WO2016155660A1

WO2016155660A1 - Physical programming instruction module and programming method and application thereof in robot field

Info

Publication number: WO2016155660A1
Application number: PCT/CN2016/078280
Authority: WO
Inventors: 赵敬双; 王志坚
Original assignee: 苏州乐派特机器人有限公司; 赵敬双
Priority date: 2015-04-02
Filing date: 2016-04-01
Publication date: 2016-10-06

Abstract

A physical programming instruction module and a programming method and an application thereof in the robot field. The method is: (1) building a running object having a main control board; (2) using physical programming instruction modules to build a logic program; (3) connecting the physical logic program to the main control board; (4) loading the program into a memory of the main control board; (5) parsing the program and detecting whether the program is correct; (6) if the program is correct, executing the program, and verifying whether the program is correctly executed; if the program is incorrect, feeding back information to an erroneous instruction module, performing correction and then returning to and continuing with step (3) until the program is correct; and (7) if the running object runs correctly, ending the process; otherwise, correcting the program, and continuing with step (3) until the running object runs correctly. By visually reflecting a program spliced by physical instruction modules to running of a running object such as a robot, kids and green hands can understand, design and correct the program more concretely.

Description

Instruction module, programming method of physical programming and its application in robot field

Related application

The application of the present invention claims to be applied for on April 2, 2015, the application number is 201510153330.9, the name is "physical programming method and its application in the field of robotics", and the application on March 11, 2016, the application number is 201610140066. The priority of the Chinese Patent Application, entitled "Instructive Modules for Physical Programming," is hereby incorporated by reference in its entirety.

Technical field

The invention belongs to the field of human-computer interaction, and particularly relates to an instruction module of physical programming, a programming method and an application thereof in the field of robots.

Background technique

In the 21st century, the formation of knowledge society driven by information technology and its impact on technological innovation are further recognized. The scientific community further reflects on the understanding of innovation: technological innovation is a process of integration of science and technology and economy, and it is technological progress and applied innovation. The double helix structure (innovative double helix) works together to produce products, and the demand-oriented, people-oriented innovation 2.0 model (Maker) under the knowledge society has received further attention. In this century, Maker will become the world leader and lead the world to a more brilliant page.

With the increasing attention of makers in contemporary China and the world, the era of universal Maker has arrived. Today in the Internet age, computers and networks have become an indispensable part of people's lives. As a maker, you must also master a basic skill, which is "programming." The program is the brain of the computer, and only master the skills of "programming" before it can participate in the process of computer innovation.

Traditional programming is usually done by typing a text language through the keyboard. This kind of programming is very inconvenient for computer beginners to understand and use. The main reason is that the grammar and complex instructions in the traditional programming language are difficult to understand and memorize, and a lot of input work is needed. It is difficult for children and novices to remember and understand the very professional knowledge of the grammar, logical relationship and program architecture of the programming language. In addition, for children who are still immature in writing, the text editing method of the program lacks intuitiveness, and children cannot use traditional programming methods to create their own programs. Graphical programming provides a viable way for children to program. It converts various programming concepts into various graphics that are displayed on the screen. Children only need to drag various graphics to complete the whole process of programming. Physical programming is considered a branch of graphical programming. The difference from graphical programming is that the operation of the program for the program goes beyond the limitations of the computer screen. Physical programming interacts with the real thing through techniques such as touch and physical perception, and then converts the physical logic into program logic for programming. It is easier for children to create children by manipulating physical objects than directly allowing children to control computers. Throughout the process. Through the physical programming system, children can have a more intuitive understanding of the logic of the programming language. The program is no longer a boring code, but a combination of a group of images and even a set of objects. Through the splicing and combination of the objects, the children can complete the work done by the normal programming language through the keyboard input code. The characteristics of physical programming determine that it is more suitable for children to perform programming operations.

The prior art Chinese patent CN 102136208A discloses a physical programming method and system for acquiring a surface identification code of a physical programming block by an image, and then converting it into a corresponding functional semantic sequence, and the user places a physical module having an identification code in the imaging area. For simple programming, this kind of materialized programming method is still a tedious program, but it is not a good stimulating interest for children and novices. At the same time, the program can only be used in computers. The established procedures can't let children and novices open their minds to create their own, without further educational significance.

Summary of the invention

The object of the present invention is to provide a materialized programming instruction module, a programming method and an application thereof in the field of robots, so that children and novices can get rid of the tedious syntax of the programming language and better learn and understand the logic of the programming itself.

The technical solution of the present invention is: a materialized programming instruction module, the main structure comprising a casing and a circuit board disposed inside the casing, the side of the casing being provided with an interface, and the output and the input end of the circuit board are disposed in the interface. Wherein, the shape of the outer casing is a single hexagonal, octagonal or circular symmetrical structure, or a plurality of hexagonal, octagonal or circular composite structures; the circuit board is provided with a selection mechanism to satisfy parallel commands and inputs. / Output port and selection of values and variables.

Further, the parallel instruction includes a plurality of conditional instructions and a serialized execution instruction; and the corresponding selection mechanism includes one or more of a dial switch, a knob switch, and a push switch; the dial switch type The selection mechanism is a combination of a plurality of multi-selection dial switches; there are two types of knob switches, one is a multi-select switch, and the other is an 8421 code knob switch.

Further, the dial switch and the knob switch are provided with a fixed indication on the surface of each gear position, and the push switch is an “8” type dynamic indication, and the specific display number varies with the number of times of pressing.

Further, the interface has a magnetic touch type, a spring pin type, a spring type interface, and a USB interface, an RJ11, an RJ12, and an RJ45 interface.

Further, the connection mode adopts a male port on the interface structure of the signal output, and the interface structure of the signal input adopts a female port; in addition, each physical module has at least one male port, and the female port may have one or more. Some assignments or conditions on the module can also have no female port.

A method of materialized programming, the steps of which are:

(1) Build a running object with a main control board;

(2) selecting the physical programming instruction module of the foregoing claim to construct a physical or logical connection of the physical or logical connection;

(3) connecting the physical logic program and the main control board;

(4) Start the loading program in the main control board to load the physical logic program into the memory of the main control board;

(5) The CPU in the main control board parses and detects whether the physical logic program is correct;

(6) If the program is correct, execute the program and verify that the program is executed correctly; if the program is not correct, feedback the information to the wrong physical programming command module, modify the constructed physical logic program, and return to the above step (3) Continue until it is correct;

(7) If the running object runs correctly, the task ends; otherwise, move and replace the physical programming command module to modify the program, continue with the above step (3) until the running object runs correctly.

Further, the instruction module internally includes a single-chip computer storing a unique ID identified by the instruction module through the memory; or the instruction module internally includes a chip and is stored by the dial switch as a unique ID identified by the instruction module. .

Further, the loading program described in the step (4) starts from the first connected physical programming instruction module by the circuit signal, sequentially reads the unique ID in each physical programming instruction module, and simultaneously reads the physical object. The linear or networked connection relationship of the programming instruction module is stored in the memory in the main control board.

Further, the manner in which the main control board returns information to the wrong instruction module in step (6) is preferably: setting an LED light on the instruction module, and outputting a signal after the main control board detects an error, and the LED on the corresponding instruction module The light will light up.

The application steps of the aforementioned programming method of materialized programming in the field of robotics are:

(1) conceiving and designing the robot to be built;

(2) Build a robot, the main body of the robot comprises a main control board, a sensor and an audible lighting module;

(3) selecting a physical programming instruction module to construct a physical or logical connection of the physical logic program according to the robot conceived in the step (1);

(4) connecting the constructed physical logic program with the main control board in the robot body;

(5) Start the loading program in the main control board to download the physical logic program to the main control board memory;

(6) Robot operation: The main control board parses and controls the robot to execute the above program.

Compared with the prior art, the present invention has the following advantages and technical effects:

1. The present invention simplifies the complex syntax of a conventional programming language into a splicing of programming instruction modules, enabling children and novices to easily learn programming.

2. The invention controls the operation of the robot through physical programming, so that children and novices can more intuitively understand the program, design the program, and modify the program.

3. Physical programming itself completes the programming process in an open space, so multiple users can collaborate on the same task in an open space.

4. The invention can be applied in the field of robots and supports most sensors. Children can understand the application principle of various sensors by operating sensors, which greatly increases the interest of programming.

5. The polygonal symmetrical structure of the physical instruction module of the present invention is very reasonable, the outer casing is easy to process, and the module structure is assembled quickly.

6. The interface of the physical instruction module of the invention is reliable, and the modules can be connected or disassembled at random during programming to meet various requirements of programming.

7. The physical instruction module of the present invention has a parallel selection mechanism, can implement a multi-purpose, reduce the cost, reduce the number of modules used for programming, and make the programming flexible and compact.

DRAWINGS

1 is a schematic diagram of an instruction module according to the present invention;

2 is an exemplary view of the shape of the outer casing of the command module of the present invention; FIG. 2a - single octagonal structure, FIG. 2b - double octagonal combined structure, FIG. 2c - three octagonal combined structure, Fig. 2d - four eight sides Shape combination mechanism;

3 is a schematic diagram of a dial switch of the command module according to the present invention;

4 is a schematic diagram of a rotary switch of the instruction module according to the present invention;

5 is a schematic diagram of a push switch of the instruction module according to the present invention;

6 is a schematic diagram of an instruction module of a plurality of selection switch combinations according to the present invention;

7, FIG. 9, and FIG. 10 are schematic diagrams of a single octagonal structure instruction module according to the present invention;

8 is a schematic diagram of an internal circuit board of a single octagonal structure command module according to the present invention;

11 is a schematic diagram of a single octagonal structure opening/closing output port instruction module according to the present invention;

12 is a schematic diagram of a parallel selection mechanism of a delay type instruction module of the single octagonal structure of the present invention;

13 and FIG. 14 are schematic diagrams of instruction modules of the double octagon combined structure according to the present invention;

15 is a schematic diagram of an internal circuit board of a double octagon combined structure instruction module according to the present invention;

16 is a schematic diagram of a repeating instruction module of the double octagon combined structure according to the present invention;

17 is a schematic diagram of a parallel selection mechanism of a motor running module command of the double octagonal combined structure according to the present invention;

Figure 18 is a schematic diagram of the connection between the instruction modules of the present invention;

19 is a flowchart of a physical programming method according to the present invention;

20 is a schematic diagram of a conditional instruction module according to the present invention; FIG. 20a - if the instruction is judged, FIG. 20b - repeats the instruction, and FIG. 2c - the waiting condition is satisfied;

21 is a schematic diagram of a delay type instruction module according to the present invention;

22 is a schematic diagram of a music output type instruction module according to the present invention;

23 is a schematic diagram of an instruction module dedicated to a patrol robot according to an example of the present invention; wherein FIG. 23a - the robot advances Command, Figure 23b - Robot left turn command, Figure 23c - Robot right turn command, Figure 23d - Robot back command, Figure 23e - Robot stop command;

24 is a schematic diagram of the internal instruction ID storage of the physical instruction module of the present invention; FIG. 24a is a switch mode storage instruction ID of the chip plus coding, and FIG. 24b is a mode storage instruction ID of the single chip plus the memory;

Figure 25 is a block diagram showing the relationship between an example patrol robot and a black line according to the present invention;

26 is a flow chart of a running program of an exemplary patrol robot of the present invention;

Figure 27 is a physical logic program for an exemplary patrol robot of the present invention;

28 is a structural diagram of the internal composition of the main control board of the present invention and its connection with the physical programming instruction module;

Figure 29 is a flow chart showing the working principle of the loading program of the present invention;

FIG. 30 is a flow chart showing the working principle of the main control board parsing program according to the present invention.

The meanings of the marks shown in the figure are: 1-shell, 2-circuit board, 3-parallel selection mechanism, 11-cap, 12-"male", 13-"female", 14-magnet, 21 - Output, 22-input.

detailed description

The technical solution of the present invention will be further described below with reference to specific examples and drawings. The examples are merely illustrative of the products or methods of the present invention and are intended to provide a better understanding of the present invention. It should be noted that those skilled in the art can make several improvements and modifications without departing from the technical principles of the present invention. These improvements and modifications should also be considered to fall within the scope of the present invention. . The details are as follows:

Instruction module for materialized programming:

As shown in FIG. 1, the main body structure of the instruction module of the physical programming according to the present invention comprises: a casing 1 and a circuit board 2 disposed inside the casing, and an interface is provided on a side of the casing ("public mouth" 12, "female port" 13 ), the output and input of the board are set in the interface. The shape of the outer casing of the above instruction module is generally polygonal or circular, preferably hexagonal or octagonal symmetrical structure, which is convenient for processing and programming connection; as shown in FIG. 2a to FIG. 2d, the shape of the outer casing of the instruction module can be set individually. The angle shape may also be a combined structure such as double octagon or multi-octagon; and the connection between the interface and the interface is mainly to ensure electrical connection, and the connection manner is "magnetic touch type", "spring pin type", "spring piece type", The interface can also use the USB interface, RJ11, RJ12, RJ45 and other interfaces that can ensure electrical connection and structural connection, but from the aspects of appearance, firmness and reliability, etc., it is preferably "magnetic touch type", "spring pin type", "shrap-type" connection; among them, the interface structure of the signal output usually adopts "public port", and the interface structure of the signal input usually adopts "female port"; according to the type and specific content of the instruction represented by the physical module, the physical module There are many interface forms, but each physical module has at least one "public port", and the "female port" can have one or more, some "assignment" or "article" The module can also have no "mother port". It should be noted that the descriptions of “public port” and “mother port” are relative and can be reversed. The focus is that there is at least one output of each physical module. The input terminal can have one or more according to the module requirements. Not even.

Further, a selection mechanism may be disposed in the foregoing instruction module to satisfy parallel command, input/output port, and selection of values and variables in the instruction module. The parallel instruction includes selection of a plurality of conditional instructions, serialization of execution instruction selection (such as delay time, forward time, back time, utterance time, action time, etc.); as shown in FIG. 3 to FIG. 5, selection of an instruction module The mechanism has: a dial switch, a knob switch, a push switch, and the like. However, when there are more choices of commands, the "dial switch" type selection mechanism may be a combination of "dial switches": as shown in Fig. 3a, a vertical row of 2 selection 1 dial switches and a horizontal row The combination of the 4 selection and 1 dial switch can select one of the horizontal 1, 2, 3, 4 commands when the vertical shift switch is turned to the top. If the vertical switch is turned to the bottom, then Choose one of 5, 6, 7, 8; as shown in Figure 3b, it is a combination of a vertical 3-switch 1 switch and a horizontal 3-to-1 switch. The command selection is 9 Kinds, and so on, there are 10, 12, and 15 types of instructions. Among them, the knob switch can be a multi-select switch, and the other is the 8421 code rotary switch (as shown in Figure 4). In addition, as shown in FIG. 6, the selection mechanism of one command module may have multiple "dial switches", "knob switches" or "push switches", or may be "dial switches", "knob switches", "presses" Two or three combinations of switches. Preferably, the dial switch and the knob switch are provided with a fixed indication on the surface of each gear position, and the push switch is an "8" type dynamic indication, and the specific display number varies with the number of pressing, as shown in FIG. The physical module has two digital tubes and two push switches. Each switch has two buttons, the up button is the up number, the down button is the down number, and the two sides are pressed to select the command.

Example 1

7 to FIG. 10 are diagrams showing an example of a single octagonal command module having a housing 1 in which a circuit board 2 is placed, and a parallel selection mechanism 3 disposed on the circuit board 2, and a housing 11 has a switch cap 11 that matches it. The two sides of the outer casing 1 are provided with an interface, and the interface of the module mainly adopts a "spring pin type" supplemented by a "magnetic touch type" connection mode, and the interface is further divided into a "public mouth" 12 and a "female port" 13, the "public The port "12" is connected to the output end 21 of the circuit board 2, and the "female port" 13 is connected to the input end 22 of the circuit board 2. The connection between the "public port" and the "female port" can ensure the electrical connection between the command modules. In addition, a magnetic piece 14 is provided on both sides of the "public port" and the "female port" for sucking and fixing the connection of the module.

The circuit board 2 is further provided with a selection mechanism 3. In the embodiment, the selection mechanism 3 is a dial switch. FIG. 11 is a schematic diagram of a selection mechanism of an open/close output port command of a single octagonal structure, which has four shift switches of Out1, Out2, Out3, and Out4, and each has two upper and lower gears, and the upward dialing indicates that the port is opened. To dial down, the port is closed. The position of the dial as shown in Figure 11 indicates that the four output ports Out, Out2, Out3, and Out4 are simultaneously turned on to output a signal. FIG. 12 is a schematic diagram of a selection mechanism of a delay type instruction of a single octagonal structure, which has a shift switch of four stages of 0.1 s, 0.5 s, 1 s, and 5 s. When the switch is set to 0.1 s, the command is The module represents an instruction with a delay of 0.1 s. By analogy, there can be multiple output port parallel command modules, a variety of music parallel command modules, multiple input port parallel command modules, and so on are the same principle.

Example 2

13 to FIG. 15 are diagrams showing an example of an instruction module of the double octagonal combined structure according to the present invention. The module has a casing 1 in which the circuit board 2 is placed, and the parallel selection mechanism 3 is disposed on the circuit board 2. Upper, the housing has a switch cap 11 that matches it. The side of the outer casing 1 is provided with an interface. This embodiment mainly adopts a "spring pin type" supplemented by a "magnetic touch type" connection, and the interface is further divided into a "public mouth" 12 and a "female port" 13, and the "public mouth" 12 Connected to the output end 21 of the circuit board 2, the "female port" 13 is connected to the input end 22 of the circuit board 2, and the connection between the "public port" and the "female port" can ensure the electrical connection between the command modules; A magnetic piece 14 is provided on both sides of the "public mouth" and the "female port" for sucking and fixing the connection of the module. As can be seen from the above, each physical module has at least one "public port", and the "female port" may have one or more. Some "assignment" or "conditional" modules may also have no "mother port", and Figures 13-15 The illustrated double octagon command module has three "female ports".

The circuit board 2 is provided with a selection mechanism 3, although only one is shown in the figure, but this is only an example. It is to be understood that there is not only one selection mechanism, but it may be provided with a plurality of selection mechanisms as needed. Figure 16 is a schematic diagram of the repeated instruction module of the octagonal combined structure, which can select the number of cycles through the middle dial switch, the arrow shown is the direction of the command signal output/input; for example, the dial shown in the figure The position indicates that this command module has an infinite loop function. FIG. 17 is a schematic diagram of a selection mechanism of a motor running module command of a double octagonal combined structure. The dialing of FIG. 15 indicates that both the left and right motors of the running object are in a high-speed running in a positive direction.

As shown in FIG. 18, when the instruction module in the above embodiment is used, each instruction module is connected in the manner shown in the figure.

It can be seen from the above that the symmetrical structure of the physical programming instruction module of the invention is reasonable, the shell processing is convenient, the module structure is assembled quickly, the interface connection mode is reliable, and the modules can be freely and quickly connected or disassembled during programming to meet various programming requirements. Claim.

The programming method of material programming and its application in the field of robotics:

FIG. 19 is a flowchart of a physical programming method according to the present invention, and the specific steps are as follows:

(1) Build a running object with a main control board, which may be a running robot, a sweeping robot, etc., which can implement any running object of the program.

As shown in FIG. 27, the main control board has a CPU, a memory, and an input/output port therein, and has a function of loading a program of the physical programming module, analyzing the program, and executing the program. Among them, In interface is used to connect various inputs, such as sensors (buttons, photoelectric sensors, sound sensors, infrared sensors, ultrasonic sensors, etc.), music U disk, robot, motor, etc.; Motor interface is used to connect DC motor; Out interface Used to connect various outputs such as LED lights, speakers, servos, relays, networks, etc.

(2) selecting the appropriate physical programming instruction module to construct a linear or networked physical logic program;

The programming instructions include conditional control instructions, delay type instructions, sensor type instructions, and other instructions. As shown in Figure 20 Shown as conditional control class instructions, which in turn include:

Figure 20a is the following instruction if the judgment command: the dial position is indicated in the figure, if the In1 input port has a signal, the condition is satisfied, the next instruction whose execution condition is satisfied, otherwise the condition is not satisfied, and the execution condition is not satisfied;

Figure 20b is a repeated instruction: the dial switch in the figure can select the number of cycles, when the number of cycles is satisfied, the condition is satisfied, the next instruction that the execution condition is satisfied, otherwise, the loop condition is jumped out;

Figure 20c is a wait condition fulfillment instruction: the wait condition satisfaction instruction can be used in conjunction with the above conditional instruction, and waits until the In1 input port has a signal input, and continues to execute the next instruction;

Figure 21 is a schematic diagram of the delay command: Figure 21a is a schematic diagram of the instruction module with a delay of X seconds A. The delay time value can be selected by the dial switch for 0.1s, 0.5s, 1s, 5s; Figure 21b is the delay X seconds B Schematic diagram of the command module, the delay time value can be selected by the dial switch for 0.01s, 0.05s, 0.031s, 0.05s. 22 is a schematic diagram of a music-like instruction module: FIG. 22a is a music ringing command module, and has four music selections of greeting, alarm, joy, and robot dance. The instruction can control the running object to output music, and the music stop instruction is relatively Module (Figure 22b)

However, there are other extended instructions depending on the actual programming needs. For example, according to the characteristics of the running robot, a robot-specific running command is required, as shown in Figure 25:

Robot advance command (Fig. 23a): The robot advances at a fixed speed set by the system. When you are done, then execute the next instruction.

Robot left turn command (Fig. 23b): The robot turns left at a fixed speed set by the system. When you are done, then execute the next instruction.

Robot right turn command (Fig. 23c): The robot turns right at the fixed speed set by the system. After the completion, the next command is executed.

Robot back command (Fig. 23d): The robot moves backward at a fixed speed set by the system. When you are done, then execute the next instruction.

Robot stop command (Fig. 23e): The robot stops. When you are done, then execute the next instruction.

The physicalized programming instruction module (shown in FIG. 1 to FIG. 18) of the above-mentioned programming instruction materialization, the foregoing modularizing the instructions, facilitates the subsequent understanding and use of the physical programming instruction module. In addition, each physical programming instruction module internally contains a single chip or a chip, and each instruction module stores a unique ID identified by each instruction module through a dial switch or a memory. The internal ID storage principle of the module is as shown in FIG. 24: Figure 24a is a chip-encoded switching mode, storing the unique ID of the programming building block; Figure 24b is a single-chip plus memory, using EEPROM memory to store the unique ID of the programming block module.

(3) connecting the physical logic program and the main control board;

(4) Figure 28 shows the connection between the physical logic program and the main control board and the internal functional structure of the main control board. The main control board is connected to the first physical programming module of the physical logic program. Start the loader in the main control board to turn the materialization logic The program is loaded into the memory of the main control board;

The loading program is located in the main control module. When the loading button is pressed, the loading program in the main control board is started, and then the loading program passes the circuit signal, starting from the first connected physical programming module, and sequentially reading each one. The ID of the programming instruction module and its connection order are stored, and the ID network connection relationship of the read physical programming module is stored in the CPU memory. Figure 28 is a flow chart of the working principle of the loading program. The working principle is as follows: 1 read the unique ID in the first module; 2 issue the instructions in turn to select each port in the first module as the next step to read. Object, and read the unique ID of the next module corresponding to each port; 3 according to the method of the previous step, sequentially read the unique ID of each module connected to the next level through the recursive algorithm until all the connected ones are read The unique ID of the module.

(5) The CPU in the main control board parses the program and determines whether the program is correct;

As shown in FIG. 30, the CPU of the main control board recognizes the instruction ID loaded in the memory and executes the program logic according to each instruction.

(6) If the program is correct, execute the program and verify that the program is executed correctly; otherwise, the red LED of the physical programming command module corresponding to the error will light up, modify the constructed physical logic program, and return to the above steps. (3) continue until it is correct;

(7) If the running object runs correctly, the task ends; otherwise, move and replace the physical programming command module to modify the program and continue with the above step (3) until the running object runs correctly.

In addition, the above-described physical programming method of the present invention can be applied to the field of robots, and is further explained below with reference to an example patrol robot (for example, a robot walking along a black line):

(1) Conception and design The patrol robot to be built: As shown in Fig. 25, in the movement of the robot along the black line, there are five situations between the robot and the black line, namely: the robot is completely online, and the robot is left. The robot is right-biased, the robot is completely left-biased, and the robot is completely right-handed. It needs to be programmed according to different situations.

(2) Build a patrol robot, built-in main control board and infrared sensor: To realize a robot walking along the black line, you need to install two infrared sensors under the robot, two left and right, just riding on the black line. It is used to detect whether there is a black line. If there is a black line, the feedback is 1 and if there is no feedback, the feedback signal is 0. The main control board of the patrol robot has two input ports, and the left side infrared ray is connected to the In1 input port of the main control board. Infrared is connected to the In2 input of the main control board.

(3) According to the characteristics of the patrol robot, select the appropriate physical programming command module to build the logic program;

According to the characteristics of the robot along the black line, in order to keep it walking in the black line, the infrared sensor of the equipment and the action of the robot have a logical relationship as shown in Fig. 26: when the robot moves along the black line, when the left side of the robot detects black When the line is detected, the black line is also detected on the right side, then it stops returning and re-detects the left side infrared ray. If not, it turns left and returns to re-detect the left side. When the left side of the robot does not detect the black line, the right side detects the black line and turns right. Return to re-detect the left side, if not, go forward and return to re-detect the left side; this logical relationship enables the robot to walk along the black line.

According to this logical relationship, it is necessary to select a suitable physical instruction module (the execution instruction and condition of the patrol robot) Orders, loop instructions, etc., through the instruction module to splicing to build the program, as shown in Figure 27, the physical instruction module built together is the physical logic program of the patrol robot, wherein if the 1 conditional instruction module is to In1 The signal of the sensor 1 on the input port is judged. If there is a signal, the condition is satisfied, and the execution condition satisfies the next instruction of the interface. Otherwise, the execution condition does not satisfy the next instruction of the interface; if the 2 conditional instruction module is the sensor on the input port of the In1 The signal of 2 is judged. If there is a signal, the condition is satisfied, and the execution condition satisfies the next instruction of the interface. Otherwise, the execution condition does not satisfy the next instruction of the interface.

(4) connecting the physical logic program and the main control board in the patrol robot, starting the loading program in the main control board to download the program to the memory of the main control board;

As shown in Figure 28, the first command module is connected to the main control board, and the load program is located in the main control module. When the load button is pressed, the system starts the load program, and then loads the program through the circuit signal from the first connection. The physical programming instruction module starts, sequentially reads the ID in each instruction module, and stores the network connection relationship of the read physical programming instruction module into the CPU memory. The following table shows the correspondence between ID and instructions:

(5) Robot operation: The CPU in the main control board recognizes the instruction ID loaded in the memory and controls the robot to execute the above program.

The above-mentioned patrol robot is only a simple typical example. According to the technical solution of the present invention, more and more complex physical instruction modules can be used to build a larger physical materialization program.

Claims

The instruction module of the materialized programming is characterized in that: the main structure of the module comprises a casing and a circuit board placed inside the casing, and an interface is arranged on a side of the casing, and an output and an input end of the circuit board are disposed in the interface.
The instruction module of the materialized programming according to claim 1, wherein the outer casing has a single hexagonal, octagonal or circular symmetrical structure, or a plurality of hexagonal, octagonal or circular combinations. structure.
The instruction module of the materialized programming according to claim 1 or 2, wherein the circuit board is provided with a selection mechanism for satisfying parallel commands, input/output ports, and selection of values and variables.
The instruction module of the physical programming according to claim 3, wherein the parallel instruction comprises a plurality of conditional instructions and a serialized execution instruction; the selection mechanism comprises a dial switch, a knob switch and a push switch. One or more of the ways.
The instruction module of the materialized programming according to claim 4, wherein the dial switch type selection mechanism is a combination of a plurality of multiple selected ones.
The instruction module of the materialized programming according to claim 4, wherein the rotary switch has two types, one is a multi-select switch, and the other is an 8421 coded rotary switch.
The instruction module of the materialized programming according to claim 4, wherein the dial switch and the knob switch are provided with a fixed indication on the surface of each gear position, and the push switch is "8". The dynamic indication indicates that the specific display number varies with the number of presses.
The instruction module of the materialized programming according to claim 1, wherein the interface has a magnetic touch type, a spring pin type, a spring type interface, and a USB interface, an RJ11, an RJ12, and an RJ45 interface.
The instruction module of the materialized programming according to claim 8, wherein the connection mode adopts a male port on the interface structure of the signal output, and the interface structure of the signal input adopts a female port.
The instruction module of the materialized programming according to claim 9, wherein each physical module has at least one male port, and the female port may have one or more, and some of the assigned or conditionally the modules may also have no female port.
A programming method of materialized programming, characterized in that the steps are:

(1) Build a running object with a main control board;

(2) selecting the physical programming instruction module according to any one of claims 1 to 10 to construct a physical or logical connection of the physical or logical connection;

(3) connecting the physical logic program and the main control board;

(4) Start the loading program in the main control board to load the physical logic program into the memory of the main control board;

(5) The CPU in the main control board parses and detects whether the physical logic program is correct;

(6) If the program is correct, execute the program and verify that the program is executed correctly; if the program is incorrect, then The wrong physical programming instruction module feedback information, modify the constructed physical logic program, return to the above step (3) to continue until it is correct;

(7) If the running object runs correctly, the task ends; otherwise, move and replace the physical programming command module to modify the program, continue with the above step (3) until the running object runs correctly.
The programming method of the materialized programming according to claim 11, wherein the instruction module internally comprises a single-chip computer storing, by means of a memory, a unique ID identified by the instruction module; or the instruction module internally contains The chip is stored by the dial switch as a unique ID identified by the command module.
A programming method of physical programming according to claim 11, wherein the loading program of step (4) sequentially reads each of the first connected physical programming instruction modules by a circuit signal. The unique ID in the physical programming instruction module stores the linear or network connection relationship of the read physical programming instruction module into the memory in the main control board.
A programming method of physical programming according to claim 11, wherein the manner in which the main control board feeds back information to the wrong instruction module in step (6) is preferably: setting an LED light on the instruction module, the main When the control board detects an error and outputs a signal, the LED on the corresponding command module will light up.
The application of the programming method of the materialized programming according to any one of claims 11 to 14 in the field of robots, characterized in that the application steps are:

(1) conceiving and designing the robot to be built;

(2) Build a robot, the main body of the robot comprises a main control board, a sensor and an audible lighting module;

(3) selecting a physical programming instruction module to construct a physical or logical connection of the physical logic program according to the robot conceived in the step (1);

(4) connecting the constructed physical logic program with the main control board in the robot body;

(5) Start the loading program in the main control board to download the physical logic program to the main control board memory;

(6) Robot operation: The main control board parses and controls the robot to execute the above program.