WO2021016972A1

WO2021016972A1 - Programming system and method, and program execution device

Info

Publication number: WO2021016972A1
Application number: PCT/CN2019/098754
Authority: WO
Inventors: 万阳; 任冠男; 李卓泉; 肖旭
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-07-31
Filing date: 2019-07-31
Publication date: 2021-02-04
Also published as: CN112189185A

Abstract

A programming system and method and a device. The system comprises: a plurality of program information carriers (10) for marking program information; and an execution device (200) configured to: acquire an image of at least one of the plurality of program information carriers (10), and identify, from the acquired image, program information marked in the at least one of the plurality of program information carriers (10) (S51); and compile to obtain an executable program according to the identified program information, and execute the executable program when an execution condition is met (S52). The invention enables simple and intuitive programming operations.

Description

Programming system, method and program execution equipment

Technical field

This application relates to the technical field of programming, and specifically to a programming system, method and program execution device.

Background technique

At present, for children and teenagers programming, the mainstream programming tool is scrath graphical programming tool, which has the following characteristics: in the software interface, the commands and parameters that constitute the program are realized by blocks in the shape of building blocks, and users can drag different shapes The modules of different shapes can be combined to get a complete program, and then the programming operation can be realized. However, this method still has the following shortcomings: it needs to rely on the use of program execution equipment such as mobile phones or computers, which will affect the eyesight of teenagers and children, etc.; it requires users to have a certain basic program execution equipment operation; the programming method is not intuitive enough Wait.

Summary of the invention

In view of this, one of the objectives of the present invention is to provide a materialized programming method and device to at least achieve the purpose of simplicity, intuitiveness, etc.

In the first aspect, an embodiment of the present invention provides a programming system, including:

Several program information carriers, used to identify program information;

The execution device is used for collecting at least one image of the program information carrier, and identifying at least one program information identified by the program information carrier from the collected image; compiling the executable program according to the recognized program information, and The executable program is executed when the execution conditions are met.

In the second aspect, an embodiment of the present invention provides a programming method, which is applied to a program execution device, and includes:

Collecting images of at least one program information carrier, and identifying at least one program information identified by the program information carrier from the collected images;

The executable program is compiled according to the recognized program information, so as to execute the executable program when the execution condition is met.

In a third aspect, an embodiment of the present invention provides a program execution device, including: a memory, a processor, and a computer program stored on the memory and capable of running on the processor, and when the processor executes the computer program:

The programming system, method, and program execution device provided by the embodiments of the present invention identify program information by setting a program information carrier, enabling users to manually operate the program information carrier to construct corresponding program information, and the execution device collects the program The information carrier is identified to obtain the program information, and the executable program is compiled according to the program information, and the executable program information is executed by the execution device under the condition that the execution conditions are met; compared with the prior art, the software interface of the computer device Compared with the way of operation, the embodiment of the present invention has a simpler and more intuitive positive effect.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor.

FIG. 1 is a schematic diagram of a programming system provided by an embodiment of the present invention;

Figure 2 is a schematic structural diagram of a program information carrier provided by an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of an assembly provided by an embodiment of the present invention;

Figure 4 is a schematic structural diagram of an execution device provided by an embodiment of the present invention;

FIG. 5 is a schematic flowchart of a programming method provided by an embodiment of the present invention;

FIG. 6 is a schematic flowchart of another programming method provided by an embodiment of the present invention;

Fig. 7 is a schematic structural diagram of a program execution device provided by an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

Considering that in the prior art, when a user uses a graphical programming tool for programming, there is a need to rely on program execution equipment such as a mobile phone or computer to use it, which will bring a certain adverse effect to the user’s vision, etc.; the user is required to have certain The operating basis of the program execution device; the programming mode is not intuitive enough; based on this, the present invention provides a programming system, method and program execution device.

The program execution device in the embodiment of the present invention may be any electronic device with an image acquisition function. Specifically, the program execution device may be a mobile platform. In order to increase the fun in the programming process, the mobile platform may be a remote control device with mobile functions such as drones, unmanned vehicles, unmanned ships, and mobile robots. For ease of description, the embodiment of the present invention takes an unmanned vehicle as the program execution device as an example.

Fig. 1 is a schematic diagram of a programming system provided by an embodiment of the present invention. Referring to FIG. 1, a programming system provided in an embodiment of the present invention includes:

Several program information carriers 10 are used to identify program information.

The program information includes, but is not limited to: information instructing the execution of the device action (such as information instructing the execution of the device to move), instructing the execution of the device to produce photoelectric effects, instructing the execution of the device to emit sound signals, instructing the execution of the device to enter certain functional modes Information etc. Exemplarily, the information instructing the execution device to move includes but is not limited to: instructing the execution device to move a specified distance in a direction, the specified distance may be a user-defined distance or a preset distance; information instructing the execution device to turn left or right Wait.

Wherein, the identification method of the program information may include, but is not limited to, text, numbers, letters, symbols, images, and the shape of the program information carrier 10, etc. The image includes, but is not limited to, two-dimensional codes, barcodes, and the like.

The execution device 200 is used for collecting images of at least one program information carrier, and identifying program information identified by the at least one program information carrier from the collected images; compiling the executable program according to the recognized program information, so as to execute Execute the executable program under conditions.

In this embodiment, the user can select one or more corresponding program information carriers according to his own programming logic and the operation expected to be executed by the device to construct a set of executable programs corresponding to the execution operation. Among them, one program information The carrier may correspond to one or more operations that the execution device can perform. When the number of selected program information carriers is more than one, optionally, the above-mentioned method for the execution device to collect images of program information carriers can be to collect images of each program information carrier in sequence; it can also directly collect all program information Then, the program information identified by each program information carrier is identified. At this time, the multiple program information carriers can be concentrated in one area, so that the execution device can collect the images including the multiple program information carriers at one time. In this way, after obtaining the program information identified by each program information carrier, the program information can be compiled according to the arrangement order of the program information to obtain an executable program, and the executable program can be executed when the execution conditions are met.

In some embodiments, if the execution device is in the process of identifying the program information identified by the program information carrier corresponding to the executable program, if it encounters an unrecognized situation, or the program information identified by multiple program information carriers is in the logic When the program cannot be compiled into an executable program, the execution device may report an error or prompt, or ignore the unrecognized program information carrier or at least one program information carrier that causes the compilation logic to conflict.

In this way, in the embodiment of the present invention, the user can construct multiple sets of executable programs corresponding to the operations to be executed by the execution device through various combinations of the program information carriers of the physical nature, and the execution device executes the executable program. During the construction process, the user can intuitively determine the operation content corresponding to the executable program based on one or more operations corresponding to the program information carrier, so that the user can program without computers, mobile phones and other electronic devices, and does not need to know English Words, not to mention the need to learn programming languages, can realize the exercise of programming logical thinking in the process of training hands-on ability, which has the positive effect of simple, easy to learn and intuitive.

In an embodiment of the present invention, the foregoing fulfillment of the execution condition includes: receiving a trigger signal to start execution sent by a user terminal, the user terminal is in communication with the execution device, and may be used to control the execution device, which may be a mobile phone used by the user , Tablet PCs and other terminal devices, or remote control devices. Alternatively, the foregoing fulfillment of the execution condition includes: receiving a user's input operation on the execution device, the input operation is used to instruct the execution device to execute the foregoing executable program, for example, it may be detected that the user opens a certain function button on the execution device Then, such as the start key, and then confirm that the execution conditions are met. It should be noted that the above are only examples, and the present invention does not limit this.

Referring to the embodiment shown in FIG. 1, in this embodiment, the user selects the corresponding program information carrier 10 according to the program content to be executed by the execution device 200, and uses the selected program information carrier 10 to construct a combination corresponding to the executable program , And after the assembly is completed, the execution device 200 is triggered to collect images of each program information carrier 10 in the assembly, and the program information identified by the program information carrier 10 is identified from the collected images; compiling according to the identified program information Obtain an executable program, and execute the executable program when the execution conditions are met.

In an embodiment of the present invention, the program information is marked on the surface of the program information carrier. Specifically, the method of identifying program information on the surface of the program information carrier may include: printing the program information on the surface of the program information carrier, and the identification form of the program information may be text information, designated symbol information, or digital Information, or letter information, or image information, etc.

Furthermore, in this embodiment, the user can intuitively see the program information represented by each program information carrier, so that the user can select different program information carriers to construct a corresponding program information carrier combination according to the program content to be executed by the execution device.

In an embodiment of the present invention, the above-mentioned program information includes: user-defined information.

Fig. 2 is a schematic structural diagram of a program information carrier provided by an embodiment of the present invention. Referring to FIG. 2, in this embodiment, when the program information is set on the surface of the program information carrier 10 by printing, the surface of the program information carrier 10 is provided with a user-defined information area 101.

Specifically, in this embodiment, the user can write user-defined information in the user-defined information area 101. Exemplarily, as shown in FIG. 2, the execution device includes a pan-tilt, and the user-defined information may be the speed of the pan-tilt. Wherein, the speed of the pan/tilt may refer to the speed of each rotation axis in the pan/tilt, or the speed of a certain rotation axis, which can be specifically designed as required. Further, the size of the rotation angle of the pan-tilt can also be customized. Of course, in a custom information area 101 can be written instructions for multiple dimensions of a functional component of the execution device. For example, as shown in Figure 2, the custom information area 101 can be written to indicate the pan/tilt. Speed information of acceleration movement first and deceleration movement second.

It can be understood that the execution device may include multiple functional components, and for different functional components, there may be a program information carrier that instructs different functional components to perform corresponding operations and a corresponding custom information area 101. For example, assuming that the execution device includes a driver for driving the execution device to move, the program information carrier may include a program information carrier that instructs the driver to execute forward, and the custom area 101 of the program information carrier can write, for example, the advance distance.

Optionally, for custom information, some information parameters are preset for users to choose. The information parameters can be angles, such as 5 degrees, 10 degrees, 15 degrees, and 30 degrees, or distance parameters, such as 2 meters, 3 meters, 1 meter, 50 cm, 20 cm, etc., after the user selects an information parameter, the parameter is written into the custom information area 101.

Optionally, the custom information area 101 may be a smearable filling area, a glueable area, or a fillable groove area to realize the flexible application of the program information carrier.

In another embodiment of the present invention, a first identification is provided on the program information carrier 10; the first identification may be: a two-dimensional code, a barcode, or the like.

The above-mentioned first identifier is used to be detected by the execution device to identify the program information carrier, and to further identify the program information identified by the program information carrier after identifying the program information carrier.

In the embodiment of the present invention, the first identifier is set on the program information carrier, in order to allow the execution device to identify the program information carrier, and then after identifying the program information carrier, identify the program information identified by the program information carrier; so, It can prevent the execution device from being interfered by objects other than the program information carrier during the process of identifying the program information identified by the program information carrier.

In another embodiment of the present invention, a second identifier is set on the program information carrier, and the second identifier is used to record the program information identified by the program information carrier; for example, the second identifier may be: a graphic code Labels, such as QR codes, barcodes, etc.

When the above-mentioned second identifier is a graphic code label, the execution device is also used to read the graphic code label in the image to obtain the program information recorded by the graphic code label.

In this embodiment, the user can distinguish different program information carriers according to the shape of the program information carrier or the identification on the surface of the program information carrier, and then select different program information carriers to construct a combination that corresponds to the program content to be executed by the execution device For example, when the content of the program that the user wants to execute on the device is "5 meters straight", the program information carrier that the user needs to select includes: start program information carrier, action execution program information carrier, and end program information carrier; where the action The execution program information carrier represents the action information of "go straight for 5 meters".

Fig. 3 is a schematic structural diagram of an assembly provided by an embodiment of the present invention. Referring to FIG. 3, the combination is constructed by the program information carriers selected by the user in a certain order, and the program information carriers are detachably connected.

Specifically, the program information carriers included in each combination include: a start program information carrier and an end program information carrier. Wherein, the start program information carrier is used to identify the program information at the beginning of the executable program; the end program information carrier is used to identify the program information at the end of the executable program.

Taking the embodiment shown in FIG. 3 as an example, the execution device in this embodiment is an unmanned vehicle, and the unmanned vehicle includes a chassis and a pan/tilt provided on the chassis. The program information carriers included in the combination are: start program information carrier 301, chassis mode program information carrier 302, chassis angle program information carrier 303, chassis steering program information carrier 304, straight program information carrier 305, pan-tilt mode program information 306. PTZ speed program information carrier 307, PTZ steering program information carrier 308, and end program information carrier 309. Among them, the blank grid area (indicated by the dashed frame) on some information carriers is a user-defined information area.

Specifically, the program information identified by the aforementioned chassis mode program information carrier 302 is used to indicate that the operation to be performed by the unmanned vehicle is the operation of the pan/tilt following the chassis, and the program information identified by the chassis angle program information carrier 303 is used to indicate the chassis The steering angle (such as 30 degrees), the program information identified by the chassis steering program information carrier 304 is used to indicate the steering of the chassis (such as turning left or right), and the program information identified by the aforementioned straight program information carrier 305 is used to indicate no People and vehicles go straight; the program information identified by the above-mentioned pan/tilt mode program information carrier 306 is used to indicate that the operation to be performed by the execution device is the operation of the chassis following the pan/tilt; the program information identified by the above-mentioned pan/tilt rotation angle program information carrier 307 It is used to indicate the steering angle of the pan/tilt head around the yaw axis, and the above-mentioned pan/tilt steering program information carrier 308 is used to indicate the turn of the pan/tilt head (for example, horizontally turning left or right). In this embodiment, the unmanned vehicle will sequentially execute the operation content indicated by the program information identified by the program information carrier.

Exemplarily, suppose that the program information identified by the chassis angle program information carrier 303 is used to indicate that the steering angle of the chassis is 30 degrees, and the program information identified by the chassis steering program information carrier 304 is used to indicate that the steering of the chassis is left turn, and the program goes straight. The program information identified by the information carrier 305 is used to instruct the unmanned vehicle to go straight for 5 meters, and the program information identified by the program information carrier 307 of the pan/tilt rotation angle is used to indicate that the steering angle of the pan/tilt around the yaw axis is 180 degrees/, cloud The platform turning program information carrier 308 is used to instruct the platform to turn to the right. Then, after the execution device collects the image of each program information carrier, and obtains the executable program through image recognition, program information recognition, and program information compilation, the executable program can perform the following operations when the execution conditions are met: In the process of turning 30 degrees to the left, the gimbal rotates 30 degrees to the left following the chassis; then, when the chassis has turned 30 degrees, go straight forward 10; then, the gimbal starts to rotate 180 to the right, and at the same time, In the process of rotating to the right, the chassis also rotates to the right with the pan/tilt; finally, after the pan/tilt rotates 180 degrees to the right, the execution of the executable program is completed.

In this embodiment, the user can be allowed to use the program information carrier to construct the assembly, and at the same time, the execution device can recognize the program information identified by each program information carrier in the constructed assembly, and compile the executable according to the recognized program information. Program, execute the executable program, and then in the case that the execution conditions are met, the programming results can be displayed quickly.

In an embodiment of the present invention, the above-mentioned program information carriers can be detachably connected, and the program information carriers can be arbitrarily combined, so that the execution device can obtain executable programs with different contents.

In an optional embodiment of the present invention, the program information carriers selected by the user can be detachably connected together to be constructed to obtain a specified shape; for example, it can be a linear type, as shown in FIG. 3; or Back shape or square shape.

Taking the execution device as a movable platform as an example, such as an unmanned vehicle, the user can control the unmanned vehicle to move along a specified shape by remote control, etc., during the movement, image collection and identification of each program information carrier The program information identified by the information carrier is compiled to obtain an executable program, and then the executable program information is executed when the execution conditions are met.

In this embodiment, a combination of different shapes is constructed by using the selected program information carrier, and the execution device is manipulated to move along the shape for image collection, which can make the entire programming operation more interesting and further exercise the user’s understanding of the mobile platform Control ability.

Exemplarily, referring to FIG. 2 again, the program information carrier 10 may be provided with a structural member for connecting with other program information carriers, and the program information carriers can be detachably connected through the structural member; for example, the structure The components include a groove 102 and an insert 103, and the shape of the groove 102 is compatible with the shape of the insert 103.

Exemplarily, the above-mentioned program information carrier is provided with an adhesive part or a magnet component, and the detachable connection with other program information carriers is realized through the adhesive part and the magnet component.

In an embodiment of the present invention, a user can select different program information carriers to connect to each other to construct a combination that characterizes different program contents.

In an embodiment of the present invention, the sequence of the operations indicated in the executable program compiled by the execution device is related to the connection sequence between the program information carriers. Furthermore, in the embodiment of the present invention, the user can sequentially combine or splice corresponding different program information carriers according to the order of the various operations to be performed by the execution device.

Optionally, the sequence of operations indicated in the executable program may be the sequence of connection between program information carriers. It can be understood that the execution sequence between several adjacently connected program information carriers may be parallel, as shown in FIG. 3 for the execution sequence of operations indicated by the chassis angle program information carrier 303 and the chassis steering program information carrier 304.

In an embodiment of the present invention, the above-mentioned program information carrier includes: a three-dimensional block having a predetermined shape. The three-dimensional block can be a building block, and the user can stack or splice the three-dimensional blocks of different shapes to characterize the content of the operation to be performed by the execution device, so that the execution device can recognize by collecting images of the stacked or spliced stereo blocks The program information represented by different three-dimensional blocks is then compiled according to the program information represented by each three-dimensional block to obtain the program to be executed.

In an embodiment of the present invention, the above-mentioned program information carrier includes: a simulated three-dimensional block of a functional component included in the execution device.

Exemplarily, if the execution device is an unmanned vehicle, the functional components included in the unmanned vehicle are: wheels and body. At this time, the user can select the wheel simulation solid block and the body simulation solid block, and then use the wheel to simulate the solid block and the body The simulation three-dimensional block is used to construct a combined body. The execution equipment collects the images of the wheel simulation three-dimensional block and the car body simulation three-dimensional block, and recognizes the program information represented by the wheel simulation three-dimensional block and the car body simulation three-dimensional block. The program information represented by the block is compiled to obtain executable program information, and then the executable program information is executed after the execution conditions are met.

Exemplarily, after the image of the simulated three-dimensional block is collected, the shape of the simulated three-dimensional block, the graphic information printed on the surface, etc., are used to identify the moving objects (function components) in the unmanned vehicle, and use the preset The information controls the action object to perform the corresponding operation.

Furthermore, in this embodiment, by setting the program information carrier as the simulated three-dimensional block of the functional component of the execution device, on the one hand, the user can more intuitively and vividly construct the selected simulated three-dimensional block according to the functional components included in the execution device. A combination corresponding to the execution device; on the other hand, it can let users understand the structure of the execution device and exercise their hands-on operation ability.

Fig. 4 is a schematic structural diagram of an execution device provided by an embodiment of the present invention. Referring to FIG. 4, in the embodiment of the present invention, the above-mentioned execution device 200 includes: an execution body 201 and an image acquisition device 202, and the image acquisition device 202 is detachably installed at a designated position on the execution body 201.

The above-mentioned execution device 200 is used to collect at least one image of the program information carrier through the image acquisition device 202.

In an embodiment of the present invention, the above-mentioned execution device is provided with a corresponding control terminal, and the user can control the execution device to perform corresponding operations through the control terminal; the control terminal may be a terminal device such as a mobile phone, a computer, and a remote control.

Optionally, after the above-mentioned image acquisition device has collected at least one image of the program information carrier, it may send the image to the above-mentioned control terminal, and the control terminal may also identify each program information carrier in the image. , Obtain the program information identified by the program information carrier and the operation content of the corresponding execution device, and then the user can control the execution device to execute the corresponding operation through the control terminal. In this way, the user's ability to manipulate the terminal and execution equipment can be effectively exercised, making the whole process more interesting.

Optionally, the image collected by the aforementioned image acquisition device can be transmitted back to the control terminal, and the user can control the execution device according to the picture returned by the image acquisition device, such as controlling the execution device to move in a certain direction. In this way, when the user remotely controls the execution device, the user can use the image acquisition device to understand the situation around the execution device through the field of view of the execution device, so as to better identify the program information identified by the program information carrier.

In the embodiment of the present invention, the above-mentioned image acquisition device 200 may be installed below, on one side, or directly in front of the execution body; for example, the above-mentioned image acquisition device is installed below the execution body, if the above-mentioned program information carrier is Flat structure, by connecting the selected program information carriers in the order of execution of the program, they are tiled on a flat surface, such as the ground, and the image acquisition device sequentially collects the images of each program information carrier in the process of executing the movement of the main body. Then identify the program information represented by each program information carrier from the image, compile the program information represented by each program information carrier to obtain an executable program, and execute the executable program information when the execution conditions are met.

Alternatively, the execution device may include a pan-tilt. If the above-mentioned image acquisition device is installed on the pan-tilt, the execution device drives the image acquisition device to rotate and sequentially collects images of each program information carrier by controlling the uniform rotation of the pan-tilt. The program information represented by each program information carrier is identified in the image, the program information represented by each program information carrier is compiled to obtain an executable program, and the executable program information is executed when the execution conditions are met.

In an embodiment of the present invention, the above-mentioned execution device is also used to obtain location information of the program information carrier to be identified, and adjust the shooting direction of the image acquisition device toward the program information carrier according to the location information to collect images of the program information carrier.

In the embodiment of the present invention, the execution device can automatically obtain the location information of the program information carrier to be identified, and then adjust the shooting direction of the image capture device to be consistent with the location of the program information carrier according to the location information, and then it can be realized that the image capture device When the shooting direction is inconsistent with the position of the program information carrier to be identified, the user does not need to manually adjust the image collection direction of the image collection device, which improves the efficiency of program execution.

In this embodiment, at least one of the program information carriers in the combination corresponding to the executable program is provided with a positioning component, and the positioning component is used to send a positioning signal; the execution device is provided with a positioning detection corresponding to the positioning component Component, the execution device is also used to detect the positioning signal through the positioning detection component, and locate at least one program information carrier corresponding to the executable program according to the positioning signal, so as to collect at least one corresponding to the executable program according to the positioning result An image of the program information carrier.

The above-mentioned execution device detects the positioning signal through the positioning detection component, and locates the program information carrier or the combination constructed by the program information carrier according to the positioning signal. The goal to be achieved is to enable the execution device to obtain the program information carrier or use the program information carrier. According to the position information of the combination constructed by the information carrier, the shooting direction is adjusted according to the position information, and the images of each program information carrier are collected for recognition, so as to improve the efficiency of recognition.

In this embodiment, the above-mentioned positioning component may be a laser transmitter, and the above-mentioned positioning detection component may be a laser receiver. The laser transmitter is used for continuous laser emission after meeting preset conditions, and the execution device detects the laser during movement. Signal, after receiving the laser signal, determine the position information of the laser transmitter, and then obtain the position information of the program information carrier to be identified.

Optionally, the above positioning component may be set on the start program information carrier and/or the end program information carrier. After the user builds the assembly, if the execution device needs to recognize the program information carrier, the user controls the positioning component to start Work and send out positioning signals. And control the execution device to detect the positioning signal to realize the positioning of the information carrier to be identified.

In an embodiment of the present invention, the above-mentioned execution device further includes: a pan/tilt provided on the execution body, the pan/tilt is used to support the image acquisition device; the pan/tilt drives the image acquisition device to rotate to adjust the image acquisition device Shooting direction.

In this embodiment, the execution device is used to adjust the posture of the pan/tilt according to the position information to adjust the shooting direction of the image acquisition device toward the program information carrier.

Optionally, the gimbal includes a pitch motor, a roll motor, and a yaw motor. The execution device controls the pitch, roll, and yaw angles of the gimbal by controlling the output angles of the pitch, roll, and yaw motors of the gimbal. The yaw angle is used to adjust the attitude of the pan/tilt, and then adjust the shooting direction of the image acquisition device.

In an optional embodiment of the present invention, when the image acquisition device is used to acquire an image of at least one program information carrier, the distance between the image acquisition device and the execution subject is greater than the preset distance.

Furthermore, in this embodiment, the above-mentioned image acquisition device may be independent of the execution subject when performing image acquisition. In this case, the user may be allowed to hold the image acquisition device for image acquisition; it has higher flexibility.

In this embodiment, the image acquisition device and the execution subject may be connected through a wired connection or a wireless connection.

In an embodiment of the present invention, the above-mentioned execution device is also used to record multiple executable programs, and recompile multiple executable programs to obtain new executable programs.

Optionally, the foregoing execution device is also used to receive an editing instruction, and after receiving the editing instruction, recompile multiple stored executable programs according to the editing instruction to obtain a new executable program.

Furthermore, in this embodiment, in the process of programming, the user may select different program information carriers multiple times to construct a combination, so that the execution device compiles multiple executable programs, and the execution device obtains multiple executable programs. The program is stored, and after the execution device receives the editing instruction, the multiple executable programs are recompiled. Exemplarily, the recompilation includes: the multiple executable programs are generated according to the time sequence of their respective generation or other specified The logic is spliced to obtain a new complete executable program, and then continue to temporarily store the executable program or execute the executable program directly.

Exemplarily, taking the execution device as an unmanned vehicle as an example, the unmanned vehicle includes functional components: PTZ and launching mechanism; when the user selects the program information carrier, it can be based on the operations to be performed by different functional components. After selecting the corresponding program information carrier, the execution device compiles the executable programs corresponding to different functional components according to the program information carrier selected by the user, and stores them separately. After the execution device obtains the executable programs corresponding to all the functional components, If an editing instruction is received at this time, all executable programs are recompiled to obtain a new complete executable program, and then the new program information is executed when the execution conditions are met.

For example, the executable program corresponding to the gimbal is that the gimbal rotates 20 degrees around the yaw axis, and the executable program corresponding to the launching mechanism shoots continuously for 3 seconds at a speed of 3 rounds/sec. After the two executable programs are spliced, it can be such When the execution conditions are met, the launching mechanism shoots continuously at a speed of 3 rounds per second for 3 seconds, and then the pan/tilt rotates 20 degrees around the yaw axis.

The above-mentioned editing instructions may be sent by user terminal devices, such as mobile phones, computers, remote controls and other devices.

Furthermore, in the embodiment of the present invention, the user is allowed to divide a complex operation of the execution device, which is conducive to training the user's logical ability; and can meet the requirements of implementing complex executable programs under the condition that the number of program information carriers is limited. Compile.

In an embodiment of the present invention, the above-mentioned execution device is further configured to output result information of whether the executable program is successfully executed.

The output mode may include: voice output, light signal flashing, etc.

In this embodiment, the execution device directly outputs the result information of whether the executable program is executed successfully, so that the user can intuitively judge the result of the program execution. And further judge whether the program information carrier selected by the user is correct and whether the build sequence of each program information carrier is correct.

In another embodiment of the present invention, the foregoing execution device includes one or more detachably connected functional components;

The functional component is used to execute the executable program when the execution condition is met.

Exemplarily, taking the execution device as an “unmanned vehicle” as an example, the unmanned vehicle includes functional components: a chassis, a pan-tilt, an image acquisition device, and a launch mechanism. For example, when the execution device recognizes from the collected images that the program information identified by the program information carrier indicates the steering of the chassis, the chassis functional component will perform the corresponding steering operation when the execution conditions are met; when the execution When the device recognizes from the collected image that the program information identified by the program information carrier indicates the direction of the pan/tilt, the functional component of the pan/tilt will perform the corresponding turning operation when the execution conditions are met.

Furthermore, in the embodiment of the present invention, the user can also select functional components according to the object of the execution program and the content of the execution program, and use the functional components to construct the execution device, so as to exercise the user's hands-on ability.

Optionally, the foregoing execution device includes: a movable platform.

Fig. 5 is a schematic flowchart of a programming method provided by an embodiment of the present invention. Referring to FIG. 5, the method is applied to the execution device described in the foregoing embodiment, and the method includes the following steps S51-S52:

S51. Collect an image of at least one program information carrier, and identify at least one program information identified by the program information carrier from the collected image.

The program information includes, but is not limited to: information instructing the execution of the device action (such as information instructing the execution of the device to move), instructing the execution of the device to produce photoelectric effects, instructing the execution of the device to emit sound signals, and instructing the execution of the device to enter certain functional modes Information etc. Exemplarily, the information instructing the execution device to move includes but is not limited to: instructing the execution device to move in one direction and go straight for a specified distance, the specified distance may be a user-defined distance or a preset distance; the person instructing the execution device to turn left or right Information etc.

Wherein, the identification method of the program information may include, but is not limited to, text, numbers, letters, symbols, images, and the shape of the program information carrier 10, etc. The image includes, but is not limited to, QR codes, barcodes, and the like.

S52. The executable program is obtained by compiling according to the recognized program information, so as to execute the executable program when the execution condition is met.

In an embodiment of the present invention, the foregoing fulfillment of the execution condition includes: receiving a trigger signal to start execution sent by a user terminal, the user terminal is in communication with the execution device, and may be used to control the execution device, which may be a mobile phone used by the user , Tablet PCs and other terminal devices, or remote control devices. Alternatively, the foregoing fulfillment of the execution condition includes: receiving a user's input operation on the execution device, the input operation is used to instruct the execution device to execute the foregoing executable program, for example, it may be detected that the user opens a certain function button on the execution device Then, such as the start key, and then confirm that the execution conditions are met. It should be noted that the above are only examples, and the present invention does not limit this. .

Optionally, the program information is marked on the surface of the program information carrier.

In this embodiment, the method of identifying program information on the surface of the program information carrier may include: printing the program information on the surface of the program information carrier, and the identification form of the program information may be text information or designated symbol information, or It is digital information, or letter information, or image information.

Optionally, the foregoing program information includes: user-defined information.

Exemplarily, the customized information may include the speed of the pan-tilt, the distance of forwarding, the angle of deflection, and the distance of retreating according to different execution devices.

The user can set the user-defined information in the user-defined information area by filling in, bonding, etc.

In an embodiment of the present invention, a first identifier is set on the program information carrier;

The first identifier is used to be detected by the execution device to identify the program information carrier, and after identifying the program information carrier, identify the program information identified by the program information carrier.

The first identification may be: a two-dimensional code, a barcode, and so on.

In an embodiment of the present invention, a second identifier is provided on the program information carrier, and the second identifier is used to record program information identified by the program information carrier;

The execution device reads the second identifier in the image to obtain the program information recorded by the second identifier. Exemplarily, the second identification may be: a graphic code label, such as a two-dimensional code, a barcode, and the like.

In an embodiment of the present invention, the above-mentioned program information carriers can be detachably connected to obtain executable programs with different contents.

Optionally, the sequence of the operations indicated in the executable program is related to the sequence of connection between the program information carriers.

Furthermore, in the embodiment of the present invention, the user can sequentially combine or splice corresponding different program information carriers according to the order of the various operations to be performed by the execution device.

Optionally, the above program information carrier includes: a three-dimensional block with a specific shape. The three-dimensional block can be a building block, and the user can stack or splice the three-dimensional blocks of different shapes to characterize the content of the operation to be performed by the execution device, so that the execution device can recognize by collecting images of the stacked or spliced stereo blocks The program information represented by different three-dimensional blocks is then compiled according to the program information represented by each three-dimensional block to obtain the program to be executed.

Alternatively, the three-dimensional block may be a simulated three-dimensional block that executes functional components included in the device. Furthermore, the user can construct each selected simulation three-dimensional block according to the functional components contained in the execution device more intuitively and vividly to obtain a combination corresponding to the execution device

The above-mentioned execution device includes: an execution body and an image acquisition device. The image acquisition device is detachably installed at a designated position on the execution device body; in this embodiment, the execution device collects at least one program information carrier through the image acquisition device Image.

Fig. 6 is a schematic flowchart of another programming method provided by an embodiment of the present invention. Referring to FIG. 6, before the image of at least one program information carrier is collected, the method further includes the following step S50:

S50. Acquire location information of the program information carrier, and adjust the shooting direction of the image acquisition device to face the program information carrier according to the location information.

The above-mentioned execution device detects the positioning signal through the positioning detection component, and locates the program information carrier or the combination constructed by the program information carrier according to the positioning signal. The goal to be achieved is to enable the execution device to obtain the program information carrier or use the program information carrier. According to the position information of the combination constructed by the information carrier, the shooting direction is adjusted according to the position information, and the image of each program information carrier is collected to improve the efficiency of recognition.

Optionally, the aforementioned image acquisition device further includes: a pan/tilt provided on the execution subject, the pan/tilt is used to support the image acquisition device; in this method, the execution device adjusts the pan/tilt according to the position information Posture to adjust the shooting direction of the image acquisition device toward the program information carrier.

Optionally, when the image capture device is used to capture at least one image of the program information carrier, the distance between the image capture device and the main body of the execution device is greater than a preset distance.

In an embodiment of the present invention, the method further includes the following step A10:

Step A10: Record a plurality of the executable programs, and recompile the recorded plurality of executable programs to obtain a new executable program.

Exemplarily, taking the execution device as an "unmanned vehicle" product as an example, the unmanned vehicle includes functional components: PTZ and launching mechanism; when the user selects the program information carrier, it can be based on the different functional components to be executed The operation of selecting the corresponding program information carrier respectively, the execution device compiles the executable programs corresponding to different functional components according to the program information carrier selected by the user, and stores them separately, and obtains the executable programs corresponding to all the functional components in the execution device After the program is executed, if an editing instruction is received at this time, all the executable programs are recompiled to obtain a new complete executable program, and then the new program information is executed after the execution conditions are met.

Optionally, the above method further includes: outputting result information about whether the executable program is successfully executed. The output mode may include: voice output, light signal flashing, etc.

Furthermore, in this embodiment, the execution device directly outputs the result information of whether the executable program is successfully executed, so that the user can intuitively judge the result of the program execution. And further judge whether the program information carrier selected by the user is correct and whether the build sequence of each program information carrier is correct.

Optionally, the foregoing execution device includes one or more detachably connected functional components;

The functional component is used to execute the executable program when the execution condition is satisfied.

Exemplarily, taking the execution device "unmanned vehicle" as an example, the unmanned vehicle includes functional components: a chassis, a pan-tilt, an image acquisition device, and a launch mechanism. For example, when the execution device recognizes from the collected images that the program information identified by the program information carrier indicates the steering of the chassis, the chassis functional component will perform the corresponding steering operation when the execution conditions are met; when the execution When the device recognizes from the collected image that the program information identified by the program information carrier indicates the direction of the pan/tilt, the functional component of the pan/tilt will perform the corresponding turning operation when the execution conditions are met.

In an embodiment of the present invention, the above step: collecting an image of at least one program information carrier specifically includes:

The execution device is controlled to move, and an image of at least one program information carrier is collected during the movement.

Furthermore, in the embodiment of the present invention, the execution device can be controlled to move to collect the image of the program information carrier during the movement, which not only exercises the user's movement control of the execution device, but also does not require the user to use a handheld image acquisition device to collect images. Has the advantage of higher efficiency.

Fig. 7 is a schematic structural diagram of a program execution device provided by an embodiment of the present invention. As shown in FIG. 7, the program execution device includes at least a memory 702 and a processor 701; the memory 702 is connected to the processor 701 through a communication bus 703, and is used to store computer instructions executable by the processor 701; The processor 701 is configured to read computer instructions from the memory 702 to implement:

Optionally, a first identifier is set on the program information carrier;

Optionally, a second identifier is provided on the program information carrier, and the second identifier is used to record the program information identified by the program information carrier;

The processor 701 is further configured to read computer instructions from the memory 702 to implement:

The second mark in the image is read to obtain the program information recorded by the second mark.

Optionally, the above-mentioned program information carriers can be detachably connected to obtain executable programs with different contents.

Optionally, the above program information carrier includes: a three-dimensional block with a specific shape.

Optionally, the above-mentioned program information carrier includes: a simulated three-dimensional block of a functional component included in the execution device.

Optionally, the program execution device described above includes: an execution body and an image acquisition device, the image acquisition device being detachably installed at a designated position on the program execution device body;

The image of at least one program information carrier is acquired by the image acquisition device.

Optionally, the processor 701 is further configured to read computer instructions from the memory 702 to implement:

The position information of the program information carrier is acquired, and the shooting direction of the image acquisition device is adjusted to the program information carrier according to the position information.

Optionally, the image capture device further includes: a pan/tilt provided on the execution subject, the pan/tilt used to support the image capture device;

Adjust the posture of the pan/tilt according to the position information to adjust the shooting direction of the image acquisition device toward the program information carrier.

Optionally, when the image capture device is used to capture at least one image of the program information carrier, the distance between the image capture device and the main body of the program execution device is greater than a preset distance.

Optionally, the program information carrier includes: a start program information carrier and an end program information carrier;

The start program information carrier is used to identify program information for the start of the executable program;

The end program information carrier is used to identify the end of the executable program program information. .

Optionally, at least one of the program information carriers corresponding to the executable program is provided with a positioning component, and the positioning component is used to send a positioning signal;

The program execution device is provided with a positioning detection component corresponding to the positioning component, and the processor 701 is further configured to read computer instructions from the memory 702 to realize:

Detecting the positioning signal by the positioning detection component, and positioning at least one program information carrier corresponding to the executable program according to the positioning signal;

Collecting at least one image of the program information carrier corresponding to the executable program according to the positioning result.

Recompiling the recorded multiple executable programs to obtain a new executable program.

Receive editing instructions;

The recompiling of the plurality of recorded executable programs to obtain a new executable program includes:

The multiple executable programs are recompiled according to the editing instructions to obtain new executable programs.

Output information about whether the executable program is successfully executed.

Optionally, the execution device includes one or more detachably connected functional components;

Optionally, the program execution device includes: a movable platform.

For the device embodiment, since it basically corresponds to the method embodiment, the relevant part can refer to the part of the description of the method embodiment. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the objectives of the solutions of the embodiments. Those of ordinary skill in the art can understand and implement it without creative work.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply one of these entities or operations. There is any such actual relationship or order between. The terms "include", "include", or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements that are not explicitly listed. Elements, or also include elements inherent to such processes, methods, articles, or equipment. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other same elements in the process, method, article, or equipment including the element.

The methods and devices provided by the embodiments of the present invention are described in detail above. Specific examples are used in this article to illustrate the principles and implementations of the present invention. The descriptions of the above embodiments are only used to help understand the methods and methods of the present invention. Core idea; At the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and the scope of application. In summary, the content of this specification should not be construed as a limitation of the present invention .

Claims

A programming system, characterized in that it comprises:

Several program information carriers, used to identify program information;

The execution device is used for collecting at least one image of the program information carrier, and identifying at least one program information identified by the program information carrier from the collected image; compiling the executable program according to the recognized program information, and The executable program is executed when the execution conditions are met.
The system according to claim 1, wherein the program information is marked on the surface of the program information carrier.
The system according to claim 1 or 2, wherein the program information includes: user-defined information.
The system according to claim 1 or 2, wherein the program information carrier is provided with a first identifier;

The first identifier is used to be detected by the execution device to identify the program information carrier, and after identifying the program information carrier, identify the program information identified by the program information carrier.
The system according to claim 1 or 2, wherein a second identifier is provided on the program information carrier, and the second identifier is used to record the program information identified by the program information carrier;

The execution device is used to read the second identifier in the image to obtain program information recorded by the second identifier.
The system according to claim 1 or 2, wherein the program information carriers can be detachably connected to each other to obtain executable programs with different contents.
The system according to claim 6, wherein the sequence of the operations indicated in the executable program is related to the connection sequence between the program information carriers.
The system according to claim 1 or 2, wherein the program information carrier comprises: a three-dimensional block having a predetermined shape.
8. The system according to claim 8, wherein the program information carrier comprises: simulated three-dimensional blocks of functional components included in the execution device.
The system according to claim 1 or 2, wherein the execution device comprises: an execution body and an image acquisition device, and the image acquisition device is detachably installed at a designated position on the execution body;

The execution device is used to collect at least one image of the program information carrier through the image acquisition device.
The system according to claim 10, wherein the execution device is further configured to obtain location information of the program information carrier, and adjust the shooting direction of the image acquisition device to the program information according to the location information Carrier to collect the image of the program information carrier.
The system according to claim 11, wherein the execution device further comprises: a pan/tilt provided on the execution body, the pan/tilt is used to support the image acquisition device;

The execution device is used to adjust the posture of the pan/tilt according to the position information to adjust the shooting direction of the image acquisition device toward the program information carrier.
The system according to claim 10, wherein when the image acquisition device is used to acquire at least one image of the program information carrier, the distance between the image acquisition device and the execution subject is greater than a preset distance.
The system according to claim 1 or 2, wherein the program information carrier comprises: a start program information carrier and an end program information carrier;

The start program information carrier is used to identify program information for the start of the executable program;

The end program information carrier is used to identify the end of the executable program program information.
The system according to claim 1 or 2, wherein at least one of the program information carriers corresponding to the executable program is provided with a positioning component, and the positioning component is used to send a positioning signal;

The execution device is provided with a positioning detection component corresponding to the positioning component, and the execution device is further configured to detect the positioning signal through the positioning detection component, and correspond to the executable program according to the positioning signal At least one of the program information carriers is positioned to collect images of at least one of the program information carriers corresponding to the executable program according to the positioning result.
The system according to claim 1 or 2, wherein the execution device is also used to record a plurality of the executable programs, and recompile the plurality of executable programs to obtain a new executable program .
The system according to claim 16, wherein the execution device is further configured to receive an editing instruction, so as to recompile a plurality of the executable programs according to the editing instruction to obtain a new executable program.
The system according to claim 1 or 2, wherein the execution device is further configured to output result information of whether the executable program is successfully executed.
The system according to claim 1 or 2, wherein the execution device includes one or more detachably connected functional components;

The functional component is used to execute the executable program when the execution condition is satisfied.
The system according to claim 1, wherein the execution device comprises a movable platform.
A programming method, characterized in that the method is applied to a program execution device, and includes:

Collecting images of at least one program information carrier, and identifying at least one program information identified by the program information carrier from the collected images;

The executable program is compiled according to the recognized program information, so as to execute the executable program when the execution condition is met.
The method according to claim 21, wherein the program information is marked on the surface of the program information carrier.
The method according to claim 21 or 22, wherein the program information comprises: user-defined information.
The method according to claim 21 or 22, wherein the program information carrier is provided with a first identifier;

The first identifier is used to be detected by the execution device to identify the program information carrier, and after identifying the program information carrier, identify the program information identified by the program information carrier.
The method according to claim 21 or 22, wherein a second identifier is provided on the program information carrier, and the second identifier is used to record the program information identified by the program information carrier;

The identifying at least one program information identified by the program information carrier from the collected image includes:

The second mark in the image is read to obtain the program information recorded by the second mark.
The method according to claim 21 or 22, wherein the program information carriers can be detachably connected to each other to obtain executable programs with different contents.
The system according to claim 26, wherein the sequence of the operations indicated in the executable program is related to the connection sequence between the program information carriers.
The method according to claim 21 or 22, wherein the program information carrier comprises: a three-dimensional block with a specific shape.
28. The method according to claim 28, wherein the program information carrier comprises: a simulated three-dimensional block of a functional component included in the execution device.
The method according to claim 21 or 22, wherein the execution device comprises: an execution body and an image acquisition device, the image acquisition device being detachably installed at a designated position on the execution device body;

The collecting an image of at least one program information carrier includes:

The image of at least one program information carrier is acquired by the image acquisition device.
The method according to claim 21, characterized in that, before said collecting an image of at least one program information carrier, the method further comprises:

The position information of the program information carrier is acquired, and the shooting direction of the image acquisition device is adjusted to the program information carrier according to the position information.
The method according to claim 31, wherein the image acquisition device further comprises: a pan/tilt provided on the execution subject, the pan/tilt used to support the image acquisition device;

The adjusting the shooting direction of the image acquisition device toward the program information carrier according to the position information includes:

Adjust the posture of the pan/tilt according to the position information to adjust the shooting direction of the image acquisition device toward the program information carrier.
The method according to claim 30, wherein when the image capture device is used to capture at least one image of the program information carrier, the distance between the image capture device and the main body of the execution device is greater than a preset distance .
The method according to claim 21 or 22, wherein the program information carrier comprises: a start program information carrier and an end program information carrier;

The start program information carrier is used to identify program information for the start of the executable program;

The end program information carrier is used to identify the end of the executable program program information.
The method according to claim 21 or 22, wherein at least one of the program information carriers corresponding to the executable program is provided with a positioning component, and the positioning component is used to send a positioning signal;

The execution device is provided with a positioning detection component corresponding to the positioning component, and before the collecting an image of at least one program information carrier, the method includes:

Detecting the positioning signal by the positioning detection component, and positioning at least one program information carrier corresponding to the executable program according to the positioning signal;

The collecting an image of at least one program information carrier includes:

Collecting at least one image of the program information carrier corresponding to the executable program according to the positioning result.
The method according to claim 21 or 22, wherein the method further comprises:

Recompiling the recorded multiple executable programs to obtain a new executable program.
The method of claim 36, wherein the method further comprises:

Receive editing instructions;

The recompiling of the plurality of recorded executable programs to obtain a new executable program includes:

The multiple executable programs are recompiled according to the editing instructions to obtain new executable programs.
The method according to claim 21 or 22, wherein the method further comprises:

Output information about whether the executable program is successfully executed.
The method according to claim 21, wherein the execution device comprises one or more detachably connected functional components;

The functional component is used to execute the executable program when the execution condition is satisfied.
The method according to claim 21 or 22, wherein the execution device comprises: a movable platform.
The method according to claim 40, wherein said collecting an image of at least one program information carrier comprises:

The execution device is controlled to move, and an image of at least one program information carrier is collected during the movement.
A program execution device, characterized by comprising: a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and when the processor executes the computer program:

Collecting images of at least one program information carrier, and identifying at least one program information identified by the program information carrier from the collected images;

The executable program is compiled according to the recognized program information, so as to execute the executable program when the execution condition is met.
The program execution device according to claim 42, wherein the program information is marked on the surface of the program information carrier.
The program execution device according to claim 41 or 42, wherein the program information includes: user-defined information.
The program execution device according to claim 41 or 42, wherein the program information carrier is provided with a first identifier;

The first identifier is used to be detected by the execution device to identify the program information carrier, and after identifying the program information carrier, identify the program information identified by the program information carrier.
The program execution device according to claim 41 or 42, wherein a second identifier is provided on the program information carrier, and the second identifier is used to record the program information identified by the program information carrier;

The identifying at least one program information identified by the program information carrier from the collected image includes:

The second mark in the image is read to obtain the program information recorded by the second mark.
The program execution device according to claim 41 or 42, wherein the program information carriers can be detachably connected to each other to obtain executable programs with different contents.
The program execution device according to claim 47, wherein the sequence of the operations indicated in the executable program is related to the connection sequence between the program information carriers.
The program execution device according to claim 41 or 42, wherein the program information carrier comprises: a three-dimensional block with a specific shape.
The program execution device according to claim 49, wherein the program information carrier comprises: a simulated three-dimensional block of functional components included in the execution device.
The program execution device according to claim 41 or 42, wherein the program execution device comprises: an execution body and an image acquisition device, and the image acquisition device is detachably installed on the designated program execution device body. Location

The collecting an image of at least one program information carrier includes:

The image of at least one program information carrier is acquired by the image acquisition device.
The program execution device according to claim 41, wherein the processor is further configured to implement when executing the computer program:

The position information of the program information carrier is acquired, and the shooting direction of the image acquisition device is adjusted to the program information carrier according to the position information.
The program execution device according to claim 52, wherein the image acquisition device further comprises: a pan/tilt provided on the execution subject, the pan/tilt is used to support the image acquisition device;

The processor is also used to implement when executing the computer program:

Adjust the posture of the pan/tilt according to the position information to adjust the shooting direction of the image acquisition device toward the program information carrier.
The program execution device according to claim 51, wherein when the image acquisition device is used to acquire at least one image of the program information carrier, the image acquisition device and the main body of the program execution device The distance is greater than the preset distance.
The program execution device according to claim 41 or 42, wherein the program information carrier comprises: a start program information carrier and an end program information carrier;

The start program information carrier is used to identify program information for the start of the executable program;

The end program information carrier is used to identify the end of the executable program program information. .
The program execution device according to claim 41 or 42, wherein at least one of the program information carriers corresponding to the executable program is provided with a positioning component, and the positioning component is used to send a positioning signal;

The program execution device is provided with a positioning detection component corresponding to the positioning component, and the processor is further configured to execute the computer program to realize:

Detecting the positioning signal by the positioning detection component, and positioning at least one program information carrier corresponding to the executable program according to the positioning signal;

Collecting at least one image of the program information carrier corresponding to the executable program according to the positioning result.
The program execution device according to claim 41 or 42, wherein the processor is further configured to execute the computer program to realize:

Recompiling the recorded multiple executable programs to obtain a new executable program.
The program execution device according to claim 57, wherein the processor is further configured to execute the computer program to realize:

Receive editing instructions;

The recompiling of the plurality of recorded executable programs to obtain a new executable program includes:

The multiple executable programs are recompiled according to the editing instructions to obtain new executable programs.
The program execution device according to claim 41 or 42, wherein the processor is further configured to execute the computer program to realize:

Output information about whether the executable program is successfully executed.
The program execution device according to claim 41, wherein the execution device comprises one or more detachably connected functional components;

The functional component is used to execute the executable program when the execution condition is satisfied.
The program execution device according to claim 41 or 42, wherein the program execution device comprises: a movable platform.
The program execution device according to claim 61, wherein the processor is further configured to execute the computer program to realize:

The execution device is controlled to move, and an image of at least one program information carrier is collected during the movement.