JP6910593B2 - Program processing device - Google Patents

Description

The present invention relates to a program processing apparatus .

Conventionally, with the spread of information and communication devices such as computers and mobile terminals and the development of control technology for various devices including these, the importance of program development technology has been pointed out. In recent years, the importance of programming education from early childhood has been recognized worldwide, and more and more countries are adopting it as a compulsory subject from the compulsory education stage. Programming education is included in the policy in Japan as well, and it is expected that interest in programming education will expand to younger age groups in the future.

Against the background of such growing interest in programming education, various programming education tools have been developed. For example, in Patent Document 1, a program is generated by one-dimensionally or two-dimensionally connecting a physical block (object) by a user directly holding it in his / her hand and actually moving it, and the program is combined with the program. A technique for controlling the operation of the execution device based on the above is described. Further, in Non-Patent Document 1, a user directly holds a physical block (object) on a predetermined board and actually moves it to generate a program by assembling them in order to generate a program of a traveling robot. Techniques for controlling operation are described.

According to the technologies described in these, the traveling robots, characters, etc. sequentially execute the functions set in each connected or assembled block, so that the program configuration and execution status can be intuitively executed by a simple method. Can be learned instinctively. In the present specification, programming by directly moving an object as in Patent Document 1 and Non-Patent Document 1 is referred to as tangible programming. On the other hand, programming by touching and moving a virtual block, that is, a virtual icon displayed on the screen of an electronic display such as a liquid crystal display device is called visual programming. Further, in the present specification, being tangible means that there is an entity and that it is in a state where it can be touched and felt by hand in the real space. However, even if an electronic display such as a liquid crystal display itself is tangible, operating an icon or the like electronically displayed on such a display by touching the display screen is a tangible operation. do not have.

Japanese Unexamined Patent Publication No. 5-204620

“Cubetto: Robots for children who teach coding and programming”, [online], 2016, Primo Toys, [Search November 22, 2016], Internet <URL: https://www.primotoys.com/en/ ＞

Generally, in programming learning for young people (especially infants up to about 3 years old) and beginners of programming, from the viewpoint of intellectual development, tangible programming, that is, actually touching and moving objects in the real space, It is considered that the learning effect is higher when programming is performed while performing operations such as transformation.

However, although the techniques described in Patent Document 1 and Non-Patent Document 1 are tangible programming, the position of the controlled unit controlled by the program generated by such tangible programming in the real space Therefore, it was not possible to dynamically change the contents of the already generated program.

Accordingly, the present invention is, in view of the problems described above, according to the position of the real space of the control unit which is controlled by a program, a program already can dynamically change the contents of the generated program It is an object of the present invention to provide a processing apparatus.

The program processing device of the first aspect according to the present invention includes a tangible controlled unit that moves according to set route information, a play sheet applied as an operation field of the controlled unit, and a plurality of tangible parts. The play sheet includes a programming board which is arranged in a plane direction and generates the route information when two or more portions of the plurality of tangible portions are instructed by a user operation, and the play sheet is the controlled unit. The first component configured so as to be detectable is configured to be installable, and the controlled unit is configured to be able to pass over the first component installed on the play sheet, and the path. When the first component is detected along with the movement according to the information, the movement according to the route information is interrupted and the operation corresponding to the first component is executed .

Further, the program processing device according to the second aspect of the present invention includes a tangible controlled unit that moves according to set route information, a play sheet applied as an operation field of the controlled unit, and a plurality of tangible units. The play sheet includes a programming board in which the portions are arranged in a plane direction and two or more portions of the plurality of tangible portions are instructed by a user operation to generate the route information. The first component configured to be detectable by the control unit is configured to be installable, and the controlled unit is configured to be able to pass over the first component installed on the play sheet. When the first component is detected along with the movement according to the route information, the moving direction of the controlled unit is corrected in correspondence with the first component.

According to the present invention, the contents of the already generated program can be dynamically changed according to the position of the controlled unit controlled by the program in the real space.

It is the schematic which shows one Embodiment of the programming education apparatus which concerns on this invention. It is a functional block diagram which shows the structural example of the program generation apparatus applied to the programming education apparatus which concerns on this embodiment. It is a functional block diagram which shows the structural example of the program execution apparatus applied to the programming education apparatus which concerns on this embodiment. It is the schematic which shows an example of the target apparatus applied to the program execution apparatus which concerns on this embodiment. It is the schematic which shows an example of the play sheet applied to the program execution apparatus which concerns on this embodiment. It is a flowchart which shows the whole of the control method of the programming education apparatus which concerns on this embodiment. It is a schematic diagram for demonstrating the programming operation process using the programming board applied to this embodiment. It is a schematic diagram for demonstrating the programming operation process at the time of setting event process using the play sheet applied to this embodiment. It is the schematic which shows the setting example of the programming operation of event processing applied to this embodiment. It is a flowchart which shows the whole of the program execution processing applied to this embodiment. It is a flowchart which shows the example of the variable processing and conditional branching processing applied to this embodiment. It is a flowchart which shows the example of the obstacle avoidance processing applied to this embodiment. It is the schematic for demonstrating the program execution process applied to this Embodiment. It is a schematic diagram for demonstrating the variable processing and conditional branching processing applied to this embodiment. It is a schematic diagram for demonstrating the obstacle avoidance processing applied to this embodiment. It is the schematic for demonstrating the modification of the programming education apparatus which concerns on this embodiment.

Hereinafter, the program processing apparatus according to the present invention, its control method, and the control program will be described in detail by showing embodiments. Here, in order to simplify the explanation, a case where a program for controlling the operating state of the target device, which is a mobile body, is generated by using a programming education device to which the program processing device according to the present invention is applied will be described.

<Programming education device>
FIG. 1 is a schematic view showing an embodiment of a programming education device to which the program processing device according to the present invention is applied. Further, FIG. 2 is a functional block diagram showing a configuration example of a program generation device applied to the programming education device according to the present embodiment, and FIG. 3 is a program execution applied to the programming education device according to the present embodiment. It is a functional block diagram which shows the structural example of a device. FIG. 4 is a schematic view showing an example of a target device applied to the program execution device according to the present embodiment, and FIG. 5 is a schematic view showing an example of a play sheet applied to the program execution device according to the present embodiment. It is a figure.

As shown in FIG. 1, for example, the programming education device according to the first embodiment is roughly classified into a program generation device 100 and a program execution device 200. The program generation device 100 receives an input operation by a user who is a target of programming learning, acquires information corresponding to the input operation, and generates a program. The program execution device 200 controls the operating state of the target device 210, which is a tangible mobile body, in a predetermined real space by executing the program generated by the program generation device 100.

Here, in the present embodiment, as shown in FIG. 1, as the program generation device 100, a tangible input device in which a user actually touches a real device in a real space to perform an input operation will be described. However, the present invention is not limited to this. That is, the program generation device applied to the present invention does not limit the input operation method and the form of the device as long as it can generate a program for controlling the operating state of the target device 210. Therefore, the program generator performs an input operation in a virtual space realized by application software executed in an information communication device such as a smartphone, a tablet terminal, or a personal computer, for example, as in the program generator 100'shown in FIG. It may be the one that goes and generates a program. In addition, in this specification, being tangible means that there is an entity in the real space and it is in a state where it can be touched and felt by hand.

(Program generator)
As shown in FIG. 1, for example, the program generator 100 includes a programming board 120, a programming block 140, a core unit 160, and a programming guide sheet (hereinafter, abbreviated as “guide sheet”), which are all tangible. It has 180 and. All of these have a tangible structure.

(Programming board 120)
The programming board 120 is a tangible object that can be physically touched directly in the real space. For example, as shown in FIG. 1, it has a substantially flat plate shape and has a one-sided side (drawing, upper surface side). A programming area 104 in which a plurality of regions 102 having the same planar shape are arranged two-dimensionally in the matrix direction adjacent to each other is provided. The programming area 104 functions as an input device for acquiring information instructed by a tangible input operation as described later by the user. Further, each area 102 of the programming area 104 corresponds to each section 262 provided in the play sheet 260 on which the target device 210 moves, which will be described later, in a one-to-one relationship, and in the absolute coordinate system of the target device 210. Corresponds to the position. Here, as shown in FIG. 1, for example, the regions 102 have a rectangular planar shape such as a square or a rectangle and are arranged in a grid pattern. The planar shape of each region 102 may be a polygonal shape such as an octagon or a circular shape as well as a rectangular shape.

Specifically, as shown in FIG. 2, the programming board 120 includes an instruction detection unit 122, an identification transition unit 124, a block interface unit (hereinafter, abbreviated as “block I / F unit”) 126, and the like. It has a storage unit 128, an external interface unit (hereinafter, abbreviated as “external I / F unit”) 130, and a control unit 132.

The instruction detection unit 122 detects the presence or absence of an instruction by the user to each area 102 of the programming area 104. Specifically, as shown in FIG. 2, for example, the instruction detection unit 122 has a touch sensor individually provided corresponding to each area 102 of the programming area 104, or a mechanical switch such as a push switch. There is. Then, when the instruction detection unit 122 detects the input operation of the user by the touch sensor or the push switch, the instruction detection unit 122 identifies the position of the area (instruction area) 102 on the programming area 104. Information regarding the position of the instruction area 102 acquired by the instruction detection unit 122 (hereinafter, referred to as “instruction position information”) is sequentially stored in the storage area of the storage unit 128, which will be described later.

Note that FIG. 2 shows a mode in which a touch sensor or a push switch is individually provided as an instruction detection unit 122 corresponding to each area 102 of the programming area 104, but the present invention is limited to this mode. is not it. The instruction detection unit 122 may have, for example, a touch panel commonly provided over the entire programming area 104.

The identification transfer unit 124 transfers the area (instruction area) 102 instructed by the user's input operation to a state in which the area 102 is visually identifiable with respect to the other areas 102 that are not instructed. Specifically, as shown in FIG. 2, for example, the identification transition unit 124 is a light emitting unit such as a light emitting diode (LED) individually provided corresponding to each area 102 of the programming area 104, or a liquid crystal display device. It has a display unit such as. Then, the identification transition unit 124 emits light of the light emitting unit of the region 102 in which the user's instruction is detected by the instruction detection unit 122 with a specific light emission color, light emission intensity, and light emission pattern during the programming operation using the programming board 120. By changing the light emitting state and the display state by changing the image displayed on the display unit or by changing the light emitting state, it is possible to visually distinguish from the other area 102.

Further, when the identification transition unit 124 executes a program generated based on the programming operation to operate the target device 210, the identification transition unit 124 emits light in the area 102 corresponding to the position of the target device 210 on the play sheet 260. By changing the state and the display state, it is possible to visually distinguish from the other area 102.

In addition, in FIG. 2, a mode in which a light emitting unit or a display unit is individually provided corresponding to each area 102 of the programming area 104 as the identification transition unit 124 is shown, but the present invention is limited to this form. is not it. The identification transition unit 124 may have, for example, a light emitting panel or a display panel commonly provided over the entire programming area 104. Further, the identification transition unit 124 is further provided with an acoustic unit and a vibration unit in addition to the above-mentioned light emitting unit or display unit, and has a form of changing the amplitude, frequency, and pattern of sounding and vibration. good. According to this, the instruction area 102 can be more reliably identified through the sense of hearing and touch in addition to the user's sight.

The block I / F unit 126 detects the presence or absence of the programming block 140 placed in each area 102 of the programming area 104, and communicates with the programming block 140, and is preset in, for example, the programming block 140. Receives information about a specific functional operation (hereinafter referred to as "functional information"). Specifically, the block I / F unit 126 has a non-contact type or contact type interface individually provided corresponding to each area 102 of the programming area 104. Then, when the block I / F unit 126 detects the state in which the programming block 140 is placed in the instruction area of the programming area 104 by these interfaces, the block I / F unit 126 identifies the position of the programming block 140 on the programming area 104 and also identifies the position of the programming block 140 on the programming area 104. , Receives the functional information of the programming block 140. Information about the position of the programming block 140 (hereinafter referred to as “block position information”) and functional information acquired by the block I / F unit 126 are sequentially stored in the storage area of the storage unit 128 described later in association with each other. .. Here, when a non-contact interface is applied as the block I / F unit 126, for example, a method using a short-range wireless communication technology such as NFC (Near Field Communication) used for an electronic money card or the like, or An optical communication method using infrared rays or the like can be applied, and when a contact type interface is applied, a method of directly connecting terminal electrodes can be applied.

The storage unit 128 sequentially stores the instruction position information regarding the position of the instruction area 102 acquired by the instruction detection unit 122 in the storage area. Here, by arranging the instruction position information stored in the storage area of the storage unit 128 in chronological order, information regarding the instruction order of the user (hereinafter referred to as "order information") can be obtained. The instruction position information and the order information define the movement path and the movement order of the target device 210 whose operating state is controlled by the user's programming operation. That is, when the user instructs two or more continuous areas 102 of the programming area 104, the virtual route that defines the movement route of the target device 210 is determined. Then, assuming that the group of line segments indicating this virtual path is the first shape, the path corresponding to the first shape (in the present embodiment, the path having a shape similar to the first shape) is the target device 210. It is defined as the actual movement route of.

Further, the storage unit 128 stores the block position information regarding the position of the programming block 140 acquired by the block I / F unit 126 and the functional information regarding the specific functional operation set in the programming block 140 in association with each other. do. Further, the storage unit 128 stores a program for controlling the operation of each unit of the programming board 120 in the control unit 132 described later, and various information required or generated when the program is executed. It may be. That is, the storage unit 128 has a RAM (random access memory) and a ROM (read-only memory).

The external I / F unit 130 communicates between the programming board 120 and the core unit 160 described later, and for example, the instruction position information, the order information, the block position information, and the function information stored in the storage area of the storage unit 128 ( Hereinafter, these pieces of information are collectively referred to as "input operation information") to be transmitted to the core unit 160. Specifically, the external I / F unit 130 has a non-contact type or contact type interface. Here, when a non-contact interface is applied as the external I / F unit 130, for example, wireless communication methods such as NFC, Bluetooth (registered trademark), Wi-Fi (Wireless Fidelity; registered trademark), and infrared rays are used. An optical communication method using Bluetooth, etc. can be applied, and when a contact-type interface is applied, a wired communication method using various communication cables or a method of directly connecting terminal electrodes to each other is applied. be able to.

The control unit 132 is a computer processor that controls the operation of each unit of the programming board 120 having the instruction detection unit 122, the identification transfer unit 124, the block I / F unit 126, the storage unit 128, and the external I / F unit 130. be. In particular, when the instruction detection unit 122 detects a user's instruction to each area 102 of the programming area 104, the control unit 132 sequentially stores the instruction position information of the area 102 in the storage area of the storage unit 128. The identification transition unit 124 changes the light emitting state and the display state of the region 102 to a visually identifiable state.

When the control unit 132 detects that the programming block 140 is placed on the instruction area 102 by the block I / F unit 126, the control unit 132 transmits the functional information set in the programming block 140 to the block I / F. It is acquired via the F unit 126 and stored in the storage area of the storage unit 128 in association with the block position information of the programming block 140. Further, the control unit 132 transmits various information stored in the storage area of the storage unit 128 by the programming operation to the core unit 160 via the external I / F unit 130.

(Programming block 140)
The programming block 140 is a tangible object that can be physically touched directly in real space, has a substantially cubic shape, for example, as shown in FIG. 1, and is arbitrarily formed by the user on the programming area 104 of the programming board 120. It is placed in the area 102 of. The programming block 140 functions as an input device that defines a specific functional operation when operating the target device 210. Here, the programming block 140 may be mounted alone (that is, only one stage) on the programming area 104, or may be stacked (that is, a plurality of stages). You may.

The three-dimensional shape of the programming block 140 is not limited to a cube, and can be stably placed on the programming area 104, and the programming blocks 140 can be stably stacked on each other. If there is, it may have an arbitrary polyhedron shape, or has a curved surface on a part of the surface such as a substantially cylindrical shape, a substantially conical shape, a substantially cut cone shape, a substantially spherical shape, a substantially hemispherical shape, and the like. It may be a thing. Further, in order to stably place the programming block 140 on the programming area 104, or to stably place the programming blocks 140 to each other and to reliably transmit and receive functional information and the like described later, the programming block 140 is placed. It is preferable that the lower surface of the programming block 140 and the upper surface of the programming board 120 on which the programming block 140 is placed or the upper surface of another programming block 140 are in proper contact with each other. Therefore, for example, both sides serving as contact surfaces may have a concavo-convex shape in which they engage with each other, or both sides may be formed so as to be attracted by a magnetic force or the like.

Specifically, as shown in FIG. 2, the programming block 140 includes a block I / F unit 142, an identification transition unit 144, a storage unit 146, and a control unit 148.

The block I / F unit 142 communicates between the programming block 140 and the programming board 120, and directly transmits the functional information stored in the storage area of the storage unit 146, which will be described later, to the programming board 120. When a plurality of programming blocks 140 are stacked on the programming area 104, the block I / F unit 142 communicates between the programming blocks 140 and transmits the functional information transmitted from the upper programming block 140. It is sequentially transferred to the programming block 140 on the lower stage side or the programming board 120. As a result, the functional information stored in the storage area of the storage unit 146 of each of the stacked programming blocks 140 is stored in the stacking order of the programming blocks 140 (in order from the upper row to the lower row or in order from the lower row to the upper row). , It is stored in the storage area of the storage unit 128 of the programming board 120.

Specifically, the block I / F portion 142 faces the mounting surface side (in FIG. 1, the lower surface side of the cube shape) in which the programming block 140 contacts the programming board 120, and the contact surface, and is located on the upper stage. It has a non-contact type or contact type interface individually provided on the surface side (the upper surface side of the cube shape in FIG. 1) in contact with the stacked programming blocks 140. Then, the block I / F unit 142 detects a state in which the programming block 140 is placed in the area 102 of the programming area 104 by these interfaces, and a state in which other programming blocks 140 are stacked on the programming block 140. Then, the functional information related to the functional operation preset for each programming block 140 is read from the storage area of the storage unit 146 and transmitted directly to the programming board 120 or via the lower programming block 140. Here, the interface applied between the programming block 140 and the programming board 120 and the interface applied between the programming blocks 140 have the same method, and the block I / F portion of the programming board 120 described above has the same method. Various methods shown in 126 can be applied.

In the present embodiment, in the programming block 140 having a cubic shape, the surface side that contacts the programming board 120 (the lower surface side of the cube shape) and the surface side that contacts the upper programming block 140 (the lower surface side of the cube shape). A form in which individual block I / F portions 142 are provided on two surfaces (on the side) is shown, but the present invention is not limited to this form. For example, no matter which side of the cube is the mounting surface that comes into contact with the programming board 120, or if the other programming blocks 140 are stacked and come into contact with any surface. The block I / F section 142 is provided individually or in common on all six surfaces so that functional information and the like can be transmitted and received to and from the programming board 120 and other programming blocks 140. There may be.

The identification transition unit 144 has a light emitting unit or a display unit, similarly to the identification transition unit 124 of the programming board 120 described above. Then, when the identification transfer unit 124 detects that the programming block 140 is placed in each area 102 of the programming area 104 by the block I / F unit 142 during the programming operation using the programming board 120, By changing the light emitting state of the light emitting unit and the display state of the display unit, it is possible to visually distinguish from other programming blocks 140.

The display unit applied to the identification transition unit 144 may change the image displayed without using electric power. For example, permanent magnets are installed in each area 102 of the programming area 104 inside the programming board 120 and inside each programming block 140, and the programming block 140 is placed in the area 102 to program with the programming board 120. A magnetic force that changes the image by rotating the display unit due to an attractive force or a repulsive force generated between the permanent magnets of the block 140 may be used. Further, at least on the side of the programming block 140 to be mounted on the programming board 120, a convex portion to be pressed and displaced inward is provided, and as the programming block 140 is placed in the area 102, the convex portion of the programming block 140 is provided. It may have a mechanical mechanism such that the portion is pressed and displaced inward and the display portion rotates to change the image.

Further, the identification transfer unit 144 defines the functional operation of the target device 210 when executing the program generated based on the programming operation to cause the target device 210 to execute a specific function operation set in advance. By changing the light emitting state of the light emitting unit of each programming block 140 and the display state of the display unit, it is possible to visually distinguish from other programming blocks 140.

Further, the identification transition unit 144 is further provided with an acoustic unit and a vibration unit in addition to the above-mentioned light emitting unit or display unit, and has a form of changing the amplitude, frequency, and pattern of sounding and vibration. good. According to this, it becomes possible to more reliably identify the programming block 140 that defines the functional operation through the sense of hearing and touch in addition to the visual sense of the user.

When operating the target device 210, the storage unit 146 stores functional information which is ID information that defines a specific functional operation. Here, the functional information may specify that a specific functional operation is executed independently, or may specify that a plurality of functional operations are executed in combination.

Further, the storage unit 146 temporarily stores the functional information transmitted from the other programming block 140 stacked on the programming block 140 in the storage area. Further, the storage unit 146 stores a program for controlling the operation of each unit of the programming block 140 in the control unit 148, which will be described later, and various information required or generated when the program is executed. It may be. That is, the storage unit 146 has a RAM and a ROM.

In the present embodiment, the functional information defining a specific functional operation is fixedly stored in the storage area of the storage unit 146 of each programming block 140 in advance, but the present invention is limited to this embodiment. It is not something that is done. For example, functional information that defines a plurality of functional operations for one programming block 140 is stored in advance in the storage area of the storage unit 146, and by changing settings by software, operating a changeover switch, detecting tilt or impact of the programming block 140, or the like. , Any functional operation may be selected and set.

Further, as another form, for example, in a programming block 140 having a cube shape, a form in which different functional operations are associated with each of the six surfaces of the cube and functional information related to each functional operation is stored in the storage area of the storage unit 146 is provided. By detecting the surface in contact with the programming board 120 by the block I / F unit 142, the functional information may be read out and the functional operation associated with the contact surface may be set. Here, for example, illustrations, images, characters, symbols, etc. representing functional operations associated with the contact surface are written on the surface (upper surface of the cube) facing the surface in contact with the programming board 120 (lower surface of the cube). Then, the content of the function operation to be executed by the target device 210 may be visually and intuitively recognized.

The control unit 148 is a computer processor that controls the operation of each unit of the programming block 140 having the block I / F unit 142, the identification transfer unit 144, and the storage unit 146. In particular, when the control unit 148 detects that the programming block 140 is placed in the area 102 of the programming area 104 by the block I / F unit 142, the control unit 148 blocks the functional information set in the programming block 140. It is transmitted to the programming board 120 via the I / F unit 142, and the light emitting state and the display state of the programming block 140 are changed by the identification transition unit 144 to shift to a visually identifiable state. Further, when the control unit 148 detects a state in which other programming blocks 140 are stacked on the programming block 140 by the block I / F unit 142, the control unit 148 outputs the functional information transmitted from the upper programming block 140. It is sequentially transferred to the programming block 140 on the lower stage side or the programming board 120.

(Core unit 160)
As shown in FIG. 1, for example, the core unit 160 has a rectangular parallelepiped shape or a flat plate shape in which an operation switch is arranged on one side (drawing, upper surface). The core unit 160 generates a program for operating the target device 210 based on the information acquired by the programming operation using the programming board 120, and executes the program according to the user's instruction. It functions as a control device that controls the operating state of the target device 210.

Specifically, as shown in FIG. 2, the core unit 160 includes an operation unit 162, an external I / F unit 164, a storage unit 166, and a communication interface unit (hereinafter, “communication I / F unit”). It has 168, a control unit 170, and a power supply unit 172.

The operation unit 162 generates a program based on the information acquired by the programming operation using the programming board 120 described above by the user performing the operation, and instructs the execution state of the program. Specifically, the operation unit 162 has a plurality of push switches, touch sensors, or touch panels for selecting the execution state of the generated program. Here, for example, as shown in FIG. 1, the operation unit 162 executes a batch execution switch 112 that collectively executes the entire program generated by the control unit 170, which will be described later, and an instruction of the program step by step. Push switches such as a step execution switch 114, an execution stop switch 116 for stopping the program being executed, and a home switch 118 for returning the target device 210 to the initial position (start point) are arranged. Then, when the operation unit 162 detects that the user has operated any of the switches, the operation unit 162 outputs a control signal corresponding to the switch operation to the control unit 170, which will be described later.

The external I / F unit 164 has an interface corresponding to the communication standard applied to the external I / F unit 130 of the programming board 120 described above, and communicates between the core unit 160 and the programming board 120, for example. Receives the input operation information transmitted from the programming board 120.

The storage unit 166 stores the input operation information received from the programming board 120 via the external I / F unit 164 in a predetermined storage area, and based on this information, a program generated by the control unit 170 described later. Is stored in another storage area. Further, the storage unit 166 is for controlling the operation of each part of the core unit 160 and the program for generating the program for controlling the operation state of the target device 210 based on the input operation information received by the control unit 170. Programs, various information required or generated when executing these programs may be stored. That is, the storage unit 166 has a RAM and a ROM.

The communication I / F unit 168 communicates between the core unit 160 and the target device 210, and for example, the target device is a program stored in the storage area of the storage unit 166 for controlling the operating state of the target device 210. Send to 210. Specifically, the communication I / F unit 168 has a non-contact type or contact type interface, and when the non-contact type interface is applied, for example, Wi-Fi (registered trademark) or Bluetooth (registered trademark) or Bluetooth ( A wireless communication method such as (registered trademark) or an optical communication method using infrared rays or the like can be applied, and when a contact-type interface is applied, a wired communication method using a communication cable should be applied. Can be done.

The control unit 170 is a computer that controls the operation of each unit of the core unit 160 having the operation unit 162, the external I / F unit 164, the storage unit 166, the communication I / F unit 168, and the power supply unit 172 described later. It is a processor. In particular, when the operation unit 162 detects a user's operation related to program generation and execution, the control unit 170 controls the operating state of the target device 210 based on the input operation information transmitted from the programming board 120. Generate a program for.

Specifically, when the control unit 170 detects that the batch execution switch 112 or the step execution switch 114 has been operated in the operation unit 162, the control unit 170 transmits input operation information (instruction position information, sequence information) transmitted from the programming board 120. , Block position information, functional information) to generate a program having instructions for controlling the operating state (movement and functional operation) of the target device 210. Here, each of the above-mentioned information acquired by the programming operation using the programming board 120 corresponds to the source code of the program, and the control unit 170 converts the source code into a program composed of machine language that can be executed by the target device 210. Convert (compile). The converted program is stored in the storage area of the storage unit 166. It should be noted that this conversion process may be performed for the entire program at once, or may be performed for each instruction of one step of the program.

Further, the control unit 170 transmits the generated program to the target device 210 in response to the switch operation in the operation unit 162 to control the operating state of the target device 210. Further, the control unit 170 controls each unit in the core unit 160, the programming board 120, and the programming block 140 by the power supply unit 172 to control the power supply state for driving.

The power supply unit 172 supplies electric power for driving to each unit in the core unit 160. Further, the power supply unit 172 supplies power for driving to each unit in the programming board 120 via the external I / F units 164 and 130 by connecting the core unit 160 and the programming board 120. The electric power supplied to the programming board 120 is further supplied to the programming block 140 via the block I / F units 126 and 142.

In the present embodiment, only the core unit 160 is provided with a power supply unit, and is driven by the programming board 120 or the programming block 140 via the external I / F units 164 and 130 and the blocks I / F units 126 and 142. The form of supplying electric power for programming is shown. In this embodiment, a non-contact type power feeding mechanism such as an electromagnetic induction method or a contact type power feeding mechanism for directly connecting a cable or a terminal electrode is applied to the external I / F parts 164 and 130 and the block I / F parts 126 and 142. can do. Further, the form is not limited to the form in which the power supply unit is provided only in the core unit 160, and either one or both of the programming board 120 and the programming block 140 may have a unique power supply unit.

(Guide sheet 180)
The guide sheet 180 is, for example, as shown in FIG. 1, a light-transmitting (transparent or translucent) tangible thin film or thin plate mounted on the programming area 104 of the programming board 120, and is a user. Illustrations, images, photographs, characters, symbols, etc. (hereinafter abbreviated as "images, etc.") for supporting and guiding the programming operation of the above are written in advance on one side (drawing, top side). In other words, the guide sheet 180 records visible information that identifies a virtual route that defines the movement route of the target device 210. Here, the guide sheet 180 is provided with a plurality of sections 106 corresponding to each area 102 of the programming area 104 of the programming board 120 in a one-to-one relationship, and the above image or the like is a play of the program execution device 200 described later. Corresponding to the image or the like shown on the sheet 260, it has a similar figure relationship.

Further, the guide sheet 180 has a property that the programming area 104 can be appropriately transmitted to the instruction detection unit 122 of the programming board 120 while protecting the programming area 104 from damage due to external pressure or the like. , Has a property or form capable of appropriately transmitting information between the programming block 140 and the programming board 120.

(Program execution device)
As shown in FIG. 1, for example, the program execution device 200 includes a target device 210 which is a tangible mobile body, and a play sheet 260 in which the target device 210 moves according to a program generated by the program generation device described above. is doing. In the present embodiment, a case where a self-propelled toy that travels on the ground and moves as the target device 210 is applied will be described.

(Target device 210)
The target device 210 executes the program generated by the program generator 100 (or 100') based on the input operation by the user, and is executing based on the marker information set on the play sheet 260 described later. The operating state on the play sheet 260 is controlled by executing specific event processing or position correction processing that is interrupt processing for the program.

In the programming operation using the programming board 120, the target device 210 follows a movement path corresponding to a virtual path determined by the user sequentially instructing each area 102 of the programming area 104 on which the guide sheet 180 is mounted. And move. Here, the target device 210 moves along the above-mentioned movement path on the play sheet 260 on which similar images such as the image of the guide sheet 180 used in the programming operation are displayed. Further, in the above programming operation, the target device 210 executes the functional operation at a position on the play sheet 260 corresponding to the instruction area 102 of the programming area 104 in which the functional operation is set.

Specifically, as shown in FIG. 3, for example, the target device 210 includes a drive unit 212, a reading unit 214, a functional unit 216, a storage unit 218, a communication I / F unit 220, and a control unit 222. , And a power supply unit 224.

The drive unit 212 is a drive wheel (tire), a drive source (motor), or the like for moving the target device 210, and is a movement corresponding to a virtual path determined in a programming operation using the programming board 120 described above. The target device 210 is moved on the play sheet 260 along the route.

As shown in FIG. 3, the reading unit 214 is a camera, an image sensor, and a reading circuit that read information embedded in markers 264 installed in each section 262 of the play sheet 260 in which the target device 210 actually moves. The information of the marker 264 read by the reading unit 214 while the target device 210 is moving is used for specific event processing and position correction processing executed by the control unit 222, which will be described later. Here, as will be described in detail later, the marker 264 installed on the play sheet 260 is formed in a one-dimensional or two-dimensional code pattern, a color pattern made of paint having a specific wavelength, and the thickness direction of the play sheet 260. A form in which a groove or uneven pattern is installed on the surface of the play sheet 260 in a predetermined planar shape, or an IC chip or IC tag for communication to which a short-range wireless communication technology such as NFC is applied is placed on the surface of the play sheet 260. The installed or embedded form applies. In a form in which a code pattern or a color pattern is applied as the marker 264, a camera or an image sensor that detects the pattern shape or wavelength is applied as the reading unit 214, and a groove or uneven pattern is applied as the marker 264, for example. In, a distance measuring sensor that detects a distance (depth or height) from the surface of the play sheet 260 is applied. Further, in a form in which a communication IC chip, an IC tag, or the like is applied as the marker 264, a reading circuit (reader) corresponding to the communication standard is applied as the reading unit 214.

The functional unit 216 includes a light emitting unit that emits light, a display unit that displays an image, an acoustic unit that outputs sound, a vibrating unit that vibrates the housing of the target device 210, and an imaging unit that captures an image outside the target device 210. Any of various sensors such as a microphone that recognizes the user's voice, a voice sensor that recognizes the voice input from the microphone, and an illuminance sensor that detects the external brightness of the target device 210 is provided as a function execution means. is doing. These function executing means execute a predetermined function operation based on the function information set in the programming block 140 in the programming operation.

Here, as the functional operation executed in the target device 210, for example, an operation of causing the light emitting unit to emit light in a predetermined light emitting state at a position corresponding to the area 102 on which the programming block 140 is placed, or an operation displayed on the display unit. The operation of changing the image, the operation of generating a predetermined sound or musical sound by the acoustic unit, the operation of vibrating the vibrating unit in a predetermined pattern, the operation of rotating or jumping the target device 210 at the relevant position, and the operation of the imaging unit. It has an operation of photographing the surroundings, an operation of sensing with various sensors, and the like. The function information may specify that these function operations are executed independently, or may specify that a plurality of function operations are executed in combination.

The functional operation that can be set in the target device 210 is executed at a position corresponding to the area 102 in which the programming block 140 is placed, that is, does not involve movement between the areas 102 of the programming area 104. It is not limited to various functional operations (so-called action processing). For example, conditional branching processing that executes a specific operation (for example, selecting a different route and moving) according to a predetermined condition with the instruction area 102 on the programming area 104 on which the programming block 140 is placed as a base point. , It may have a repetitive process of repeatedly moving a specific route a specified number of times, a function process of executing a plurality of predetermined actions as a set operation, and the like. As yet another functional operation, regardless of the placement position of the programming block 140, at an arbitrary timing during the moving operation of the target device 210, the occurrence of a predetermined event is used as a trigger, and the identification including the action processing and the conditional branching processing is included. (For example, an operation of detecting an applause sound to emit light or rotating, an operation of detecting an obstacle on a movement path to stop or notify, etc.) You may.

Further, among the function executing means provided in the function unit 216, the light emitting unit, the display unit, the acoustic unit, and the vibrating unit are also applied as notification means to the user. For example, when the functional operation executed in the target device 210 has a variable process for measuring and storing the number of specific objects, the number of occurrences of events, and the like, for example, a light emitting unit according to a change in the variable. By changing the number of light emission and the number of vibrations in the vibrating part, the number of numbers and illustrations displayed on the display part, and the number of voice announcements and alarm sounds emitted from the acoustic part, Notify the user of information about the variable. Here, to show a specific example of the variable notification method using the display unit, as shown in FIG. 4A, when the display unit has a display device 232 made of a liquid crystal, an organic EL element, or the like, the display unit The number of numbers and illustrations displayed in is changed to correspond to the updated variable. Further, as shown in FIGS. 4 (b) to 4 (e), when applying a mechanical counter on which numbers and a predetermined number of illustrations are written on the surfaces of the drum 236 and the rotating plate 238, the housing of the target device 210 The number of numbers and illustrations exposed from the opening window 234 provided on the body and visually recognized by the user controls the rotation of the drum 236 and the rotating plate 238 so as to correspond to the updated variables.

The storage unit 218 stores the program received from the core unit 160 via the communication I / F unit 220 in a predetermined storage area. Further, the information of the marker 264 acquired by the reading unit 214 is stored in the storage area. Further, the storage unit 218 stores a program for controlling the operation of each unit of the target device 210 in the control unit 222, which will be described later, and various information required or generated when the program is executed. It may be. That is, the storage unit 218 has a RAM and a ROM.

The communication I / F unit 220 has an interface corresponding to the communication standard applied to the communication I / F unit 168 of the core unit 160 described above, and communicates between the target device 210 and the core unit 160, for example. Receives the program generated in the core unit 160.

The control unit 222 is a computer processor that controls the operations of the drive unit 212, the reading unit 214, the function unit 216, the storage unit 218, the communication I / F unit 220, and the power supply unit 224 described later. In particular, the control unit 222 controls the drive unit 212 by receiving from the core unit 160 via the communication I / F unit 220 and executing the program stored in the storage unit 218, and is determined by a programming operation. The target device 210 is moved along the movement path corresponding to the virtual path, and the function unit 216 is controlled to execute the functional operation set by the programming operation.

Further, the control unit 222 performs specific event processing based on the information of the marker 264 read by the reading unit 214 when the target device 210 is moving on the play sheet 260 along a predetermined movement path. The position correction process is executed to control the operating state of the target device 210. Further, the control unit 222 controls the execution state of the program according to the switch operation of the operation unit 162 in the core unit 160. Further, the control unit 222 controls the power supply state for driving to each unit in the target device 210 by the power supply unit 224. The control operation of the target device 210 including the specific event processing and the position correction processing executed based on the information of the marker 264 will be described later.

The power supply unit 224 supplies electric power for driving to each unit in the target device 210. The power supply unit 224 may include, for example, a primary battery such as a dry battery or a secondary battery such as a lithium ion battery, or may include a power generation unit and a secondary battery based on energy harvesting technology.

(Playsheet 260)
The play sheet 260 defines an area in which the target device 210 actually moves in the real space, and has a film-like or thin plate-like shape, for example, as shown in FIG. On the upper surface side of the drawing, a plurality of compartments 262 having the same planar shape are arranged two-dimensionally in the matrix direction adjacent to each other. Here, each section 262 of the play sheet 260 has a planar shape similar to each section 102 of the programming board 120 and each section 106 of the guide sheet 180, and is associated with each other in a one-to-one relationship. ing. Further, on the play sheet 260, for example, as shown in FIG. 1, various images and the like similar to the above-mentioned guide sheet 180 are described in advance, and the routes and functions of the target device 210 moving in the real space by these images and the like. The user recognizes the position where the operation is executed.

Further, in the play sheet 260, an event for executing a specific event process in the target device 210 moving on the play sheet 260 with each section 262 as a basic unit or a plurality of sections 262 adjacent to each other as a unit. A marker 264 in which information and position information for executing position correction processing are embedded is installed. Specifically, as shown in FIGS. 5A and 5B, for example, the marker 264 is a grid passing through each section 262 on the surface of a plurality of sections 262 arranged adjacent to each other of the play sheet 260. A form in which a color pattern composed of a paint having a specific wavelength in the visible light region or a non-visible light region is printed, applied, or pasted continuously in a straight line or a linear shape, and is shown in FIGS. 5 (a) and 5 (c), for example. As described above, it is possible to apply a form in which grooves having a predetermined depth in the thickness direction of the play sheet 260 are formed continuously in a grid pattern or a straight line through each section 262.

Further, as shown in FIGS. 5 (d) and 5 (e), the marker 264 has a one-dimensional or two-dimensional surface such as a barcode or a QR code (registered trademark) on the surface of each section 262 of the play sheet 260. A form in which a visible code pattern is printed or placed and pasted, a form in which a color pattern composed of paints having different wavelengths in the visible light region and a non-visible light region is printed or applied, placed and pasted, and the thickness of the play sheet 260. A form or the like in which an uneven pattern having different depths (or heights) in the directions is formed can be applied. Further, the marker 264 has a form in which an IC chip or IC tag for communication such as NFC that holds individual information is attached to the surface of each section 262 of the play sheet 260, or a form in which the marker 264 is embedded inside the play sheet 260. Etc. can also be applied. The markers 264 individually installed in each of these compartments 262 may be installed in a specific area within the compartment 262 as shown in FIGS. 5 (d) and 5 (e), or may be installed in the compartment 262. It may be installed in almost the entire area of.

Here, the marker 264 may be one in which a specific type (for example, only a grid-like color pattern or only a code pattern) is applied among the various forms shown in FIG. 5, or a plurality of types may be used. It may be applied in combination (for example, in combination with a grid-like groove and an IC chip). Further, the marker 264 installed on the play sheet 260 may be fixedly installed in a predetermined section 262 in advance, or may be installed in an arbitrary section 262 by the user. good. For example, in the form in which the marker 264 is placed or attached to the play sheet 260, the marker 264 has a form like a card or a sticker, and the marker 264 once placed or attached to each section 262 is attached. The installation position of the marker 264 can be arbitrarily changed by peeling it off and placing or reattaching it in another section 262. Further, in the form in which the IC chip or IC tag that holds the information as the marker 264 is applied, the held information may be rewritten by an external writing operation or the like using communication.

Further, the play sheet 260 applied to the present embodiment may be composed of a single member in the form of a film or a thin plate, and has, for example, a form that can be divided into each of the above-mentioned compartments 262. The combination may be freely changed by the user.

In this embodiment, in a specific example of the program execution process described later, a control method for executing a specific event process (variable process, obstacle avoidance process) using the event information embedded in the markers 264 and 265. explain in detail. Further, a control method for executing the position correction process using the position information embedded in the marker 264 will be described in a modified example described later.

<Control method of programming education device>
Next, a control method of the programming education device (programming operation and program generation, program execution method; control method of the program processing device) according to the present embodiment will be described.

The control method of the programming education device according to the present embodiment is roughly classified into a programming operation process and a program for generating a program in which an arbitrary movement path and functional operation are set by an input operation using the program generation device 100 described above. The generation process and the program execution process of moving the target device 210 on the play sheet 260 along the above-mentioned movement path based on the program and executing the function operation at a predetermined position are executed. Here, in the program execution process, a specific event process or position correction process that becomes an interrupt process for the program being executed by reading the information of the marker 264 while the target device 210 is moving on the play sheet 260. Is executed. Each of these control processes in the programming education device is a specific control independently or in cooperation with each other in each control unit provided in the programming board 120, the programming block 140, the core unit 160, and the target device 210 described above. It is realized by executing the program.

FIG. 6 is a flowchart showing the entire control method (programming operation, program generation process, program execution process) of the programming education device according to the present embodiment. FIG. 7 is a schematic diagram for explaining a programming operation process using the programming board applied to the present embodiment, and FIG. 8 is a schematic diagram for setting event processing using the play sheet applied to the present embodiment. It is a schematic diagram for demonstrating the programming operation processing at the time. FIG. 9 is a schematic view showing a setting example of a programming operation for event processing applied to the present embodiment.

(Programming operation processing)
In the programming operation process in the programming education device according to the present embodiment, as shown in the flowchart of FIG. 6 and FIG. 7A, first, the user uses the program generation device 100 having the programming board 120 and the core unit 160, and the program generation device 100. , The power of the program execution device 200 having the target device 210 is turned on and started (step S102). Further, on the programming board 120, the guide sheet 180 is mounted so that each section 106 of the guide sheet 180 corresponds to each area 102 of the programming area 104 in a one-to-one relationship.

Here, the image or the like shown on the guide sheet 180 corresponds to the image or the like of the play sheet 260 in which the target device 210 actually moves, and is related to the movement path of the target device 210, the position where the functional operation is executed, or the like. It has various information. Therefore, when the play sheet 260 is changed according to the content of programming learning by the user, it is replaced with a guide sheet 180 on which an image or the like corresponding to the change is changed and mounted on the programming board 120. In this way, the images and the like shown on the guide sheet 180 affect the procedure and method of the programming operation using the programming board 120, so that the information contained in the images and the like can be obtained prior to the programming operation by the user. It is registered in the programming board 120. Specifically, for example, as shown in FIG. 2, each guide sheet 180 has unique information (movement route information, information for specifying the position of each region, etc.) related to the image or the like shown on the guide sheet 180. ) Is provided, and when the guide sheet 180 is mounted on the programming board 120, the above information is read out by the IC chip reading unit 134 provided on the programming board 120, and the storage unit 128 It is stored in the storage area. In other words, the IC chip 182 records electrical information that identifies a virtual path that defines the movement path of the target device 210.

Next, the user executes a programming operation process using the programming board 120 and the programming block 140. Specifically, first, as shown in FIG. 7A, the user refers to the image or the like shown on the guide sheet 180 (or play sheet 260) mounted on the programming board 120, and the target device 210. Is in contact with a plurality of sections 106 (that is, a plurality of areas 102 of the programming area 104) corresponding to the movement path when operating the section 106, or the section 106 is pressed to instruct sequentially. Here, the user uses the target device 210 for all of the two or more consecutive compartments 106 including the start point (start) Rs and the end point (goal) Rg set in advance on the guide sheet 180 or arbitrarily set. Instruct sequentially according to the movement order. Further, as shown in FIG. 8A, when the user installs the marker 264 in advance in an arbitrary section 262 of the play sheet 260, or when the marker 264 is fixedly installed in the predetermined section 262. The user also refers to the marker 264, and determines, for example, a movement route of the target device 210 that passes through the compartment 262 in which the marker 264 is installed or avoids the compartment 262 in which the marker 264 is installed. As a result, the programming board 120 determines a virtual route (start point Rs → end point Rg; for example, represented by a thick black line in FIG. 7B) corresponding to all the movement routes of the target device 210 (step S104).

At this time, the control unit 132 of the programming board 120 acquires the instruction position information regarding each area 102 instructed by the user and the order information thereof and stores them in the storage area of the storage unit 128. Further, the control unit 132 causes the identification transition unit 124 of each instruction region 102 to emit light in a predetermined light emitting state, or changes the display image to shift to a visually identifiable state (FIG. 7A). Inside, it is written in halftone for convenience).

Next, as shown in FIG. 7B, the user sets the function in the section 106 at the position where the target device 210 executes a specific function operation among the plurality of sections 106 (instruction area 102) serving as the virtual route. One or more programming blocks 140 whose operation is set are placed. As a result, the functional operation of the target device 210 is set (step S106).

At this time, the control unit 132 of the programming board 120 acquires the block position information of each programming block 140 placed on the guide sheet 180 and their functional information and stores them in the storage area of the storage unit 128. Further, the control unit 148 of the mounted programming block 140 causes the identification transition unit 144 to emit light in a predetermined light emitting state or changes the display image to shift the identification transition unit 144 to a visually identifiable state (FIG. 7). (B) In halftone for convenience).

Here, as the functional operation set by the programming operation using the programming block 140, as described above, for example, at the position corresponding to the area 102 on which the programming block 140 is placed, the functional unit 216 of the target device 210 Action processing is set, such as generating light or sound from the computer, making a predetermined movement such as rotation or jumping, or shooting or sensing the surroundings. Further, as the functional operation, for example, conditional branch processing, iterative processing, and function processing may be set with the area 102 on which the programming block 140 is placed as a base point.

As yet another functional operation, the event processing as described above may be set. In event processing, for example, as shown in FIG. 9A, a programming block (event setting block) 140E for setting event processing is placed in an event zone 150 provided around the programming area 104 of the programming board 120. Then, as shown in FIGS. 9B to 9D, one or more programming blocks (event blocks) 140F in which arbitrary action processing is set are concatenated and arranged so as to correspond to the event setting block 140E. A series of event processing is set by the programming operation. A group of one or more event blocks 140F connected and arranged at different places in this way is referred to as an event processing main body 152. The event processing main body 152 includes a start point block BLs and an end point block BLe, and one or more event blocks 140F for designating an "action" desired by the user are connected and arranged between them. When the program is executed, the target device 210 executes "actions" arranged between the start point block BLs and the end point block BLe in the order in which they are arranged.

Specifically, the event processing applied to the present embodiment is as shown in FIG. 9B, for example, at an arbitrary timing during the movement operation of the target device 210 (that is, an arbitrary position on the movement path). In addition, an operation of detecting a marker 264 defining a predetermined variable object (“apple” in FIG. 9 (b)), updating the variable and notifying the variable, or as shown in FIG. 9 (c), for example, A marker that defines an operation that determines a traveling path at a branch point according to a variable, for example, an obstacle that hinders the movement of the target device 210 (“fierce dog” in FIG. 9 (d)) as shown in FIG. 9 (d). An operation such as searching for an avoidance route by detecting 265 is executed.

In the present embodiment, the above steps S104 and S106 are repeated until the user determines the virtual route corresponding to all the movement routes of the target device 210, sets all the functional operations, and finishes the programming operation. Execute (No in step S108). Here, after the movement route of the target device 210 is determined, the user may further install the marker 264 in any section 262 of the play sheet 260, for example, as shown in FIG. 8 (b). When the marker 264 is installed on the section 262 corresponding to the movement path, the target device 210 reads the information embedded in the marker 264 as a trigger in the event processing described above in the execution process of the program described later. become.

In the programming operation shown in steps S104 and S106, the input operation by the user is controlled based on the information contained in the image of the guide sheet 180 and the like. That is, in the operation of setting the movement route and the position where the function operation is executed, if there is an instruction prohibited area or a placement prohibited area based on information such as an image, the input operation to the corresponding area is restricted. Or the error status is notified. Further, based on the above information, the input operation is guided so that each region 102 that is a movement path from the start point Rs to the end point Rg is continuous.

Further, the above programming operation may be to sequentially set the functional operations of the target device 210 while sequentially determining the movement path of the target device 210, or after determining all the movement paths, the target device 210. It may set all functional operations.

Next, when the process of determining the virtual routes corresponding to all the movement routes of the target device 210 and setting all the functional operations by the programming operation using the programming board 120 is completed (Yes in step S108), the core The program generation process using the unit 160 is executed.

(Program generation process)
In the program generation process, for example, the user operates a program execution switch (batch execution switch 112 or step execution switch 114) provided in the operation unit 162 of the core unit 160 (step S110). As a result, the core unit 160 receives the input operation information having the instruction position information, the order information, the block position information, and the function information acquired by the above programming operation process from the programming board 120 (step S112).

Next, the control unit 170 of the core unit 160 uses the received input operation information as a source code to generate a program having an instruction for controlling the operation state (movement and functional operation) of the target device 210 (step S114). The generated program is stored in the storage area of the storage unit 166 of the core unit 160.

In the present embodiment, a case where the user executes a process of generating a program for controlling the operating state of the target device 210 by operating the program execution switch of the operation unit 162 of the core unit 160 will be described. However, the present invention is not limited to this, and the above-mentioned program generation process may be automatically executed when it is determined that the above-mentioned programming operation process is completed.

Further, although not particularly mentioned in the present embodiment, the core unit 160 may collectively receive the input operation information acquired by a series of programming operation processes using the programming board 120. However, it may be received for each operation (step) of the programming operation. Further, the core unit 160 may collectively generate a program for controlling the operating state of the target device 210 in all the movement paths based on the received input operation information, or may be used for programming operations. A program may be generated for each operation (step). Along with this, in the program execution process described later, the program that controls the operating state of the target device 210 in all the movement paths may be collectively executed, or one operation (step) of the programming operation. It may execute the corresponding program for each.

(Program execution process)
In the program execution process, first, the control unit 170 of the core unit 160 transfers the program generated in the above program generation process to the target device 210 via the communication I / F unit 168 (step S116). The control unit 222 of the target device 210 stores the program transferred from the core unit 160 and received via the communication I / F unit 220 in the storage area of the storage unit 218.

Next, the control unit 222 of the target device 210 performs an operation of moving the target device 210 along the movement path on the play sheet 260 determined in the above-mentioned programming operation process by executing the transferred program. (Step S118). Further, when the target device 210 reaches the position on the play sheet 260 set by using the programming block 140 in the above-mentioned programming operation process during the movement of the movement path, the control unit 222 performs a predetermined functional operation. To execute. Further, the control unit 222 executes a specific event process when the target device 210 reaches the position on the play sheet 260 on which the marker 264 is installed in the above-mentioned programming operation process during the movement of the movement path. .. Then, when the target device 210 reaches the end point of the movement path, a series of processing operations related to the programming operation, the program generation, and the execution method shown in the flowchart of FIG. 6 are completed.

(Concrete example)
A specific example of the program execution process is shown below. Here, the target device 210 moves along the movement path on the play sheet 260 determined by the above-mentioned programming operation process, and executes a predetermined functional operation at the position set by the programming block 140. Further, the target device 210 executes a specific event process by reading the information embedded in the markers 264 installed in each section 262 of the play sheet 260 while moving along the above-mentioned movement path. In the present embodiment, the event processing includes variable processing, conditional branching processing, and obstacle avoidance processing, and travels along the movement route while counting the variable object "apple" installed as the marker 264. At the branch point on the movement route, a program that determines the branch route to proceed on the condition of the above variables, further determines the route to avoid the obstacle "fierce dog" installed as the marker 265, and moves to the end point. The case of execution will be described with reference to the drawings.

FIG. 10 is a flowchart showing the entire program execution process applied to the present embodiment. FIG. 11 is a flowchart showing an example of variable processing and conditional branching processing applied to the present embodiment. FIG. 12 is a flowchart showing an example of obstacle avoidance processing applied to the present embodiment. FIG. 13 is a schematic diagram for explaining the program execution process applied to the present embodiment. FIG. 14 is a schematic diagram for explaining the variable processing and the conditional branching processing applied to the present embodiment, and FIG. 15 is a schematic diagram for explaining the obstacle avoidance processing applied to the present embodiment. be.

In the program execution process, as shown in the flowchart of FIG. 10, first, the control unit 222 of the target device 210 reads the program generated and transferred by the program generation device 100 (core unit 160) from the storage unit 218 and executes it. (Step S202). As a result, the control unit 222 of the target device 210 drives the drive unit 212 to follow the movement path on the play sheet 260 determined in the above-mentioned programming operation process, as shown in FIG. 13 (a). The operation of moving the target device 210 from the start point to the end point is performed (step S204).

In the movement operation of the target device 210, the control unit 222 determines whether or not the target device 210 has reached the end point of the movement path based on the progress of the program being executed (step S206). As shown in 15 (b), when the end point has been reached (Yes in step S206), the target device 210 is moved so as to return to the start point (step S222), and the program execution process ends. Here, the operation of moving the target device 210 to the start point is to revert the passed route based on the movement history, for example, when the movement history on the movement route is recorded by the program being executed. It may be present, or it may be returned through a predetermined route (for example, a straight route). Further, for example, a home base device equipped with a wireless module such as an infrared method is installed in advance at the start point position, and the program execution is interrupted when the target device 210 reaches the end point, event processing, or an error occurs. In some cases, infrared rays emitted from the home-based device at all times or periodically may be detected by an infrared sensor provided in the functional unit 216 of the target device 210 and guided to move to the starting point position. ..

In step S206, when the target device 210 has not reached the end point of the movement path (No in step S206), the control unit 222 sets the programming block 140 described above based on the progress of the program being executed. It is determined whether or not the target device 210 has reached the execution position of the function operation excluding the event processing set in the programming operation processing used (step S208). When the target device 210 is in the execution position of the function operation other than the event processing (Yes in step S208), the control unit 222 executes the function operation by the function unit 216 or the like as shown in FIG. 13 (b). (Step S210). FIG. 13B shows a state in which the target device 210 is emitting light in a specific emission color.

Here, during the operation of the target device 210 traveling on the moving path (step S204) and the execution of the functional operation (step S210), the control unit 222 of the target device 210 passes through the communication I / F unit 220. The program generation device 100 (core unit) uses information about the program execution state (that is, the current position of the target device 210, the function being executed, whether or not the target device 210 is operating according to the program, etc.) as the program execution information. 160, programming board 120) is sent at any time. As a result, the control unit 132 of the programming board 120 corresponds to the current position of the target device 210 on the play sheet 260 as shown in FIGS. 13A and 13B based on the received program execution information. The area 102 (corresponding to the section 106 of the guide sheet 180 in the figure) and the programming block 140 corresponding to the function operation being executed are transferred to a state in which they can be identified with respect to the other areas 102 and the programming block 140. Alternatively, if an error or bug occurs in the program, it is transferred to an identifiable state. For example, the region 102 or the programming block 140 is made to emit light with a specific emission color, emission intensity, or emission pattern, or the display image is changed to change the emission state or the display state (FIGS. 13 (a), 13 (a), b) Indicated in dark halftone for convenience). In this way, by feeding back the operating state of the target device 210 on the play sheet 260 and notifying the program generating device 100 at the user's hand, the content of the programming operation and the operating state of the target device 210 (or the operating state of the target device 210). The relationship with the execution state of the generated program) can be easily grasped intuitively through the eyes.

In step S208, when the target device 210 is not in the execution position of the function operation other than the event processing (No in step S208), the control unit 222 triggers the event processing set in the above-described programming operation processing. Is determined (step S212). Specifically, whether or not the control unit 222 has detected the marker 264 installed in the section 262 at the current position by the reading unit 214 as a trigger event, or a branch point on the movement path of the target device 210. Is determined whether or not is detected. When the event that triggers the event processing is not detected (No in step S212), the control unit 222 returns to step S204 and continues the operation of moving the target device 210 along the movement path.

When an event that triggers event processing is detected in step S212 (Yes in step S212), the control unit 222 determines the event processing to be executed based on the event (step S214). Here, in the event processing, as shown in FIGS. 9A to 9D in the above-described programming operation, the event setting block 140E corresponding to each event processing and one or more event blocks 140F associated with the event setting block 140E are used. It is defined by the event processing main body 152, which is a group of events.

When the trigger event is the detection of the marker 264 installed on the play sheet 260, the control unit 222 reads the event information embedded in the marker 264 and performs the event processing specified by the event information. Determine. That is, as shown in FIGS. 8 (a) and 8 (b), a marker 264 with an illustration of an "apple" and an illustration of a "fierce dog" are written in an arbitrary section 262 on the play sheet 260. When the marker 265 is installed and the target device 210 reaches the section 262 in which each marker 264 is installed and detects the marker 264 as shown in FIGS. 14 (a) and 15 (a), the control unit 222 receives the marker 264. , The reading unit 214 reads the information of each marker 264.

When the event information included in the read information defines, for example, event processing related to the “apple” shown in FIG. 14 (a), the control unit 222 controls the event processing main body shown in FIG. 9 (b). A variable process (step S216) for counting the acquired number (picked up number) with the “apple” as the variable object based on 152 is executed. That is, the marker 264 installed on the play sheet 260 defines the event processing of "picking up an apple", and "ID indicating an apple" and "event attribute: variable holding" are set as event information. The target device 210 reaches the section 262 on the play sheet 260 in which the marker 264 is installed, the event information of the marker 264 is read by the reading unit 214, and the event processing defined by the event information is "apple". When it is determined that the event attribute: variable holding is related to the above, the control unit 222 stores the variable information that "the number of apples is one" in the storage area of the storage unit 218. Here, when the variable information about the "apple" is already stored in the storage unit 218 (that is, the same event processing is performed by another marker 264 read by the target device 210 further moving along the movement path on the play sheet 260. (When specified), the control unit 222 adds variables and stores updated variable information such as "the number of apples is two" in the storage area of the storage unit 218.

Further, when the event information included in the read information defines, for example, event processing related to the "fierce dog" shown in FIG. 15 (a), the control unit 222 controls the event shown in FIG. 9 (d). The obstacle avoidance process (step S220) for determining the avoidance route with the "fierce dog" as a course obstacle based on the process main body 152 is executed. That is, the marker 265 installed on the play sheet 260 defines the event processing of "avoiding the dog", and "ID indicating the dog" and "event attribute: impassable" are set as the event information. The target device 210 reaches the section 262 on the play sheet 260 in which the marker 265 is installed, the event information of the marker 264 is read by the reading unit 214, and the event processing defined by the event information is "dog". When it is determined that "event attribute: impassable" is determined, the control unit 222 performs event processing (for example, U) triggered by "event attribute: impassable" preset in the above-mentioned programming operation process. Perform an action (turning or detouring).

When the trigger event is the detection of a branch point on the movement path of the target device 210, the event processing defined by the event information consisting of the detection result is determined. That is, as shown in FIG. 14 (b), when the target device 210 reaches the section 262 having the branch point on the movement path and detects the branch point, the control unit 222 shows it in FIG. 9 (c). Conditional branching process (step S218) for determining a branching route according to the number of acquired "apples" which are variable objects based on the event processing main body 152 is executed.

Hereinafter, each event processing of variable processing, conditional branching processing, and obstacle avoidance processing executed when the target device 210 is driven along the movement route determined by the above-mentioned programming operation (see FIG. 7) will be performed in order. explain.

(Variable processing)
In the variable processing, the control unit 222 first starts with the event information of the marker 264 (“ID indicating an apple”, “event attribute: variable holding”) as shown in the flowchart of FIG. 11A. Information about the number of "apples" is extracted (step S302). Here, in the above-mentioned programming operation process (see FIG. 8A), an example is shown in which a marker 264, each of which represents one apple, is installed in an arbitrary section 262. In this case, the number of variable objects specified in each marker 264 is "1", but when a plurality of apples are described in the marker 264 (when the number of variable objects is specified in the event information), etc. , Information is acquired according to the number.

Next, the control unit 222 reads the variable information stored in the storage area of the storage unit 218, adds and updates the number acquired from the event information of the marker 264, updates the variable information, and stores the variable information in the storage unit 218 again (step S304). ), Notifying the user that the variable has been updated (step S306). Here, as a method for notifying the update of the variable, as described above, a display unit, an acoustic unit, or the like provided in the functional unit of the target device 210 is applied. Specifically, for example, as shown in FIG. 4A, the updated variable (“2” in the figure) may be displayed on the display device 232 such as a liquid crystal provided in the housing of the target device 210. , As shown in FIGS. 4 (b) and 4 (c), the variable (number of apples) was updated to the user by exposing an illustration or a number showing two apples from the opening window 234. Notify that through the visual sense. In addition to or in place of this method, voice announcements such as "I picked up an apple" or "I have two apples" are generated from the speaker of the acoustic unit to hear. It may be notified through.

After the variable update and notification operations in steps S304 and S306 are completed, the control unit 222 ends the variable processing, returns to step S204 in the flowchart shown in FIG. 10, and moves the target device 210 along the movement path. Continue the operation to make it.

(Conditional branch processing)
In the conditional branching process, for example, as shown in the flowchart of FIG. 11B, the control unit 222 first determines the branching point from the movement route information of the target device 210 based on the progress of the program being executed. Specific information regarding the position, the shape and number of branches, and the like is extracted (step S322). Here, an example is shown in which the movement route branches into two routes (branch routes A and B) at the branch point.

Next, the control unit 222 reads out the number of passages of the branch point stored in the storage area of the storage unit 218, adds "1" to update it, and stores it in the storage unit 218 again (step S324). Next, the control unit 222 reads out the variable (the number of apples acquired) stored in the storage area of the storage unit 218 and is the target of the above variable processing (step S326), and determines whether the variable is an odd number. It is determined whether it is an even number (step S328). When the variable is an odd number (Yes in step S328), the control unit 222 selects the branch path A and controls the target device 210 to proceed to the branch path A (step S330), and the variable is an even number. In a certain case (No in step S328), control is performed so as to proceed to the branch path B (step S332). When the number of branches is 3 or more, for example, the variable may be divided by the number of the branches to determine the branch route to proceed according to the remaining number.

After determining the branch path in steps S328 to S332, the control unit 222 finishes the conditional branch process, returns to step S204 in the flowchart shown in FIG. 10, and moves the target device 210 along the movement path. continue.

(Obstacle avoidance processing)
In the obstacle avoidance process, the event process triggered by "event attribute: impassable" is executed based on the event information of the marker 265 ("ID indicating the dog", "event attribute: impassable"). NS. As shown in the flowchart of FIG. 12, for example, the control unit 222 first passes the number of passages of each branch point stored in the storage area of the storage unit 218, which is the target of the conditional branching process (that is, the branching). The passage history) is read out (step S342), and it is determined whether or not the branch point has been passed in the middle of the movement route to the current position (step S344). When the branch point has been passed by the current position (Yes in step S344), the control unit 222 moves the target device 210 so as to return it to the position of the nearest (previous) branch point (step S346). ).

In step S344, when the branch point has not been passed by the current position (No in step S344), the control unit 222 determines that there is no route to avoid the "fierce dog" which is a path obstacle, and plays. The travel of the movement route on the seat 260 is interrupted (step S358), the process returns to step S222 of the flowchart shown in FIG. 10, the target device 210 is moved so as to return to the starting point, and a series of program execution processes is completed. do.

Next, the control unit 222 reads out the number of passages of the nearest branch point stored in the storage area of the storage unit 218, adds "1" to update it, and stores it in the storage unit 218 again (step S348). .. Then, the control unit 222 determines whether or not the number of passages of the nearest branch point is "2" (step S350). That is, it is determined whether the target device 210 passes the latest branch point for the second time, and if it is the second time (Yes in step S350), the control unit 222 sets the latest branch point to 1. After controlling the target device 210 so as to proceed to a branch path (for example, branch path B) different from the branch path (for example, branch path A) that was advanced when passing the second time (that is, the previous time) (step S352), an obstacle. The avoidance process is completed, the process returns to step S204 of the flowchart shown in FIG. 10, and the operation of moving the target device 210 along the movement path is continued.

In step S350, when the target device 210 passes through the nearest branch point not the second time (No in step S350), that is, when it is the third time or more, the control unit 222 of the storage unit 218 The number of passages of each branch point (branch passage history) stored in the storage area is referred to again, and the branch point passed one before the latest branch point (that is, the branch point two before). It is determined whether or not there is (step S354). When there is a branch point two before (Yes in step S354), the control unit 222 moves the target device 210 so as to return it to the position of the branch point two before (step S356), and then steps S348. The process returns to, the number of passages of the two previous branch points is updated, and the processing operations after step S350 are repeated.

In step S354, the number of passages of each branch point is referred to again, and when there is no previous branch point (No in step S354), the control unit 222 is a route for avoiding the obstacle "fierce dog". It is determined that there is no such thing, the running of the movement route on the play sheet 260 is interrupted (step S358), the process returns to step S222 of the flowchart shown in FIG. 10, and the target device 210 is moved so as to return to the starting point. , Ends a series of program execution processes.

Here, in each event processing of the variable processing, the conditional branching processing, and the obstacle avoidance processing described above, the control unit 222 of the target device 210 provides information on the execution state of the event processing via the communication I / F unit 220. (For example, the event information read from the marker 264 and the event execution information indicating whether or not the event processing has been normally executed) are transmitted to the program generator 100 (core unit 160, programming board 120) at any time. As a result, the control unit 132 of the programming board 120 is currently using the target device 210 on the play sheet 260 as shown in FIGS. 14 (a), 14 (b) and 15 (a) based on the received information. The region 102 corresponding to the position (corresponding to the section 106 of the guide sheet 180 in the figure) is transferred to a state identifiable with respect to the other regions 102. Alternatively, when an error or bug occurs in event processing, it is transferred to an identifiable state. For example, the light emitting state and the display state are changed by causing the region 102 to emit light with a specific light emitting color, light emitting intensity, and light emitting pattern, or by changing the display image (FIGS. 14 (a), (b), and FIG. In 15 (a), it is written in a dark halftone for convenience). In this way, by feeding back the operating state related to the event processing of the target device 210 on the play sheet 260 and notifying the program generation device 100, the content of the programming operation in the event processing and the operating state of the target device 210 can be obtained. Relationships can be easily grasped intuitively through the eyes.

As described above, in the present embodiment, the marker 264 having the event information in the arbitrary section 262 on the play sheet 260 to which the tangleable target device 210 that executes the program generated by the program generation device 100 actually moves. By installing 265 and reading the markers 264 and 265 by the target device 210, event processing corresponding to the event information can be executed. As a result, interrupt processing can be dynamically performed on a program that has already been generated and is currently being executed, and a programming method that directly controls the operating state of the target device 210 can be provided. Thereby, in addition to the programming operation in the program generation device 100, it has a simple and easy-to-understand form, and can provide a diverse and wide-ranging programming learning environment.

Further, in the present embodiment, as a method of programming operation in the program generation device 100, a tangible method using a programming board 120, a programming block 140, and a core unit 160 can be provided. As a result, it is possible to easily grasp the contents of the programming operation for setting the movement path and the functional operation of the target device 210 on the play sheet 260.

Further, in the present embodiment, the area 102 and the programming block 140 on the programming board 120 of the program generation device 100 are visually changed according to the operating state of the target device 210 during the execution of the program. It can be made distinguishable from the area 102 and the programming block 140. Further, the functional unit 216 of the target device 210 can be applied as a notification means to notify the execution result of the event processing. As a result, it is possible to easily grasp the operation contents of programming and the operating state of the target device 210.

Therefore, according to the present embodiment, it is possible to have a simple and easy-to-understand form, and to perform programming to control the operating state of the target device 210 in a diverse and wide-ranging programming learning environment, and to perform the operation contents. It is possible to intuitively grasp the operating state of the target device 210 and the target device 210, and it is expected that the learning effect of programming will be improved.

In the above-described embodiment, as shown in FIG. 8, the case where the user himself / herself installs the marker 264 that defines the specific event processing on the play sheet 260 has been described, but the present invention is limited to this. For example, in addition to the user, the manager, the manufacturer of the programming education device, or the like may install the event at an arbitrary position on the play sheet 260 or in a predetermined section 262.

Further, in the above-described embodiment, as shown in FIG. 9, when the processing main body 152 of the event processing defined by the event information of the marker 264 is set by the user himself / herself in a form of connecting a plurality of event blocks 140F. However, the present invention is not limited to this. For example, in addition to the user, the administrator, the manufacturer of the programming education device, or the like stores the processing main body 152 of a plurality of types of event processing assumed in advance in the storage units 166 and 218 of the core unit 160 and the target device 210. In addition, the corresponding specific event processing may be executed based on the trigger event (event information of the marker 264, etc.).

Further, in the present embodiment, the core unit 160 and the target are used as a method of shifting (for example, emitting light) the area 102 of the programming board 120 corresponding to the execution state of the program in the target device 210 and the programming block 140 to an identifiable state. Although the case where the device 210 communicates with the device 210 at any time (transmission / reception of program execution information) has been described, the present invention is not limited to this. For example, the core unit 160 is based on the elapsed time from the end of transfer of the program from the core unit 160 to the target device 210 and the timing of the start of execution of the program without communication between the core unit 160 and the target device 210. The control unit 170 may infer the execution state of the program in the target device 210 and shift the area 102 or the programming block 140 corresponding to the execution state to an identifiable state. In this case, the core unit 160 and the target device 210 communicate with each other periodically or at preset positions and conditions so that the error between the guess in the core unit 160 and the actual program execution state does not become excessive. May be the one that does.

Further, in the above-described embodiment, the case where the programming operation is performed with the guide sheet 180 mounted on the programming area 104 of the programming board 120 has been described, but the present invention is not limited to this, and for example, a guide. The programming operation may be performed without using the sheet 180. That is, the user refers to the image or the like displayed on the play sheet 260 to directly instruct each area 102 of the programming area 104 or the programming block 140 by imagining the movement path of the target device 210 and the execution state of the functional operation. May be placed directly.

Further, as another form, an image or the like similar to the play sheet 260 may be displayed on the display unit of the identification transition unit 124 of each area 102 of the programming board 120. In this case, by rewriting the data such as the image of the identification transition unit 124, it is possible to appropriately cope with the change of the play sheet 260.

In the above-described embodiment, the play sheet 260 is indicated by an image or the like that defines the path or area in which the target device 210 moves in the real space, and the guide sheet 180 is similar to the image or the like of the play sheet 260. Although the case where images and the like for supporting and guiding the programming operation are described has been described, the present invention may not include these images and the like. That is, it is not limited to the programming operation of determining the movement route so as to connect the start point and the end point on the play sheet 260 set in advance, and for example, the target is set at an arbitrary position on the play sheet 260 as the start point and the end point. The device 210 may be moved by a relative movement path.

Further, in the above-described embodiment, the case where the functional operation of the target device 210 is set by placing the programming block 140 on the programming board 120 has been described, but the present invention is not limited to this. For example, without using the programming block 140, the number and time of instructions (contact or pressing) to the area 102 by the user, the type of instruction, etc., using the detection function of the instruction detection unit 122 of each area 102 of the programming board 120, etc. Depending on the situation, a specific function operation may be set or a plurality of function operations may be toggled.

Further, in the above-described embodiment, as shown in FIG. 1, a case where a dedicated device connected to the programming board 120 is applied as the core unit 160 has been described, but the present invention is limited to this embodiment. is not it. For example, on a general-purpose mobile terminal such as a smartphone or tablet, a program for controlling the operating state of the target device 210 is generated based on the input operation information acquired on the programming board 120, at least in the same manner as the core unit 160 described above. By installing dedicated application software (compiler) for this purpose, the mobile terminal may be applied as the core unit 160.

<Modification example>
Next, a modified example of the programming education device according to the above-described embodiment will be described.
FIG. 16 is a schematic diagram for explaining a modified example of the programming education device according to the present embodiment. Here, the same reference numerals are given to the configurations equivalent to those of the above-described embodiment to simplify the description.

In the above-described embodiment, the target device 210 performs specific event processing (variable processing, obstacle processing) by reading the event information among the information embedded in the marker 264 installed in the arbitrary section 262 of the play sheet 260. The case of executing avoidance processing, etc.) was explained. The present invention is not limited to this, and the target device traveling on the play sheet 260 by reading the position information embedded in the marker 264 in addition to or instead of the event processing described above. The position of 210 may be fixed, and a position correction process of correcting the moving direction to avoid deviation from the moving path may be executed. In the position correction process executed in the target device 210, a dedicated program, which is different from the program generated by the programming operation shown in the above-described embodiment, is incorporated in the target device 210 in advance, and the control unit 222 sets the program. It is realized by executing. Hereinafter, modifications applicable to the present embodiment will be shown.

In one modification of the present embodiment, for example, as shown in FIGS. 5A to 5C, a play sheet 260 in which a grid-like marker 264 passing through each section 262 two-dimensionally arranged in the matrix direction is installed is installed. The marker 264 has a color pattern made of a paint having a single wavelength and a form in which a groove having a single depth and shape is applied. In such a form, for example, as shown in FIGS. 16A to 16C, the control unit 222 of the target device 210 constantly or predeterminedly sets the marker 264 continuously installed in each section 262 by the reading unit 214. The target device 210 is moved only on the path along the marker 264. Further, at this time, the control unit 222 receives when the target device 210 travels on the play sheet 260 in the row direction and the column direction based on the existence of the intersections of the markers 264 installed in a grid pattern in each section 262. By counting the number of the intersections that have passed, the relative position of the target device 210 on the play sheet 260 (for example, the position of the +3rd row from the start point position, the position of the -2nd column, etc.) is determined. Then, when the control unit 222 determines that the target device 210 is not traveling along the marker 264 corresponding to the movement path determined by the programming operation (that is, deviating from the movement path), the control unit 222 determines that the target device 210 is not traveling along the movement path (that is, deviates from the movement path). The position correction process for returning the position of the device 210 to the accurate position on the marker 264 corresponding to the movement path is executed to correct the movement direction of the target device 210. That is, in this modification, only the presence / absence and the shape of the marker 264 are read by the reading unit 214 of the target device 210, and are used in the position correction process as position information that defines the relative position. As a result, according to the present modification, the target device 210 can be accurately moved along a predetermined movement path on the play sheet 260.

Here, in this modification, in the marker 264 installed in a grid pattern on the play sheet 260, the marker 264 in the arbitrary section 262, for example, the above-mentioned single wavelength color pattern or single depth and By applying a color pattern of a specific wavelength, a groove of a specific depth or shape, etc., which is different from the groove of the shape, and defining it as individual event information, the target device 210 can be operated accurately along the movement path. At the same time, as shown in the above-described embodiment, the target device 210 can be made to execute a specific event process at an arbitrary position on the movement path. That is, in this modification, the event processing defined by the marker 264 is associated with the relative position on the play sheet 260.

Another modification of the present embodiment is, for example, in a play sheet 260 in which markers 264 are individually installed in each section 262 arranged two-dimensionally in the matrix direction, as shown in FIGS. 5 (d) and 5 (e). As the marker 264, for each section 262, a unique code pattern indicating the placement position of each section 262 on the play sheet 260, a color pattern made of paint having a unique wavelength, a groove or unevenness of a unique depth and shape. It has a form in which an IC chip that holds unique information corresponding to a pattern or an arrangement position is applied. In such a form, for example, as shown in FIGS. 16D and 16E, the control unit 222 of the target device 210 reads the markers 264 individually installed in each section 262 by the reading unit 214 to read the target. The device 210 is moved along the arrangement of the markers 264. Further, at this time, in the control unit 222, the markers 264 individually installed in each section 262 have a unique pattern, shape, arrangement information, etc. indicating the arrangement position of each section 262 on the play sheet 260. Based on the above, the absolute position of the target device 210 on the play sheet 260 (for example, the position of the 5th row and 3rd column) is determined. Then, when the control unit 222 determines that the target device 210 is not traveling along the marker 264 installed in each section 262 on the movement path (that is, deviating from the movement path), the control unit 222 determines that the target device 210 is not traveling along the marker 264. A position correction process for returning the position of the device 210 to an accurate position on each section 262 corresponding to the movement path is executed to correct the movement direction of the target device 210. That is, in this modification, the reading unit 214 of the target device 210 reads the unique pattern, shape, arrangement information, and the like for each marker 264, and is used for the position correction process as the position information that defines the absolute position. As a result, even in this modification, the target device 210 can be accurately moved along a predetermined movement path on the play sheet 260.

Here, in the present modification, in the marker 264 individually installed in each section 262 on the play sheet 260, the marker 264 in the arbitrary section 262, for example, the code pattern or the color pattern indicating the above absolute position, By applying patterns, shapes, information, etc. that define individual event information in addition to the groove, uneven pattern, or information held in the IC chip, the target device 210 can be operated accurately along the movement path. , As shown in the above-described embodiment, the target device 210 can be made to execute a specific event process at an arbitrary position on the movement path. That is, in this modification, the event processing defined by the marker 264 is associated with the absolute position on the play sheet 260.

As described above, in each of the above-described modifications, the program generated based on the programming operation is executed to accurately operate the target device 210 along the predetermined movement path, and the target device 210 is arbitrarily operated on the movement path. The target device 210 can be made to execute a specific event processing at the position. Therefore, it is possible to intuitively grasp the operation content of programming and the operating state of the target device 210, and it is expected that the learning effect of programming will be improved.

In the above-described modification, as shown in FIG. 16D, the markers 264 are individually installed in all the compartments 262 on the play sheet 260, but the present invention is limited to this. For example, the marker 264 may be installed only in each section 262 of the area covering at least the movement path of the target device 210.

In the above-described embodiment and each modification, a programming education device for young people and beginners of programming has been described, but the present invention is not limited to this, and tangible input operations and tangible input operations and Since it has a feature that the operation content and the operating state of the target device can be grasped and understood through visual observation, it may be intended for a person who needs rehabilitation for recovery of physical function, for example.

Although some embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, but includes the invention described in the claims and the equivalent scope thereof.
The inventions described in the claims of the original application of the present application are described below.

(Additional note)
[1]
An information recording unit that has a main body and
A tangible controlled unit that operates at one or more positions in the main body of the information recording unit according to the program.
A function specifying unit in which information about the program followed by the controlled unit is recorded in association with any one of the above-mentioned one or more positions in the main body of the information recording unit.
With
The controlled unit reads and reads the information recorded in the function specifying unit in association with the position of the information recording unit when it exists at the position of the information recording unit. A program processing apparatus characterized in that processing included in the program is executed based on the information.

[2]
The program internally holds variables that change the operation of the controlled unit.
When the controlled unit is present at any of the above positions of the information recording unit, the controlled unit executes a process of updating the variable held by the program as the process in response to reading the information. The program processing apparatus according to [1].

[3]
The controlled unit is characterized in that when it is present at any of the above-mentioned positions of the information recording unit, the event processing included in the program is executed as the processing in response to reading the information []. The program processing apparatus according to 1] or [2].

[4]
The controlled unit moves along a path corresponding to a plurality of positions in the main body of the information recording unit according to the program.
A route indicating unit that indicates a plurality of positions of the information recording unit corresponding to the route of the controlled unit in the main body, and a route indicating unit.
A program generation unit that generates, as the program, a program having an instruction to move the controlled unit along the route corresponding to the plurality of positions instructed by the route instruction unit.
The program processing apparatus according to any one of [1] to [3].

[5]
The route indicator
It has a plurality of portions arranged in a plane direction, and includes a partial indicating portion that receives an instruction of the route by instructing two or more portions of the plurality of portions.
The plurality of positions of the information recording unit in the main body correspond to the plurality of parts of the route indicating unit in a one-to-one relationship.
The program processing apparatus according to [4], wherein the plurality of positions of the information recording unit and the plurality of parts of the route indicating unit correspond to each other in relative positions.

[6]
The route indicating unit further includes a notification unit associated with any portion of the plurality of portions.
The operating state of the controlled unit at any position of the information recording unit is transmitted via the notification unit associated with any part of the route indicating unit corresponding to the position. The program processing apparatus according to [5], which comprises notifying.

[7]
The controlled unit
A moving unit that moves the controlled unit on the function specifying unit according to the program, and a moving unit.
While the controlled unit is moving, a reading unit that reads the specific information recorded at the relative position on the moved function specifying unit.
A control unit that controls the moving unit and the reading unit according to the program, and
The program processing apparatus according to [5] or [6].

[8]
The program according to any one of [1] to [7], wherein the function specifying unit can accept a user operation for associating the information about the program with any position of the information recording unit. Processing equipment.

[9]
The information about the program recorded in association with any of the positions of the information recording unit is relative position information indicating a relative position of any of the positions in the plurality of positions of the information recording unit. The program processing apparatus according to any one of [1] to [8].

[10]
The controlled unit corrects the position of the controlled unit in response to reading the relative position information of the information recorded in association with any of the positions of the information recording unit. The program processing apparatus according to [9], which is a feature.

[11]
It is a control method of the program processing device.
The program processing device includes an information recording unit having a main body, a tangible controlled unit that operates at one or more positions in the main body of the information recording unit according to a program, and information about the program that the controlled unit follows. A function specifying unit recorded in association with any one of the above-mentioned one or more positions in the main body of the information recording unit is provided.
When the controlled unit exists at any of the positions of the information recording unit, the information recorded in the function specifying unit in association with the position of the information recording unit is stored in the controlled unit. A control method for a program processing apparatus, which comprises causing the controlled unit to execute a process included in the program based on the information read by the user.

[12]
A control program for controlling a program processing device.
The program processing device includes an information recording unit having a main body, a tangible controlled unit that operates at one or more positions in the main body of the information recording unit according to a program, and information about the program that the controlled unit follows. A function specifying unit recorded in association with any one of the above-mentioned one or more positions in the main body of the information recording unit is provided.
To the computer that controls the program processing device
When the controlled unit exists at any of the positions of the information recording unit, the information recorded in the function specifying unit in association with the position of the information recording unit is stored in the controlled unit. A control program characterized in that a process included in the program is executed by the controlled unit based on the information read by the controlled unit.

100 Program generator 102 Area 104 Programming area 120 Programming board (route indicator)
122 Instruction detection unit (partial indication unit)
124 Identification transition part (notification part)
132 Control unit 140 Programming block 140E Event setting block 140F Event block 144 Identification transition unit 148 Control unit 150 Event zone 152 Event processing main unit 160 Core unit 162 Operation unit 170 Control unit (program generation unit)
200 Program execution device 210 Target device (controlled unit)
212 Drive unit (moving unit)
214 Reading unit 216 Functional unit (notification unit)
222 Control unit 260 Play sheet (information recording unit)
262 divisions 264, 265 markers (function identification part)

Claims (4)

A tangible controlled unit that moves according to the set route information,
A play sheet applied as an operation field of the controlled unit and
A programming board in which a plurality of tangible parts are arranged in a plane direction and two or more parts of the plurality of tangible parts are instructed by a user operation to generate the route information.
With
The play sheet is configured so that a first component configured to be detectable by the controlled unit can be installed.
When the controlled unit is configured to be able to pass over the first component installed on the play sheet and detects the first component as it moves according to the route information. Suspends the movement according to the route information and executes the operation corresponding to the first component.
A program processing device characterized in that. A tangible controlled unit that moves according to the set route information,
A play sheet applied as an operation field of the controlled unit and
A programming board in which a plurality of tangible parts are arranged in a plane direction and two or more parts of the plurality of tangible parts are instructed by a user operation to generate the route information.
With
The play sheet is configured so that a first component configured to be detectable by the controlled unit can be installed.
When the controlled unit is configured to be able to pass over the first component installed on the play sheet and detects the first component as it moves according to the route information. Corrects the moving direction of the controlled unit in correspondence with the first component.
A program processing device characterized in that. When the second component is placed on the portion of the plurality of tangible parts specified by the user operation, the programming board is placed at the position where the second part is placed. The route information is generated so that the controlled unit executes the operation corresponding to the second component at the corresponding location.
When the controlled unit moves to the location, the controlled unit executes an operation corresponding to the second component according to the route information.
The program processing apparatus according to claim 1 or 2. A guide sheet on which a predetermined map is described and which can be placed on the programming board is provided.
The play sheet describes a map similar to the map.
The program processing apparatus according to any one of claims 1 to 3.

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