot, and a camera may be disposed at one side of the body to face the floor.

The coding method may further include taking a plurality of code cards by the camera, matching fine patterns printed on the code cards with the program codes, and generating the program by combining the program codes. can

The body of the robot is formed in the shape of a car, at least one button is disposed on the rear surface of the body, and the coding method recognizes manipulation of the at least one button and controls some of the functions of the robot. may further include.

Each of the at least one button may include a lighting device, and the coding method may further include controlling on/off of the lighting device according to one of the program codes.

The coding method may include receiving other program codes or other programs from the robot; and displaying the other program codes or the other program codes included in the other program on the second window.

As described above, according to the present embodiment, even a low-skilled person such as a child can create a program in a simple way. In addition, according to the present embodiment, it is possible to provide a learning means for low-skilled people such as children to learn the concept of programming and to have an interest in programming, and to have fun with low-skilled people through a robot control interface friendly to low-skilled people. You can easily control the robot. And, according to the present embodiment, everyone can perform various interesting activities using the robot.

1 is a configuration diagram of a robot system according to an embodiment.
2 is a left side view of a robot according to an embodiment.
3 is a bottom view of a robot according to one embodiment.
4 is a rear view of a robot according to an embodiment.
5 is a front view of a robot according to an embodiment.
6 is a configuration diagram of a robot according to an embodiment.
7 is examples of code cards according to an embodiment.
8 is a screen configuration diagram of a display device according to an exemplary embodiment.
9 is a first exemplary view of a driving board according to an exemplary embodiment.
10 is a second exemplary view of a driving board according to an exemplary embodiment.
11 is an exemplary configuration diagram of a robot system that performs card coding.
12 is a flowchart of a method of coding and operating a robot system using a code card.
13 is an exemplary configuration diagram of a robot system that performs smart coding.
14 is an exemplary screen view of a display device performing smart coding.
15 is a flowchart of a smart coding method according to an embodiment.
16 is an exemplary configuration diagram of a robot system performing an RC car mode.
17 is a flowchart of an operation control method for an RC car mode according to an embodiment.
18 is an exemplary configuration diagram of a robot system performing a line tracking mode.
19 is an exemplary configuration diagram of a robot system performing an image viewing mode.
20 is a flowchart of a line tracking control method according to an embodiment.
21 is a flowchart of a control method of a robot system performing an E-motion bookmark mode.

Hereinafter, some embodiments of the present invention will be described in detail through exemplary drawings. In adding reference numerals to components of each drawing, it should be noted that the same components have the same numerals as much as possible even if they are displayed on different drawings. In addition, in describing the present invention, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present invention, the detailed description will be omitted.

Also, terms such as first, second, A, B, (a), and (b) may be used in describing the components of the present invention. These terms are only used to distinguish the component from other components, and the nature, order, or order of the corresponding component is not limited by the term. When an element is described as being “connected,” “coupled to,” or “connected” to another element, that element is directly connected or connectable to the other element, but there is another element between the elements. It will be understood that elements may be “connected”, “coupled” or “connected”.

1 is a configuration diagram of a robot system according to an embodiment.

Referring to FIG. 1 , the robot system 100 may include a robot 110, a code card 120, a display device 130, and a running board 140.

The robot 110 may be controlled according to a command by a program code. The robot 110 may include various operating devices, for example, wheels, a built-in speaker, a lighting device, and a communication device. The robot 110 can control these operating devices according to commands by program codes. In addition, the robot 110 includes electronic devices such as a memory and a processor, and may control the electronic devices according to a command by a program code.

The robot 110 may have various shapes, and for example, the robot 110 may have a car shape. Various input means capable of recognizing user manipulations may be attached to the robot 110, and these input means may have the same shape as exterior parts of a vehicle. For example, buttons may be disposed on the outer surface of the robot 110, and some of these buttons may be disposed at a position of a rear light of a car or a position of a doorknob of a car. The button disposed at the position of the tail light has a built-in lighting device, so it has the same shape as the tail light and can operate to indicate direction/stop like the tail light.

A moving device may be disposed in the robot 110 . The mobile devices may be wheels, for example. The robot 110 may move the body by controlling these wheels. Four wheels may be arranged, or only two may be arranged.

Meanwhile, the robot 110 may include a camera. Here, the camera may be a device for photographing an invisible micropattern. The robot 110 may photograph the micropattern using a camera and perform a specific function according to a code corresponding to the micropattern.

The micropattern may have a dot shape. For example, dots may be arranged according to a predetermined pattern in an area of a size that cannot be distinguished by the human eye, and such a pattern may be referred to as a micropattern. The micropatterns may have various shapes according to the arrangement of dots, for example, and the robot 110 may understand each micropattern shape by corresponding to a code. For example, the robot 110 may make a first micropattern having a first shape correspond to a first code, and a second micropattern having a second shape correspond to a second code. In this way, the robot 110 can correspond 65536 different fine patterns corresponding to 16 bits to 65536 codes.

When such a fine pattern is printed on the print medium, the robot 110 may photograph the print medium using a camera and recognize the fine pattern. In addition, the robot 110 may check a code corresponding to the micropattern and perform a specific function according to the code. For example, let's say the print medium is a book. In the book, characters may be printed in a size having visibility, and fine patterns with low visibility may be printed together. The robot 110 may use a camera to recognize an invisible fine pattern printed on a book and check a code corresponding to the fine pattern. At this time, a content file corresponding to the code may be stored in the robot 110. When the robot 110 checks the code, the content file corresponding to the code can be read and output. If the content file is a read-aloud file of characters printed in the book to have visibility, the user can easily reproduce the read-aloud file of characters printed on the book using the robot 110 .

Let's assume that the first function of the robot 110 is such a function that the robot 110 reproduces contents printed on a print medium using a camera capable of recognizing fine patterns. Hereinafter, how functions other than the first function are derived from or combined with the first function and performed will be described.

Since the robot 110 includes moving devices such as wheels, movement of the body can be controlled through commands. A command including movement of the body may be transmitted to the robot 110 in various forms, one of which is a method using a camera attached to the robot 110 for the first function.

The robot 110 may photograph the micropattern using a camera, confirm a command according to a code corresponding to the micropattern, and perform movement of the body or other motion. Hereinafter, for convenience of description, these codes for controlling the operation of the robot 110 are referred to as program codes. Here, the motion does not represent only the movement of the body, and may include all functions that the robot 110 can perform, such as internal calculation of the robot 110 and communication of the robot 110.

A fine pattern corresponding to the program code may be printed on the code card 120 .

The robot system 100 may include a plurality of code cards 120 . In addition, fine patterns may be printed on each code card 120 . One fine pattern may be printed on one side of the code card 120 . And, another fine pattern may be printed on the other side. Depending on the embodiment, one surface of the code card 120 may be divided into regions and a plurality of different fine patterns may be printed.

On the surface of the code card 120, the operation of the robot 110 represented by the program code can be visually displayed. For example, when the fine pattern printed on the code card 120 corresponds to a program code instructing the robot 110 to turn right, a mark indicating the right turn may be printed on the surface of the corresponding code card 120. These markers may be referred to as code markers. The code mark may be a mark indicating an operation of the robot 110 according to the corresponding program code.

The code card 120 may have a card shape of a square plate. According to this shape, the code card 120 may be formed on both sides with a certain width and may have a relatively thin thickness.

As the code card 120 is photographed by the camera of the robot 110, the program code can be read by the robot 110. At this time, the user holds the robot 110 and approaches the code card 120 to obtain the program code can be read, but the program code can also be read by pushing the code card 120 to the lower side of the robot 110 disposed on the floor.

In the robot 110, a camera may be disposed to face the floor, and at this time, a certain gap may exist between the exterior of the camera and the floor. The code card 120 can be inserted between these gaps, and the robot 110 can read the program code by photographing the code card 120 inserted into the gap.

The robot 110 can receive one program code through one code card 120 and operate internal functions according to the received program code, and also a plurality of program codes through a plurality of code cards 120. can be input and a plurality of program codes can be sequentially executed.

What is formed of a plurality of program codes may be referred to as a program. The robot 110 may generate a program by combining a plurality of program codes and operate internal functions according to the execution of the program. The process of generating one program using a plurality of program codes can be regarded as a kind of program coding, and a low-skilled person such as a child can easily learn program coding through this process.

This program coding using the code card 120 is called the second function of the robot 110, and may be called card coding as an alias.

The robot system 100 may further include a display device 130, and the display device 130 may provide additional input means and output means to the user.

The display device 130 may be a device combined with other functions. For example, it may be a communication terminal capable of making a phone call - for example, a smart phone - or a tablet computer.

The display device 130 includes a display panel and may include a communication device. The display device 130 may provide an interface to a user through a display panel, and may transmit and receive information to and from the robot 110 through a communication device.

A user may create a program by combining program codes through manipulation of the display device 130 . Also, the display device 130 may transmit program information corresponding to the program to the robot 110 so that the robot 110 performs an operation according to the program. The robot 110 communicating with the display device 130 to transmit/receive program information and perform internal functions according to the program information is called a third function, and may be referred to as smart coding as an alias.

The display device 130 may be a means for programming or may be a user manipulation means in itself.

The display device 130 may include a display panel, and a touch panel may be coupled to the display panel. And, the display device 130 can recognize the user's manipulation on the touch panel. At this time, the display device 130 displays the manipulator on the display panel, recognizes the user's manipulation on the manipulator, and functions of the robot 110. can be manipulated.

For example, the display device 130 may display a manipulator such as a joystick or a jog shuttle on the screen of the display panel. In addition, the display device 130 recognizes a user manipulation of the manipulator, such as dragging, and transmits a command corresponding to the user manipulation to the robot 110 so that the robot 110 can be directly operated.

The robot 110 receiving a command corresponding to the user's manipulation from the display device 130 and operating the internal function accordingly is called a fourth function, and may be referred to as an RC car mode.

Meanwhile, the robot 110 may travel on the driving board 140 . The robot 110 may travel on a general floor without specific information, but may perform additional functions while traveling on a driving board 140 with more specific information.

The running board 140 may have a running surface upward, and specific information may be assigned to the running surface in a specific manner. In addition, the robot 110 may recognize specific information given to the driving surface and perform a specific function according to the specific information.

A line may be displayed on the driving surface of the driving board 140 . A line may have a constant thickness and a constant color. The line may have a form with both ends open or may have a closed form. In the closed type, the lines may have the form of a lattice.

The robot 110 may further include a line sensor for recognizing a line. Also, the robot 110 may track the line displayed on the driving surface using the line sensor. The line sensor may further recognize colors.

Invisible micropatterns may be disposed around the line. The robot 110 may capture fine patterns using a camera while tracking the line, and execute program codes corresponding to each fine pattern. This operation is called a fifth function, and may be called a line tracking mode as another name.

Robot embodiment

2 is a left side view of a robot according to an embodiment, FIG. 3 is a bottom view of a robot according to an embodiment, FIG. 4 is a rear view of a robot according to an embodiment, and FIG. 5 is a view according to an embodiment. This is a front view of the robot.

Referring to FIGS. 2 to 5 , the body 210 of the robot 110 may have a car shape. Depending on the shape of the car, the opening 230 may have the shape of a wheel, and the headlight 280 may be disposed on the front side. In addition, the buttons 261 to 266 may have the same shape as a taillight while being disposed on the rear surface.

The robot 110 may include a camera case 220 and a camera 222 .

The camera case 220 may be coupled to and disposed on one side of the outer periphery of the body 210 . The camera case 220 may have the same shape as a writing instrument, and a certain gap may be formed between the camera case 220 and the bottom surface. The size of the gap may be greater than the thickness of the code card.

The camera 222 may be disposed inside the camera case 220 and may be formed to take pictures of the outside through a hole formed in the camera case 220 . The camera 222 may be positioned to face the floor.

Wheels 242 and 244 may be disposed below the robot 110 . The first wheel 242 may be disposed on the left side of the body 210, and the second wheel 244 may be disposed on the right side of the body 210. A ball 246 may be further disposed on the lower side of the robot 110 in addition to the wheels 242 and 244 . The ball 246 is not driven, but can be rotated according to the movement of the body 210 . On the other hand, the wheels 242 and 244 may be driven by built-in driving means - for example, a motor. The first wheel 242 and the second wheel 244 may be respectively controlled by separate driving means. The first wheel 242, the second wheel 244 and the ball 246 may form a tripod. Due to this triangular structure, the body 210 can stably maintain its posture on the floor.

A line sensor 250 may be disposed below the robot 110 . The line sensor 250 may be attached to be exposed to the lower side of the body 210, recognize the line and provide information about the line to the robot 110.

A plurality of buttons 261 to 266 may be disposed on the back of the robot 110 . The robot 110 may recognize user manipulation of the buttons 261 to 266 and control internal functions according to the user manipulation.

The robot 110 may change the mode by recognizing the user's manipulation of the first button 261 . The robot 110 may set a plurality of modes. The plurality of modes may be, for example, a pen mode, a coding mode, a video mode, an MPEG Audio Layer-3 (MP3) mode, a story mode, a recording mode, and the like. The robot 110 may change the mode by recognizing the user's manipulation of the first button 261 . For example, the robot 110 may switch from a pen mode to a coding mode or from a coding mode to a pen mode when the first button 261 is pressed. The robot 110 can also recognize the time when the first button 261 is pressed. When the first button 261 is pressed within a predetermined time (hereinafter referred to as 'shortly pressed' ) mode, and when the first button 261 is pressed for a predetermined time or more (hereinafter referred to as 'long press'), the video mode can be turned on or off.

The robot 110 can directly switch to a specific mode. For example, when the third button 263 is pressed, the robot 110 directly switches to the MP3 mode, and when the fourth button 264 is pressed, the switch directly to the story mode can do.

When the second button 262 is pressed, the robot 110 may output a translation of the currently recognized word or sentence through a speaker. The robot 110 may output a translated text when the second button 262 is pressed briefly, and guide the remaining battery power when the second button 262 is pressed long.

The robot 110 may decrease the output volume when the fifth button 265 is pressed, and increase the output volume when the sixth button 266 is pressed.

Slots 272 and 274 may be formed on the rear surface of the robot 110, a charging connector may be coupled to the first slot 272, and a memory card may be inserted into the second slot 274.

Lighting devices may be built into some of the plurality of buttons 261 to 266 . For example, lighting devices may be built into the first button 261 and the fourth button 264 . The robot 110 can control the lighting device on/off to operate the first button 261 and the fourth button 264 like a tail light.

6 is a configuration diagram of a robot according to an embodiment.

Referring to FIG. 6 , the robot 110 may include a camera unit 610, a controller 620, a memory 630, a wheel unit 640, a button unit 650, a lighting unit 660, and the like.

The camera unit 610 includes the above-described camera, and may capture micropatterns through the camera.

The camera unit 610 may include a processor that converts fine patterns into codes. When a camera captures a micropattern printed on a print medium and generates a captured image, the processor analyzes the captured image to identify the micropattern and match a corresponding code.

The controller 620 may control overall functions of the robot 110 .

The controller 620 may receive a code from the camera unit 610 and operate a function corresponding to the code.

The code may be a content code, an action code, a function code, and the like.

The content code is a code corresponding to content that can be reproduced or displayed, and for example, a code corresponding to audio content, a code corresponding to video content, and a code corresponding to image content may be content codes. The control unit 620 may output the content after receiving the content code from the camera unit 610 and confirming the content corresponding to the content code. Content may be output through an internal speaker or through an external device connected through short-range communication such as Bluetooth.

The operation code is a code for controlling the movement of the robot 110, and may include a code instructing forward movement, a code instructing backward movement, a code instructing right turn, a code instructing left turn, a code instructing stop, and the like. there is.

The function code is a code indicating the function of the robot 110 in addition to the content code and the operation code.

The memory 630 may store data such as content files and programs. The controller 620 may read data stored in the memory 630 according to the code.

The wheel unit 640 includes a driving means such as a motor and the aforementioned wheels, and can control the wheels using the driving means.

The button unit 650 may include a plurality of buttons, recognize user manipulations on the buttons, and transmit information about the user manipulations to the controller 620 . In addition, the controller 620 may operate internal functions according to user manipulations.

The lighting unit 660 may include a lighting device, a headlamp, and the like. Lighting devices can be built into the buttons, and headlights can be placed on the front of the robot. The lighting unit 660 may control on/off of a lighting device or a headlight according to instructions from the controller 620 .

Example of code card

7 is examples of code cards according to an embodiment.

Referring to FIG. 7 , a highly visible code mark may be printed on one surface of the code cards 702 to 724 .

For example, on the first code card 702, the character "coding start" and a triangle symbolizing the start may be printed as a code mark, and on the ninth code card 718, the character "go straight" and a symbol of going straight arrows can be printed as code markers.

The user can check which program code is planted in the corresponding code card by looking at the code mark.

A micropattern with low visibility may be printed on the code cards 702 to 724 . A fine pattern may not be visible to the human eye, but the pattern may be distinguished by a camera.

The robot may convert fine patterns printed on the code cards 702 to 724 into codes, and the converted codes may include program codes.

The program code may be a code corresponding to a command for the robot to perform a specific function or a code that constitutes a part of a program. Codes corresponding to the third code card 706 to the tenth code card 720 in FIG. 7 may be program codes.

The program code is, for example, a code for moving the robot forward by one cell, such as that corresponding to the third code card 706 - the length of one cell can be predefined -, corresponding to the fourth code card 708 A code for turning the robot right, a code for moving the robot backward as corresponding to the fifth code card 710, a code for moving the robot backward by one space corresponding to the sixth code card 712, and a seventh code. Code for turning the robot left, such as corresponding to card 714, code for stopping the movement of the robot, such as corresponding to the eighth code card 716, and forwarding the robot, such as corresponding to the ninth code card 718 It may be a code that causes the robot to wait for 10 seconds, such as that corresponding to the 10th code card 720.

In addition, the program codes include repeat section start, repeat section end, repetition count, condition command coding start (IF), condition command coding end (End IF), wait command coding start (WHILE), wait command coding end (End WHILE), external Sound response - e.g., responding to claps -, wait 10 seconds, wait 10 minutes, speed up, speed down, play content, headlight on, headlight off, rear left tail light on, rear right tail light on, rear right It may contain codes such as blink tail light, blink rear right tail light, start recording, end recording, start game, end game, mute sound, increase sound.

Codes related to program coding may also be printed on the code cards 702 to 724, for example, a code indicating the start of coding such as the first code card 702 and the end of coding such as the second code card 704. A code representing , a code for deleting all program codes such as the 11th code card 722, and a code for deleting one program code such as the 12th code card 724 may be printed.

Example of display device

8 is a screen configuration diagram of a display device according to an exemplary embodiment.

Referring to FIG. 8 , the display device may display a manipulation unit 820 on the screen 800 of the display panel. The manipulation means 820 may be divided into a circular plate 822 and a manipulator 824, which may be shaped like a jog shuttle or a joystick.

Manipulator 824 can be displayed controlled to move within circular plate 822 . According to the user's drag operation, the manipulator 824 can move in all directions up, down, left, and right. At this time, the limit of the movement can be limited to the outline of the round plate 822.

The display device can recognize the position of the manipulator 824 according to the user's manipulation. This position can be recognized in the form of coordinates. The display device generates a command to control the robot according to the difference between the coordinates of the origin of the round plate 822 and the position of the manipulator 824, and provides operation information corresponding to the command. It can be sent to a robot.

The command may be one of the program codes described in the embodiment for code cards. For example, the command may correspond to program code for moving the robot forward, program code for moving the robot backward, program code for turning the robot left, or program code for turning the robot right.

The left turn and right turn may be further subdivided to have program codes for subdivided angles such as 10 degree left turn, 20 degree left turn, -10 degree right turn, -20 degree right turn, etc. It is possible to select the program code of the angle subdivided according to the position, and transmit operation information corresponding to the program code to the robot.

A command may consist of a plurality of program codes. For example, the command may consist of a program code instructing the robot's traveling direction and a program code instructing an increase or decrease in the traveling speed. The display device may select a program code indicating the driving direction according to the relative position of the manipulator 824 and the origin coordinate, and may select a program code instructing an increase or decrease in travel speed according to the distance between the origin coordinate and the manipulator 824. .

The screen 800 may be composed of the shape of the front of the vehicle from the driver's point of view. For example, a speed instrument panel 816 and a driving instrument panel 818 may be displayed on the screen 800 . The display device may receive the traveling speed of the body from the robot and change the display of the speed instrument panel 816 according to the traveling speed.

In order to realize the front shape of the vehicle from the driver's perspective, the vehicle windshield area 812 is displayed on the screen 800, and the robot or the rear surface 814 of the vehicle may be further displayed on the vehicle windshield area 812.

Operation buttons 802 to 810 may be further displayed on the screen 800 .

When the display device transmits user manipulation information for the first manipulation button 802 to the robot, the robot can control the operation of the headlight or taillight. When the display device transmits user operation information on the second operation button 804 to the robot, the robot may output sound effects through a speaker. When the display device transmits user operation information for the third operation button 806, the robot may start recording - a microphone may be further included in the robot. When the display device transmits user manipulation information for the fourth manipulation button 808, the robot can output an MP3 file stored in the memory through a speaker. When the display device transmits user manipulation information for the fifth manipulation button 810, a sound according to a story file may be output through a speaker.

In terms of hardware, the display device may include a display panel including a touch panel, a communication device, a controller, a memory, and the like.

Example of running board

9 is a first exemplary view of a driving board according to an exemplary embodiment.

Referring to FIG. 9 , the driving plate 900 may form a driving surface 910 , and a line 920 may be displayed on the driving surface 910 .

The line 920 may have a constant color—for example, black—and a constant thickness, and may be recognized by a line sensor of the robot.

When the color of the line 920 is referred to as the first color, a second color different from the first color (for example, blue) may be displayed at one position of the line 920. When the second color is recognized, it is possible to make a U-turn and drive in the opposite direction.

A third color different from the first and second colors (for example, red) may be displayed on the line 920. When the robot recognizes the third color while driving along the line, it does not drive any more. can stop

The second color may be displayed on the driving surface 910 through the first color sticker 924 . The user can display the second color by attaching the first color sticker 924 to a location where the robot wants to make a U-turn.

The third color may be displayed on the driving surface 910 through the second color sticker 922 . The user may display the third color by attaching the second color sticker 922 to a position where the robot wants to stop driving.

Invisible micropatterns may be disposed at positions spaced apart from the line 920 by a predetermined distance range. The micropatterns may be arranged in a form of being directly printed on the running surface 910, or may be arranged while being printed on pattern stickers 930 and 932 and attached to the running surface 910.

A camera for recognizing micropatterns in the robot may be coupled to one side of the body. For example, the camera may be coupled to the right side of the robot. At this time, only the first pattern sticker 932 disposed on one side of the line 920 based on the driving direction of the robot can be recognized. On the other hand, the robot can make a U-turn when recognizing the second color. As the driving direction reverses according to this U-turn, it can also recognize the second pattern sticker 930 disposed on the other side of the line 920.

10 is a second exemplary view of a driving board according to an exemplary embodiment.

Referring to FIG. 10 , the driving plate 1000 may form a driving surface 1010 , and on the driving surface 1010 , lines 1020 to 1029 may be arranged in horizontal and vertical directions while forming a matrix.

The lines 1020 to 1029 may include horizontal lines 1020 to 1024 extending in a horizontal direction and vertical lines 1025 to 1029 extending in a vertical direction. The horizontal lines 1020 to 1024 may run parallel to each other, and the vertical lines 1025 to 1029 may run parallel to each other.

The lines 1020 to 1029 may have a constant color—for example, black—and a constant thickness, and may be recognized by a line sensor of the robot.

A fine pattern may be disposed in the quadrangular area 1030 formed by two adjacent horizontal lines and two adjacent vertical lines. While moving along the lines 1020 to 1029, the robot may photograph micropatterns disposed next to the lines 1020 to 1029, and perform operations according to program codes corresponding to the micropatterns.

Fine patterns corresponding to the quiz elements may be printed on the square areas 1030 . The quiz elements are elements that form one quiz, and may correspond to, for example, numerical elements and four arithmetic operation elements in a math quiz on addition.

The robot recognizes a plurality of quiz elements through fine patterns, and when the recognized quiz elements form one quiz, it may output a response signal for this through a speaker or the like. For example, if the robot continuously recognizes fine patterns corresponding to '10', '+', '7', '=', and '17', it can output a voice message saying "This is the correct answer" through the speaker. .

The robot may move in grid units on the lines 1020 to 1029. For example, the robot may change direction at the intersection of the horizontal lines 1020 to 1024 and the vertical lines 1025 to 1029, in units of length between two adjacent vertical lines or in units of length between two adjacent horizontal lines. can move

In the above, the embodiment has been described with a focus on the devices constituting the robot system, and below, the embodiment will be described with a focus on the functions of the robot system.

Example of Card Coding: Second Function

11 is an exemplary configuration diagram of a robot system that performs card coding.

Referring to FIG. 11 , a robot system 1100 may include a robot 110 , code cards 120 and a driving board 1000 .

The robot 110 includes a camera capable of recognizing fine patterns, and fine patterns corresponding to program codes may be invisiblely printed on the code cards 120 .

Lines 1020 to 1029 may be printed on the running surface 1010 of the running plate 1000, and the lines 1020 to 1029 are illustratively horizontal lines 1020 to 1024 and vertical lines ( 1025 to 1029) may have a form in which they are disposed while crossing each other.

12 is a flowchart of a method of coding and operating a robot system using a code card.

Referring to Figure 12, the robot can recognize the start program code indicating the start of the program (S1200). A micropattern corresponding to the start program code is printed on one code card, and the robot can photograph the one code card with a camera and recognize the start program code corresponding to the micropattern printed on the one code card.

When the start program code is recognized, the robot can be switched to a state for generating a program.

In this state, the robot can additionally recognize program codes (S1202). When these program codes are referred to as command program codes, the robot can create one program by combining command program codes.

The robot can recognize the end program code indicating the end of the program (S1204). When the end program code is recognized, the robot can end recognition of the command program code.

When certain conditions are satisfied, the robot can execute the program. When a predetermined time elapses after the robot recognizes the end program code, a predetermined condition may be satisfied, and a predetermined condition may be satisfied when a user manipulation of buttons disposed on an outer surface of the robot is recognized. Alternatively, if a line is recognized through a roboy line sensor, certain conditions may be satisfied.

If certain conditions are satisfied in this way, the robot can execute the command program codes included in the program one by one. For example, if one command program code corresponds to a command to move a distance of one unit by manipulating a wheel, the robot may move the body by a distance of one unit by manipulating the wheel accordingly.

Lines may be printed on the running board, and these lines may form various paths. In addition, the robot may travel along one path among various paths by command program codes constituting the program.

Micropatterns may be arranged around the path of the running board, and the robot can recognize these micropatterns and perform internal functions corresponding to each micropattern. For example, when a fine pattern corresponds to a content file, the robot may read and output the content file. The output may be made through an internal speaker or through an external device connected to the robot through communication. When the content file is an image, a playback image of the content file may be output through an external device including a display panel.

Example of Smart Coding: The 3rd Function

13 is an exemplary configuration diagram of a robot system that performs smart coding.

Referring to FIG. 13 , a robot system 1300 may include a robot 110, code cards 120, a display device 130, and a driving board 1000.

The robot 110 includes a camera capable of recognizing fine patterns, and fine patterns corresponding to program codes may be invisiblely printed on the code cards 120 .

Lines 1020 to 1029 may be printed on the running surface 1010 of the running board 1000, and the lines 1020 to 1029 are illustratively horizontal lines 1020 to 1024 and vertical lines ( 1025 to 1029) may have a form in which they are disposed while crossing each other.

The display device 130 includes a display panel, displays a plurality of code blocks on the display panel, matches program codes to each code block, recognizes a user operation on the display panel, and moves the display position of the code blocks. can make it

Also, the robot 110 may generate a program by combining program codes according to the arrangement of code blocks in the display device 130 and execute internal functions according to the program.

Wheels may be arranged on the lower side of the robot 110, and the program code may be a command for manipulating these wheels. In addition, the robot 110 may include a camera disposed on one side, and the robot 110 recognizes the micropattern printed on one side of the lines 1020 to 1029 through the camera and matches the micropattern. Depending on the code, internal functions can be executed.

The body of the robot 110 is formed in the shape of a car, and at least one button may be disposed on the rear surface of the body. Externally, these buttons can turn on/off the lighting device according to the program code while having a lighting device built inside like a tail light. Functionally, these buttons can recognize a user's manipulation - for example, a pressing manipulation - and generate an electrical signal corresponding to it, and the robot 110 can execute one of its internal functions according to this electrical signal.

The robot 110 can run on the running surface 1010 according to the generated program. On the running surface 1010, lines 1020 to 1029 and fine patterns are further printed, and the robot 110 can run on these fine patterns. By recognizing the patterns, additional functions other than those instructed by the program can be executed.

The robot 110 may further execute a built-in program in addition to the program generated by the program codes. Let's call the former a coding program and the latter a built-in program. The coding program may be a program for controlling the driving of the robot 110, and the built-in program may be a game type program. The built-in program includes, for example, the first number recognized by the first movement, the four arithmetic operations recognized by the second movement, the second number recognized by the third movement, the equal sign recognized by the fourth movement, and the second movement. It may be a game program that outputs a voice saying "This is the correct answer" when the third number recognized by 5 moves becomes an accurate formula. For example, when the expression 3 x 5 = 15 is recognized by the movement of the robot 110, the robot 110 may output a voice saying "That is the correct answer" according to the built-in program. At this time, movement of the robot 110 may be performed by a coding program. In this way, the robot 110 may utilize the built-in program, evaluate the accuracy of coding in the coding program, and increase its utilization value.

Meanwhile, the robot 110 may basically perform the function of an electronic pen. The robot 110 may recognize fine patterns printed on the book through a camera, and read content corresponding to the fine patterns printed on the book through an internal or external speaker. The robot 110 may use a camera for program coding to perform the function of the electronic pen. The robot 110 may recognize fine patterns printed on the code cards 120 through a camera and generate a program by combining program codes corresponding to these fine patterns.

As another method of generating a program in the robot 110, one embodiment may provide a smart coding method. The robot 110 may receive program information through communication with the display device 130, and may generate and execute a program using a program or program codes included in the program information.

14 is an exemplary screen view of a display device performing smart coding.

Referring to FIG. 14 , the screen displayed on the display panel may include a first window 1410 and a second window 1420.

A plurality of example code blocks 1412 may be displayed on the first window 1410 . Each example code block 1412 may correspond to different program codes.

The display panel may include a touch panel, and the user may move some of the example code blocks 1412 to the second window 1420 through a drag operation. An example code block 1412 located in the first window 1410 may be moved to the second window 1420 two or more times and may be disposed in different positions.

The example code block moved to the second window 1420 may be designated as a code block 1422 and form a certain arrangement.

The display device may match the code blocks 1422 displayed on the second window 1420 with the program codes, and transmit information about the program codes or programs generated with these program codes to the robot. In addition, the robot may control internal functions using program codes or programs included in the information.

The order of execution of program codes in the robot may be determined according to the arrangement positions of the code blocks. For example, in the second window 1420, code blocks arranged on the left side may be executed before code blocks arranged on the right side, and code blocks arranged on the top side may be executed before code blocks arranged on the bottom side of the second window 1420. . For reference, when programming is performed using a code card, the execution order of program codes may be determined according to the order of recognized fine patterns.

15 is a flowchart of a smart coding method according to an embodiment.

Referring to FIG. 15, the display device may display a plurality of example code blocks on the first window of the screen of the display panel (S1500).

Also, the display device may recognize the dragging operation and display some example code blocks among a plurality of example code blocks by moving them to the second window of the screen (S1502).

Some example code blocks moved to the second window are recognized as code blocks, and the display device can match program codes to these code blocks (S1504).

Also, the display device may generate a program by combining the program codes while determining the execution order of the program codes according to the arrangement of the code blocks (S1506).

The program is transmitted to the robot, and the robot can operate internal functions while executing the program (S1508).

Meanwhile, the robot can be programmed using a camera and code cards, and the program generated in this way can be transmitted to a display device. And, the display device can display the program codes included in these programs on the second window using code blocks. The user can rearrange the positions of the displayed code blocks and create a new program through a dragging operation. Then, the newly created program may be transmitted to the robot again and executed.

Example of RC car mode: 4th function

16 is an exemplary configuration diagram of a robot system performing an RC car mode.

Referring to FIG. 16 , a robot system 1600 may include a robot 110 and a display device 130 .

The robot 110 includes a car-shaped body, and wheels may be disposed below the body. At least one button containing a lighting device may be disposed on the rear surface of the body, and a headlamp may be disposed on the front surface of the body. A camera may be disposed to direct the floor to one side of the robot 110, and the robot 110 may include a built-in speaker.

The robot 110 may match invisible fine patterns recognized through a camera with program codes, and may generate a program by combining these program codes. Also, the robot 110 may move the body or perform other internal functions according to the execution of the program.

The display device 130 may include a display panel. The display device 130 may display a circular plate and a manipulator movable within the circular plate on a display panel, recognize a position of the manipulator according to a user manipulation, and generate at least one program code for moving the body according to this position. . Also, the display device may transmit manipulation information corresponding to at least one program code to the robot 110 .

In addition, the robot 110 may move the body or perform other internal functions according to the manipulation information.

For a further look at the manipulators in the display device 130, reference is made to FIG. 8 again.

Referring to FIG. 8 , a manipulation unit 820 may be displayed on a screen 800 . The control means 820 may have a shape of a jog shuttle or a joystick like a game machine or a remote control of an RC car.

The manipulation means 820 may be composed of a circular plate 822 and a manipulator 824, and the circular plate 822 may indicate a range of space in which the manipulator 824 moves. And, the manipulator 824 can move within the range indicated by the circular plate 822.

The manipulator 824 can move in all directions up, down, left and right according to a user's dragging operation, and the display device can recognize the position of the manipulator 824.

The display device can know the coordinates of the origin corresponding to the center of the circular plate 822. According to the positional relationship between the manipulator 824 and the coordinates of the origin, program codes corresponding to direction control or program codes corresponding to speed control can be generated. can create For example, the display device may determine the amount of increase or decrease of the traveling speed according to the distance that the manipulator 824 is away from the origin coordinates. Also, the display device may determine the traveling direction according to an angle formed between a line segment passing through the origin coordinates—for example, a line segment extending to the right from the origin coordinates—and the manipulator 824 . And, the display device may generate a program code according to the determined value.

The screen 800 may be composed of the shape of the front of the vehicle from the driver's point of view. For example, a speed instrument panel 816 and a driving instrument panel 818 may be displayed on the screen 800 . The display device may receive the traveling speed of the body from the robot and change the display of the speed instrument panel 816 according to the traveling speed.

In order to realize the front shape of the vehicle from the driver's perspective, the vehicle windshield area 812 is displayed on the screen 800, and the robot or the rear surface 814 of the vehicle may be further displayed on the vehicle windshield area 812.

Operation buttons 802 to 810 may be further displayed on the screen 800 .

When the display device transmits user manipulation information for the first manipulation button 802 to the robot, the robot can control the operation of the headlight or taillight. When the display device transmits user operation information on the second operation button 804 to the robot, the robot may output sound effects through a speaker. When the display device transmits user operation information for the third operation button 806, the robot may start recording - a microphone may be further included in the robot. When the display device transmits user manipulation information for the fourth manipulation button 808, the robot can output an MP3 file stored in the memory through a speaker. When the display device transmits user manipulation information for the fifth manipulation button 810, a sound according to a story file may be output through a speaker.

17 is a flowchart of an operation control method for an RC car mode according to an embodiment.

Referring to FIG. 17, a circular plate and a manipulator movable within the circular plate may be displayed on the display panel of the display device (S1700).

The display device may include a display panel, a memory, a processor, a communication circuit, and the like, and the display panel may include a touch panel. The display device may display the circular plate and the manipulator on the display panel according to the operation of the processor.

And, the display device can recognize the position of the manipulator according to the user's manipulation with respect to the touch panel (S1702).

Then, the display device can generate at least one program code according to the position of the manipulator (S1704) and transmit manipulation information corresponding to the at least one program code to the robot (S1706). And, the robot can control the movement of the body according to the manipulation information (S1708).

The operation information may include a first program code and a second program code. Here, the first program code may be a program code corresponding to direction control of the robot, and the second program code may be a program code corresponding to speed control of the robot.

The display device may further display control buttons for lighting devices or headlights on the display panel. In addition, it is possible to recognize a click of such an operation button, generate a third program code for turning on or off a lighting device or a headlight according to the click, and transmit the third program code to the robot.

The robot may further include a memory for storing a music file or a sound file, and the robot may output sound by a music file or a sound file through a built-in speaker according to the movement of the body.

The display device may further display control buttons for sound effects such as horn sounds, and the robot may output sound effects through a built-in speaker according to user manipulation of the control buttons for sound effects.

The robot can store a story file about the contents of the book - a sound file in which the contents of the book are read - in memory.

The display device may receive the state of the robot through communication with the robot and output it on the screen. For example, the display device may receive the driving speed of the robot and change the display on the driving instrument panel according to the driving speed.

In addition, the display device configures the screen of the display panel in the shape of the front of the vehicle from the driver's perspective, displays the speed instrument panel and the driving instrument panel on the screen, places the circular plate at the steering wheel position, and displays the speed instrument panel and driving instrument panel according to the driving of the body. display can be changed.

Example of line tracking mode: 5th function

18 is an exemplary configuration diagram of a robot system performing a line tracking mode.

Referring to FIG. 18 , a robot system 1800 may include a robot 110 and a traveling board 900 .

A line may be disposed on the driving board 900, and invisible fine patterns may be disposed spaced apart from the line by a predetermined distance.

In addition, wheels are disposed below the body of the robot 110, a line sensor for recognizing lines is attached to be exposed to the outside of the body of the robot 110, and a camera pointing to the floor is attached to the body of the robot 110. It can be.

For a further look at the running board 900, reference is made to FIG. 9 again.

Referring to FIG. 9 , a driving surface 910 may be formed on the driving plate 900 , and a line 920 may be displayed on the driving surface 910 .

The line 920 may have a first color and have a constant thickness, and may be recognized by a line sensor of the robot.

The line 920 may be an open type in which one end is not connected to the other end, or a closed type in which one end is connected to the other end. In the case of an open type, the robot may move from one end of the line 920 to the other end using the line sensor. In the case of the closed type, the robot can move from one position on the line 920 to another using line sensors or continuously cycle along the line 920.

Buttons may be disposed on the body of the robot. The robot may start driving by recognizing manipulation of one button, and stop driving by recognizing manipulation of one button or another button.

While traveling along the line 920, the robot may sense a second color rather than the first color using a line sensor, and perform a U-turn operation to reverse the driving direction when the second color is sensed. there is. For example, when the robot travels along the line 920 and senses the first color sticker 924 having the second color, it can make a U-turn and travel in the opposite direction.

While driving along the line 920, the robot may sense a third color instead of the first color using a line sensor, and may stop driving when the third color is sensed. For example, after making a U-turn at the location where the first color sticker 924 exists, the robot may stop driving when it senses the second color sticker 922 having the third color while driving along the line 920 again.

The second or third color may be printed on a sticker that is easily detachable, such as the first color sticker 924 or the second color sticker 922, and the user may use such a sticker to arbitrarily define the line 920. A second color or a third color may be displayed at the position.

A camera for recognizing micropatterns in the robot may be coupled to one side of the body. For example, the camera may be coupled to the right side of the robot. At this time, only the first pattern sticker 932 disposed on one side of the line 920 based on the driving direction of the robot can be recognized. On the other hand, the robot can make a U-turn when recognizing the second color. As the driving direction reverses according to this U-turn, it can also recognize the second pattern sticker 930 disposed on the other side of the line 920.

The robot can perform certain internal functions after recognizing the micropattern. For example, when a fine pattern corresponds to a content file, the robot can recognize the fine pattern and reproduce the corresponding content file. Alternatively, if the fine pattern corresponds to the timer, the robot may recognize the fine pattern, stop for the time of the corresponding timer, and then run again.

The content file may be a video file, and at this time, the robot may perform control so that the video file can be reproduced in another device - for example, a display device - through communication. At this time, the video file is stored in another device, and the robot may transmit a code indicating the video file to the other device.

19 is an exemplary configuration diagram of a robot system performing an image viewing mode.

Referring to FIG. 19 , the robot 110 may recognize fine patterns 1921 to 1924 disposed on one side of the line 920 while driving along the line 920 .

Also, the robot 110 may transmit codes corresponding to the respective fine patterns 1921 to 1924 to the display device 1910 .

Also, the display device 1910 may display video content corresponding to each code on a screen.

According to this method, the user can compose a playlist of video contents and determine the playback order by arranging studers on one side of the line 920 printed with fine patterns corresponding to the video contents that the user wants to watch. there is. If repetitive playback is desired, the user can make the line 920 closed, and if necessary, place a color sticker that induces a U-turn operation to create repetition.

The code corresponding to the internal operation of the robot may be matched with the micropattern. At this time, the code corresponding to the number of repetitions may be matched so that the image content is reproduced only for a certain number of times.

The robot 110 may communicate with an intermediate device such as an artificial intelligence speaker without directly communicating with the display device 1910 . At this time, the robot 110 transmits the code corresponding to the fine pattern to the artificial intelligence speaker, and the artificial intelligence speaker can download image content from the artificial intelligence server and play it through the display device 1910. At this time, the display device 1910 is an IPTV (Internet TV), and the artificial intelligence speaker may be an artificial intelligence speaker that also serves as an IPTV terminal.

20 is a flowchart of a line tracking control method according to an embodiment.

Referring to FIG. 20 , first, a line is drawn on the running board, and invisible micropatterns may be spaced apart from the line at a predetermined distance (S2000).

Also, the robot may perform tracking while recognizing the line through the line sensor (S2002). The robot may start tracking from the point at which it starts recognizing a line, or it may start tracking by recognizing a user's manipulation of a button. Or, it can start tracking lines when a particular color is recognized.

While tracking the line, the robot may photograph a first micropattern among micropatterns through a camera and perform a first function according to a first code corresponding to the first micropattern (S2004). When the first code corresponds to audio content, the robot may output the audio content through a speaker. The robot may have a built-in speaker, and the body of the robot may have the shape of a car, an opening capable of outputting sound may be formed in a wheel-shaped part of the body, and a speaker may be disposed inside the opening.

Then, the robot may additionally track the line, take a picture of the second fine pattern, and perform the second function according to the second code corresponding to the second fine pattern (S2006). If the second code is a code corresponding to a specific operation, the robot may perform a specific operation according to the second code. For example, the robot controls on/off of a headlight or turns on a lighting device according to the second code. You can control off or stop driving for a certain period of time.

Embodiment of Emotion bookmark mode: 6th function

Programs such as programs by code cards and programs by smart codes may be matched to specific micropatterns and stored. For example, if one program is generated by a code card or smart code, the corresponding program can be recognized as one data by the robot. The robot can match and store one data with one code, and this code can be called a bookmark code.

When a program is created, the robot can store the program by matching it to a bookmark code. The bookmark code may also be matched to a specific fine pattern. When the robot recognizes the specific fine pattern, the robot can check the bookmark code corresponding to the corresponding fine pattern, and match and store the program to the bookmark code.

When the robot recognizes the fine pattern corresponding to the bookmark code through the camera, the robot can then execute a program stored in correspondence with the bookmark code.

21 is a flowchart of a control method of a robot system performing an E-motion bookmark mode.

Referring to FIG. 21, the robot system may generate a program using a code card, smart coding, or the like (S2100).

And, after entering the bookmark mode, the robot can recognize a fine pattern corresponding to the bookmark code (S2102).

Then, the robot may store the program by matching it to the bookmark code (S2104).

And, after entering the execution mode, the robot can recognize the fine pattern corresponding to the bookmark code (S2106).

Then, the robot can execute the program matched with the bookmark code (S2108).

According to the sophisticated coding of the program, the robot can express emotions like dancing, and at this time, music can be played along with the movement of the robot, so that the user can have the feeling of observing a kind of event.

The same program can be stored on several robots. For example, a program generated by smart coding can be transmitted to several robots. In addition, each robot can save a program in a bookmark code and execute the program at almost the same time. According to this method, group dancing by robots is also possible.

It is said that the robot performs event motions and expresses emotions, so this mode is also called Emotion Bookmark Code.

Several embodiments have been described above, but according to this embodiment, even a low-skilled person such as a child can create a program in a simple way. In addition, according to the present embodiment, it is possible to provide a learning means for low-skilled people such as children to learn the concept of programming and to have an interest in programming, and to have fun with low-skilled people through a robot control interface friendly to low-skilled people. You can easily control the robot. And, according to the present embodiment, everyone can perform various interesting activities using the robot.

Terms such as "comprise", "comprise" or "having" described above mean that the corresponding component may be inherent unless otherwise stated, and therefore do not exclude other components. It should be construed that it may further include other components. All terms, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs, unless defined otherwise. Commonly used terms, such as terms defined in a dictionary, should be interpreted as consistent with the meaning in the context of the related art, and unless explicitly defined in the present invention, they are not interpreted in an ideal or excessively formal meaning.

The above description is merely an example of the technical idea of the present invention, and various modifications and variations can be made to those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be construed according to the claims below, and all technical ideas within the equivalent range should be construed as being included in the scope of the present invention.

Claims (5)

A display device including a display panel, displaying a plurality of code blocks on the display panel, matching program codes to each code block, and recognizing a user operation on the display panel to move the display position of the code blocks ; a plurality of code cards on which a low-visibility fine pattern and a high-visibility code mark are printed; And a robot with wheels disposed downward and a camera disposed to face the floor;
The robot matches a plurality of fine patterns recognized through the camera with program codes and combines the program codes according to a first program generated by combining the program codes or the arrangement of the code blocks in the display device. The generated second program is matched to the bookmark code and stored, and when the bookmark code fine pattern matched to the bookmark code is recognized, the wheels are operated according to the execution of the first program or the second program to move the body robot system. According to claim 1,
The first program or the second program matched to the bookmark code is transmitted to a plurality of other robots, matched to the bookmark code, and stored in each robot,
Each of the robots moves identically as the first program or the second program matched to the bookmark code is executed. According to claim 1,
A plurality of example code blocks are displayed on the first window of the screen displayed on the display panel, and some of the example code blocks are moved to the second window of the screen according to a drag operation and designated as code blocks. The robot system in which the program codes are generated with the code blocks displayed in the second window. displaying a plurality of example code blocks on a first window of a screen of a display panel;
Recognizing a drag operation and displaying some example code blocks among the plurality of example code blocks by moving them to a second window of the screen;
Recognizing some of the example code blocks moved to the second window as code blocks, and matching program codes to the code blocks;
generating a program by combining the program codes while determining an execution order of the program codes according to the arrangement of the code blocks;
matching the program to a bookmark code and storing it in a robot, and matching and storing the program to a fine pattern; and
and executing the program when the robot recognizes the fine pattern. According to claim 4,
The step of matching the program to the bookmark code and storing it in the robot, and matching the program to the fine pattern and storing it
The program matched with the bookmark code is transmitted to a plurality of other robots, matched with the bookmark code, and stored in each robot,
Executing the program when the robot recognizes the fine pattern
Coding method comprising the step of moving the same as each robot executes the program when recognizing the fine pattern.

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