KR20180013484A - ROBOT SYSTEM for SOFTWARE EDUCATION - Google Patents

Abstract

A robot system for software education of the present invention comprises: a robot operated according to specific algorithm; a motion input means capable of sensing acceleration; and an algorithm generation means generating the algorithm by arranging operation units forming the algorithm according to user′s intention, expressing each operation unit and arrangement process as images operated by a user to intuitionally arrange each operation unit and correcting an algorithm generation process according to a position with respect to the weight direction of the motion input means. According to the present invention, a software manufacture practicing environment can be provided without an extra device or development program for programming.

Description

Software training robot system {ROBOT SYSTEM for SOFTWARE EDUCATION}

In particular, the present invention relates to an educational robot system having an educational robot and motion input means for performing an operation according to an algorithm prescribed by software programmed by a user who is a child.

Currently, robots that can be applied not only in the industrial field but also in the living environment are being actively developed. In accordance with this trend, various educational institutions such as schools, academies, and scientific organizations have provided robot education for youth, programming Education is being done.

Here, robots developed for educational purposes are used for robot education and programming for robot control. Examples of technologies related to such educational robots include Korean Patent Registration No. 10-0558904 entitled " Walking Educational Robot & Publication No. 10-2010-0114169 entitled " Robot Virtual Design Method of Educational Robot Kit ", Publication No. 10-2007-0025126, "Program Input System of Educational Robot ", Registered Utility Model Registration No. 20-0353674 And "Handy Kit for Educational Robot Device Program".

However, in the case of the above conventional educational robot, since the programming for driving the robot is performed through a general programming language such as C / C ++, BASIC, assembly, and Java, a level of knowledge equivalent to professional programming was required. In other words, these educational tools are at least suitable for semi-professional programming education for adolescents. On the other hand, it has not been a means of principle education for algorithms implemented in appropriate software for children, especially for preschoolers.

Especially, when the educator such as preschooler is young, it is difficult to induce interest in the algorithm writing education, and it is difficult to intuitively understand the concept of the conceptual algorithm such as the event occurrence.

Korean Registered Patent Publication No. 10-0558904

The present invention aims to provide a means for training the generation of robot algorithms so as to generate interest in algorithm creation education.

Alternatively, the present invention aims to provide a software training robot system in which a child can intuitively understand conceptual algorithm concepts such as event generation as familiar objects.

A software training robot system according to an aspect of the present invention includes: a robot operating according to a predetermined algorithm; A motion input means capable of detecting an acceleration; And an algorithm for generating the algorithm by arranging the operation units constituting the algorithm according to a user's intention, wherein each of the operation units and the array process are arranged in an image And an algorithm generation means for modifying the algorithm generation process according to the position of the motion input means with respect to the gravitational direction.

Here, the motion input means may be a dice device having a polyhedron shape and information specific to each surface drawn, and sensing a gravitational acceleration to identify the top or bottom of each of the surfaces.

Here, the algorithm generating means may present the task to the user according to the identification value of the top surface or bottom surface of the die apparatus.

Here, the algorithm generating means may display (present) a control command for the robot usable by the user in accordance with the identification value of the top surface or bottom surface of the die apparatus.

Here, the robot may operate according to the algorithm and wait for the input of the identification value of the top surface or the bottom surface of the die apparatus.

Here, the algorithm generating means may be a smart phone equipped with an application for representing each of the operation units and the arrangement process as an image manipulable by a touch screen.

Here, the algorithm generating means may include a display that displays each of the operation units and the arrangement process in an image that can be operated by a touch screen, and may be attached on the robot.

A software training robot system according to another aspect of the present invention includes: a motion input means capable of sensing an acceleration; And a robot operating according to a predetermined algorithm and operating according to the acceleration sensed by the motion input means; Wherein each of the operation units and the arrangement process are represented by an image that can be manipulated by a user so that the operation units constituting the algorithm are arranged according to a user's intention to generate the algorithm, And control means having an algorithm generating means.

Here, the algorithm generating means may select each operation unit represented by the image according to a motion applied to the motion input means.

Here, the control means can execute the algorithm for the robot if it is confirmed that a predetermined movement pattern is input from the motion input means.

Here, the robot may operate according to a motion of the motion input means when a specific command of the control means or a specific motion pattern for the motion input means is input.

Here, the motion input means is a dice device having a polyhedron shape, in which information specified on each face is drawn, and detects a gravitational acceleration to identify the top or bottom of each of the faces, A mode for operating the robot in accordance with a mode and a motion as a die of the die apparatus may be selected.

The software training robot system may further include a dice motion analyzer for analyzing successive acceleration values of the dice device and determining whether the dice device is rolled as a dice.

Here, the robot may operate according to the algorithm, and may move according to the motion of the die apparatus.

According to the teaching robot of the present invention having the above configuration, there is an advantage that a software production training environment can be provided without a separate device for programming or a development program.

Or, if the teaching robot system of the present invention according to the above configuration is implemented, there is an advantage that the interest of the robot driving algorithm preparation exercise can be increased.

Alternatively, the teaching robot system of the present invention according to the above configuration has an advantage in that an introductory algorithm can be intuitively understood by a child practitioner.

1A and 1B are conceptual diagrams showing a structure of an educational robot according to an embodiment of the present invention.
2 is a perspective view showing an embodiment of a die as a motion input means according to an aspect of the present invention;
3 is a conceptual diagram illustrating the structure of an educational robot system according to another embodiment of the present invention.
4 is a conceptual diagram illustrating the structure of a training robot system according to another embodiment of the present invention.
FIG. 5 is an algorithm generation screen of the training robot system of FIG. 3 or FIG. 4;

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

In describing the present invention, the terms first, second, etc. may be used to describe various elements, but the elements may not be limited by terms. Terms are for the sole purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

It is to be understood that when an element is referred to as being connected or connected to another element, it may be directly connected or connected to the other element, but it may be understood that other elements may be present in between .

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions may include plural expressions unless the context clearly dictates otherwise.

It is to be understood that the term " comprising, " or " comprising " as used herein is intended to specify the presence of stated features, integers, But do not preclude the presence or addition of steps, operations, elements, components, or combinations thereof.

In addition, the shapes and sizes of the elements in the drawings and the like can be exaggerated for clarity.

FIGS. 1A and 1B show a structure of an educational robot according to an embodiment of the present invention. Fig. 1A shows a front view of the robot, and Fig. 1B shows a rear view.

The illustrated educational robot includes a robot main body 110; Moving means (120) for changing the position or direction of the robot body; Work means (140) attached to the robot main body and performing work according to a user's instruction; An algorithm storage unit (180) storing an algorithm consisting of the steps of the moving means or the working means according to the temporal flow; A control unit 160 for controlling the moving means and the working means according to an algorithm stored in the algorithm storage unit 180; An algorithm combination operation means (320) attached to an outer surface of the robot body and generating the algorithm according to a manual operation of a user and storing the algorithm in the algorithm storage unit (180); An algorithm display means (340) for displaying the stored or generated algorithm to a user; And a dice communication module 170 for receiving data from the dice as an external motion input device.

As the motion input means provided with the education robot and the acceleration sensor shown in the figure, information specified on each surface having a polyhedron shape is drawn, and the upper surface (or the bottom surface) of the state in which the gravity acceleration is placed is identified A software training robot system is constructed with a dice to be played.

That is, the educational robot system includes: a robot 100 operating according to a predetermined algorithm; A dice (700) as motion input means capable of detecting acceleration; And an algorithm for generating the algorithm by arranging the operation units constituting the algorithm according to a user's intention, wherein each of the operation units and the array process are arranged in an image And algorithm generating means (not shown) for modifying the algorithm generation process according to the position (e.g., the top face) of the die 700 in the gravity direction.

Fig. 2 shows one embodiment of a die as a motion input means according to the teachings of the present invention.

The die 700 shown in the figure includes a cube body 701 having a six-sided outer surface and a number or symbol; An acceleration sensor 720 for sensing the acceleration applied to the die body; And a communication module 770 for transmitting the sensed acceleration value to the outside.

In this embodiment, the dice body 701 may have other polyhedron shapes such as a regular octahedron, a regular dodecahedron, and a soccer ball, since the cube body dice are the most widely used shapes. The die 700 generally reads out the acceleration sensor value to read the value of the upper surface in a state where the die 700 is stopped and stopped. However, in case of a tetrahedron or the like, the lower surface may be read.

The acceleration sensor 720 may be a simple gravity acceleration sensing means installed in the die body 701 such as a cheapest acceleration sensor, , A mechanical gravity sensing sensor).

A gyro sensor function capable of determining the rotation of the acceleration sensor 720 may be implemented to determine whether to throw the die 700, or to sense motion applied to the die 700 itself , A gyro sensor or a rotation sensor may be additionally provided. In this case, the robot 100 may analyze the rotation sensing value and determine whether the die is thrown. In another implementation, the dice 700 may further include a dice motion analyzer that analyzes successive acceleration values for itself and determines whether the dice 700 is rolled as a die.

The communication module 770 may be implemented as a wireless communication module capable of performing data communication smoothly in a space of one room and a space in which the user uses the dice with the controller 160 of the robot, such as Bluetooth or Zigbee communication.

Depending on the implementation, the die 700 may have display means for indicating its status. The display means may be the least expensive LEDs. For example, when the dice are received from the controller 160 of the robot 100, it is possible to notify the user that the dice are waiting for throwing, by emitting a specific color (blinking).

However, in the case of a multi-function die, it is preferable that all of the outer surfaces of the die body 701 are modified so that information described on the outer surface of the die body 701 can be modified. Some of them can be implemented as a display panel.

The robot main body 110 has a function of inserting and protecting the other components, and attaching and supporting the algorithm combination operation means 320 and the algorithm display means 340 to the outer surface.

And may further include a position determiner for determining a position of the robot and / or a wireless data communication module for performing data communication with an external smart device according to an implementation. Alternatively, the controller 160 may perform a function of determining the position of the robot.

Here, the position determining means may include means for recognizing a position display provided in an area where the robot moves, and / or means for estimating (estimating) a displacement caused by the movement of the robot. The position indication may be an NFC tag, an RF tag, a bar code, a QR code, a dot pattern, a planar image which can be recognized by humans, a three-dimensional structure that can be produced by a 3D printer or the like. In response to this, the NFC reader, the RF reader, the barcode reader, the QR code reader, the dot pattern reader, the monocular / binocular camera 190, and the image processing means can be used as means for recognizing the position display.

The working means 140 may be a structure for additional mechanical operations such as an arm for an operation such as a general industrial robot. However, in order to achieve the educational purpose, the operation means 140 may be relatively simple in control, It can be a means for changing the appearance of a robot recognized by a human being. For example, simply, the working means 140 may be a light that can emit light or a speaker that outputs sound.

The moving means 120 may be provided separately from the orientation means for changing the orientation of the robot, or for changing the orientation of the robot as well as changing the orientation of the robot. In the former case, the moving means 120 is a pair of wheels connected to a controllable motor in a manner widely used in a micromouse or the like.

The algorithm storage unit 180 may be implemented as a general memory, or the algorithm storage unit 180 and the control unit 160 may be implemented as a single chip processor.

The control unit 160 may include a processor for operation processing for generating control signals for the moving means and the working means according to the algorithm and may also perform the algorithm generating function of the algorithm generating means .

The algorithm generating means, which plays an important role in implementing the idea of the present invention, may be implemented as an internal module of the controller 160 or as a separate device. In the latter case, the algorithm generating means may be implemented as an apparatus physically independent of the robot 100, but it is advantageous that the algorithm generating means is installed inside the robot 100.

The control unit 160 may include an interpreter that reads the stored algorithms in units of operation and sequentially executes the stored algorithms.

The algorithm combination operation means 320 may include input means independently assigned for each input item. Here, the input means is also referred to as a control in the programming field, and includes a key input by the user's finger, a button, and the like.

The algorithm combination operation means 320 includes a function key 322, a direction key 324 for moving a cursor, an algorithm key 324 for selecting a key, And an operation unit key 326 for inputting a phase operation unit.

The function key 322 may include a confirmation key for completing input of the operation unit of the user and / or completing the detailed setting of each operation unit, and a cancel key for canceling the previous input.

The direction key 324 may include arrow keys for moving the cursor for up / down / right / left movement for designating each operation unit and algorithm position selected by the operation unit key 326.

The operation unit key 326 includes keys for forward movement, backward movement, left rotation, right rotation, and backward movement as movement operations, keys for operation operation, light on, warning sound output, sound output, It can include keys for setting up a loop (repeat job setting), a jump, a branch based on condition judgment, etc., used for setting.

If the number of keys allocated to the task operation and the algorithm flow chart is too large, it is difficult to physically place the keys on the outer surface of the robot. Therefore, frequently used keys are assigned separate private keys, The low frequency keys may be selected by the function key and direction key operation. For example, when a key for inputting a special key is input, the corresponding special keys are displayed on the algorithm display means 340, the cursor is positioned in one of the displayed special keys using the direction key 324, A special key having a low frequency of use can be input in the process of inputting the confirmation key 322.

Each key may be assigned a unique image so as to be visually distinguishable from other keys.

The user inputs the keys to generate the algorithm by arranging the operation units constituting the algorithm according to the user's intention (intention), and in the process of generating the algorithm, And an arrangement process may be represented by the algorithm display means 340 as an image. For example, the user may sequentially input necessary keys and linearly arrange the operation units to be continuously executed in the screen area of the algorithm display means 340 in a temporal manner.

According to the implementation, the algorithm combination operation unit 320 outputs each of the operation units to the screen area as an image (i.e., outputs icons), and the user drags the output images (i.e., icons) And can be manipulated and arranged in a drop-down manner. In this case, the algorithm display unit 340 may be a touch screen that displays each of the operation units and the arrangement process as an image that can be operated by a touch screen so that each of the operation units can be intuitively arranged.

According to the implementation, the user can linearly arrange the operation units to be executed continuously in the algorithm screen region in a temporally sequential manner, and drag and drop the respective operation unit icons in the icon screen region into the algorithm screen region and arrange them at corresponding positions in the array .

The die communication module 170 may form a wireless data communication channel in cooperation with the die communication module 770. For example, a Bluetooth communication module or a Zigbee communication module.

Next, an example of an algorithm preparation exercise process using the above-described educational robot system will be described.

In the first practical example, the algorithm generating means wirelessly connects the dice 700 and the robot 100 after determining a destination, and transmits the number of dice to the touch screen window or the display 340 installed on the robot etc. Action option blocks that control the robot's motion (forward, backward, right turn, left turn, etc.) are randomly displayed. Thereafter, the user (learner) can operate the touch screen or the key to select the operation order of the operation option blocks, and form an algorithm for the robot operation. When a plurality of learners construct their own algorithms by using the robot 100 and the die 700 and execute each algorithm, the robot can win the person who reaches the destination first.

In the next exercise, the algorithm generating means may present the task (algorithmic task) to the user according to the top value of the die 700. For example, it is possible to set a waypoint that the robot 100 should pass through to the destination according to the value of the top surface of the die 700. Alternatively, an unusable operation option block may be set to generate an algorithm necessary for the robot 100 to reach a destination according to a value of a top surface of the die 700. Alternatively, a control command (operation option block) for the robot 100 that can be used by the user can be displayed (presented) according to the value of the top surface of the die 700.

In the two practice examples described above, the operation of the algorithm generating means is influenced by the upper surface value of the die 700. In the following example, the operation of the controller 160 of the robot performing the pre-generated algorithm is influenced by the upper surface value of the die 700.

In this case, the robot 100 operates in accordance with the algorithm stored in the algorithm storage unit 180, and then waits for input of the top face value of the die 700, i.e., throws the die, The player can perform an operation according to the top face value after throwing. For example, when the robot 100 travels on a predetermined path of a separate driving board, the robot 100 stops at a predetermined point on the path, waits for the throwing of the die 700, It may be transferred from the die 700 and proceed along the path at the predetermined point by the upper surface number value.

For example, when the robot 100 is operated according to the algorithm configured by a plurality of various operation option blocks, when the robot 100 reaches a specific place, a specific time, a specific order on the movement path of the robot 100, In performing the operation on the action option block, the robot action can be controlled by waiting for the dice throwing and determining the number of actions of the specific action option block according to the value of the upper face number of the die 700 after throwing. : Advance by the number of times of the top figure, 90 degrees left by the number of the top figure, etc.)

Hereinafter, implementations of the present invention applied to a robot algorithm creation / execution process using a motion when the die 700 has a gyro sensor capable of sensing a motion applied to the die itself will be described. This embodiment can also be performed by the robot 100 shown in Figs. 1A and 1B and the dice 700 shown in Fig. 2, and the detailed structure of the robot 100 and the dice 700 overlapping with the first embodiment I will not.

In this case, the educational robot system may include motion input means for sensing an acceleration; A robot (100) operating in accordance with a predetermined algorithm and operating in accordance with the acceleration sensed by the motion input means; And an algorithm for generating the algorithm by arranging the operation units constituting the algorithm according to a user's intention, wherein each of the operation units and the array process are arranged in an image And control means having an algorithm generating means represented therein. Here, the control means may belong to or may include the control unit 160 of FIG.

Next, an example of an algorithm creation exercise process using the training robot system of the present embodiment will be described.

In the present embodiment, in operation of the robot according to the generated algorithm, correction may be performed according to a motion pattern value applied to the die 700. In this case, the acceleration sensor 720 provided on the die 700 should have a performance capable of sensing a rather complex continuous motion applied to the die.

For example, the algorithm generation means of the robot 100 may select each operation unit represented by the image as an operation unit to be used for composing the algorithm according to the motion applied to the motion input means.

For example, the algorithm generating means of the robot 100 may be able to select the order of the motions of the dice (up, down, left, right) with respect to a plurality of motions in the display window.

For example, the control means of the robot 100 can execute the algorithm for the robot by confirming that a predetermined movement pattern is input from the motion input means. That is, after all selections for the operation units for generating the algorithm are completed, the signal for starting the operation of the smart robot also recognizes the specific motion of the dice (such as turning a circle) and starts the operation according to the created algorithm .

For example, the control means of the robot 100 may control a mode (mode according to Embodiment 1) as a die of the die according to a movement pattern (motion) on the die 700 and a mode (The mode according to the second embodiment) can be selected.

For example, the control means of the robot 100 may directly control the operation of the smart robot 100 with the die 700 by the upper face number of the die 700. In this case, So that the smart robot 100 can move according to its operation. More specifically, the robot 100 may be moved by a motion applied to the die during a time proportional to the number of the top face of the throwing die 700.

For example, the control means of the robot 100 may control the robot 100 to move according to the movement of the die 700. In this case, when the robot 100 receives a specific command or a specific movement pattern (for example, up and down two shakes) with respect to the die 700, the robot 100 operates according to the motion applied to the die 700. The robot 100 operates according to the algorithm described above and then receives a command indicating the motion of the die 700 and the motion of the die 700. Then, .

In the educational robot system according to the first or second embodiment, algorithm combination operation means 320 attached to the back surface of the robot; Algorithm display means 340; And a control unit 180 have been described in detail.

On the other hand, in the training robot system of the present embodiment, the algorithm combination operation means 320 of the first embodiment; Algorithm display means 340; And the control unit 160 may be implemented in the form of an application installed in a smart phone or other smart device. Similarly, the algorithm generation means of the second embodiment; And the control unit 160 can be implemented in the same application form.

In this case, data communication with the robot is performed using a local communication means (e.g., Wi-Fi, Bluetooth communication, etc.) used in a smart phone.

FIG. 3 illustrates a structure of an educational robot system according to an embodiment of the present invention, and FIG. 4 illustrates a structure of an educational robot system according to another embodiment of the present invention.

In the case of this embodiment, for example, as shown in Fig. 3, the algorithm generating means can be defined as a smart phone equipped with an application that expresses each operation unit and an arrangement process as an image that can be operated by a touch screen.

Alternatively, as shown in FIG. 4, the educational robot may include a smart device (e.g., smart phone, tablet) attached to the outer surface of the robot body and an application for performing algorithm creation according to the idea of the present invention installed in the smart device And the like. In this case, the algorithm combination means and the algorithm display means may be implemented by a software module capable of accessing hardware / software provided in the smart device.

For example, each of the keys constituting the algorithm combination means shown in FIG. 1 may be implemented by software buttons on a touch screen provided in the smart device.

For example, a holder 970 for attaching the smart device may be provided on a back side of the robot 900 in a forward direction reference direction. In this case, the robot 900 may further include a wired or wireless data communication module for performing short-range wireless communication (Wifi, ZigBee, NFC, Bluetooth, etc.) with the smart device. The holder 970 may be provided with a contact for data communication for wired data communication.

The smart device application generates each of the operation units constituting the algorithm according to a user's intention to generate the algorithm, Can be expressed as an image that can be manipulated by the user.

5 is an algorithm creation screen of the training robot system of FIG. 3 or FIG. 4. FIG. That is, a process of creating an algorithm by arranging operation units using the application is shown.

As shown in the figure, the application displays each of the operation units on the screen of the smart device as an image (i.e., outputs icons), and the user can drag and drop the displayed images (i.e., icons) As shown in Fig.

For example, as shown in the drawing, the operation unit icons available in the left screen (icon area IR) can be output, and the algorithm arrangement in the middle of the right screen (algorithm area, AR) can be output.

The user linearly arranges the operation units to be executed continuously in the algorithm area AR temporally, and arranges the operation unit icons of the icon area IR into the algorithm area AR by dragging and dropping them at corresponding positions on the array .

The algorithm generated in the illustrated algorithm area AR is an algorithm that keeps the robot moving forward until it reaches the point specified by A and turns on the light (140 in FIG. 1) when it reaches the point specified by A .

For the above algorithm generation operation, the application outputs an interface screen for the above-described algorithm arrangement on the touch screen display of the smart device, and accepts a touch screen input for the icons output on the interface screen have.

As described above, the effect of the software education can be achieved by graphizing each operation unit constituting the algorithm in the conventional flowchart into an icon.

If a "conditional branch" that is widely used in general algorithms can be applied and an icon for "conditional branching" is added to the algorithm, the entire algorithmic shape can have a tree shape.

In order for a user who is a child to intuitively distinguish the application, the application may be configured to perform various operations such as start, end, move operation, simple operation, branching according to condition judgment, jump (forward jump and backward jump) (E.g., icons) so that different actions are visually distinguishable.

Similar to embodiment 1, the application generates a control algorithm for the robot 900 according to icons placed in the IR area, and either modifies the generated value according to the throw value of the die 700, In operation of the robot according to the algorithm, modification may be performed according to the throwing value of the die 700.

For example, only a number of icons corresponding to the top face number of the thrown dice among the icons arranged later than the icon indicating the die throwing wait time are used for the algorithm creation, and the icons thereafter may not be used for generating the algorithm .

For example, the operation corresponding to the operation unit immediately before (or immediately after) the waiting for throwing the die may be repeated in accordance with the number of the upper face of the die 700 that the practitioner has thrown.

Similar to the second embodiment, the application may modify the robot 90 according to the generated algorithm according to a motion pattern value applied to the die 700. In this case, the acceleration sensor 720 provided on the die 700 should have a performance capable of sensing a rather complex continuous motion applied to the die.

For example, the application may select each operation unit represented by the image as an operation unit to be used for composing the algorithm according to the motion applied to the motion input means.

For example, the application may be able to select a sequence of actions for a plurality of actions in a display window with motion of the dice (up, down, left, right).

It should be noted that the above-described embodiments are intended to be illustrative, not limiting. In addition, it will be understood by those of ordinary skill in the art that various embodiments are possible within the scope of the technical idea of the present invention.

100: robot 110: robot body
120: moving means 140: working means
160: control unit 180: algorithm storage unit
700: Dice 720: Acceleration sensor

Claims (8)

A robot operating according to a predetermined algorithm;
A motion input means capable of detecting an acceleration; And
Wherein each of the operation units and the arrangement process are arranged in an image that can be manipulated by a user so that the operation units constituting the algorithm are arranged according to a user's intention to generate the algorithm, And an algorithm generation means for modifying an algorithm generation process according to a position of the motion input means with respect to a gravitational direction,
A software training robot system including.
The method according to claim 1,
Wherein the motion input means is a die device that has a polyhedron shape and in which information specified on each face is drawn and which detects a gravitational acceleration and identifies an upper surface or a bottom surface of each surface.
3. The method of claim 2,
Wherein the algorithm generating means comprises:
And presenting the task to the user according to the identification value of the top or bottom surface of the dice device.
3. The method of claim 2,
Wherein the algorithm generating means comprises:
And presents control commands for the robot that the user can use according to the identification value of the top or bottom surface of the die apparatus.
3. The method of claim 2,
Wherein the robot operates in accordance with the algorithm and waits for input of an identification value on the top or bottom of the die apparatus.
A motion input means capable of detecting an acceleration; And
A robot operating according to a predetermined algorithm and operating in accordance with an acceleration sensed by the motion input means;
Wherein each of the operation units and the arrangement process are represented by an image that can be manipulated by a user so that the operation units constituting the algorithm are arranged according to a user's intention to generate the algorithm, Control means having an algorithm generating means;
A software training robot system including.
The method according to claim 6,
Wherein the algorithm generating means selects each operation unit represented by the image according to a motion applied to the motion input means.
The method according to claim 6,
Wherein the control means executes the algorithm for the robot when it is confirmed that a predetermined movement pattern is input from the motion input means.

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