WO2019114636A1

WO2019114636A1 - Reverse programming method, system and device for programming toy, and medium

Info

Publication number: WO2019114636A1
Application number: PCT/CN2018/119915
Authority: WO
Inventors: 谢磊
Original assignee: 上海葡萄纬度科技有限公司
Priority date: 2017-12-12
Filing date: 2018-12-07
Publication date: 2019-06-20
Also published as: CN109814875A; CN108182062A

Abstract

A reverse programming method (100), wherein a controlled object generates a behavior under the action of a control instruction. The method comprises the following steps: acquiring behavior feature data characterizing a behavior of a controlled object (101); and performing analysis processing on the acquired behavior feature data to generate a corresponding visual program (102), wherein the generated visual program comprises various adjustable parameters and various program steps for controlling the controlled object in conjunction with the parameters. Further provided are a corresponding system and device, and a medium. By parsing a behavior of a controlled object and generating a visual and editable program, for example, a visual program, a user is helped to vividly and concretely perceive a behavior of an object.

Description

Method and system, device and medium for programming reverse programming

Technical field

The present invention relates to the field of programmable toys, and in particular to a method of programming a toy in reverse programming and a corresponding system, smart device, computer readable storage medium storing a computer program.

Background technique

Patent document CN102416265A discloses a transformer robot toy and method, and discloses a platform for a fan to program the robot himself. The action and shape of the robot can be freely arranged and can be controlled by multiple units. Novel, flexible, and intelligent robots.

Patent document CN1338965 discloses a microprocessor-controlled toy combination element having a more flexible programming function implemented by means of a communication device.

Patent document CN1244435 discloses a programmable toy in which a control device, which is embodied as a keyboard, issues a control command to a motor in a toy vehicle that is a controlled object by means of a microprocessor, and the execution of the control command by the motor, the toy car The corresponding behavior can be made.

Patent document CN1267228A discloses a programmable modular toy comprising a controllable toy unit and a programmable control system for controlling it by radio.

Furthermore, the patent document CN202096722U also discloses a programmable learning robot in which programming can be performed by means of card input.

Furthermore, the patent document CN105363223A also discloses an intelligent programmable building block toy based on NFC. Among them, the application of NFC (Near Field Communication) technology to building blocks toys allows children to experience the fun of programming by building blocks, which makes building blocks more than just the stitching and combination of space shapes, enhancing the attraction to children. .

What is currently known is Scratch, a simple programming tool for teenagers designed and developed by the Massachusetts Institute of Technology (MIT). The feature of this software is that the user can not know the English words or use the keyboard. The commands and parameters that make up the program are implemented by modules in the shape of a building block. Use the mouse to drag the module to the program edit bar. It mainly involves the function modules that can be used for selection and the program code thus edited. The edited program code can be executed to control an object to perform corresponding motions, interactions, morphological changes, expression changes, and corresponding sounds. In general, programming ability requires the user to have certain programming technical knowledge and logical thinking ability, which is easy for users who have not undergone system learning programming, or encounter the expected effect in the operation. I feel dull and boring, so I give up studying. Therefore, in the process of executing the edited program code for controlling a controlled object (including, for example, a solid object and a virtual object) to perform corresponding motions, interactions, morphological changes, expression changes, and corresponding sounds, The diversity of the execution environment and the changes in the specific conditions during the execution process, the controlled object is extremely easy to produce an execution effect that the user is not too satisfied, or the implementation process needs to be optimized due to the high aesthetic requirements of the user, so that There is a need for a possibility that the user can make changes or further adjustments to the execution of the controlled object by means of less demanding programming techniques, such as the graphical programming environment described above.

Summary of the invention

It is therefore an object of the present invention to provide a method of programming a toy in reverse programming and a corresponding system, smart device, computer readable storage medium storing the computer program. Especially in the field of programmable toys, it is possible to provide a visually and editable program, such as a visualization program, by analyzing the behavior of a controlled object, thereby helping the user to specifically recognize the behavior of the object, thereby inspiring the user to use his own Imagination and creativity can be personally involved in programming.

A reverse programming method for programming a toy according to the present invention includes the following steps:

Causing a controlled object to produce a first action;

Obtaining behavioral feature data characterizing the first behavior;

Parsing the behavioral feature data to generate a visualization program, wherein the visualization program includes a plurality of adjustable parameters and a plurality of program steps for combining the parameters to control the controlled object;

Providing a visual program adjustment interface for the user to adjust the parameters and/or the program steps;

Receiving adjustments by the user to the parameters and/or the program steps to generate an updated visualization program;

Applying the updated visualization program to the controlled object causes the controlled object to generate a second behavior.

Preferably, the method comprises the following steps:

The program segment is generated according to part or all of the program steps that are continuously executed; wherein the visualization program adjustment interface includes a program segment adjustment interface for the user to adjust parameters and/or program steps in the program segment.

Preferably, the part or all of the program steps are obtained by any of the following methods:

- obtaining, in the visualization program adjustment interface, from the visualization program or the updated visualization program according to a user's operation;

Obtaining from the virtual object behavior record; wherein the virtual object behavior record refers to a virtual object corresponding to the controlled object, and performing a record of the generated behavior according to the visualization program or the updated visualization program;

- Obtained from the visualization program or the updated visualization program in accordance with the set time and space parameters.

Preferably, the step of receiving adjustment of the parameter and/or the program step by the user comprises the following steps:

Receiving any one or any of the following operations of the user on the program segment:

-Adjustment;

-combination;

- Reuse.

Preferably, the controlled object is a physical object or a virtual object;

Behavior characteristic data of the physical object, including sensor data acquired by one or more sensors and/or user operation data for the physical object;

The behavioral feature data of the virtual object includes data collected by a software development kit from a software carrier of the virtual object.

Preferably, the step of acquiring the behavior characteristic data characterizing the first behavior is performed continuously or by a triggering manner.

Preferably, the generated respective visualization program includes different kinds and/or different numbers of code blocks based on different controlled objects.

Preferably, in the step of parsing the behavior characteristic data to generate a visualization program, corresponding different algorithms are adopted according to different controlled objects.

Preferably, in the step of receiving the adjustment of the parameter and/or the program step by the user to generate an updated visualization program, the method is implemented manually or by a supervised learning algorithm of machine learning.

Preferably, the program steps are stored in a sorted manner based on different controlled objects prior to the step of generating an updated visualization program.

A reverse programming system for programming a toy according to the present invention includes the following modules:

a first behavior generating module: causing a controlled object to generate a first behavior;

a feature data obtaining module: acquiring behavior characteristic data representing the first behavior;

a parsing module: parsing the behavioral feature data to generate a visualization program, wherein the visualization program includes a plurality of adjustable parameters and a plurality of program steps for combining the parameters to control the controlled object;

Interface module: providing a visual program adjustment interface for the user to adjust the parameters and/or the program steps;

a visualization module: receiving an adjustment of the parameter and/or the program step by a user, and generating an updated visualization program;

The second behavior generating module: applying the updated visualization program to the controlled object, causing the controlled object to generate a second behavior.

Preferably, the following modules are included:

The program fragment generation module: generates a program segment according to part or all of the program steps that are continuously executed; wherein the visualization program adjustment interface includes a program segment adjustment interface for the user to adjust parameters and/or program steps in the program segment.

Preferably, the manner of receiving the adjustment of the parameter and/or the program step by the user includes the following manner:

-Adjustment;

-combination;

- Reuse.

Preferably, the controlled object is a physical object or a virtual object;

Preferably, the manner of obtaining the behavior characteristic data representing the first behavior is performed continuously or by a triggering manner.

Preferably, in the manner of parsing the behavior characteristic data to generate a visualization program, corresponding different algorithms are adopted according to different controlled objects.

Preferably, in the manner in which the receiving user adjusts the parameter and/or the program step to generate an updated visualization program, the method is implemented manually or by a supervised learning algorithm of machine learning.

Preferably, the program steps are stored hierarchically based on different controlled objects prior to said generating the updated visualization program.

According to the present invention, there is provided a computer readable storage medium storing a computer program, the computer program being executed by a processor to implement the step of the reverse programming method of programming a toy.

The invention provides a smart device comprising the reverse programming system of the programmed toy or the computer readable storage medium storing the computer program.

In the following, the invention and the inventive aspects of the present invention will be more specifically combed and emphasized.

According to a first aspect, the present invention provides a method of reverse programming in which a controlled object generates behavior under the action of a control command, the method comprising the steps of:

Obtaining behavioral feature data characterizing the behavior of the controlled object;

The acquired behavioral feature data is analyzed to generate a corresponding visualization program, wherein the generated visualization program includes respective adjustable parameters and respective program steps for combining the parameters to control the controlled object.

The idea of the method according to the first aspect of the present invention is to re-interpret the actual behavior of the controlled object generated by the control instruction in combination with the specific execution environment in a reverse thinking and reverse operation manner. Corresponding visualization program, which is visual, vivid and easy to understand for users who have not undergone system learning programming, the visualization program may include one or more adjustable parameters and one or more for controlling the controlled object Program steps.

Here, a controlled object can be understood as a physical object or a virtual object that can generate a specific behavior under the action of a corresponding control command in the field of programmable toys. The control instructions can be understood as any executable program or sequence of programs that are transmitted to a controlled object by wired and/or wireless communication and that cause the controlled object to produce a particular behavior. In particular, the control command can be a visualization program or a sequence of programs that can be edited and executed by the controlled object. The physical objects described herein may include, for example, toy robots, toy cars, dolls, toy aircrafts, etc., all of which may receive control instructions in wired and/or wireless communication and generate specific behavior by executing these control instructions. Here, the behavior of the controlled object can be understood to include athletic behavior (such as toy vehicles), motion behavior (such as Transformers), expression behavior (such as dolls), and the like.

Advantageously, the method according to the first aspect of the invention may further comprise: adaptively adjusting said parameters and/or modifying said program steps to generate an updated visualization program; using said updated visualization program for said The control object determines whether the updated visualization program needs to be modified again according to the result of the execution of the controlled object. Therefore, after the actual behavior of the controlled object generated by combining the specific execution environment under the action of the control instruction is re-parsed into a corresponding visualization program in a manner of obtaining feedback through actual application, the visualization program is included for the visualization program. One or more adjustable parameters and one or more program steps for controlling the controlled object are adjusted as needed to implement an update or modification of the visualized program generated after the parsing, and then by updating or modifying The visualization program is reused for the controlled object, and the effect of updating or modifying is fed back according to the result of the application, thereby realizing the optimal adjustment of the visualization program. It also has the advantage that due to the above-mentioned many advantages of the graphical programming environment, it is naturally the preferred way and programming environment for the user to participate in programming.

Advantageously, said step of obtaining behavioral feature data characterizing said controlled object behavior may be continued. This can be understood as the step of receiving a control command from the controlled object and starting the act by executing the control command can be ongoing. The advantage is that the behavior of the controlled object under the control command can be monitored comprehensively, so that the behavior of the controlled object can be monitored at any time, especially when there is a sudden or unexpected situation in the execution process.

Advantageously, said step of obtaining behavioral feature data characterizing said controlled object behavior can be implemented by means of a trigger. It can be understood that the step of obtaining behavioral feature data characterizing the behavior of the controlled object can be selectively performed according to the user's wishes as needed, such as by a triggering method. This means that the process of obtaining the behavioral feature data of the controlled object is not automatically run, and has a clear starting point and an ending point, for example, in a specific implementation, such as one or two entities or virtual button control, such as Clicking the Start button indicates the start and clicking the End button indicates the end of the process. Naturally any other way to achieve the same function can be considered.

Advantageously, where the controlled object is a physical object, the behavioral feature data may comprise sensor data acquired by one or more sensors and/or automatically recorded user operational data. The one or more sensors described herein may be understood to include sensors for detecting a specific physical quantity, such as a speed sensor, an acceleration sensor, a rotational speed sensor, a displacement sensor, a pitch, installed inside the controlled object and/or outside the controlled object. Sensors, gyroscopes, etc. User operational data may typically include, for example, acceleration, deceleration, left turn, right turn, etc., and the corresponding degree of operational action.

Generally, when the controlled object is a physical object, the behavior analysis of the controlled object is generally implemented by comprehensively considering sensor data and user operation data of the entity controlled object during execution of the corresponding control command. It should be clarified here that the reason why the sensor data and the user operation data are used in the case of a physical object to comprehensively reflect the behavior of the physical object in order to reflect its actual behavior is because the data of the contrast sensor is used, such as the data of the acceleration sensor. The user operates data such as acceleration and deceleration data, and can consider the difference between the expected value preset by the operation data and the actual parameter embodied by the sensor, thereby knowing the actual behavior of the object learned by the sensor and the desired operation through the user operation data. Whether there is a difference between the behaviors of the objects, so as to know whether there is an abnormality in the behavior of the object, thereby judging whether a calibration strategy such as a calibration algorithm is to be introduced. For example, if the controlled object is a toy car that moves on the ground, different friction coefficients, obstacles, and even wind conditions based on the ground may cause differences in the process of executing the user's operational data. Of course, there should be similar situations in the physical quantities detected by other sensors.

Advantageously, where the controlled object is a virtual object, the behavioral feature data may comprise data collected by a Software Development Kit (SDK) from a software carrier of the virtual object. Here, the data collection point is usually set in accordance with the behavior of the virtual object. For example, when the controlled object is a racing game running on a tablet computer, the behavioral characteristic data of the virtual object mainly includes related parameters and data related to the virtual rocker, the throttle, the brake, and the data to be collected is A software development kit (SDK) that accesses data acquisition during game development to set up data collection points for these operations.

Advantageously, said generated respective visualization programs may comprise different kinds and/or different numbers of code blocks based on different controlled objects. Wherein, the code block may include a logic code block and a behavior code block. Here, a logical code block can be understood as a code block such as a loop, a jump, a comparison judgment, and the like; and a behavior code block can be understood as a code block that controls the behavior of a controlled object such as a motion or an action.

Advantageously, in the analysis processing of the acquired behavior feature data to generate a corresponding visualization program, corresponding different algorithms may be adopted according to different controlled objects. For example, in the case that the controlled object is a toy car, in the process of analyzing and analyzing the behavior characteristic data of the toy car, the corresponding data acquired mainly includes speed (for example, a parameter range of 0-100) and a direction (the parameter range is 0, 1, -1, where 0 means no change, 1 means left turn of relative position, -1 means right turn of relative position), angle (parameter range -180 degrees - 180 degrees, relative position), etc. In the case of considering all of the aforementioned toy car related data, it is converted into one or more sets of visualization programs or code blocks according to a preset rule. According to the above example, the so-called preset rules can be as shown in Table 1 below:

行为behavior	速度speed	方向direction	角度angle
直行straight	大于0Greater than 0	00	00
左转Turn left	大于0Greater than 0	11	范围-175至0Range -175 to 0
右转Turn right	大于0Greater than 0	-1-1	范围0至175Range 0 to 175
倒退fall back	大于0Greater than 0	00	范围176至180、-176至-179Range 176 to 180, -176 to -179
停止stop	等于0Equal to 0	00	00

Table 1

Advantageously, this is done manually in the step of adjusting the parameters and/or modifying the program steps to generate an updated visualization program. This can be understood as: in this process, the user can freely adjust the corresponding parameters according to his own wishes, such as increasing or decreasing the value of the parameter (such as speed), changing its symbol (such as direction), and freely modifying the The steps of the program, such as adding or deleting one or more program steps. The advantage is that it can fully mobilize the user's enthusiasm and stimulate the user's creativity, participate in the process of programming, enjoy the fun, and create a unique sequence of programs or programs that can be saved by other users after saving. use.

Advantageously, the step of adjusting the parameters and/or modifying the program steps to generate an updated visualization program is implemented by a machine learning supervised learning algorithm. Because the behavior of the controlled object may have a path curve, pause, and soft motion expression, the supervised learning algorithm through machine learning can automatically set correct and perfect behavior rules for the specified object, thus forming the behavior of the controlled object. The data model, based on this model, optimizes the segment of the object's behavior selected by the user, automatically adjusts the parameters to make it conform to the rules and tends to be perfect.

Advantageously, the program steps are stored hierarchically based on different controlled objects prior to the step of adjusting the parameters accordingly and/or modifying the program steps to generate an updated visualization program. The program steps of one type of controlled object and another type of controlled object are stored separately, thereby facilitating identification on the one hand and preventing confusion and incorrect calls on the other hand.

Accordingly, according to a second aspect of the present invention, the present invention also provides a reverse programming system in which a controlled object generates behavior under the action of a control command, the system comprising:

An obtaining unit, configured to acquire behavior characteristic data that characterizes the behavior of the controlled object;

An analysis processing unit, configured to perform an analysis process on the acquired behavior feature data to generate a corresponding visualization program, wherein the generated visualization program includes each adjustable parameter and is used to combine the parameter to control the controlled Each program step of the object;

The acquisition unit and the analysis processing unit communicate with each other through a wired and/or wireless manner and cooperate with each other.

Advantageously, the obtaining unit may further comprise: a program updating unit for adaptively adjusting the parameter and/or modifying the program step to generate an updated visualization program; and a determining unit for visualizing the update The program is for the controlled object, and determines whether the updated visualization program needs to be modified again according to the result of the controlled object execution. Naturally, it is also conceivable that the program update unit and the decision unit do not form part of the acquisition unit and exist separately.

Advantageously, the acquisition unit and the analysis processing unit can be embodied in one piece as a single unit. Thereby, the unique unit can not only obtain the behavior characteristic data representing the behavior of the controlled object, but also can be used for analyzing and processing the acquired behavior characteristic data to generate a corresponding visualization program, and if possible, the unique The unit can also issue control commands to the corresponding controlled object.

Advantageously, the acquisition unit may be configured as a data acquisition device for acquiring sensor data from one or more sensors and/or a recording device for recording user operational data. Therefore, the obtaining unit can be implemented not only by hardware, but also by software, or a combination of the two. For example, the acquisition unit can be implemented as a smart device installed with a specific App, such as a smart phone, a tablet, a smart toy handle, and the like.

Advantageously, the analysis processing unit can be constructed as a central processor or operator in a personal computer or other type of smart device. In addition, the evaluation unit can be embodied as a cloud server or a cloud processor.

Further, according to a third aspect of the present invention, the present invention also provides a method for optimizing the behavior of a controlled object, wherein the controlled object generates the behavior under the action of a control instruction, the method comprising the following steps :

Parsing the behavior of the controlled object to generate a visualization program, wherein the generated visualization program includes respective adjustable parameters and program steps for combining the parameters to control the controlled object;

Adjusting the parameters accordingly and/or modifying the program steps to generate an updated visualization program;

The updated visualization program is used for the controlled object, and it is determined whether the updated visualization program needs to be modified again according to the result of the controlled object execution.

The idea of the method according to the third aspect of the present invention is to re-interpret the actual behavior of the controlled object generated by combining the specific execution environment under the action of the control instruction in a manner of obtaining feedback through actual application execution. After the corresponding visualization program, the one or more adjustable parameters included in the visualization program and one or more program steps for controlling the controlled object are adjusted as needed to implement the visualization program generated after the analysis Update or modify, and then re-use the updated or modified visualization program for the controlled object, and feedback the effect of the update or modification according to the result of the application, thereby achieving optimal adjustment of the visualization program.

Advantageously, the step of parsing the behavior of the controlled object to generate a visualization program can be implemented according to the method described in the first aspect above according to the invention. For details about the method shown in the first aspect, reference may be made to the above, and details are not described herein again.

Advantageously, the steps of adjusting the parameters and/or modifying the program steps to generate an updated visualization program can be implemented by manual adjustment and/or modification. This can be understood as: in this process, the user can freely adjust the corresponding parameters according to his own wishes, such as increasing or decreasing the value of the parameter (such as speed), changing its symbol (such as direction), and freely modifying the The steps of the program, such as adding or deleting one or more program steps. The advantage is that it can fully mobilize the user's enthusiasm and stimulate the user's creativity, participate in the process of programming, enjoy the fun, and create a unique sequence of programs or programs that can be saved by other users after saving. use.

Advantageously, in the step of adjusting said parameters and/or modifying said program steps, generating an updated visualization program may be implemented by a machine learning supervised learning algorithm. Because the behavior of the controlled object may have a path curve, pause, and soft motion expression, the supervised learning algorithm through machine learning can automatically set correct and perfect behavior rules for the specified object, thus forming the behavior of the controlled object. The data model, based on this model, optimizes the segment of the object's behavior selected by the user, automatically adjusts the parameters to make it conform to the rules and tends to be perfect.

Advantageously, the program steps are stored hierarchically based on different controlled objects before the parameters are adjusted accordingly and/or the program steps are modified to generate an updated visualization program. The program steps of one type of controlled object and another type of controlled object are stored separately, thereby facilitating identification on the one hand and preventing confusion and incorrect calls on the other hand.

According to a fourth aspect of the present invention, the present invention further provides a corresponding system for optimizing the behavior of a controlled object, wherein the controlled object generates the behavior under the action of a control instruction, the system comprising:

a behavior parsing unit, configured to parse a behavior of the controlled object to generate a visualization program, wherein the generated visualization program includes each adjustable parameter and a program step for combining the parameter to control the controlled object;

a program update unit for adjusting the parameter and/or modifying the program step accordingly to generate an updated visualization program;

a determining unit, configured to use the updated visualization program for the controlled object, and determine, according to the executed result of the controlled object, whether the updated visualization program needs to be modified again;

The behavior parsing unit, the program updating unit, and the judging unit may communicate with each other and cooperate with each other by wire and/or wireless.

Advantageously, the parsing unit, the program update unit and the judging unit can be integrally formed as a single unit. Thereby the unit can implement all the functions of the above three units and also includes a control command that can issue a corresponding controlled object.

Advantageously, the parsing unit may be configured to include a data acquisition device for acquiring sensor data from one or more sensors and/or a recording device and a central processor or operator that records user operational data. Therefore, the parsing unit can be implemented not only by hardware, but also by software, or a combination of the two. For example, the parsing unit can be implemented as or include a smart device installed with a specific App, such as a smart phone, a tablet, a smart toy handle, and the like. Furthermore, the parsing unit can also be embodied as a central processor or an operator in a personal computer or other type of smart device. Furthermore, the analysis processing unit can be embodied in particular as a cloud server or a cloud processor.

Advantageously, the judging unit can also be implemented not only by hardware, but also by software, or a combination of the two.

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art description will be briefly described below. Obviously, the drawings in the following description merely describe some embodiments of the invention. These drawings are not intended to be limiting of the invention, but are exemplary. among them:

1 shows an exemplary block diagram of a system 200 for reverse programming in accordance with the present invention;

Figure 2 shows a schematic view of a toy car constructed as a controlled object 201 in the system 200 of Figure 1;

FIG. 3 shows a schematic diagram of a visualization program generated by the cloud server 203 in the case of FIG. 2;

Figure 4 shows a block diagram of an exemplary structure of the acquisition unit 203 in the system 200 according to Figure 1;

A and b in Fig. 5 respectively show front and rear comparison diagrams of modifying and updating the visualization program by the program updating unit 2021 in the system 200 according to Fig. 4;

6 shows an exemplary flow chart of a method 100 for reverse programming in accordance with the present invention;

Figure 7 shows a schematic diagram of generating a program fragment by a plurality of program steps;

FIG. 8 is a schematic diagram showing manually selecting one end motion track to generate a program segment;

Fig. 9 is a diagram showing a program segment being repeatedly executed to cause a controlled object to draw a graphic.

[Correct according to Rule 91 01.02.2019]

Detailed ways

Causing a controlled object to produce a first action;

Obtaining behavioral feature data characterizing the first behavior;

The reverse programming method and system for the programming toy provided by the present invention, in the inventive concept, to facilitate learning programming skills, parsing behavior characteristic data generated by the first behavior generated by the controlled object into a plurality of program steps, This provides the user with an initial programming base object, and the user can further program based on the programming base object, such as modifying the number of executions, the execution order, etc., thereby obtaining the updated program steps, and then according to the updated program steps. Instructs the controlled object to produce a second behavior. On the one hand, an efficient programming environment is provided relative to direct programming by the user from scratch, and the programming is less difficult for children; on the other hand, in some preferred cases, the second behavior may be A part of the behavior of a behavior, that is, the second behavior is a behavioral component of the first behavior, thereby implementing program multiplexing, and the multiplexing is based on multiplexing under the premise of visualization. The following is divided into several aspects, and the main focus of the content of the present invention is initially explained. More specific content can be further implemented in combination with the specific embodiments below:

The first act is produced. It may be in a local input program of the controlled object or in a wired manner, or may be a wireless method such as a remote controller to indicate that the controlled object generates the first behavior; specifically, the program that the carrier can be programmed, or may be a graphic The means input instruction is converted into a program by the instruction transcoding technique, for example, drawing a path for the controlled object to act according to the path. It is also possible to allow recording of the behavior of the controlled object, thereby generating data information in which the first behavior is recorded. In this preferred embodiment, the controlled object is controlled by an external device of the reverse programming system of the programming toy. Behavior, the first behavior generating module or step records or replays the behavior that has occurred in real time in only one or several of the time periods to complete the recording, and the first behavior generating module or step causes the controlled object The first behavior is generated to control the time at which the behavior of the controlled object is recorded and recorded to produce the first behavior.

Characterization of the first behavior. The first behavior can be characterized according to the information in the control link of the first behavior. For example, the toy car is controlled by the remote control handle as the controlled object, and the motion behavior of the toy vehicle corresponds to the control command of the remote control handle. The composite of the control command or the plurality of control commands is mapped to a motion behavior that is mapped to the toy vehicle, such that the information in the control link of the first behavior constitutes a representation of the first behavior. For another example, by controlling the controlled object in a voice-activated manner to generate a behavior, the voice signal command under voice control constitutes a representation of the first behavior. Also for example, the process of detecting the first behavior of the controlled object by means of an acceleration sensor or the like, the detection data constitutes a representation of the first behavior. The representation of the first behavior may directly constitute the behavior characteristic data, or may be processed by the data to form the behavior characteristic data.

Analysis. Those skilled in the art can understand that the parsing is a reverse programming method, and the program steps are obtained from the programming result. Of course, different parsing algorithms can obtain different program steps, for example, the toy car is shifted forward by 2 meters, and can be resolved first. Displace 1 m forward, then 1 m forward, or resolve to shift 3 m forward and then 1 m backward. This brings flexibility and versatility to the subsequent use of reverse programming. Different program steps are different under different parsing algorithms, so that different program steps provide different difficulty in further modifying the programming. In addition to the efficient programming environment and visual program multiplexing mentioned, the present invention addresses another important purpose of reverse programming.

interface. The visual program adjustment interface can be presented in the entire display screen, that is, the entire area of the display screen is adjusted as a visual program interface, and can also be presented in a partial display screen. The content displayed therein can be not limited to the programming link.

The second act. In a specific implementation of the present invention, the user may need to resolve the reverse programming method multiple times to obtain a final satisfactory programming result. In this process of resolving reverse programming, the previous second behavior constitutes the first behavior of the latter parsing. Of course, the second behavior can be formed after the first behavior is parsed and reverse-programmed. The behavior formed by the next parsing reverse programming is referred to as the third behavior, but those skilled in the art can understand that for the next parsing reverse programming, the third behavior constitutes the second behavior, and thus It is an implementation under the concept of the present invention.

The present invention will now be described more specifically by way of preferred examples in conjunction with the accompanying drawings.

1 shows an exemplary block diagram of a system 200 for reverse programming suitable for programming a toy, in accordance with the present invention, including a controlled object 201, an acquisition unit 202, and an analysis processing unit 203, wherein the controlled object 201 generates a specific behavior under the control command, and is recorded as a first behavior, which may include athletic behavior (such as toy vehicles), motion behavior (such as Transformers), expression behavior (such as dolls), and the like. The system is described below in connection with a specific embodiment.

In this embodiment, the controlled object 201 is constructed as a toy car, and a schematic view of the toy vehicle is shown in FIG. Among them, ROBO represents a toy car, the broken line indicates its motion trajectory, and the arrow indicates the direction of motion.

According to the present invention, the obtaining unit 202 is configured to acquire behavior characteristic data characterizing the behavior of the controlled object. In this embodiment, the behavior characteristic data includes sensor data of angles, directions, and the like generated on the code wheel and the gyroscope of the sensor mounted on the toy car, and recorded user operation data. In this embodiment, the acquisition unit 202 is configured as a smartphone to which a specific App is installed. Of course, other smart devices such as a tablet computer, a smart toy handle, and the like are all conceivable. Here, the smartphone with the specific App can realize the data of the angle, the direction, and the like generated by the code wheel and the gyroscope which are installed on the toy car by wireless communication, and the recorded user operation data. User operation data such as acceleration, deceleration, left turn, right turn, and the like. In this embodiment, the wireless communication mode is implemented by using Bluetooth. Naturally, for this embodiment, other suitable wireless communication methods such as Wifi, Near Field Communication (NFC), EnOcean, Zigbee, Z-Wave, etc. are all considered. of.

According to the present invention, the analysis processing unit 203 is configured to perform analysis processing on the acquired behavior characteristic data to generate a corresponding visualization program, wherein the generated visualization program includes each adjustable parameter and is used to combine the parameters to control the received The program steps of the control object. In this embodiment, the analysis processing unit 203 is configured as a cloud server. Naturally, it is also conceivable that the analysis processing unit 203 can also be configured as a central processing unit or an arithmetic unit in a personal computer or other type of smart device.

In this embodiment, on the one hand, the smart phone with the specific App installed can issue corresponding control actions of the toy car through bluetooth control commands, such as straight line, turn, etc.; on the other hand, the smart phone can also obtain the acquired sensor data and record. The user operation data is synchronized to the cloud server via Bluetooth. Synchronizing this data to the cloud server is primarily due to data storage, synchronization, computation, and analytics processing considerations. In this embodiment, the data is synchronized to the cloud server from the smart phone (also referred to as a remote controller in this embodiment) installed with a specific App according to the principle of timing and quantification, and the synchronized data is in the cloud server. Different types are classified and stored, for example, in this embodiment, the data of the toy car is stored separately from other controlled objects such as a transformer, a remote control aircraft, etc., so that when the data is called, the data needs to be called according to the category, thereby Data that fully complies with the interface requirements can be applied to the corresponding type of controlled object or product.

In this embodiment, through the design of the particular App, there are two trigger buttons, the start and end buttons. This makes it possible to acquire sensor data and record user operation data by means of a trigger. That is to say, by pressing the start button, the App installed in the mobile phone starts to collect sensor data and record user operation data. If the end button is pressed, the end of collecting sensor data and recording user operation data, naturally any other can achieve the same function. The way is also considered. Also in other cases or in other embodiments, it is also conceivable that the process is not triggered but continues.

In this embodiment, the cloud server analyzes the synchronized behavior characteristic data including the user operation data and the sensor data to generate a corresponding visualization program. This process is implemented in a cloud server. The respective visualization programs thus generated may comprise different kinds and/or different numbers of code blocks based on different controlled objects. In this embodiment, the code block includes a logic code block and a behavior code block. Here, a logical code block can be understood as a code block such as a loop, a jump, a comparison judgment, and the like; and a behavior code block can be understood as a code block that controls the behavior of a controlled object such as a motion or an action.

FIG. 3 shows a schematic diagram of a visualization program generated by a cloud server. The program includes a plurality of code blocks and the contents thereof are: First, the program starts, and executes the code block 15 times therein, the code block representing the path of the toy car with its storage (path, ie, series, associated program commands) The set) moves clockwise for the guidance. After the loop ends, it enters the next loop, and executes the code block 25 times. The code block indicates that the stored path is used to move clockwise. After the end of the loop, the toy car stops moving.

According to the present invention, in the process of analyzing and processing the behavior characteristic data to generate a corresponding visualization program, corresponding different algorithms can be adopted according to different controlled objects. In combination with the embodiment, during the analysis and processing of the behavioral characteristic data of the toy car, the corresponding data acquired mainly includes speed (for example, a parameter range of 0-100) and a direction (a parameter range of 0, 1, -1, wherein 0 means no change, 1 means left turn of relative position, -1 means right turn of relative position), angle (parameter range -180 degrees - 180 degrees, relative position) and other variables, thus considering all the above toy cars In the case of data, it is converted into one or more sets of visualization programs or code blocks according to a preset rule.

Further, in this embodiment, a block diagram of an exemplary structure of the acquisition unit 202 in the system 200 according to Fig. 1 is shown in Fig. 4. In addition to the toy car constructed as a controlled object and the cloud server configured as an analysis processing unit, which are also shown in FIG. 4, a program update unit which is formed as a component of the acquisition unit 202 in this embodiment is also shown. 2021 and judging unit 2022. In this embodiment, the program update unit 2021 is configured to adjust the parameters accordingly and/or modify the program steps to generate an updated visualization program. In this embodiment, the program updating unit 2021 is implemented as an input and adjustment mechanism implemented by software in a specific App installed in the mobile phone, by which the corresponding parameters can be adjusted, and the program steps are modified (in this embodiment Code block). It is naturally also conceivable that the program update unit 2021 can be embodied as a physical input and/or adjustment device in a smart device such as a smart phone, tablet or gamepad, in the case of integration with specific software. The adjustment of the parameters is implemented, and the program steps (here, the blocks) are modified, that is, increased or decreased. Of course, the program update unit 2021 may also exist separately as an integral part of the acquisition unit 202.

In this embodiment, on the one hand, the user can manually modify the program steps by means of a specific app installed in the mobile phone, as shown in Figures 5a and 5b, the visualization program is performed by the program update unit 2021 in the system 200 according to Fig. 1. A modified schematic diagram is shown, in which Figure 5a represents the visualization procedure prior to modification, and Figure 5b represents the visualization procedure after modification, with the difference that the parameters of the three left-handed commands are adjusted for the toy car such that its path of operation changes. The advantage of manual modification is that it can fully mobilize the user's enthusiasm and stimulate the user's creativity, participate in the process of programming, enjoy the fun, and create a unique sequence of programs or programs that can be saved by other User reference use.

Alternatively, the step of generating an updated visualization program can also be implemented by a machine learning supervision learning algorithm. In this embodiment, since the behavior of the toy car may have an unsatisfactory path curve, pause, and not enough soft motion expression, the supervised learning algorithm through machine learning can automatically set a correct and perfect position for the toy car, thereby forming The data model of the controlled object behavior is based on this model to optimize the object behavior segment selected by the user, and automatically adjust the parameters to make it conform to the rules and tend to be perfect. On the other hand, this automatic optimization can reduce or reduce damage to the devices or equipment involved due to improper operation of the user or different surrounding environment, such as frequent acceleration, deceleration, approaching limit or even unreasonable steering may affect the power supply device. Such as the battery and the life of the actuator such as the motor.

According to the present invention, the determining unit 2022 shown in FIG. 4 is configured to use the updated visualization program for the controlled object, and cause the controlled object to generate a second behavior according to the controlled object. The result is determined to determine whether the updated visualization program needs to be modified again. In this embodiment, the determination unit 2022 can be implemented by software in a specific App installed on the smartphone. Of course, in other embodiments, any other way or means to implement the function may be considered. For example, the determining unit 2022 may not exist separately as a component of other components, such as introducing some logic determining devices or modules. Or a software function as a function of logical operation or judgment.

According to the present invention, the respective functional units or modules referred to above can communicate with each other and cooperate with each other by wire and/or wireless to implement data transmission, data sharing and synchronization.

6 shows an exemplary flow diagram of a method 100 of reverse programming in accordance with the present invention in which a controlled object produces the behavior under the control of an instruction. The method 100 includes the following steps:

a first step 101, acquiring behavior characteristic data that characterizes the behavior of the controlled object;

a second step 102, analyzing the acquired behavior feature data to generate a corresponding visualization program, wherein the generated visualization program includes each adjustable parameter and is used to combine the parameter to control the controlled object Each program step.

Here, a controlled object can be understood as a physical object and/or a virtual object that can generate a specific behavior under the action of a corresponding control command in the field of programmable toys, such as, for example, a toy car according to the above embodiments. The control instructions can be understood as any executable program or sequence of programs that are transmitted to a controlled object by wired and/or wireless communication and that cause the controlled object to produce a particular behavior. In particular, the control command can be an editable visualization program or a sequence of programs. The physical objects described herein may include, for example, toy robots, toy cars, dolls, toy aircrafts, etc., all of which may receive control instructions in wired and/or wireless communication and generate specific behavior by executing these control instructions. The specific behaviors described may include athletic behavior (such as toy vehicles), motion behavior (such as Transformers), expression behavior (such as dolls), and the like.

The present invention also provides a computer readable storage medium storing a computer program, the computer program being executed by a processor to implement the steps of the reverse programming method of the programmed toy. The computer readable storage medium may be a computer peripheral storage device, or a memory of a computer hard disk or a server, or may be a storage chip of the smart terminal. In particular, the storage of the server that stores the application in the application store.

The present invention also provides a smart device, including the reverse programming system of the programmed toy, or a computer readable storage medium storing the computer program. The smart device may be a smart phone, a smart watch, smart glasses, a VR device, a projection device, a robot, a simulated cockpit, and a controlled object itself.

The invention will now be described more specifically by way of more preferred examples/changes.

In the present invention, a program segment is generated according to part or all of the program steps that are continuously executed; wherein the visualization program adjustment interface includes a program segment adjustment interface for the user to adjust parameters and/or program steps in the program segment. During the programming process, several consecutive steps of the program can be combined to generate a program fragment. For all program steps, they can be combined into one program fragment or multiple program fragments. In this way, the program segment is configured to constitute a program set of a plurality of merged program steps, and the effect of the program program segment after execution is equivalent to the effect of sequentially executing the plurality of merged program steps. With the program fragments, the user can simplify the number of program steps in the visualization program adjustment interface. For example, as shown in FIG. 7, the five program steps on the right side are selected and merged to generate one program segment on the left side.

In the visual program adjustment interface, the program segments can be adjusted, combined, and multiplexed in the same manner as the program steps. For example, program steps included in a program fragment can be added, deleted, and modified. As another example, the order of execution or execution logic between multiple program segments can be changed to achieve a particular combination between multiple program segments. Also for example, for a plurality of program steps that need to be executed multiple times in succession, it can be implemented by repeating the corresponding program segments a plurality of times, for example, as shown in FIG. 9, a program segment corresponding to a motion route is Repeatedly, the toy car can draw the figure of Figure 9. In a more preferred embodiment, a plurality of program segments may constitute a new program segment, or a program segment and a plurality of successively executed program steps form a new program segment; therefore, adding another program segment to another Program fragments can also implement adjustments to this program fragment.

Next, a description will be given of how to acquire the program steps in the constituent program segments by a more preferred embodiment.

In a preferred embodiment, the visual program adjustment interface acquires program steps constituting the program segment from the visualization program or the updated visualization program according to a user operation. In the visual program adjustment interface, all program steps are presented, and the user operates on all program steps or part of the program steps, for example, multiple times of selection or multiple selection of multiple program steps, and the selected method may be that the user touches the touch screen. The touch can also be selected by voice control.

In another preferred embodiment, the program step constituting the program segment is obtained from the virtual object behavior record; wherein the virtual object behavior record refers to the virtual object corresponding to the controlled object, according to the visualization program or the A record of the behavior of the updated visualization program execution. For example, the controlled object is a toy car, and the toy car moves according to a visual program. The record of the motion process includes the motion track of the toy car. When the user selects one of the motion tracks, the program steps corresponding to the motion track constitute a Program fragment. For example, as shown in FIG. 8, the shorter route between the two flags in the left motion track is manually selected by the user to generate a program segment on the right side.

In still another preferred embodiment, the program steps constituting the program segment are obtained from the visualization program or the updated visualization program in accordance with the set time and space parameters. The space-time parameter may be a parameter such as a location area, a cumulative motion distance, an absolute motion distance, and a time. The recording of the first behavior generated by the controlled object according to the spatio-temporal parameter, in particular, enables automatic segmentation recording to obtain a corresponding plurality of program segments.

Those skilled in the art will appreciate that the system, apparatus, and modules thereof provided by the present invention can be fully implemented by logically programming the method steps, except that the system, apparatus, and various modules thereof provided by the present invention are implemented in purely computer readable program code. The same program is implemented in the form of logic gates, switches, ASICs, programmable logic controllers, and embedded microcontrollers. Therefore, the system, the device and the respective modules provided by the present invention can be regarded as a hardware component, and the modules for implementing various programs included therein can also be regarded as a structure in the hardware component; A module that implements various functions is considered to be either a software program that implements a method or a structure within a hardware component.

The above description of the described embodiments is provided to enable those skilled in the art to make or use the invention. It should be understood that the features disclosed in the above embodiments may be used singly or in combination, unless otherwise specified. Various modifications to these embodiments are obvious to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention as disclosed herein is not limited to the specific embodiments disclosed, but is intended to cover modifications within the spirit and scope of the invention as defined by the appended claims.

Claims

A reverse programming method for programming a toy, comprising the steps of:

Causing a controlled object to produce a first action;

Obtaining behavioral feature data characterizing the first behavior;

Parsing the behavioral feature data to generate a visualization program, wherein the visualization program includes a plurality of adjustable parameters and a plurality of program steps for combining the parameters to control the controlled object;

Providing a visual program adjustment interface for the user to adjust the parameters and/or the program steps;

Receiving adjustments by the user to the parameters and/or the program steps to generate an updated visualization program;

Applying the updated visualization program to the controlled object causes the controlled object to generate a second behavior.
The reverse programming method for a programmed toy according to claim 1, comprising the steps of:

The program segment is generated according to part or all of the program steps that are continuously executed; wherein the visualization program adjustment interface includes a program segment adjustment interface for the user to adjust parameters and/or program steps in the program segment.
The reverse programming method of a programmed toy according to claim 2, wherein the part or all of the program steps are obtained by any one of the following methods:

- obtaining, in the visualization program adjustment interface, from the visualization program or the updated visualization program according to a user's operation;

Obtaining from the virtual object behavior record; wherein the virtual object behavior record refers to a virtual object corresponding to the controlled object, and performing a record of the generated behavior according to the visualization program or the updated visualization program;

- Obtained from the visualization program or the updated visualization program in accordance with the set time and space parameters.
The method of reverse programming of a programmed toy according to claim 2, wherein said step of receiving a user adjustment of said parameter and/or said program step comprises the steps of:

Receiving any one or any of the following operations of the user on the program segment:

-Adjustment;

-combination;

- Reuse.
The reverse programming method for programming a toy according to claim 1, wherein the controlled object is a physical object or a virtual object;

Behavior characteristic data of the physical object, including sensor data acquired by one or more sensors and/or user operation data for the physical object;

The behavioral feature data of the virtual object includes data collected by a software development kit from a software carrier of the virtual object.
The reverse programming method of a programmed toy according to claim 1, wherein the step of acquiring behavior characteristic data characterizing the first behavior is performed continuously or by a triggering manner.
The method of reverse programming of a programmed toy according to claim 1, wherein said generated respective visualization program comprises different types and/or different numbers of code blocks based on different controlled objects.
The reverse programming method of a programmed toy according to claim 1, wherein in the step of parsing the behavior feature data to generate a visualization program, corresponding different algorithms are employed according to different controlled objects.
The reverse programming method of a programmed toy according to claim 1, wherein in the step of receiving an adjustment of the parameter and/or the program step by the user to generate an updated visualization program, Implemented manually, or through a supervised learning algorithm for machine learning.
The reverse programming method of a programmed toy according to claim 1, wherein said program steps are stored in a sorted manner based on different controlled objects before said step of generating an updated visualization program.
A reverse programming system for programming a toy, comprising the following modules:

a first behavior generating module: causing a controlled object to generate a first behavior;

a feature data obtaining module: acquiring behavior characteristic data representing the first behavior;

a parsing module: parsing the behavioral feature data to generate a visualization program, wherein the visualization program includes a plurality of adjustable parameters and a plurality of program steps for combining the parameters to control the controlled object;

Interface module: providing a visual program adjustment interface for the user to adjust the parameters and/or the program steps;

a visualization module: receiving an adjustment of the parameter and/or the program step by a user, and generating an updated visualization program;

The second behavior generating module: applying the updated visualization program to the controlled object, causing the controlled object to generate a second behavior.
The reverse programming system for programming a toy according to claim 11, comprising the following modules:

The program fragment generation module: generates a program segment according to part or all of the program steps that are continuously executed; wherein the visualization program adjustment interface includes a program segment adjustment interface for the user to adjust parameters and/or program steps in the program segment.
The reverse programming system for programming a toy according to claim 12, wherein said part or all of the program steps are obtained by any of the following methods:

- obtaining, in the visualization program adjustment interface, from the visualization program or the updated visualization program according to a user's operation;

Obtaining from the virtual object behavior record; wherein the virtual object behavior record refers to a virtual object corresponding to the controlled object, and performing a record of the generated behavior according to the visualization program or the updated visualization program;

- Obtained from the visualization program or the updated visualization program in accordance with the set time and space parameters.
A reverse programming system for programming a toy according to claim 12, wherein said manner of receiving adjustments by said user to said parameters and/or said program steps comprises the following:

Receiving any one or any of the following operations of the user on the program segment:

-Adjustment;

-combination;

- Reuse.
The reverse programming system for programming a toy according to claim 11, wherein the controlled object is a physical object or a virtual object;

Behavior characteristic data of the physical object, including sensor data acquired by one or more sensors and/or user operation data for the physical object;

The behavioral feature data of the virtual object includes data collected by a software development kit from a software carrier of the virtual object.
The reverse programming system for programming a toy according to claim 11, wherein the manner of acquiring behavioral feature data characterizing the first behavior is performed continuously or by a triggering manner.
A reverse programming system for programming a toy according to claim 11 wherein said generated respective visualization programs comprise different types and/or different numbers of code blocks based on different controlled objects.
The reverse programming system for programming a toy according to claim 11, wherein in the manner of parsing the behavioral feature data to generate a visualization program, correspondingly different algorithms are employed according to different controlled objects.
A reverse programming system for programming a toy according to claim 11 wherein in said manner in which said receiving user adjusts said parameters and/or said program steps to generate an updated visualization program, Implemented manually, or through a supervised learning algorithm for machine learning.
A reverse programming system for programming a toy according to claim 11 wherein said program steps are stored in a sorted manner based on different controlled objects prior to said generating an updated visualization program.
A computer readable storage medium storing a computer program, wherein the computer program is executed by a processor to implement the steps of the method of any one of claims 1 to 10.
A smart device, comprising the reverse programming system of the programming toy of any one of claims 11 to 20, or the computer readable storage medium storing the computer program of claim 21.