WO2023019820A1 - 一种实物编程方法、智能积木系统及智能细胞模组 - Google Patents

一种实物编程方法、智能积木系统及智能细胞模组 Download PDF

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Publication number
WO2023019820A1
WO2023019820A1 PCT/CN2021/137143 CN2021137143W WO2023019820A1 WO 2023019820 A1 WO2023019820 A1 WO 2023019820A1 CN 2021137143 W CN2021137143 W CN 2021137143W WO 2023019820 A1 WO2023019820 A1 WO 2023019820A1
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Prior art keywords
programming
module
building block
interface
data
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PCT/CN2021/137143
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English (en)
French (fr)
Inventor
应宏
陈辰
张炜
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杭州超乎智能科技有限公司
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Publication of WO2023019820A1 publication Critical patent/WO2023019820A1/zh

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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H33/00—Other toys
    • A63H33/04—Building blocks, strips, or similar building parts
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H33/00—Other toys
    • A63H33/26—Magnetic or electric toys
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
    • G09B23/06—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics
    • G09B23/18—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics for electricity or magnetism

Definitions

  • This application takes Chinese invention patent applications CN2021109541900 and CN2021109552159 as priority.
  • the invention relates to the technical field of electronic building blocks.
  • Smart building blocks are the intelligent form of electronic building blocks, which are to fix electronic components such as wires, light bulbs, diodes, resistors, capacitors, various switches, meters, motors, speakers, integrated blocks, etc.
  • the female buckle is made into an independently assembled accessory, which is assembled like building blocks on the installation base of the product configuration.
  • Further improvements to electronic building blocks can combine electronic building blocks and physical programming, and program electronic building blocks or the construction structure of electronic building blocks, so that electronic building blocks or their construction structures can execute programming instructions and realize some functions.
  • the programming instructions in the existing technology can be stored, transmitted and fed back, and can also be combined with AI technology to reproduce the physical programming entity actions.
  • the digital reproduction (virtualization) of programming in kind can only simulate the physical action of programming in kind, and cannot reproduce the whole process of programming in kind, including the logic of programming in kind
  • the programming process, execution process, and physical programming after virtualization cannot establish an effective feedback mechanism with the physical programming entity.
  • virtualization of physical programming in the true sense has not been realized.
  • the object of the present invention is to provide an intelligent building block system, an object programming method, an intelligent cell module and a multi-control system based on programming building blocks in order to overcome the defects of the prior art in view of the above situation.
  • the present invention provides the following technical solutions:
  • the present invention provides a programming method in kind
  • the method defines model standards for programming in kind, and performs programming in kind according to the defined model standards;
  • the method collects defined model standard data and programming data generated during the execution of physical programming, and establishes a virtualized physical programming system in the form of a digital twin;
  • the virtualized object programming system After the virtualized object programming system is built, according to the virtualized object programming scene and the virtualized control command, it is sent to the object programming entity, and the object programming entity executes the virtualized control command and feeds back the execution data.
  • model standard includes entity form, grammar standard and functional interface
  • entity form mainly includes some specific forms of physical programming entities, such as the shape of intelligent building blocks, interface positions, etc.
  • object programming includes code editing, program compiling, instruction execution, and communication between object programming entities and instruction execution.
  • the programming data includes physical programming instruction data, physical programming syntax standards, model standards, programming scene data, and programming execution data.
  • the virtualized object programming scene includes, but not limited to, a digital modeling scene for object programming entities, an interaction scene between digital models of object programming entities, and an intelligent game scene between object programming entity digital models.
  • programming entities in kind include intelligent building blocks and/or programming machines, wherein:
  • the programming machine includes a control board to control the execution object of physical programming, and to receive and issue virtualization control commands;
  • the smart building block is configured with a built-up shape, and the smart building block can be built on a smart base plate, and the smart base plate obtains information of the smart building block, and the information of the smart building block includes: physical characteristic information, functional data and spatial position information.
  • the present invention provides a computer device, including a memory, a processor, and a computer program stored on the memory and operable on the processor, when the processor executes the computer program, it can realize The above-mentioned programming method in kind.
  • the present invention provides an intelligent building block system, including an intelligent building block and a bottom plate,
  • the intelligent building block includes at least one interface, and the intelligent building block can be in contact with the base plate through the interface, and the base plate has a configuration for data interaction;
  • the intelligent building block is configured with a built-up shape, and a functional module is set, and the functional module can be triggered with the base plate and other intelligent building blocks through the interface;
  • the bottom plate includes: a housing and a circuit board, and the upper surface of the housing is configured with points that cooperate with the smart building blocks;
  • the circuit board at least includes: a power module, a communication module and a processing unit;
  • the built-in independent power module of the smart building block is powered on
  • the processing unit acquires information of one or more intelligent building blocks in contact with the base plate, and the information of the intelligent building blocks includes: physical characteristic information, functional data and spatial position information;
  • the intelligent building block system can be used as an object programming entity in the object programming method, so as to realize the above object programming method.
  • the intelligent building block can be in contact with the bottom plate through the interface, specifically implemented as:
  • the interfaces include: a first interface group for taking power and a second interface group for communication;
  • the first interface group and the second interface are arranged in a splicable structure
  • the splicable structure cooperates with the points provided on the bottom plate.
  • intelligent building blocks are configured as: functional building blocks, regular building blocks, driving building blocks or pure modeling building blocks.
  • the upper surface of the housing is distributed with points matching the interfaces of the smart building blocks, the points are in the shape of bosses, and pins connected to the smart building blocks are set in the middle of the bosses.
  • circuit board is specifically configured as a PCB board, and the PCB board is also provided with: an NFC dynamic label module and an indication module;
  • the communication module realizes the communication with the intelligent building block, and the power module performs power management on the independent power supply of the intelligent building block;
  • the NFC dynamic tag module is configured to read information from smart cells, and the indication module is configured to output feedback information from the processing unit for indication.
  • the present invention further provides a data interaction method based on intelligent building blocks, which is used in the intelligent building block system, and the intelligent building block system includes intelligent building blocks and a bottom plate:
  • the base plate acquires information of one or more intelligent building blocks in contact with the base plate, and the information of the intelligent building blocks includes: physical characteristic information, functional data and spatial position information;
  • the target task data includes: modeling data and task execution information
  • the feedback information output is generated.
  • the bottom board obtains the information of one or more intelligent building blocks in contact with the bottom board through the following methods:
  • the bottom plate has at least one surface on which the smart building blocks can be built, and the side where the smart building blocks and the bottom plate are assembled is provided with an electrical structure for contact-triggered data interaction;
  • the base plate and the intelligent building block obtain physical characteristic information and function data of the intelligent building block, as well as the spatial position information of the intelligent building block through networking.
  • the data interaction method further includes: performing data processing by the cloud server, and transmitting the physical characteristic and function data of the intelligent building block, as well as the spatial position information of the intelligent building block to the base plate.
  • processing the target task data to generate feedback information output includes: judging the target task data based on the degree of completion and task execution accuracy, and the target task is a fixed task and/or an executable task;
  • the present invention also provides a combination device based on intelligent building blocks, the combination device is composed of a plurality of intelligent building blocks overlapped and stacked on the bottom plate to form an intelligent building block group with execution function; including A plurality of the aforementioned smart building blocks.
  • the present invention provides a computer-readable medium for an intelligent building block, including program code, which is adapted to cause the data processing to execute the data interaction method when executed by the data processing.
  • the present invention provides a computing device for intelligent building blocks, configured as a data processing computing device for executing the data interaction method.
  • the present invention provides a smart cell module, including a building base plate and smart building blocks, and the building base plate and smart building blocks in the smart cell module can realize the functions of the above-mentioned smart building block system;
  • the intelligent building block includes at least one interface, and the intelligent building block can be in contact with the base plate through the interface,
  • the base plate has a minimum building unit, and each minimum building unit is provided with a corresponding number of minimum unit interfaces and building interfaces;
  • the intelligent building block includes a function-executing cell-like module and an electrical connection-like cell module;
  • the chassis adopts an 8-bit address bus, and each interface is connected to 127 function-executing cell-like modules;
  • the assembly interface adopts a custom I2C bus method, and the data communication protocol is carried out according to the standard I2C, and logic signal lines are added on this basis ;
  • the main control of the chassis includes MCU, BLE and WIFI modules, which realize the connection of programming machines, upload and download of cloud data, and the management and control of various function execution cell-like modules;
  • the shape of the function execution cell-like module defines the shape and size according to the function type of the execution cell-like module;
  • the interface definition of the function execution cell-like module is the same as that of the base plate;
  • the main control of the function execution cell-like module includes MCU , the MCU realizes the data communication control of the slave terminal in the I2C bus and the control of the execution peripherals;
  • the shape of the electrical connection cell module defined according to the assembly requirements; the interface definition of the electrical connection cell module is the same as that of the assembly base plate; the interface position is defined according to the assembly requirements, such as up and down, left and right, and 90°.
  • the present invention provides a smart cell module, which is a smart cell module that can be spliced, including a built-up chassis, a function-executing cell-like module, and an electrical connection-like cell module;
  • the shape is a size that can be assembled at will, and exists in the form of the smallest building unit.
  • Each minimum building unit has at least 100 connection points; each connection point is a connection interface; the building interface adopts a custom I2C bus
  • the data communication protocol is carried out according to the standard I2C, and logic signal lines are added on this basis; each connection point can be configured as any power or data line in the custom I2C interface, which is detected and configured by the software;
  • Each connection point is initialized to the input pull-up mode.
  • the component After detecting that there is a function to execute the cell-like module assembly, the component can detect which points are connected, and then through the logic control circuit, configure each The interface definition of the connection point;
  • the main control of the assembled chassis includes MCU, BLE and WIFI modules to realize the connection of the programming machine, upload and download of cloud data, real-time detection of each connection point, and dynamically configure each point through the logic control circuit Interface definition, as well as the management and control of each function execution cell-like module;
  • the main control of the chassis also includes a logic control circuit, which is composed of analog switches and analog devices, and can control the connection points of each connection point through the main control MCU.
  • the shape of the function execution cell-like module defines the shape and size according to the function type of the execution cell-like module; there are concave and convex surfaces, the concave surface is the downward connection surface, and the convex surface is the upward connection surface; the function execution cell-like module
  • the definition of the interface is the same as that of the built-up chassis; the concave connection point is initialized to the pull-down mode, which can be recognized by the convex connection point and can be configured as any power or signal line in the custom I2C interface through the logic control circuit.
  • the convex connection point is initialized as input pull-up mode;
  • the main control of the function execution cell-like module includes MCU to realize the data communication control of the slave end in the I2C bus and complete the self Initialize the convex surface and configure the interface after connection, and control the peripherals on itself;
  • the shape of the electrical connection cell module according to the definition of assembly requirements, there are concave and convex surfaces, the concave surface connects downwards, and the convex surface connects upwards; electrical appliances
  • the interface definition for connecting the cell-like modules is the same as that for building the chassis; and the corresponding concave connection points are directly connected with the convex surface connection points to achieve corresponding communication.
  • the smart cell module uses 10*10 as the minimum building unit.
  • logic signal line is used for group connection address allocation, and ensures address uniqueness and certainty.
  • each smallest unit of the building chassis has an independent power supply to ensure the power supply stability of a sufficient number of function-executing cell modules.
  • the present invention also provides a programming building block, which can be applied to the above-mentioned smart cell module, and the programming building block is a modular programming building block that can be placed arbitrarily, and the programming building block includes Several instruction modules, the instruction modules are connected to each other through the electrical interface, each instruction module stores at least one programming instruction information, at least one instruction module in the several instruction modules is used to run the programming input by each instruction module connected around it Command and send the execution result of the program to the control command module of the programming object through wired or wireless means, and the remaining command modules are transmission command modules; all command modules are regular square prisms and the size of each command module is equal.
  • the present invention uses building blocks to combine instruction modules on the programming board, and the control program controls the programming objects, so that young children can get rid of the cumbersome programming of the upper computer when learning programming, make children more focused, and enhance fun , Avoiding the use of electronic screens can better protect children's eyes.
  • the electrical interface includes a plug and a socket
  • the command module includes four sockets distributed on the side
  • the transmission command module includes a plug and a socket
  • the plug on the transmission command module can be connected to the socket of the control command module or can be connected to the transmission Socket connections for command modules.
  • a socket insulator is provided inside the socket, a plug insulator matching the socket insulator is provided on the plug, a socket is provided inside the socket, pins matching the socket are provided on the plug, and the socket is provided on the socket insulator, The pins pass through the plug insulator.
  • the plug is provided with a fastening ring for fastening the plug, and the fastening ring is an annular protrusion.
  • the bottom diameter of the fastening ring is larger than the top diameter, and the surface connecting the top and bottom is an arc-shaped convex surface.
  • the small diameter side of the top of the fastening ring is inserted into the socket first, which is convenient for plug insertion.
  • the diameter of the large diameter side is 1mm larger than the diameter of the socket, which is convenient for fixing the plug after insertion, and fastens the plug in the socket, which has high plug-in performance.
  • the programming objects include robots, smart homes, drones, and electronic games.
  • the instruction module includes a storage module for storing programming instruction information
  • the storage module includes an EEPROM chip, a flash chip, an MCU micro control unit, an SDNNAD, a capacitor and a PCB antenna.
  • the present invention provides a programming building block positioning method, which can use the above-mentioned programming building blocks, including the following steps:
  • the control command module reads the position coordinates ( xi , y i ) of each transmission command module, where i is the serial number of the transmission command module, and the control command module arranges the program weight according to the position coordinate information of the transmission command module, according to the program weight and
  • the programming instruction information carried by the transmission instruction module combines all the information into a programming instruction and sends the execution result of the program to the programming object.
  • the programming program and programming instruction formed by the instruction module of the present invention are different at different positions.
  • the good plug-in performance between the building blocks is used to realize the rapid insertion and connection of the building blocks by the children to form a variety of different programming instructions, which can make the children understand the programming instructions.
  • the formation is quickly familiar.
  • k i is the program weight
  • the control instruction module arranges the program weights in descending order, and the program with the largest program weight value is sent to the programming object first;
  • x i is the abscissa of the transmission instruction module, and
  • y i is the ordinate of the transmission instruction module.
  • S3 includes the following steps:
  • the control command module reads the position coordinates ( xi , y i ) of each transmission command module through the built-in chip, where i is the serial number of the transmission command module, and a unit of the abscissa or ordinate is a unit of the distance control command module length;
  • the control command module sets the program weight k i according to the distance of the transmission command module and arranges the program weights in descending order;
  • the control instruction module forms a program of programming instruction information from the programming instruction information carried by the transmission instruction modules with equal program weights, and executes all operations on the transmission instruction modules in descending order of program weights;
  • the present invention can not only virtualize and reproduce the entity, equipment and scene of physical programming through technologies such as digital twins, but also virtualize and reproduce the execution process and feedback process of physical programming, and the virtualization system can also independently perform Compilation and control of physical programming, and control of physical programming entities. Compared with the thinking and process of physical programming digitization in the prior art, which can only reproduce the hardware of physical programming but cannot reproduce physical programming, the present invention establishes a new set of virtualized physical programming system.
  • the present invention effectively solves the design that multiple intelligent cells of electronic toy building blocks are blindly inserted and spliced on the control base plate, and realizes high buildability.
  • the invention provides flexible configuration and effectively solves the problem of the blind insertion and splicing of a plurality of intelligent cells of electronic toy building blocks on the control base plate to achieve high buildability.
  • the base plate in this method obtains information about one or more intelligent building blocks that are in contact with the base plate. Simplified electrical structure design enables efficient free assembly.
  • the present invention provides a smart cell module that is flexible and convenient to use and effectively solves the external connection of data lines. This solution realizes the stable connection between the cell module modules and does not fall off during the connection process, overcomes the problems of large size and the need to use connecting wires, and avoids the potential safety hazard of reverse electrode connection.
  • the present invention provides a buildable smart cell module that is flexible in configuration and can effectively resolve conflicts during data transmission.
  • Corresponding areas are set on the building chassis for placing function-executing cell-like modules and electrical connection-like cell modules. That is to say, different cell modules are placed in different areas, and the function execution type cell modules and electrical connection type cell modules have corresponding placement areas.
  • the problem of electronic toys that are large in size and need to be assembled with connecting wires is formed, and the reverse connection of electrodes is effectively avoided.
  • the communication module is used to connect the smart cells
  • the power supply module performs charge and discharge management of electric power
  • the NFC dynamic label module performs information reading and interconnection of the smart cells
  • the indicator module controls the status display of the bottom board. baseplate for control.
  • the power module realizes the voltage stabilization of the electric power and the charging and discharging of the battery, so that the whole device can be in a more stable operating environment and can be used better.
  • FIG. 1 is a conceptual diagram of a virtualized object programming method in Embodiment 1.
  • FIG. 2 is a flow chart of the virtualized object programming method in Embodiment 1.
  • FIG. 2 is a flow chart of the virtualized object programming method in Embodiment 1.
  • FIG. 3 is a schematic diagram of the virtualized object programming system in Embodiment 1.
  • FIG. 3 is a schematic diagram of the virtualized object programming system in Embodiment 1.
  • FIG. 4 is a schematic diagram of a virtualized physical programming system constructed by the intelligent building block system in Embodiment 2.
  • FIG. 5 is a schematic structural view of the bottom plate in Embodiment 2.
  • Fig. 6 is a schematic diagram of the assembled state of the intelligent building block system in Embodiment 2.
  • FIG. 7 is a schematic flowchart of the data interaction method based on intelligent building blocks in Embodiment 3.
  • FIG. 8 is a schematic flowchart of generating feedback information output after target task data is processed in the data interaction method of Embodiment 3.
  • FIG. 8 is a schematic flowchart of generating feedback information output after target task data is processed in the data interaction method of Embodiment 3.
  • FIG. 9 is a schematic structural diagram of an intelligent cell module in Embodiment 4.
  • FIG. 9 is a schematic structural diagram of an intelligent cell module in Embodiment 4.
  • FIG. 10 is a schematic diagram of the framework of an intelligent cell module in Embodiment 4.
  • Fig. 11 is a schematic structural diagram of another smart cell module in embodiment 4.
  • FIG. 12 is a schematic diagram of another smart cell module in Embodiment 4.
  • Fig. 13 is a schematic structural diagram of the programming building block in Embodiment 5.
  • Fig. 14 is a schematic structural diagram of the control instruction module and the transmission instruction module in Embodiment 5.
  • Fig. 15 is a schematic flowchart of the programming building block positioning method in Embodiment 5.
  • Embodiment 1 programming method in kind
  • This embodiment provides a programming method in kind, the programming method in kind adopts the programming system in kind as shown in Figure 1, and the programming system in kind includes hardware composition and virtualization platform composition, and hardware composition is mainly based on the programming entity in kind, for example
  • the programming machine 1c and/or the intelligent building block 2c shown in the figure, the intelligent building block 2c in this embodiment can be the intelligent building block or the programming building block in the above-mentioned embodiment.
  • Described object programming entity comprises intelligent building block 2c and/or programming machine 1c, wherein:
  • the programming machine 1c includes a control base 11c, which realizes the control of the execution object of physical programming, and the reception and delivery of virtualization control commands;
  • the smart building block 2c is configured with a built-up shape, and the smart building block 2c can be built on the smart base plate 21c, and the smart base plate 21c obtains the information of the smart building block, and the information of the smart building block 2c includes: physical characteristic information, functional data and spatial position information .
  • the system composition of the object programming system is shown in Figure 3.
  • the system composition of the object programming system provided by this embodiment at least includes a model standard system, an object programming system and a digital twin model, wherein the model standard is at least Including physical form, syntax standard and functional interface; the physical programming system at least includes code editing, program compilation, instruction execution and communication and instruction execution between physical programming entities, and the system configuration of the physical programming system in this embodiment can at least Realize the above-mentioned programming operation in kind.
  • the digital twin model includes at least digital modeling, 3D interaction, intelligent game, virtual world and cell perception. In the digital twin model of this embodiment, the above functions can be realized in combination with physical programming.
  • the virtualization platform collects the defined model standard data and programming data generated during the execution of physical programming, and establishes a virtualized physical programming system in the form of a digital twin;
  • the programming data includes, but is not limited to, physical programming instruction data, physical programming syntax standards, virtualized model data, virtualized programming scene data, and programming execution data.
  • the virtualized object programming scenarios include, but are not limited to, digital modeling scenarios for object programming entities, interaction scenarios between digital models of object programming entities, and intelligent game scenarios between object programming entity digital models.
  • the virtualized object programming system After the virtualized object programming system is built, according to the virtualized object programming scene and the virtualized control command, it is sent to the object programming entity, and the object programming entity executes the virtualized control command and feeds back the execution data.
  • the object programming method in this embodiment is an object programming method combining physicalization and virtualization, which includes the following executable steps:
  • the model standard includes at least entity form, syntax standard and functional interface
  • the entity can be the enumerated programming machine 1c or smart building block 2c, or a programmable device, such as a smart speaker, a smart desk lamp, a smart watch, etc.;
  • the physical programming language needs to have various capabilities to reflect the physical programmable equipment, so in addition to the programming language grammar system, it also needs the language elements related to the physical object, such as actions, sensor message events, sensor parameters and other parts.
  • the grammatical system of physical programming language is similar to that of computer language, including: logic control, process control, operators, etc.
  • the functional interface refers to the interface that needs to process the logic of actions or judgments according to events in order to match the grammatical standard and complete programming for the physical object, and compile it into an interface for reference and reading by the programmable device.
  • S3 collect programming data generated during the execution of physical programming, and establish a virtualized physical programming system in the form of digital twins;
  • the digital twin can restore and simulate the execution process of programming on the WEB side or even on the handheld device.
  • the programming data includes, but is not limited to, physical programming instruction data, physical programming syntax standards, virtualized model data, virtualized programming scene data, and programming execution data.
  • the identification, modeling and restoration of the programming process of the physical programming entity are completed, and the control tools on the virtualization platform can be used to control the physical programming entity from online to offline.
  • a control signal is sent to the communication module of the building, and the control signal instructs the lights on the top of the building to Column flashing, because it has common programming instruction data, physical programming syntax standards, model standards, programming scene data, and programming execution data, the building composed of intelligent building blocks can analyze the control signal and execute the flashing of the lamp post on the top of the building.
  • the object programming entity executes the virtualization control command and feeds back execution data.
  • this embodiment also provides a computer device 3c, which includes a memory, a processor, and a computer program stored in the memory and operable on the processor.
  • the object programming method of this embodiment can be realized when the computer program is executed.
  • the smart building block referred to in the present invention is a kind of intelligent building block technology. After introducing the sensor/wireless communication/smart electrical pin technology into the traditional building block, the building blocks can recognize/locate/communicate with each other through mutual assembly.
  • the built-in chip and software technology of the cellular building blocks not only realize the "cellular intelligence" of a single particle building block, but also a higher-level “intelligent assembly" can be constructed by splicing multiple electronic building blocks.
  • this embodiment provides an intelligent building block system, including an intelligent building block 1a and a bottom plate 2a, wherein there may be multiple intelligent building blocks 1a, and the intelligent building block 1a includes at least one interface, which includes both The interface in physical form also includes a data interface.
  • the intelligent building block 1a can contact the base plate 2a through the interface to form a structure as shown in FIG. 6 , and the base plate 2a has a configuration for data interaction.
  • the intelligent building block 1a is configured with a built-up shape, and a functional module is set, and the functional module can be triggered with the base plate and other intelligent building blocks through the interface;
  • the base plate 2a includes: a housing and a circuit board, The upper surface of the housing is provided with a point 21a that cooperates with the intelligent building block;
  • the circuit board at least includes: a power supply module, a communication module and a processing unit.
  • the processing unit obtains one or more intelligent building blocks in contact with the base plate 1a, the information of the intelligent building block includes: physical characteristic information, functional data and spatial position information.
  • the intelligent building block 1a and the bottom plate 2a in the above-mentioned intelligent building block system can be used as the object programming entity to realize the object programming method of embodiment 1, specifically, the object programming method defines the model standard of object programming, and the model standard includes the model standard Including the physical form, grammar standard and functional interface of the intelligent building block 1a and the base plate 2a, the physical programming is executed according to the defined model standard; during the execution of the physical programming method, the cloud server 3a collects the defined model standard data and physical programming execution The programming data generated in the process is used to establish a virtualized physical programming system in the form of a digital twin; after the virtualized physical programming system is built, it is sent to the intelligent building block 1a and the base plate 2a according to the virtualized physical programming scene and virtualized control commands , the intelligent building block 1a and the base plate 2a execute the virtualization control command and feed back the execution data to the cloud server 3a.
  • the object programming method defines the model standard of object programming
  • the model standard includes the model standard Including the physical form, grammar standard
  • this embodiment provides a data interaction method based on smart building blocks, which can be used in the smart building block system of Embodiment 2, and its specific data interaction method is as follows:
  • the bottom board obtains information of one or more smart building blocks in contact with the bottom board, and the information of the smart building blocks includes: physical characteristic information, function data and spatial position information. That is, when all the intelligent building blocks set on the bottom plate, or a group of intelligent building blocks composed of several intelligent building blocks that have been assembled are placed on the bottom plate, the information of all the intelligent building blocks will be transmitted to the bottom plate. It is not limited to whether the smart building blocks are directly spliced with the base plate. As long as there is one intelligent building block spliced with the base plate, the information of all the above intelligent building blocks will be obtained by the base plate.
  • the base plate By using a plurality of intelligent building blocks with different functions and/or shapes to build on the base plate, the base plate obtains the target task data formed by the actual construction, and the target task data includes: modeling data and task execution information.
  • the target task data may be processed by a cloud server or a built-in central processing unit of the chassis, and the generated feedback information may be output.
  • the output information includes:
  • S21 Perform a judgment on the target task data based on the degree of completion and the accuracy of task execution.
  • the target task is a fixed task and/or an executable task.
  • the evaluation data may be the numerical value of the degree of completion such as 90% complete, execution deviation value, and the like.
  • the intelligent building blocks and base plates participating in data interaction can be used as physical programming entities to implement the physical programming method of Embodiment 1, and the cloud server collects the model standard data of the intelligent building blocks and base plates in this embodiment, and during the interaction process
  • the programming data of the generated information data is used to establish a virtualized physical programming system in the form of a digital twin;
  • the virtualized physical programming system After the virtualized physical programming system is built, according to the virtualized physical programming scene and the virtualized control command, it is sent to the smart building block and the base plate, and the smart building block and the base plate execute the virtualized control command and feed back the execution data to the cloud server.
  • the interaction method in the present invention can be collected and learned by the cloud server, and the cloud server generates a feedback control command correspondingly, sends it to the smart building block and the base plate, and the virtualization command is actually executed by the smart building block and the base plate.
  • the module described in this embodiment refers to an intelligent building block composed of several basic functional components, which can be used to form a system, device or program with complete functions. Modules usually have the same process or logic, and their functions or uses can be adjusted by changing their constituent components.
  • the module in the present invention refers to a specific functional component composed of smart cells as basic functional components. Smart cells in the present invention It can be understood as the intelligent building blocks of embodiment 1 or 2 or the programming building blocks of embodiment 4, which can be physically spliced or logically combined to form a whole intelligent cell module with complete functions or combined functions, using different intelligent building blocks (intelligent cells) can change the overall function of the smart cell module.
  • the module described in this embodiment refers to an intelligent building block composed of several basic functional components, which can be used to form a system, device or program with complete functions. Modules usually have the same process or logic, and their functions or uses can be adjusted by changing their constituent components.
  • the module in the present invention refers to a specific functional component composed of smart cells as basic functional components. Smart cells in the present invention Can be understood as the intelligent building blocks of embodiment 1 or 2 or the programming building blocks of embodiment 5, they can be physically spliced or logically combined to form a whole intelligent cell module with complete functions or combined functions, using different intelligent building blocks (smart building blocks) cells) can change the overall function of the smart cell module.
  • this embodiment provides a buildable smart cell module, including a building chassis, a function-executing cell-like module, and an electrical connection-like cell module. Corresponding areas are set on the building chassis for placing function-executing cell-like modules and electrical connection-like cell modules. That is to say, different cell modules are placed in different areas, and the function execution type cell modules and electrical connection type cell modules have corresponding placement areas.
  • the shape of the building chassis is of a size that can be assembled at will, and there are minimum building units, and each minimum building unit is provided with a corresponding number of minimum unit interfaces and building interfaces.
  • the building chassis adopts an 8-bit address bus, and each interface can theoretically connect 127 function-executing cell-like modules. 4*4 is the smallest building unit. Logical signal lines are used for group connection address allocation, and address uniqueness and certainty are guaranteed.
  • the build-up interface adopts a custom I2C bus method, and the data communication protocol is carried out according to the standard I2C, and logic signal lines are added on this basis.
  • Each smallest unit of the building chassis has an independent power supply to ensure the power supply stability of a sufficient number of function-executing cell modules.
  • the main control of the built chassis includes MCU, BLE and WIFI modules, which realize the connection of programming machines, upload and download of cloud data, and the management and control of various function execution cell-like modules.
  • the shape of the function-executing cell-like module defines the shape and size according to the function type of the executing cell-like module.
  • the interface definition of the function-executing cell-like module is the same as that of the building chassis.
  • the main control of the function execution cell-like module includes MCU to realize the data communication control of the slave side in the I2C bus and the control of the execution peripherals.
  • the shape of the electrical connection cell module defined according to the building requirements.
  • the interface definition of the electrical connection cell module is the same as that of the building chassis.
  • the interface position is defined according to the building requirements, such as up and down, left and right, 90° and other positions.
  • a smart cell module that can be spliced includes a chassis, a function-executing cell module, and an electrical connection cell module.
  • Functional execution cell modules and electrical connection cell modules can be placed in all areas on the building chassis. That is to say, the corresponding areas are not distinguished, and the function-executing cell modules and electrical connection-like cell modules can be placed in any area to achieve random placement and improve the playability of electronic cell module toys.
  • the shape of the building chassis is of a size that can be assembled at will, and exists in the form of the smallest building unit.
  • Each minimum building unit is set to 10*10 as the smallest building unit, that is, there are at least 100 connection points.
  • Each connection point is a connection interface.
  • the build-up interface adopts a custom I2C bus method, and the data communication protocol is carried out according to the standard I2C, and logic signal lines are added on this basis.
  • Each connection point can be configured as any power or data line in the custom I2C interface, which is detected and configured by the software. Logical signal lines are used for group connection address allocation, and address uniqueness and certainty are guaranteed.
  • Each connection point is initialized to input pull-up mode. After detecting that there is a function to execute the cell-like module assembly, the software can detect which specific points are connected, and then configure each through the logic control circuit.
  • the interface definition for the join point is a custom I2C bus method, and the data communication protocol is carried out according to the standard I2C
  • Each smallest unit of the building chassis has an independent power supply to ensure the power supply stability of a sufficient number of function-executing cell modules.
  • the main control of the chassis includes MCU, BLE and WIFI modules, which realize the connection of the programming machine, upload and download of cloud data, real-time detection of each connection point, and dynamically configure the interface definition of each point through the logic control circuit.
  • the function executes the management and control of the cell-like module.
  • the main control of the built chassis also includes a logic control circuit, which is composed of analog switches and analog devices, and can control the interface definition of each connection point through the main control MCU.
  • the shape of the function-executing cell-like module defines the shape and size according to the function type of the executing cell-like module.
  • a concave surface and a convex surface are provided, the concave surface is a downward connection surface, and the convex surface is an upward connection surface.
  • the interface definition of the function-executing cell-like module is the same as that of the building chassis.
  • the concave connection point is initialized to pull-down mode, which can be recognized by the convex connection point and can be configured as any power or signal line in the custom I2C interface through the logic control circuit.
  • the configuration of the concave connection point is automatically detected and configured by the software. , initialize the convex connection point bit to input pull-up mode.
  • the main control of the function execution cell-like module includes MCU to realize the data communication control of the slave side in the I2C bus, complete the initialization of its own convex surface and the configuration of the interface after connection, and control the peripherals of itself.
  • the shape of electrical connection cell modules according to the definition of building requirements, there are concave and convex surfaces, the concave surface connects downward, and the convex connects upward.
  • the interface definition of the electrical connection cell module is the same as that of the building chassis.
  • the corresponding concave connection point is directly connected with the convex connection point, so as to realize corresponding communication.
  • Function execution cell modules and electrical connection cell modules can be spliced together first, and then put into the assembly chassis, which can be re-allocated through the new I2C interface. Improve the playability of the entire splicing cell module.
  • Embodiment 5 programming building blocks and positioning method
  • This embodiment provides a modular programming building block that can be placed arbitrarily.
  • the programming building block is a form of the physical programmable device described in Embodiment 1, and its form is a building block.
  • the structure and function of the programming building blocks are not limited to the structures of the intelligent building blocks or the intelligent cells in the embodiments 1-4.
  • the modular programming building block includes several instruction modules, the instruction modules are connected to each other through the electrical interface, each instruction module stores at least one programming instruction information, and at least one instruction module among the several instruction modules is used for Run the programming instructions input by each instruction module connected around it and send the execution result of the program to the control instruction module of the programming object through wired or wireless means, and the remaining instruction modules are transmission instruction modules; all instruction modules are regular square prisms And each instruction module is equal in size, and the instruction modules are all arranged on the programming board 5 .
  • Programming objects include robots, smart homes, drones, and video games
  • storage modules include EEPROM chips, flash chips, MCU micro-control units, SDNNAD, capacitors, and PCB antennas.
  • EEPROM can erase the existing information on the computer or special equipment, reprogram, plug and play; flash chip combines the strengths of ROM and RAM, not only has the performance of electrically erasable and programmable, but also will not be lost when power off Data can be quickly read at the same time; SDNNAD erasing and writing life can reach 50,000 to 100,000 times; UART, PLC, and DMA peripheral interfaces are integrated on a single chip to form a chip-level computer; the capacitance of the capacitor is different, and the time to charge the capacitor is different.
  • the programming board sequentially gives The capacitor is powered on, and the charging time of the capacitor is read, and the programming instructions represented by different capacitors are judged by the time; the PCB antennas with different impedances are used to store instruction information by using the characteristics of different impedances of PCB onboard antennas and different voltage standing wave ratios.
  • This embodiment also correspondingly provides a positioning method for modular programming building blocks that can be placed arbitrarily.
  • the modular programming building blocks that can be placed arbitrarily describe the working process and working principle of the programming building blocks, including the following steps:
  • the control command module reads the position coordinates ( xi , y i ) of each transmission command module, where i is the serial number of the transmission command module, and the control command module arranges the program weight according to the position coordinate information of the transmission command module, according to the program weight and
  • the programming instruction information carried by the transmission instruction module combines all the information into a programming instruction and sends the execution result of the program to the programming object.
  • k i is the program weight
  • the control instruction module arranges the program weights in descending order, and the program with the largest program weight value is sent to the programming object first;
  • x i is the abscissa of the transmission instruction module, and
  • y i is the ordinate of the transmission instruction module.
  • said S103 includes the following steps:
  • the control command module reads the position coordinates ( xi , y i ) of each transmission command module through the built-in chip, where i is the serial number of the transmission command module, and a unit of the abscissa or ordinate is a unit of the distance control command module length;
  • the control command module sets the program weight k i according to the distance of the transmission command module and arranges the program weights in descending order;
  • the control instruction module forms a program of programming instruction information from the programming instruction information carried by the transmission instruction modules with equal program weights, and executes all operations on the transmission instruction modules in descending order of program weights;

Abstract

本发明提供一种智能积木系统、实物编程方法、智能细胞模组及基于编程积木的多元控制系统，所述智能积木系统包括智能积木和底板，所述智能积木能够通过接口与底板接触；所述实物编程方法定义实物编程的模型标准；采集所定义的模型标准数据和实物编程执行过程中所产生的编程数据，以数字孪生的方式建立虚拟化实物编程系统。本发明通过数字孪生等技术，将实物编程的实体、设备、场景以及执行过程和反馈过程虚拟化再现，虚拟化系统也能够独立进行实物编程的编译和控制环节，并对实物编程实体进行控制，与现有技术中实物编程数字化只能够再现实物编程的硬件而无法再现实物编程的思维和过程相比，本发明建立了一套全新的虚拟化实物编程系统。

Description

一种实物编程方法、智能积木系统及智能细胞模组
本申请以中国发明专利申请CN2021109541900和CN2021109552159为优先权。
技术领域
本发明涉及电子积木技术领域。
背景技术
智能积木是电子积木的智能形态，就是将导线、灯泡、二极管、电阻、电容、各种开关、电表、电机、喇叭、集成块等电子元器件固定在塑料片(块)上，用独特的子母扣做成独立可拼装的配件，在产品配置的安装底板上像搭积木一样拼装。
对电子积木的进一步改进可以将电子积木和实物编程结合，对电子积木或者电子积木的搭建结构进行编程，使得电子积木或者其搭建结构能够执行编程指令，实现一些功能。现有技术中的编程指令可以进行存储、传输和反馈，也可以结合AI技术进行实物编程实体动作的再现。
但是，现有技术中的对电子积木的实物编程至少存在以下缺陷：实物编程的数字化再现(虚拟化)只能够模拟实物编程的实体动作，无法再现实物编程的整个过程，包括实物编程的逻辑、编程过程、执行过程，虚拟化后的实物编程也无法和实物编程实体建立有效的反馈机制，实际上没有实现真正意义上的实物编程虚拟化。
发明内容
本发明的目的是，针对上述情况，为克服现有技术的缺陷，提供一种智能积木系统、实物编程方法、智能细胞模组及基于编程积木的多元控制系统。
为了实现上述目的，本发明提供以下技术方案：
第一方面，本发明提供一种实物编程方法，
包括实物编程实体，
所述方法定义实物编程的模型标准，根据所定义的模型标准执行实物编程；
所述方法采集所定义的模型标准数据和实物编程执行过程中所产生的编程数据，以数字孪生的方式建立虚拟化实物编程系统；
在虚拟化实物编程系统搭建完成后，根据虚拟化实物编程场景和虚拟化控制命令，发送给所述实物编程实体，实物编程实体执行虚拟化控制命令并反馈执行数据。
进一步地，所述模型标准包括实体形态、语法标准和功能接口，所述实体形态主要包括 实物编程实体的一些具体形态，例如智能积木的形状、接口位置等。
进一步地，所述实物编程所述实物编程包括代码编辑、程序编译、指令执行和实物编程实体之间的的通讯及指令执行。
进一步地，所述编程数据包括实物编程指令数据、实物编程语法标准、模型标准、编程场景数据、编程执行数据。
进一步地，所述虚拟化实物编程场景包括但不限于，针对实物编程实体的数字建模场景、针对实物编程实体数字模型之间的交互场景、针对实物编程实体数字模型之间的智能游戏场景。
进一步地，所述实物编程实体包括智能积木和/或编程机，其中：
所述编程机包括控制底板，实现对实物编程的执行对象的控制，以及，针对虚拟化控制命令的接收及下发；
所述智能积木配置有拼搭外形，智能积木可搭建智能底板上，所述智能底板获取智能积木的信息，该智能积木的信息包括：物理特性信息、功能数据和空间位置信息。
在此基础上，本发明提供一种计算机设备，包括存储器、处理器以及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时能够实现上述实物编程方法。
第二方面，本发明提供一种智能积木系统，包括智能积木和底板，
所述智能积木包括至少一个接口，所述智能积木能够通过接口与底板接触，该底板具备数据交互的配置；
所述智能积木配置有拼搭外形，并设置功能模块，所述功能模块能够与所述底板及其他智能积木通过所述接口的拼搭触发；
所述底板包括：壳体及电路板，所述壳体上表面配置有与所述智能积木配合的点位；
所述电路板至少包括：电源模块，通信模块及处理单元；
智能积木搭建在所述底板上时，所述智能积木内置的独立电源模块上电；
所述处理单元获取与底板接触的一个或多个智能积木的信息，该智能积木的信息包括：物理特性信息、功能数据和空间位置信息；
在本方案中，所述的智能积木系统可以作为实物编程方法中的实物编程实体，从而来实现上述的实物编程方法。
进一步地，所述智能积木能够通过接口与底板接触，具体实现为：
所述接口包括：用于取电的第一接口组和用于通讯的第二接口组；
所述第一接口组和第二接口采用可拼接结构设置；
所述可拼接结构与所述底板上设置的点位配合。
进一步地，智能积木配置为：功能性积木、规则类积木、驱动类积木或纯造型类积木。
进一步地，所述壳体上表面分布设置与智能积木接口匹配的点位，所述点位为凸台形状，所述凸台正中间设置与智能积木连接的引脚。
进一步地，所述电路板具体配置为PCB板，所述PCB板还设置有：NFC动态标签模块和指示模块；
所述通信模块实现与所述智能积木的通讯，且所述电源模块对所述智能积木的独立电源进行电力管理；
所述NFC动态标签模块配置为对智能细胞的信息读取，以及，所述指示模块配置为将所述处理单元反馈信息输出进行指示。
在构建智能积木系统的基础上，本发明进一步提供一种基于智能积木的数据交互方法，该方法用于智能积木系统，所述智能积木系统包括智能积木和底板：
所述底板获取与底板接触的一个或多个智能积木的信息，该智能积木的信息包括：物理特性信息、功能数据和空间位置信息；
通过使用多个不同功能和/或造型的智能积木，搭建在底板之上，由底板获得实际搭建形成的目标任务数据，所述目标任务数据包括：造型数据和任务执行信息；
将目标任务数据处理后生成反馈信息输出。
进一步地，所述底板获取与底板接触的一个或多个智能积木的信息具体通过如下方式实现：
底板具有至少一个能够拼搭所述智能积木的表面，智能积木与底板拼搭的一面都设置接触触发数据交互的电气结构；
以及，所述底板与智能积木通过组网获取所述智能积木的物理特性信息和功能数据，以及该智能积木所处的空间位置信息。
进一步地，所述数据交互方法还包括：由云服务器作数据处理，将智能积木的物理特性和功能数据，以及该智能积木所处的空间位置信息传输给底板。
进一步地，将目标任务数据处理后生成反馈信息输出，包括：对所述目标任务数据进行基于完成度及任务执行准确性的判断，所述目标任务为固定任务和/或可执行任务；
对完成度不能达到预设值和/或出现执行错误时，发出提示信息；
或者，根据当前完成度及执行准确性输出评估数据。
基于上述智能积木系统和数据交互方法，本发明还提供一种基于智能积木的组合装置，所述组合装置由多个智能积木在底板上所搭接垒叠形成具备执行功能的智能积木组；包括多个上述的智能积木。
进一步地，本发明提供一种用于智能积木的计算机可读介质，包括程序代码，所述程序代码适于在被数据处理执行时，使得所述数据处理执行所述数据交互方法。
进一步地，本发明提供一种用于智能积木的计算设备，配置为执行所述数据交互方法的数据处理计算设备。
第三方面，本发明提供一种智能细胞模组，包括拼搭底板和智能积木，所述智能细胞模组中的拼搭底板和智能积木能够实现上述智能积木系统的功能；
所述智能积木包括至少一个接口，所述智能积木能够通过接口与底板接触，
所述底板具有最小拼搭单元，每个最小拼搭单元都设有相应数量的最小单元接口及拼搭接口；所述智能积木包括功能执行类细胞模组和电器连接类细胞模组；拼搭底盘采用8位的地址总线，每个接口连接127个功能执行类细胞模组；拼搭接口采用自定义I2C总线方式，其中的数据通信协议按标准I2C进行，并在此基础上增加逻辑信号线；拼搭底盘的主控包括MCU、BLE和WIFI模块，实现编程机的连接、云端数据的上传与下载以及各功能执行类细胞模组的管理与控制；
功能执行类细胞模组的形状根据执行类细胞模组的功能类型定义形状尺寸；功能执行类细胞模组的接口定义与拼搭底板的接口定义相同；功能执行类细胞模组的主控包括MCU，所述MCU实现I2C总线中从机端的数据通信控制以及对执行外设的控制；
电器连接类细胞模组的形状：根据拼搭需求定义；电器连接类细胞模组的接口定义与拼搭底板的接口定义相同；接口位置根据拼搭需求，定义上下、左右、90°等位置。
进一步地，以4*4为最小拼搭单元。
或者，本发明提供一种智能细胞模组，所述模组为一种可拼接的智能细胞模组，包括拼搭底盘、功能执行类细胞模组、电器连接类细胞模组；拼搭底盘的形状为尺寸大小可随意拼搭，以最小拼搭单元方式存在，每个最小拼搭单元设置有至少100个连接点位；每个连接点位为一个连接接口；拼搭接口采用自定义I2C总线方式，其中的数据通信协议按标准I2C进行，并在此基础上增加逻辑信号线；每一个连接点位都可以配置为自定义I2C接口中的任意一根电源或者数据线，由软件检测配置；每一个连接点位都被初始化为输入上拉模式，检测到有功能执行类细胞模组拼搭后，件就可以检测到连接的具体是哪几个点位，然后通过逻辑控制电路，配置各个连接点的接口定义；拼搭底盘的主控包括MCU、BLE和WIFI模块， 实现编程机的连接，云端数据的上传与下载，实时检测各连接点位，通过逻辑控制电路，动态配置各点位的接口定义，以及各功能执行类细胞模组的管理与控制；拼搭底盘的主控还包括逻辑控制电路，其由模拟开关和模拟器件组成，可通过主控MCU来控制各连接点位的接口定义；功能执行类细胞模组的形状根据执行类细胞模组的功能类型，定义形状尺寸；设有凹面和凸面，凹面为向下连接面，凸面为向上连接面；功能执行类细胞模组的接口定义与拼搭底盘的接口定义相同；凹面连接点位初始化为下拉模式，可被凸面连接点位识别并可通过逻辑控制电路，配置为自定义I2C接口中任意一根电源或者信号线，由软件自动检测配置凹面连接点位配置完成后，初始化凸面连接点位为输入上拉模式；功能执行类细胞模组的主控包括MCU，以实现I2C总线中从机端的数据通信控制，完成自身凸面的初始化以及连接后接口配置，对自身执行外设的控制；电器连接类细胞模组的形状：根据拼搭需求定义，设有凹面和凸面，凹面向下连接面，凸面向上连接面；电器连接类细胞模组的接口定义与拼搭底盘的接口定义相同；且相应凹面连接点与凸面连接点直接相连，以实现相应联通。
进一步地，所述智能细胞模组以10*10为最小拼搭单元。
进一步地，逻辑信号线用于群连接地址分配，且保证地址唯一性及确定性。
进一步地，拼搭底盘的每一最小单元都带有独立电源供电，以保证足够多数量功能执行细胞模组的供电稳定性。
进一步地，功能执行类细胞模组、电器连接类细胞模组的接口至少两个，且不区分输入输出，自动分配输入输出。
第四方面，本发明还提供一种编程积木，所述编程积木能够应用于以上所述的智能细胞模组，所述编程积木为一种可任意放置的模块式编程积木，所述编程积木包括若干指令模块，指令模块之间通过电气接口相互连接，每个指令模块至少存储一条编程指令信息，若干指令模块中至少有一个指令模块为用于运行连接在它周围的每个指令模块输入的编程指令并将程序的执行结果通过有线或者无线的方式发送给编程对象的控制指令模块，剩余指令模块为传输指令模块；所有指令模块均为正四棱柱且每个指令模块之间大小均等。本发明采用积木的拼插方式将指令模块在编程板上进行组合，控制程序对编程对象进行控制，使得低龄儿童在学习编程时摆脱了使用上位机编程的繁琐，使幼儿更加专注，增强趣味性，避免了使用电子屏幕的场景能够更好地保护幼儿的眼睛。
进一步地，所述电气接口包括插头和插座，指令模块包括四个分布于侧面的插座，传输指令模块均包括插头和插座，传输指令模块上的插头可与控制指令模块的插座连接也可与传输指令模块的插座连接。
进一步地，插座内部设有插座绝缘体，插头上设有与插座绝缘体相匹配的插头绝缘体，插座内部含有插孔，插头上设有与插孔匹配的插针，插孔设于插座绝缘体上，插针穿设在插头绝缘体上。
进一步地，所述插头上设有用于紧固插头的紧固环，所述紧固环为环形凸起。
进一步地，所述紧固环底部直径大于顶部直径，连接顶部与底部的面为弧形凸面。紧固环顶部直径小的一面先插入插座，便于插头的插入，直径大的一面直径大于插座直径1mm，便于插头插入后的固定，将插头紧固在插座内，具有很高的拔插性能。
进一步地，所述编程对象包括机器人、智能家居、无人机、电子游戏。
进一步地，所述指令模块内部包括用于存储编程指令信息的存储模块，所述存储模块包括EEPROM芯片、flash芯片、MCU微控制单元、SDNNAD、电容和PCB天线。
第五方面，本发明提供一种编程积木定位方法，可以采用以上所述的编程积木，包括以下步骤：
S1、以控制指令模块底面中心为原点建立直角坐标系，与底面边平行的方向分别为x轴和y轴，定义每个底面边长的长度为坐标轴上的1个单位长度；
S2、将传输指令模块插接在控制指令模块上，至少一个传输指令模块与控制指令模块连接；
S3、控制指令模块读取各个传输指令模块的位置坐标(x i,y i)，其中i为传输指令模块的编号，控制指令模块根据传输指令模块的位置坐标信息排列程序权重，根据程序权重和传输指令模块携带的编程指令信息将所有信息组合成编程指令并将程序的执行结果发送给编程对象。
本发明的指令模块在不同的位置形成的编程程序和编程指令是不同的，利用积木间良好的拔插性能实现幼儿对积木的快速插接形成多种不同的编程指令，能够让幼儿对编程指令的形成快速熟悉。
进一步地，所述程序权重的计算方式如下：
Figure PCTCN2021137143-appb-000001
其中，k i为程序权重，控制指令模块将程序权重按照降序排列，程序权重数值大的优先发送程序至编程对象；x i为传输指令模块的横坐标，y i为传输指令模块的纵坐标。
进一步地，所述S3包括以下步骤：
S31、控制指令模块通过内置芯片读取各个传输指令模块的位置坐标(x i,y i)，其中i为传 输指令模块的编号，横坐标或纵坐标的一个单位就是距离控制指令模块的一个单位长度；
S32、控制指令模块根据传输指令模块的距离设置程序权重k i并将程序权重按照降序排列；
S33、控制指令模块将程序权重相等的传输指令模块携带的编程指令信息形成一条编程指令信息的程序，按照程序权重降序执行完所有对传输指令模块的操作；
S34、按照程序权重的降序将若干编程指令信息的程序发送至编程对象执行。
本发明的有益效果是：
(1)本发明通过数字孪生等技术，不仅能够将实物编程的实体、设备和场景虚拟化再现，还能够将实物编程的执行过程和反馈过程虚拟化再现，并且，虚拟化系统也能够独立进行实物编程的编译和控制环节，并对实物编程实体进行控制，与现有技术中实物编程数字化只能够再现实物编程的硬件而无法再现实物编程的思维和过程相比，本发明建立了一套全新的虚拟化实物编程系统。
(2)本发明有效解决电子玩具积木的多个智能细胞盲插拼接在控制底板上的设计，实现高可拼搭性。本发明提供配置灵活，有效解决电子玩具积木的多个智能细胞盲插拼接在控制底板上的设计，实现高可拼搭性。本方法中的底板获取与底板接触的一个或多个智能积木的信息。简化的电气结构设计，实现高效的随意拼搭。
(3)本发明提供使用灵活方便，有效解决数据线外置连接的一种智能细胞模组。本方案实现细胞模组模块之间的稳定连接，且实现连接过程中不脱落，克服体积大、且需要使用连接线等问题，避免了电极反接的安全隐患。
(4)本发明提供了配置灵活、能够有效解决数据发送时产生冲突情况的一种可搭建的智能细胞模组。拼搭底盘上设置相应区域用于放置功能执行类细胞模组、电器连接类细胞模组。即不同的区域放置不同的细胞模组，功能执行类细胞模组、电器连接类细胞模组都有相应的放置区域。形成克服体积大、且需要使用连接线才能拼搭起的电子玩具的问题，并且有效避免电极反接。
(5)本发明通过通讯模块用于连接智能细胞，电源模块进行电力的充放电管理，NFC动态标签模块进行智能细胞的信息读取与互联，指示模块进行控制底板的状态显示，主控模块对底板进行控制。电源模块实现电力的稳压和蓄电池的充放，使整个装置能处于更加的稳定运作环境下，也能更好的进行使用。
附图说明
图1为实施例1的虚拟化实物编程方法概念图。
图2为实施例1的虚拟化实物编程方法流程图。
图3为实施例1的虚拟化实物编程系统示意图。
图4为实施例2中智能积木系统构建虚拟化实物编程系统的示意图。
图5为实施例2中底板的结构示意图。
图6为实施例2中智能积木系统的组合状态示意图。
图7为实施例3中基于智能积木的数据交互方法的流程示意图。
图8为实施例3的数据交互方法中目标任务数据处理后生成反馈信息输出的流程示意图。
图9为实施例4的一种智能细胞模组的结构示意图。
图10为实施例4的一种智能细胞模组的框架示意图。
图11为实施例4的另一种智能细胞模组的结构示意图；
图12为实施例4的另一种智能细胞模组的框架示意图。
图13是实施例5中编程积木的结构示意图。
图14是实施例5中控制指令模块和传输指令模块的结构示意图。
图15是实施例5中编程积木定位方法的流程示意图。
具体实施方式
以下结合附图对本发明的技术方案做进一步详细说明，应当指出的是，具体实施方式只是对本发明的详细说明，不应视为对本发明的限定。
实施例1，实物编程方法
参照附图1-3。本实施例提供一种实物编程方法，该实物编程方法采用如图1所示的实物编程系统，所述实物编程系统包括硬件构成和虚拟化平台构成，硬件构成以实物编程实体为主，例如图中所示的编程机1c和/或智能积木2c，本实施例中的智能积木2c可以是上述实施例中的智能积木或者编程积木。
所述实物编程实体包括智能积木2c和/或编程机1c，其中：
所述编程机1c包括控制底板11c，实现对实物编程的执行对象的控制，以及，针对虚拟化控制命令的接收及下发；
所述智能积木2c配置有拼搭外形，智能积木2c可搭建智能底板21c上，所述智能底板21c获取智能积木的信息，该智能积木2c的信息包括：物理特性信息、功能数据和空间位 置信息。
所述实物编程系统的系统构成如图3所示，从概念上说，本实施例所提供的实物编程系统的系统构成至少包括模型标准体系、实物编程体系和数字孪生模型，其中，模型标准至少包括实体形态、语法标准和功能接口；所述实物编程体系至少包括代码编辑、程序编译、指令执行和实物编程实体之间的的通讯及指令执行，本实施例的实物编程系统的系统构成至少能够实现上述的实物编程操作。所述数字孪生模型至少包括数字建模、3D交互、智能游戏、虚拟世界和细胞感知，在本实施例的数字孪生模型中，能够结合实物编程实现上述的功能。
在本实施例中，虚拟化平台采集所定义的模型标准数据和实物编程执行过程中所产生的编程数据，以数字孪生的方式建立虚拟化实物编程系统；
所述编程数据包括但不限于，实物编程指令数据、实物编程语法标准、虚拟化模型数据、虚拟化编程场景数据、编程执行数据。所述虚拟化实物编程场景包括但不限于，针对实物编程实体的数字建模场景、针对实物编程实体数字模型之间的交互场景、针对实物编程实体数字模型之间的智能游戏场景。
在虚拟化实物编程系统搭建完成后，根据虚拟化实物编程场景和虚拟化控制命令，发送给所述实物编程实体，实物编程实体执行虚拟化控制命令并反馈执行数据。
具体地说，本实施例中的实物编程方法是一种实体化和虚拟化结合的实物编程方法，它包括以下可执行的步骤：
S1，定义实物编程的模型标准；
所述模型标准至少包括实体形态、语法标准和功能接口；
在本发明中所述实体可以是列举的编程机1c或智能积木2c，也可以是可编程装置，如智能音箱、智能台灯、智能手表等等；
语法标准实物编程语言需要具备体现实物可编程设备的各种能力，所以它除了编程语言的语法体系外还需要与实物相关的语言元素，如动作、传感器消息事件、传感器参数等部分。
考虑到实物程序运行的场景需要有多设备互动环节，所以实物编程语言需要能对多设备对象编程并能设备之间互动。实物编程语言的语法体系和计算机语言类似包括有：逻辑控制、流程控制、运算符等。
所述功能接口指的为了匹配语法标准及针对实物完成编程的需求，需要将动作或者判断的逻辑按照事件处理，并编译为所述可编程设备引用及读取的接口。
S2，根据所定义的模型标准执行实体实物编程；
S3，采集实体实物编程执行过程中所产生的编程数据，以数字孪生的方式建立虚拟化 实物编程系统；
在本实施例中数字孪生能够在WEB端甚至手持设备还原及模拟编程的执行过程。
所述编程数据包括但不限于，实物编程指令数据、实物编程语法标准、虚拟化模型数据、虚拟化编程场景数据、编程执行数据。
S4，运行虚拟化实物编程系统；
虚拟化实物编程系统运行后，能够在虚拟化实物编程系统中执行实体实物编程的所有可执行内容；
在虚拟化过程中，完成实物编程实体的识别、建模、编程过程的还原，并且可以利用虚拟化平台上的控制工具，对实物编程实体进行从线上到线下的控制。
S5，生成虚拟化控制命令，发送给实物编程实体；
例如，在虚拟化平台上，已有智能积木多种形态或结构的虚拟化模型，为了达成对智能积木构成的大厦造型的控制，向大厦的通讯模块发送控制信号，控制信号指示大厦顶端的灯柱闪动，由于具有共通的编程指令数据、实物编程语法标准、模型标准、编程场景数据、编程执行数据，对智能积木构成的大厦可解析控制信号，并执行大厦顶端的灯柱闪动。
S6，实物编程实体执行虚拟化控制命令并反馈执行数据。
需要说明的是，在本实施例中的步骤顺序并不唯一或限定，上述步骤S2-S6可以同步执行或者按照一定的逻辑顺序(与本实施例不同)执行。
如图3所示，本实施例还提供一种计算机设备3c，该计算机设备包括存储器、处理器以及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器在执行所述计算机程序时能够实现本实施例的实物编程方法。
实施例2，
本发明所称智能积木是一种积木智能化技术，将传感器/无线通讯/智能电气引脚技术引入传统积木后，使得积木通过相互拼搭，即可互相识别/定位/通讯。细胞积木内置的芯片和软件技术，不仅实现了单颗粒积木的“细胞智能”，多个电子积木拼接则可以构建更高阶的“智能集合体”。
如图4-6所示，本实施例提供一种智能积木系统，包括智能积木1a和底板2a，其中，智能积木1a可以是多个，所述智能积木1a包括至少一个接口，该接口既包括物理形式的接口也包括数据接口，所述智能积木1a能够通过接口与底板2a接触，形成如图6所示的搭建，该底板2a具备数据交互的配置。
所述智能积木1a配置有拼搭外形，并设置功能模块，所述功能模块能够与所述底板及 其他智能积木通过所述接口的拼搭触发；所述底板2a包括：壳体及电路板，所述壳体上表面配置有与所述智能积木配合的点位21a；所述电路板至少包括：电源模块，通信模块及处理单元。
当智能积木1a搭建在所述底板2a上时(例如图6所示的状态)，所述智能积木1a内置的独立电源模块上电；所述处理单元获取与底板接触的一个或多个智能积木1a的信息，该智能积木的信息包括：物理特性信息、功能数据和空间位置信息。
上述的智能积木系统中的智能积木1a和底板2a可以作为实物编程实体实现实施例1的实物编程方法，具体地说，实物编程方法定义实物编程的模型标准，所述模型标准包括所述模型标准包括智能积木1a和底板2a的实体形态、语法标准和功能接口，根据所定义的模型标准执行实物编程；在实物编程方法执行的过程中，云服务器3a采集所定义的模型标准数据和实物编程执行过程中所产生的编程数据，以数字孪生的方式建立虚拟化实物编程系统；在虚拟化实物编程系统搭建完成后，根据虚拟化实物编程场景和虚拟化控制命令，发送给智能积木1a和底板2a，智能积木1a和底板2a执行虚拟化控制命令并向云服务器3a反馈执行数据。
实施例3，
如图7所示，本实施例提供一种基于智能积木的数据交互方法，所述数据交互方法能够用于实施例2的智能积木系统，其具体数据交互方法如下：
S11：述底板获取与底板接触的一个或多个智能积木的信息，该智能积木的信息包括：物理特性信息、功能数据和空间位置信息。即所有设置于底板上智能积木，或已经拼接好的几个智能积木组成的一个智能积木组放置于底板上时，所有的智能积木的信息都会传输给底板。其不限制于智能积木是否直接与底板拼接，相互已经拼接的智能积木，只要有一个智能积木与底板拼接，那么上述所有的智能积木的信息都会被底板获取。
S12：通过使用多个不同功能和/或造型的智能积木，搭建在底板之上，由底板获得实际搭建形成的目标任务数据，所述目标任务数据包括：造型数据和任务执行信息。
具体地说，参考图8，目标任务数据可以是通过云服务器、也可以是底板内置的中央处理器进行处理，并将生成的反馈信息输出。输出的信息包括：
S21：对所述目标任务数据进行基于完成度及任务执行准确性的判断。所述目标任务为固定任务和/或可执行任务。
S22：对完成度不能达到预设值和/或出现执行错误时，发出提示信息；可以是语音提示哪些出现错误，也可以是通过指示灯显示，此次任务未完成仍存在错误，需自行查找，找出 错误并纠正。
或者，根据当前完成度及执行准确性输出评估数据。评估数据可以是完成度的数值如完成90％、执行偏差值等。
S13：将目标任务数据处理后生成反馈信息输出。
在本实施例中，参与数据交互的智能积木和底板可以作为实物编程实体实现实施例1的实物编程方法，云服务器采集本实施例中的智能积木和底板的模型标准数据，以及在交互过程中所产生信息数据的编程数据，以数字孪生的方式建立虚拟化实物编程系统；
在虚拟化实物编程系统搭建完成后，根据虚拟化实物编程场景和虚拟化控制命令，发送给所述智能积木和底板，智能积木和底板执行虚拟化控制命令并向云服务器反馈执行数据。
本发明中的交互方法可以被云服务器采集并学习，云服务器相应生成反馈控制指令，下发给智能积木和底板，由智能积木和底板实际执行虚拟化命令。
实施例4，
在本实施例中所述的模组是指由数个基础功能组件组成的智能积木，可用来组成具完整功能之系统、设备或程序。模块通常都会具有相同的制程或逻辑，更改其组成组件可调适其功能或用途，在本发明中的模组是指由智能细胞作为基础功能组件而组成的特定功能组件，智能细胞在本发明中可以理解为实施例1或2的智能积木或者实施例4的编程积木，它们能够进行物理拼接或逻辑组合，从而构成具有完整功能或者组合功能的智能细胞模组整体，采用不同的智能积木(智能细胞)则可以改变智能细胞模组整体的功能。
在本实施例中所述的模组是指由数个基础功能组件组成的智能积木，可用来组成具完整功能之系统、设备或程序。模块通常都会具有相同的制程或逻辑，更改其组成组件可调适其功能或用途，在本发明中的模组是指由智能细胞作为基础功能组件而组成的特定功能组件，智能细胞在本发明中可以理解为实施例1或2的智能积木或者实施例5的编程积木，它们能够进行物理拼接或逻辑组合，从而构成具有完整功能或者组合功能的智能细胞模组整体，采用不同的智能积木(智能细胞)则可以改变智能细胞模组整体的功能。
如图9-10所示，本实施例提供一种可搭建的智能细胞模组，包括拼搭底盘、功能执行类细胞模组、电器连接类细胞模组。拼搭底盘上设置相应区域用于放置功能执行类细胞模组、电器连接类细胞模组。即不同的区域放置不同的细胞模组，功能执行类细胞模组、电器连接类细胞模组都有相应的放置区域。
拼搭底盘的形状为尺寸大小可随意拼搭，且存在最小拼搭单元，每个最小拼搭单元都设有相应数量的最小单元接口及拼搭接口。拼搭底盘采用8位的地址总线，每个接口理论上可 连接127个功能执行类细胞模组。以4*4为最小拼搭单元。逻辑信号线用于群连接地址分配，且保证地址唯一性及确定性。
拼搭接口采用自定义I2C总线方式，其中的数据通信协议按标准I2C进行，并在此基础上增加逻辑信号线。拼搭底盘的每一最小单元都带有独立电源供电，以保证足够多数量功能执行细胞模组的供电稳定性。拼搭底盘的主控包括MCU、BLE和WIFI模块，实现编程机的连接，云端数据的上传与下载，以及各功能执行类细胞模组的管理与控制。
功能执行类细胞模组的形状根据执行类细胞模组的功能类型，定义形状尺寸。功能执行类细胞模组的接口定义与拼搭底盘的接口定义相同。功能执行类细胞模组的主控包括MCU，以实现I2C总线中从机端的数据通信控制，以及对执行外设的控制。
电器连接类细胞模组的形状：根据拼搭需求定义。电器连接类细胞模组的接口定义与拼搭底盘的接口定义相同。接口位置根据拼搭需求，定义上下、左右、90°等位置。
功能执行类细胞模组、电器连接类细胞模组的接口至少两个，且不区分输入输出，自动分配输入输出。
如图11-12所示，一种可拼接的智能细胞模组，包括拼搭底盘、功能执行类细胞模组、电器连接类细胞模组。拼搭底盘上所有区域都能放置功能执行类细胞模组、电器连接类细胞模组。即不区分相应区域，功能执行类细胞模组、电器连接类细胞模组都能随意放置区域，实现随意放置，提升电子细胞模组玩具的可玩度。
拼搭底盘的形状为尺寸大小可随意拼搭，以最小拼搭单元方式存在，每个最小拼搭单元设置以10*10为最小拼搭单元，即有至少100个连接点位。每个连接点位为一个连接接口。拼搭接口采用自定义I2C总线方式，其中的数据通信协议按标准I2C进行，并在此基础上增加逻辑信号线。每一个连接点位都可以配置为自定义I2C接口中的任意一根电源或者数据线，由软件检测配置。逻辑信号线用于群连接地址分配，且保证地址唯一性及确定性。每一个连接点位都被初始化为输入上拉模式，检测到有功能执行类细胞模组拼搭后，软件就可以检测到连接的具体是哪几个点位，然后通过逻辑控制电路，配置各个连接点的接口定义。
拼搭底盘的每一最小单元都带有独立电源供电，以保证足够多数量功能执行细胞模组的供电稳定性。拼搭底盘的主控包括MCU、BLE和WIFI模块，实现编程机的连接，云端数据的上传与下载，实时检测各连接点位，通过逻辑控制电路，动态配置各点位的接口定义，以及各功能执行类细胞模组的管理与控制。拼搭底盘的主控还包括逻辑控制电路，其由模拟开关和模拟器件组成，可通过主控MCU来控制各连接点位的接口定义。
功能执行类细胞模组的形状根据执行类细胞模组的功能类型，定义形状尺寸。设有凹面和凸面，凹面为向下连接面，凸面为向上连接面。功能执行类细胞模组的接口定义与拼搭底盘的接口定义相同。凹面连接点位初始化为下拉模式，可被凸面连接点位识别并可通过逻辑控制电路，配置为自定义I2C接口中任意一根电源或者信号线，由软件自动检测配置凹面连接点位配置完成后，初始化凸面连接点位为输入上拉模式。功能执行类细胞模组的主控包括MCU，以实现I2C总线中从机端的数据通信控制，完成自身凸面的初始化以及连接后接口配置，对自身执行外设的控制。
电器连接类细胞模组的形状：根据拼搭需求定义，设有凹面和凸面，凹面向下连接面，凸面向上连接面。电器连接类细胞模组的接口定义与拼搭底盘的接口定义相同。且相应凹面连接点与凸面连接点直接相连，以实现相应联通。
功能执行类细胞模组、电器连接类细胞模组可以相互先拼接后，再放入拼搭底盘，其通过新的I2C接口，可以进行重新地址分配。提升整个拼接细胞模组的可玩性。功能执行类细胞模组、电器连接类细胞模组的接口至少两个，且不区分输入输出，自动分配输入输出。
实施例5，编程积木及定位方法
本实施例提供了一种可任意放置的模块式编程积木，编程积木是实施例1中所述可实物编程设备的一种方式，其形态为积木。在本实施例中，编程积木的结构和功能不限定于实施例1-4中的智能积木或智能细胞的结构。
如图13-14所示，模块式编程积木包括若干指令模块，指令模块之间通过电气接口相互连接，每个指令模块至少存储一条编程指令信息，若干指令模块中至少有一个指令模块为用于运行连接在它周围的每个指令模块输入的编程指令并将程序的执行结果通过有线或者无线的方式发送给编程对象的控制指令模块，剩余指令模块为传输指令模块；所有指令模块均为正四棱柱且每个指令模块之间大小均等，指令模块均设置在编程板5上。
编程对象包括机器人、智能家居、无人机、电子游戏，存储模块包括EEPROM芯片、flash芯片、MCU微控制单元、SDNNAD、电容和PCB天线。
EEPROM可以在电脑上或专用设备上擦除已有信息，重新编程，即插即用；flash芯片结合了ROM和RAM的长处，不仅具备电可擦除可编程的性能，还不会断电丢失数据同时可以快速读取数据；SDNNAD擦写寿命可以达到5～10万次；MCU微控制单元把中央处理器CPU的频率与规格做适当缩减，并将内存、计数器、USB、A/D转换、UART、PLC、DMA周边接口整合在单一芯片上，形成芯片级的计算机；电容器的电容量不同，对电容充电的时间不同，利用电容大小不同，充电时间不同的特性存储指令信息，编程板依次给电容 通电，并读取电容充电时间，通过时间判断不同电容代表的编程指令；利用PCB板载天线阻抗不同，电压驻波比不同的特性，利用不同阻抗的PCB天线来存储指令信息。
本实施例也相应的提供了一种可任意放置的模块式编程积木定位方法，可任意放置的模块式编程积木，对编程积木的工作过程和工作原理进行阐述，包括以下步骤：
S101、以控制指令模块底面中心为原点建立直角坐标系，与底面边平行的方向分别为x轴和y轴，定义每个底面边长的长度为坐标轴上的1个单位长度；
S102、将传输指令模块插接在控制指令模块上，至少一个传输指令模块与控制指令模块连接；
S103、控制指令模块读取各个传输指令模块的位置坐标(x i,y i)，其中i为传输指令模块的编号，控制指令模块根据传输指令模块的位置坐标信息排列程序权重，根据程序权重和传输指令模块携带的编程指令信息将所有信息组合成编程指令并将程序的执行结果发送给编程对象。
程序权重的计算方式如下：
Figure PCTCN2021137143-appb-000002
其中，k i为程序权重，控制指令模块将程序权重按照降序排列，程序权重数值大的优先发送程序至编程对象；x i为传输指令模块的横坐标，y i为传输指令模块的纵坐标。
其中，所述S103包括以下步骤：
S301、控制指令模块通过内置芯片读取各个传输指令模块的位置坐标(x i,y i)，其中i为传输指令模块的编号，横坐标或纵坐标的一个单位就是距离控制指令模块的一个单位长度；
S302、控制指令模块根据传输指令模块的距离设置程序权重k i并将程序权重按照降序排列；
S303、控制指令模块将程序权重相等的传输指令模块携带的编程指令信息形成一条编程指令信息的程序，按照程序权重降序执行完所有对传输指令模块的操作；
S304、按照程序权重的降序将若干编程指令信息的程序发送至编程对象执行。
以上所述仅是本发明的优选实施方式，未做详细说明的部分均可采用常规技术手段进行实现。自然应当指出，对于本技术领域的普通技术人员，在不脱离本发明构思的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明保护范围内。
显然，所描述的实施例仅仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施 例，都应当属于本发明保护的范围。

Claims (24)

  1. 一种实物编程方法，其特征是，包括实物编程实体，包括：
    定义实物编程的模型标准，根据所定义的模型标准执行实物编程；
    采集所定义的模型标准数据和实物编程执行过程中所产生的编程数据，以数字孪生的方式建立虚拟化实物编程系统；
    在虚拟化实物编程系统搭建完成后，根据虚拟化实物编程场景和虚拟化控制命令，发送给所述实物编程实体，实物编程实体执行虚拟化控制命令并反馈执行数据。
  2. 根据权利要求1所述的一种实物编程方法，其特征是，所述模型标准包括实体形态、语法标准和功能接口。
  3. 根据权利要求1所述的一种实物编程方法，其特征是，所述实物编程包括代码编辑、程序编译、指令执行和实物编程实体之间的的通讯及指令执行。
  4. 根据权利要求1所述的一种实物编程方法，其特征是，所述编程数据包括但不限于，实物编程指令数据、实物编程语法标准、虚拟化模型数据、虚拟化编程场景数据、编程执行数据。
  5. 根据权利要求1所述的一种实物编程方法，其特征是，所述虚拟化实物编程场景包括但不限于，针对实物编程实体的数字建模场景、针对实物编程实体数字模型之间的交互场景、针对实物编程实体数字模型之间的智能游戏场景。
  6. 根据权利要求1所述的一种实物编程方法，其特征是，所述实物编程实体包括智能积木和/或编程机，其中：
    所述编程机包括控制底板，实现对实物编程的执行对象的控制，以及，针对虚拟化控制命令的接收及下发；
    所述智能积木配置有拼搭外形，智能积木可搭建智能底板上，所述智能底板获取智能积木的信息，该智能积木的信息包括：物理特性信息、功能数据和空间位置信息。
  7. 一种计算机设备，包括存储器、处理器以及存储在所述存储器上并可在所述处理器上运行的计算机程序，其特征是，所述处理器执行所述计算机程序时能够实现权利要求1-6中任一项所述的实物编程方法。
  8. 一种智能积木系统，其特征是，采用权利要求1-6中任一项所述的实物编程方法，该系统，包括智能积木和底板，
    所述智能积木包括至少一个接口，所述智能积木能够通过接口与底板接触，该底板具备数据交互的配置；
    所述智能积木配置有拼搭外形，并设置功能模块，所述功能模块能够与所述底板及其他 智能积木通过所述接口的拼搭触发；
    所述底板包括：壳体及电路板，所述壳体上表面配置有与所述智能积木配合的点位；
    所述电路板至少包括：电源模块，通信模块及处理单元；
    智能积木搭建在所述底板上时，所述智能积木内置的独立电源模块上电；
    所述处理单元获取与底板接触的一个或多个智能积木的信息，该智能积木的信息包括：物理特性信息、功能数据和空间位置信息。
  9. 根据权利要求8所述的一种智能积木系统，其特征是，所述智能积木能够通过接口与底板接触，具体实现为：
    所述接口包括：用于取电的第一接口组和用于通讯的第二接口组；
    所述第一接口组和第二接口采用可拼接结构设置；
    所述可拼接结构与所述底板上设置的点位配合。
  10. 一种基于智能积木的数据交互方法，其特征是，用于智能积木系统，所述智能积木系统包括：智能积木和底板：
    所述底板获取与底板接触的一个或多个智能积木的信息，该智能积木的信息包括：物理特性信息、功能数据和空间位置信息；
    通过使用多个不同功能和/或造型的智能积木，搭建在底板之上，由底板获得实际搭建形成的目标任务数据，所述目标任务数据包括：造型数据和任务执行信息；
    将目标任务数据处理后生成反馈信息输出。
  11. 根据权利要求10所述的方法，其特征在于：所述底板获取与底板接触的一个或多个智能积木的信息具体通过如下方式实现：
    底板具有至少一个能够拼搭所述智能积木的表面，智能积木与底板拼搭的一面都设置接触触发数据交互的电气结构；
    以及，所述底板与智能积木通过组网获取所述智能积木的物理特性信息和功能数据，以及该智能积木所处的空间位置信息。
  12. 根据权利要求10所述的方法，其特征在于：还包括：
    由云服务器作数据处理，将智能积木的物理特性和功能数据，以及该智能积木所处的空间位置信息传输给底板。
  13. 一种智能细胞模组，其特征是，包括拼搭底板和智能积木，
    所述智能积木包括至少一个接口，所述智能积木能够通过接口与底板接触，
    所述底板具有最小拼搭单元，每个最小拼搭单元都设有相应数量的最小单元接口及拼搭 接口；所述智能积木包括功能执行类细胞模组和电器连接类细胞模组；拼搭底盘采用8位的地址总线，每个接口连接127个功能执行类细胞模组；拼搭接口采用自定义I2C总线方式，其中的数据通信协议按标准I2C进行，并在此基础上增加逻辑信号线；拼搭底盘的主控包括MCU、BLE和WIFI模块，实现编程机的连接、云端数据的上传与下载以及各功能执行类细胞模组的管理与控制；
    功能执行类细胞模组的形状根据执行类细胞模组的功能类型定义形状尺寸；功能执行类细胞模组的接口定义与拼搭底板的接口定义相同；功能执行类细胞模组的主控包括MCU，所述MCU实现I2C总线中从机端的数据通信控制以及对执行外设的控制；
    电器连接类细胞模组的形状根据拼搭需求定义；电器连接类细胞模组的接口定义与拼搭底板的接口定义相同，接口位置根据拼搭需求定义。
  14. 一种智能细胞模组，其特征是，包括拼搭底板、功能执行类细胞模组、电器连接类细胞模组；
    拼搭底板的形状为尺寸大小能够随意拼搭，以最小拼搭单元方式存在，每个最小拼搭单元设置有至少100个连接点位；每个连接点位为一个连接接口；拼搭接口采用自定义I2C总线方式，其中的数据通信协议按标准I2C进行，并在此基础上增加逻辑信号线；每一个连接点位都配置为自定义I2C接口中的任意一根电源或者数据线，由软件检测配置；每一个连接点位都被初始化为输入上拉模式，检测到有功能执行类细胞模组拼搭后，检测连接的具体点位，然后通过逻辑控制电路，配置各个连接点的接口定义；拼搭底板的主控包括MCU、BLE和WIFI模块，实现编程机的连接、云端数据的上传与下载以及实时检测各连接点位；通过逻辑控制电路动态配置各点位的接口定义以及各功能执行类细胞模组的管理与控制；拼搭底板的主控还包括逻辑控制电路，其由模拟开关和模拟器件组成，通过主控MCU来控制各连接点位的接口定义；
    所述功能执行类细胞模组包括至少一个接口，所述功能执行类细胞模组能够通过接口与底板接触，
    所述电器连接类细胞模组包括至少一个接口，所述电器连接类细胞模组能够通过接口与底板接触，
    功能执行类细胞模组的形状根据执行类细胞模组的功能类型，定义形状尺寸；设有凹面和凸面，凹面为向下连接面，凸面为向上连接面；功能执行类细胞模组的接口定义与拼搭底板的接口定义相同；凹面连接点位初始化为下拉模式，被凸面连接点位识别并通过逻辑控制电路，配置为自定义I2C接口中任意一根电源或者信号线，由软件自动检测配置凹面连接 点位配置完成后，初始化凸面连接点位为输入上拉模式；功能执行类细胞模组的主控包括MCU，以实现I2C总线中从机端的数据通信控制，完成自身凸面的初始化以及连接后接口配置，对自身执行外设的控制；
    电器连接类细胞模组的形状：根据拼搭需求定义，设有凹面和凸面，凹面向下连接面，凸面向上连接面；电器连接类细胞模组的接口定义与拼搭底板的接口定义相同；且相应凹面连接点与凸面连接点直接相连，以实现相应联通。
  15. 一种编程积木，其特征是，所述编程积木能够应用于权利要求13-14中任一项所述的智能细胞模组，所述编程积木包括若干指令模块，指令模块之间通过电气接口相互连接，每个指令模块至少存储一条编程指令信息，若干指令模块中至少有一个指令模块为用于运行连接在它周围的每个指令模块输入的编程指令并将程序的执行结果通过有线或者无线的方式发送给编程对象的控制指令模块，剩余指令模块为传输指令模块；所有指令模块均为正四棱柱且每个指令模块之间大小均等。
  16. 根据权利要求15所述的一种编程积木，其特征是，所述电气接口包括插头和插座，指令模块包括四个分布于侧面的插座，传输指令模块均包括插头和插座，传输指令模块上的插头可与控制指令模块的插座连接也可与传输指令模块的插座连接。
  17. 根据权利要求6所述的一种编程积木，其特征是，插座内部设有插座绝缘体，插头上设有与插座绝缘体相匹配的插头绝缘体，插座内部含有插孔，插头上设有与插孔匹配的插针，插孔设于插座绝缘体上，插针穿设在插头绝缘体上。
  18. 根据权利要求16或17所述的一种编程积木，其特征是，所述插头上设有用于紧固插头的紧固环，所述紧固环为环形凸起。
  19. 根据权利要求16所述的一种编程积木，其特征是，所述紧固环底部直径大于顶部直径，连接顶部与底部的面为弧形凸面。
  20. 根据权利要求15所述的一种编程积木，其特征是，所述编程对象包括机器人、智能家居、无人机、电子游戏。
  21. 根据权利要求16所述的一种编程积木，所述指令模块内部包括用于存储编程指令信息的存储模块，所述存储模块包括EEPROM芯片、flash芯片、MCU微控制单元、SDNNAD、电容和PCB天线。
  22. 一种编程积木定位方法，采用权利要求15-21中任一项所述的编程积木，其特征是，包括以下步骤：
    S1、以控制指令模块底面中心为原点建立直角坐标系，与底面边平行的方向分别为x 轴和y轴，定义每个底面边长的长度为坐标轴上的1个单位长度；
    S2、将传输指令模块插接在控制指令模块上，至少一个传输指令模块与控制指令模块连接；
    S3、控制指令模块读取各个传输指令模块的位置坐标(xi,yi)，其中i为传输指令模块的编号，控制指令模块根据传输指令模块的位置坐标信息排列程序权重，根据程序权重和传输指令模块携带的编程指令信息将所有信息组合成编程指令并将程序的执行结果发送给编程对象。
  23. 根据权利要求22所述的一种编程积木定位方法，其特征是，所述程序权重的计算方式如下：
    Figure PCTCN2021137143-appb-100001
    其中，ki为程序权重，控制指令模块将程序权重按照降序排列，程序权重数值大的优先发送程序至编程对象；xi为传输指令模块的横坐标，yi为传输指令模块的纵坐标。
  24. 根据权利要求22所述的一种编程积木定位方法，其特征是，所述S3包括以下步骤：
    S31、控制指令模块通过内置芯片读取各个传输指令模块的位置坐标(xi,yi)，其中i为传输指令模块的编号，横坐标或纵坐标的一个单位就是距离控制指令模块的一个单位长度；
    S32、控制指令模块根据传输指令模块的距离设置程序权重ki并将程序权重按照降序排列；
    S33、控制指令模块将程序权重相等的传输指令模块携带的编程指令信息形成一条编程指令信息的程序，按照程序权重降序执行完所有对传输指令模块的操作；
    S34、按照程序权重的降序将若干编程指令信息的程序发送至编程对象执行。
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