Robot System and Its Color Control Method

Abstract

A robot system and its color control method are disclosed. The robot system includes at least two robots connected to a communication network and a server. The server is configured to: run an integrated development environment (IDE) and display its graphical user interface to provide VPL tools; use the VPL tools to select a first initial VPL block and a second initial VPL block corresponding to a first robot and a second robot, respectively; obtain first color information indicating a first color and second color information indicating a second color from the first initial VPL block and the second initial VPL block, respectively; and send the first color information and the second color information to the first robot and the second robot, respectively. In response to the received first color information, the first robot controls its multiple light-emitting devices to display the first color, and the second robot, in response to the received second color information, controls its multiple light-emitting devices to display the second color. Thus, each robot can be identified more effectively and intuitively.

Description

Technical Field

[0001] This invention relates generally to articulated robots, and more particularly to robot systems comprising multiple articulated robots and color control methods thereof. Background Technology

[0002] Articulated robots are robots with rotating joints, also known as articulated robotic arms or multi-joint robots. The range of articulated robots can be as simple as a two-joint structure as a system with more than ten interactive joints. Articulated robots are one of the most common forms of industrial robots in today's industrial sectors, suitable for automating mechanical operations in many industrial applications.

[0003] As the complexity of articulated robots increases and the difficulty of the tasks they perform rises, Integrated Development Environments (IDEs) have been adopted for programming these robots to facilitate task planning. An IDE is an application that assists software developers in writing source code and compiling and packaging it into a usable program within the development tools themselves. IDEs typically include a programming language editor, automated build tools, and a debugger. IDEs integrate commonly used developer tools into a single graphical user interface (GUI), allowing developers to operate without switching applications.

[0004] IDEs that support visual programming allow developers to create flowcharts and structure diagrams by directly moving programming building blocks or code nodes. These flowcharts and structure diagrams can then be compiled or interpreted to create new applications. These flowcharts and structure diagrams are typically based on a Unified Modeling Language (UML). The GUI of such IDEs provides a Visual Programming Language (VPL) environment. VPL, also known as a graphical programming language, allows users to create programs by manipulating program elements graphically rather than through textual specifications. VPL allows programming using visual representations, text, and spatial arrangements of graphical symbols. For example, many VPLs are based on the concept of "blocks and arrows," where blocks or other screen objects are treated as entities connected by arrows, line segments, or arcs representing relationships. Summary of the Invention

[0005] One aspect of the present invention relates to a robot system. The robot system includes at least two articulated robots, each having a robot controller, a plurality of rotary joints, and a plurality of light-emitting devices, each light-emitting device being disposed at a corresponding rotary joint. The robot system also includes a server, the server comprising a controller, a storage unit, and a display unit. The storage unit stores a plurality of instructions executable by the controller and stores a visual programming language library comprising a plurality of visual programming language blocks.

[0006] The at least two articulated robots and the server are connected to a communication network. The at least two articulated robots include a first articulated robot and a second articulated robot.

[0007] The server is configured to use the controller to execute instructions from the storage unit to run an integrated development environment (IDE), and to use the display unit to display a graphical user interface (GUI) of the IDE, the GUI being configured to provide visual programming language tools.

[0008] The server is configured to use the visual programming language tool to select a first initial visual programming language block and a second initial visual programming language block from the visual programming language library. The first initial visual programming language block corresponds to the first articulated robot, and the second initial visual programming language block corresponds to the second articulated robot. After selecting the first initial visual programming language block, the server establishes a first connection with the first articulated robot on the communication network based on the integrated development environment (IDE). After selecting the second initial visual programming language block, the server establishes a second connection with the second articulated robot on the communication network based on the IDE.

[0009] The server is configured to obtain first color information indicating a first color from the first initial visualization programming language block, and to obtain second color information indicating a second color from the second initial visualization programming language block, wherein the second color is different from the first color. The server is configured to send the obtained first color information and second color information to the first articulated robot and the second articulated robot, respectively, via the established first connection and second connection.

[0010] The robot controller of the first articulated robot is configured to generate a first color instruction in response to the received first color information, so as to control multiple light-emitting devices of the first articulated robot to display the first color. The robot controller of the second articulated robot is configured to generate a second color instruction in response to the received second color information, so as to control multiple light-emitting devices of the second articulated robot to display the second color.

[0011] In the robot system according to the above aspects, each of the at least two articulated robots has a unique identifier, and the server is configured to use the visual programming language tool to create a first initial visual programming language block based on the unique identifier of the first articulated robot and associated with the first color information, to create a second initial visual programming language block based on the unique identifier of the second articulated robot and associated with the second color information, and to add the created first initial visual programming language block and second initial visual programming language block to the visual programming language library stored in the storage unit.

[0012] Specifically, the unique identifier of each of the at least two articulated robots is selected from the Internet Protocol address of the articulated robot or the serial number of the articulated robot.

[0013] In the robot system according to the above aspects, the server is configured to edit the first initial visual programming language block or the second initial visual programming language block using the visual programming language tool to modify the first color information or the second color information contained in the first initial visual programming language block or the second initial visual programming language block, wherein the modified first color information or second color information indicates a color different from the first color or the second color.

[0014] In the robot system according to the above aspects, the robot controller of each articulated robot is configured to control multiple light-emitting devices of the articulated robot to display a preset color, or a color indicated by color information previously received by the articulated robot, when the articulated robot has not established a connection with the server based on the integrated development environment.

[0015] In the robot system according to the above aspects, the server is configured to: select a plurality of first task visual programming language blocks and a plurality of second task visual programming language blocks from the visual programming language library using the visual programming language tool, wherein the plurality of first task visual programming language blocks correspond to the first articulated robot, and the plurality of second task visual programming language blocks correspond to the second articulated robot; display each of the first initial visual programming language blocks and the plurality of first task visual programming language blocks in association with a first color, and display each of the second initial visual programming language blocks and the plurality of second task visual programming language blocks in association with a second color. The first initial visual programming language blocks and the plurality of first task visual programming language blocks constitute a task sequence to be executed by the first articulated robot, and the second initial visual programming language blocks and the plurality of second task visual programming language blocks constitute a task sequence to be executed by the second articulated robot.

[0016] Specifically, at least a portion of each of the first initial visualization programming language blocks and the plurality of first task visualization programming language blocks presents the first color, and at least a portion of each of the second initial visualization programming language blocks and the plurality of second task visualization programming language blocks presents the second color.

[0017] More specifically, each of the first initial visual programming language blocks and the plurality of first task visual programming language blocks is outlined by the first color, and each of the second initial visual programming language blocks and the plurality of second task visual programming language blocks is outlined by the second color.

[0018] Optionally, the first color is marked in text form in each of the first initial visualization programming language blocks and the plurality of first task visualization programming language blocks, and the second color is marked in text form in each of the second initial visualization programming language blocks and the plurality of second task visualization programming language blocks.

[0019] Another aspect of the present invention relates to a color control method for a robot system. The robot system includes a server and at least two articulated robots, each articulated robot having a robot controller, multiple rotary joints, and multiple light-emitting devices. Each light-emitting device is arranged at a corresponding rotary joint. The at least two articulated robots and the server are connected to a communication network. The at least two articulated robots include a first articulated robot and a second articulated robot. The server includes a storage unit storing a visual programming language library comprising multiple visual programming language blocks.

[0020] The color control method includes: running an integrated development environment (IDE) on the server and displaying a graphical user interface (GUI) of the IDE, the GUI being configured to provide a visual programming language (VPL) tool; selecting a first initial VPL block and a second initial VPL block from a VPL library using the VPL tool on the server, the first initial VPL block corresponding to a first articulated robot and the second initial VPL block corresponding to a second articulated robot; in response to the selection of the first initial VPL block, establishing a first connection between the server and the first articulated robot on the communication network based on the IDE, and in response to the selection of the second initial VPL block, establishing a first connection between the server and the second articulated robot on the communication network. The robot establishes a second connection based on the integrated development environment; obtains first color information indicating a first color from the first initial visual programming language block and second color information indicating a second color from the second initial visual programming language block, wherein the second color is different from the first color; sends the obtained first color information and second color information to the first articulated robot and the second articulated robot respectively via the established first and second connections through the server; in response to the received first color information, the first articulated robot generates a first color command to control multiple light-emitting devices of the first articulated robot to display the first color; and in response to the received second color information, the second articulated robot generates a second color command to control multiple light-emitting devices of the second articulated robot to display the second color.

[0021] In the color control method according to the above aspects, each of the at least two articulated robots has a unique identifier. The color control method further includes: using the server and the visual programming language tool, creating a first initial visual programming language block associated with the first articulated robot's unique identifier and the first color information; creating a second initial visual programming language block associated with the second articulated robot's unique identifier and the second color information; and adding the created first initial visual programming language block and second initial visual programming language block to the visual programming language library stored in the storage unit.

[0022] Specifically, the unique identifier of each of the at least two articulated robots is selected from the Internet Protocol address of the articulated robot or the serial number of the articulated robot.

[0023] In the color control method according to the above aspects, the color control method further includes: using the server and the visual programming language tool to edit the first initial visual programming language block or the second initial visual programming language block to modify the first color information or the second color information contained in the first initial visual programming language block or the second initial visual programming language block, wherein the modified first color information or second color information indicates a color different from the first color or the second color.

[0024] In the color control method according to the above aspects, the color control method further includes: when any one of the at least two articulated robots has not established a connection with the server based on the integrated development environment, the articulated robot controls multiple light-emitting devices of the articulated robot to display a preset color, or a color indicated by the color information previously received by the articulated robot.

[0025] In the color control method according to the above aspects, the color control method further includes: selecting, via the server, a plurality of first task visual programming language blocks and a plurality of second task visual programming language blocks from the visual programming language library using the visual programming language tool, wherein the plurality of first task visual programming language blocks correspond to the first articulated robot, and the plurality of second task visual programming language blocks correspond to the second articulated robot; displaying each of the first initial visual programming language blocks and the plurality of first task visual programming language blocks in association with a first color, and displaying each of the second initial visual programming language blocks and the plurality of second task visual programming language blocks in association with a second color. The first initial visual programming language blocks and the plurality of first task visual programming language blocks constitute a task sequence to be executed by the first articulated robot, and the second initial visual programming language blocks and the plurality of second task visual programming language blocks constitute a task sequence to be executed by the second articulated robot.

[0026] Specifically, at least a portion of each of the first initial visualization programming language blocks and the plurality of first task visualization programming language blocks presents the first color, and at least a portion of each of the second initial visualization programming language blocks and the plurality of second task visualization programming language blocks presents the second color.

[0027] More specifically, each of the first initial visual programming language blocks and the plurality of first task visual programming language blocks is outlined by the first color, and each of the second initial visual programming language blocks and the plurality of second task visual programming language blocks is outlined by the second color.

[0028] Optionally, the first color is marked in text form in each of the first initial visualization programming language blocks and the plurality of first task visualization programming language blocks, and the second color is marked in text form in each of the second initial visualization programming language blocks and the plurality of second task visualization programming language blocks. Attached Figure Description

[0029] To more clearly explain the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly described below. The drawings in the following description are merely exemplary embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative work.

[0030] Figure 1 A structural diagram of an articulated robot applied in an embodiment of the present invention is shown.

[0031] Figure 2 An isometric view of a portion of an articulated robot applied in an embodiment of the present invention is shown.

[0032] Figure 3 A block diagram of the control system of an articulated robot applied in an embodiment of the present invention is shown.

[0033] Figure 4 A block diagram of a server applied in an embodiment of the present invention is shown.

[0034] Figure 5 A schematic diagram of a robot system according to an embodiment of the present invention is shown.

[0035] Figure 6 A schematic diagram illustrating the creation of a robot's task sequence using the VPL tool according to an embodiment of the present invention is shown.

[0036] Figure 7 The diagram shows VPL blocks outlined in corresponding colors. Figure 6 The task sequence shown.

[0037] Figure 8 Showing the use of Figure 5 A flowchart of the color control method for the robot system. Detailed Implementation

[0038] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0039] Figure 1An exemplary articulated robot 100, hereinafter referred to as a robot, is shown applied in an embodiment of the present invention. Robot 100 may be an industrial robot or any other type of robot, such as a humanoid robot. Robot 100 may include a plurality of links 110 (also referred to as arms), a light-emitting device 130, and actuators (not shown). It will be understood that in Figure 1 In the exemplary robot shown, the actuators are located within the link 110 and the light-emitting device 130, and therefore are not visible. The link 110 can rotate along a single axis (i.e., one-dimensional), along two axes (i.e., two-dimensional), or can have the degree of freedom to move arbitrarily in three-dimensional space.

[0040] Two adjacent links 110 can form a pitch joint or a roll joint. (Reference) Figure 2 It shows a part of an articulated robot. Figure 2 In this configuration, links 110a and 110b can together form a pitch joint 141, which can rotate about its axis A. Links 110b and 110c can together form a roll joint 142, which can rotate about its axis B. In either case, the light-emitting device 130 can be located between the two links 110 (e.g., between links 110a and 110b, or between links 110b and 110c) and adjacent to the actuator. It is understood that two adjacent links 110 can form other types of rotary joints.

[0041] The light-emitting device 130 can be any type of device capable of producing visible light, such as an LED or a multi-color LED. The light-emitting device 130 is disposed at a rotary joint, such as a pitch joint 141 or a roll joint 142. In some embodiments, one light-emitting device 130 is arranged at each rotary joint. In some embodiments, each light-emitting device 130 may correspond to an actuator and may be arranged around the corresponding actuator. For example, the light-emitting device 130 may have a ring-shaped structure extending around the entire circumference of the corresponding actuator. In such embodiments, the operator of the robot 100 can observe the light-emitting device 130 from any position relative to the robot 100. Hereinafter, such a light-emitting device 130 located at and around a rotary joint will be referred to as a joint ring light.

[0042] Furthermore, it is understood that in some embodiments, the light-emitting device 130 may not extend across the entire circumference of the corresponding actuator. It is also understood that the light-emitting device 130 can take any shape, such as circular, octagonal, decagonal, wavy, etc. The light-emitting device 130 is exposed on the outer surface of the robot 100, allowing the operator of the robot 100 to easily observe the illumination of the light-emitting device 130.

[0043] As described above, in some embodiments, the light-emitting device 130 may be located between two adjacent links 110. For example, when two adjacent links 110 are connected together by an actuator, a gap (not shown) may exist between the two links 110, and the light-emitting device 130 may be located in this gap. In other embodiments, the light-emitting device 130 may be located near the corresponding actuator, rather than in the aforementioned gap. For example, the light-emitting device 130 corresponding to an actuator may be located on the outer surface of either of the two adjacent links 110 connected by the actuator.

[0044] The light-emitting device 130 is capable of displaying various colors and is configured to display the corresponding color according to the received color instruction.

[0045] Figure 3 A block diagram of a control system for an articulated robot 100 applied in an embodiment of the present invention is shown. The control system includes a controller 310, a storage unit 320, a communication unit 330, and an output unit 340. The control system can be configured to control the colors displayed by the light-emitting device 130.

[0046] The controller 310 includes one or more processors. Each processor may be a general-purpose processor or a dedicated processor for a specific task, but is not limited thereto. The storage unit 320 includes one or more memories. Each memory may be a semiconductor memory, a magnetic surface memory, or an optical memory, but is not limited thereto. The storage unit 320 stores any information used for the operation of the robot 100.

[0047] The communication unit 330 has one or more communication modules. The communication modules can communicate with external devices, such as servers, via wireless or wired communication. In some embodiments, the robot 100 can establish a communication connection with an external server via a cable through the communication unit 330. In other embodiments, the robot 100 can connect to the network where the server is located via the communication unit 330. The robot 100 uses the communication unit 330 to interact with the server.

[0048] The output unit 340 has one or more signal interfaces. Each signal interface is connected to the light-emitting device 130 via a signal transmission line. The output unit 340 is configured to transmit color instructions generated by the controller 310 to the light-emitting device 130.

[0049] Figure 4 The configuration of a server 400 applied in an embodiment of the present invention is shown. The server 400 includes a controller 410, a storage unit 420, a communication unit 430, an input unit 440, and a display unit 450. The server 400 may be a single computer or may consist of two or more computers capable of communicating with each other.

[0050] The controller 410 includes one or more processors. Each processor is a general-purpose processor or a dedicated processor for a specific process, but is not limited to these. The controller 410 controls the operation of the server 410 according to the control and processing programs stored in the storage unit 420.

[0051] Storage unit 420 includes one or more memories. Each memory may be a semiconductor memory, magnetic surface memory, or optical memory, but is not limited thereto. Each memory may serve as the main storage device, auxiliary storage device, or cache storage device of server 400. Storage unit 420 stores multiple instructions executable by controller 410, and in particular, stores programs for the operation, control, and processing of server 400, as well as various databases and any other information. More specifically, storage unit 420 stores an IDE suitable for running by server 400 and a VPL library including VPL blocks created and edited by the IDE.

[0052] The communication unit 430 has one or more communication modules. The communication modules can communicate with a terminal device, such as an articulated robot, via wireless or wired communication. In some embodiments, the server 400 can establish a communication connection with the terminal device via a cable through the communication unit 430. In other embodiments, the server 400 can connect to the network where the terminal device is located via the communication unit 430. The server 400 uses the communication unit 430 to interact with the terminal device.

[0053] Input unit 440 is configured to receive user input. Input unit 440 may include various combinations of devices that allow receiving user input, such as a mouse, keyboard, remote control, joystick, etc. In addition, input unit 440 may include a touch screen data converter that is overlaid on display unit 450 and capable of sensing touch and interacting with display unit 450.

[0054] Display unit 450 can be any electronic video display such as an LCD display, LED display, and similar display types. In some embodiments, display unit 450 can be a touch screen, such as a capacitive touch screen, a resistive touch screen, a surface acoustic wave touch screen, etc. The touch screen can provide both an input interface and an output interface for the user. In this case, input unit 440 and display unit 450 are integrated together. Display unit 450 can present a graphical user interface (GUI), specifically an IDE GUI, which has various user-selectable icons, menus, checkboxes, dialog boxes, graphical frames, and other components and elements that can be selected by the user to set the operating state or conditions of robot 100.

[0055] Figure 5A schematic diagram of a robot system according to an embodiment of the present invention is shown. Two robots, namely, a first robot 100a and a second robot 100b, are arranged on a worktable. The first robot 100a has a plurality of first joint ring lights 130a, and the second robot 100b has a plurality of second joint ring lights 130b. Both the first joint ring lights 130a and the second joint ring lights 130b are the light-emitting devices 130 described above, and will not be repeated here. Figure 5 The first robot 100a and the second robot 100b shown only have one first joint ring light 130a and one second joint ring light 130b identified, respectively. It can be understood that... Figure 5 The first robot 100a and the second robot 100b shown have multiple other unidentified first joint ring lights 130a and second joint ring lights 130b, respectively.

[0056] In this embodiment, only a workstation with two robots is shown as an example. It is understood that the workstation may have only one robot, or it may have three or more robots. As described above, each robot is capable of interacting with the server 400 via a wired or wireless connection. The server 400 sets operating states or conditions for each robot to control its operation. Figure 5 In the illustrated embodiment, the first robot 100a, the second robot 100b, and the server 400 are all connected to a communication network based on a communication protocol such as TCP / IP. Furthermore, the first robot 100a, the second robot 100b, and the server 400 constitute a distributed data system employing Data Distributed Service (DDS).

[0057] When multiple robots are present on a workbench, it is necessary to provide each robot with a visible and unique identifier to facilitate differentiation. In particular, it is extremely advantageous to visually identify the robot being programmed during the programming process. Traditionally, additional accessories are required for these robots, such as printed labels displaying unique identification information, digital displays, or indicator lights. This increases workload and leads to higher costs. In this embodiment, by controlling the individual light-emitting devices of each robot to display different colors, it is possible to identify each robot more effectively and intuitively. For example, the first joint ring light 130a of the first robot 100a is controlled to display blue, and the second joint ring light 130b of the second robot 100b is controlled to display green. Thus, the two robots can be distinguished simply by identifying the color displayed by the joint ring lights. The process of controlling the color of the robot's joint ring lights will be described in detail below.

[0058] Combination Figure 5 and refer to Figure 6 The first robot 100a, the second robot 100b, and the server 400 are all connected to a communication network. To enable the first robot 100a and the second robot 100b to perform their respective intended operations, the user runs an IDE on the server 400 to program the first robot 100a and the second robot 100b. The controller 410 of the server 400 executes instructions from the storage unit 420 to run the IDE, and the IDE's GUI is displayed on the display unit 450 of the server 400. The GUI provides the user with VPL tools, which the user can use to program the first robot 100a and the second robot 100b.

[0059] Figure 6 A schematic diagram illustrating the creation of a robot's task sequence using the VPL tool according to an embodiment of the present invention is shown. Figure 6 As shown, the VPL tool 610 includes interactive elements such as buttons, as illustrated in the IDE's GUI, that allow the user to manipulate and create sequences of tasks to be performed by the robots. The user operates the VPL tool 610 through the input unit 440 of the server 400, creating task sequences for the first robot 100a and the second robot 100b respectively in the task area 620. Figure 6 In the process, the task sequence of the first robot 100a consists of a first initial VPL block 631a and multiple first VPL task blocks 632a, and the task sequence of the second robot 100b consists of a second initial VPL block 631b and multiple second VPL task blocks 632b.

[0060] The task sequence for creating a robot might include: selecting the initial VPL block corresponding to the robot from the VPL library, i.e., Figure 6 The block displayed as "Start" is selected, and the initial VPL block is placed in task area 620; the task block corresponding to this robot is selected from the VPL library, i.e., Figure 6 The blocks are displayed as "Task 1", "Task 2", "Task 3", and "End". These blocks are connected by lines indicating the execution order, such as arrowed lines, to form a series of tasks executed sequentially. Each task may involve movement, rotation, or other actions performed by one or more of the robot's links and revolute joints. For example, movement over a specific distance, rotation at a specific angle, rotation in a specific direction, etc. VPL blocks can be converted into motion commands for the robot.

[0061] Understandably, for ease of explanation, in Figure 6The IDE's GUI has been simplified, as has the creation of robot task sequences. In actual implementation, the GUI may have richer interactive elements, and task sequence creation may be more complex. The IDE compiles and packages the task sequence composed of VPL blocks into an executable program for the robot and sends this program to the robot. The robot executes this program to perform the expected operations.

[0062] In this embodiment, the user uses VPL tool 610 to select a first initial VPL block 631a corresponding to the first robot 100a from the VPL library, and a second initial VPL block 631b corresponding to the second robot 100b from the VPL library. When no initial VPL block corresponding to a robot exists in the VPL library, the user needs to create an initial VPL block and add it to the VPL library. The user may create the initial VPL block based on the robot's unique identifier using the VPL tool in the IDE. The unique identifier includes the robot's Internet Protocol address, the robot's serial number, or other information that can uniquely identify the robot. By obtaining this unique identifier from the initial VPL block, the server can identify the robot to be programmed.

[0063] The server selects an initial VPL block for a robot from the VPL library and places it in task area 620, indicating that programming for that robot will begin. At this point, the IDE is aware that a robot to be programmed has been added, and the server 400 can establish an IDE-based connection with the robot over the communication network. Alternatively, the server can establish an IDE-based connection with the robot while compiling or debugging the VPL block using the IDE. An IDE-based connection means that the IDE running on the server can receive data from the robot and send IDE-generated data to the robot. This IDE-based connection can be a communication connection using the DDS protocol on top of TCP / IP.

[0064] In this embodiment, after selecting the first initial VPL block 631a, the server 400 establishes a first IDE-based connection with the first robot 100a on the communication network, and after selecting the second initial VPL block 631b, the server 400 establishes a second IDE-based connection with the second robot 100b on the communication network.

[0065] As mentioned earlier, when multiple robots are present on a workbench, traditional techniques require additional easily identifiable accessories to distinguish each robot. This leads to increased costs and workload. Furthermore, traditional techniques are not convenient for identifying robots on the workbench during programming via the GUI interface. For example, it might be necessary to add visible text descriptions to VPL blocks to indicate which robot is being programmed. For example, see reference... Figure 5 It is possible to add the text description "the robot on the left when viewed from the front of the workbench" to the VPL block corresponding to the first robot 100a, and the text description "the robot on the right when viewed from the front of the workbench" to the VPL block corresponding to the second robot 100b. These text descriptions are neither intuitive nor conducive to the readability of the VPL blocks.

[0066] Therefore, this invention proposes assigning different colors to different robots in the programming of multiple robots. For example, blue is assigned to the first robot 100a, causing the ring light 130a of the first joint of the first robot 100a to display blue, while green is assigned to the second robot 100a, causing the ring light 130b of the second joint of the second robot 100b to display green.

[0067] To achieve the above objectives, in this embodiment, during the creation of the initial VPL block using the VPL tool 610, the initial VPL block is created in association with the color assigned to the robot. For example, a first initial VPL block 631a is created in association with first color information indicating a first color (i.e., blue) assigned to the first robot 100a, and a second initial VPL block 631b is created in association with second color information indicating a second color (i.e., green) assigned to the second robot 100b. Thus, the color information indicating the assigned color is stored in the initial VPL block.

[0068] Optionally, a user may modify the color information to indicate different colors by editing the initial VPL block stored in the VPL library. For example, a user may use the VPL tool to edit the first initial VPL block 631a to modify the first color information contained in the first initial VPL block 631a, so that the modified first color information indicates a color different from the first color, such as purple. Similarly, a user may also edit the second initial VPL block 631b, so that the modified second color information indicates a color different from the second color.

[0069] In this embodiment, the server 400 can obtain first color information indicating a first color from the first initial VPL block 631a, obtain second color information indicating a second color from the second initial VPL block 631b, and send the obtained first color information and second color information to the first robot 100a and the second robot 100b respectively via the established first connection and second connection.

[0070] The controller 310 of the first robot 100a can generate a first color instruction in response to the received first color information, so as to control the first joint ring lights 130a of the first robot 100a to display the first color, namely, blue. The controller 310 of the second robot 100b can generate a second color instruction in response to the received second color information, so as to control the second joint ring lights 130b of the second robot 100b to display the second color, namely, green. In this way, by recognizing the color of the first joint ring lights 130a of the first robot 100a and the second joint ring lights 130b of the second robot 100b, the first robot 100a and the second robot 100b can be easily and intuitively distinguished.

[0071] It is understood that when the first robot 100a and the second robot 100b are connected to the communication network where the server 400 is located, if the initial VPL block for the first robot 100a or the second robot 100b does not exist in the VPL library, or if the user does not select the initial VPL block for the first robot 100a or the second robot 100b, then the first robot 100a or the second robot 100b will not establish an IDE-based connection with the server 400. When the first robot 100a or the second robot 100b does not establish an IDE-based connection with the server 400, the first robot 100a or the second robot 100b will not receive color information from the server 400. In this case, the first robot 100a or the second robot 100b may control the first joint ring light 130a or the second joint ring light 130b to display a preset color. This preset color is stored in the storage unit 320 of the first robot 100a or the second robot 100b. Alternatively, the first robot 100a or the second robot 100b may control the first joint ring light 130a or the second joint ring light 130b to display the color indicated by the color information previously received by the first robot 100a or the second robot 100b. The previously received color information refers to the color information received from the server when the robot previously established an IDE-based connection with the server. This server may be server 400 or another server.

[0072] This embodiment discusses a robot system with two robots. A robot system with three robots will be briefly described below. Those skilled in the art can conceive of robot systems with more than three robots based on this, which will not be elaborated upon herein.

[0073] Users may assign a third color (e.g., purple) to a third robot, different from the first and second colors. For the third robot, the user uses the VPL tool to create a third initial VPL block based on the third robot's unique identifier and the third color information indicating the third color, and stores the third initial VPL block in the VPL library.

[0074] When programming a third robot within the robot system is required, the user uses the VPL tool to select the corresponding initial VPL block from the VPL library. After selecting the initial VPL block, the server establishes an IDE-based third connection with the third robot over the communication network. The server retrieves third-color information indicating the third color from the initial VPL block and sends this information to the third robot via the established third connection. The third robot's controller responds to the received third-color information by generating a third-color command to control the joint ring lights of the third robot to display the third color.

[0075] Continue to refer to Figure 6 The user may select multiple first task VPL blocks 632a corresponding to the first robot 100a from the VPL library to form a task sequence to be executed by the first robot 100a together with the first initial VPL block 631a. Similarly, the user may select multiple second task VPL blocks 632b corresponding to the second robot 100b from the VPL library to form a task sequence to be executed by the second robot 100b together with the second initial VPL block 631b. Task VPL blocks can be created similarly to initial VPL blocks and stored in the VPL library.

[0076] In one embodiment of the invention, to facilitate differentiation of multiple robots being programmed on a GUI interface, the VPL blocks corresponding to each robot are displayed in association with the color assigned to that robot. For example, for the first robot 100a, the first initial VPL block 631a and a plurality of first task VPL blocks 632a are both displayed in association with a first color, while for the second robot 100b, the second initial VPL block 631b and a plurality of second task VPL blocks 632b are both displayed in association with a second color. For example, at least a portion of each VPL block in the first initial VPL block 631a and the plurality of first task VPL blocks 632a is rendered in the first color, and at least a portion of each VPL block in the second initial VPL block 631b and the plurality of second task VPL blocks 632b is rendered in the second color.

[0077] Figure 7 This illustrates one way in which VPL blocks are displayed in association with color. Figure 7In the illustrated embodiment, the first initial VPL block 631a and the first task VPL block 632a are both outlined in blue (i.e., the first color), and the second initial VPL block 631b and the second task VPL block 632b are both outlined in green (i.e., the second color). Figure 7 In the diagram, to indicate that the VPL blocks are outlined in "blue" or "green," the terms "blue outlined" and "green outlined" are specifically marked. This is understandable, as it's merely for illustrative purposes; such markings do not exist in practice. Since both the first initial VPL block 631a and the first task VPL block 632a are outlined in blue, their outlines are also blue. Furthermore, since both the second initial VPL block 631b and the second task VPL block 632b are outlined in green, their outlines are also green. Thus, by recognizing the blue or green color, it's possible to identify which set of VPL blocks corresponds to the first robot 100a and which set corresponds to the second robot 100b. For example, when it is necessary to modify the task sequence of the first robot 100a that displays blue (i.e., the first joint ring light 130a displays blue), the user can quickly find a group of VPL blocks outlined in blue in the task area 620 of the displayed GUI, edit at least one VPL block in the group, or add or remove at least one VPL block from the group.

[0078] It is understandable that other methods can be used to display VPL blocks in association with colors. For example, the bottom layer of each VPL block corresponding to the first robot 100a may be partially or entirely colored with a first color, and the bottom layer of each VPL block corresponding to the second robot 100b may be partially or entirely colored with a second color.

[0079] Alternatively, the first color can be labeled in text form in each VPL block corresponding to the first robot 100a, and the second color can be labeled in text form in each VPL block corresponding to the second robot 100b.

[0080] The above embodiments describe a robot system according to the present invention. In the robot system according to the present invention, by controlling the respective light-emitting devices of each robot to display different colors, the user can more effectively and intuitively identify each robot. Furthermore, by displaying a set of VPL blocks corresponding to each robot in the GUI in association with the color assigned to that robot, the user can easily identify the VPL blocks corresponding to each robot.

[0081] The color control method according to the present invention, applied to a robot system, will now be described.

[0082] Figure 8 Showing the use of Figure 5 A flowchart of the color control method for the described robot system is provided. Those skilled in the art will understand that this method can also be used in any other suitable robot system. The example robot system includes a server and at least two articulated robots, each having a robot controller, multiple rotary joints, and multiple light-emitting devices, each light-emitting device being arranged at a corresponding rotary joint among the multiple rotary joints. The at least two articulated robots and the server are connected to a communication network.

[0083] refer to Figure 5 In this embodiment, the robot system includes a first robot 100a, a second robot 100b, and a server 400. The first robot 100a has multiple first joint ring lights 130a, and the second robot 100b has multiple second joint ring lights 130b. The first robot 100a, the second robot 100b, and the server 400 are all connected to a communication network based on a communication protocol such as TCP / IP. Furthermore, the first robot 100a, the second robot 100b, and the server 400 constitute a distributed data system employing DDS. For the configuration of the robots and the server, please refer to the description above; it will not be repeated here.

[0084] In step S1, server 400 runs the IDE and displays the IDE's GUI on display unit 450. The GUI provides the user with VPL tools, which the user can use to program the first robot 100a and the second robot 100b. (See reference...) Figure 6 The VPL tool 610 includes interactive elements such as buttons shown in the IDE's GUI, allowing users to operate it to create sequences of tasks for the robots to perform. The user operates the VPL tool 610 through the input unit 440 of the server 400 to create task sequences for the first robot 100a and the second robot 100b respectively in the task area 620.

[0085] In step S2, the user uses VPL tool 610 to select a first initial VPL block 631a corresponding to the first robot 100a from the VPL library, and selects a first initial VPL block 631b corresponding to the first robot 100b from the VPL library. The first initial VPL block 631a has first color information indicating a first color (e.g., blue). The second initial VPL block 631b has second color information indicating a second color (e.g., green).

[0086] In step S3, after selecting the first initial VPL block 631a, the server 400 establishes a first IDE-based connection with the first robot 100a on the communication network, and after selecting the second initial VPL block 631b, the server 400 establishes a second IDE-based connection with the second robot 100b on the communication network. The IDE-based connection indicates that the IDE running on the server can receive data from the robot and send data generated by the IDE to the robot. This IDE-based connection can be a communication connection using the DDS protocol at the top layer of TCP / IP.

[0087] In step S4, server 400 can obtain first color information indicating a first color from first initial VPL block 631a and second color information indicating a second color from second initial VPL block 631b.

[0088] In step S5, the server 400 sends the acquired first color information and second color information to the first robot 100a and the second robot 100b respectively via the established first connection and second connection.

[0089] In step S6, the controller 310 of the first robot 100a generates a first color instruction in response to the received first color information, so as to control the first joint ring lights 130a of the first robot 100a to display the first color, namely, blue.

[0090] In step S7, the controller 310 of the second robot 100b generates a second color instruction in response to the received second color information, so as to control the second joint ring lights 130b of the second robot 100b to display the second color, namely, green.

[0091] In this embodiment, each robot has a unique identifier. The unique identifier includes the robot's Internet Protocol address, the robot's serial number, or other information that can uniquely identify the robot. The color control method further includes: using the VPL tool 610 on the server 400 to create a first initial VPL block 631a associated with the unique identifier of the first robot 100a and the first color information, and to create a second initial VPL block 631b associated with the unique identifier of the second robot 100b and the second color information, and adding the first initial VPL block 631a and the second initial VPL block 631b to the VPL library stored in the storage unit 420 of the server 400.

[0092] The color control method also includes: using the VPL tool 610 on the server 400 to edit the initial VPL block stored in the VPL library, modifying the color information to indicate different colors. For example, a user might use the VPL tool to edit the first initial VPL block 631a to modify the first color information contained in the first initial VPL block 631a, so that the modified first color information indicates a color different from the first color, such as purple. Similarly, a user might also edit the second initial VPL block 631b, so that the modified second color information indicates a color different from the second color.

[0093] When the first robot 100a and the second robot 100b are connected to the communication network where the server 400 is located, if the initial VPL block for the first robot 100a or the second robot 100b does not exist in the VPL library, or if the user does not select the initial VPL block for the first robot 100a or the second robot 100b, then the first robot 100a or the second robot 100b will not establish an IDE-based connection with the server 400. When the first robot 100a or the second robot 100b does not establish an IDE-based connection with the server 400, the first robot 100a or the second robot 100b will not receive color information from the server 400. In this case, the color control method further includes: the first robot 100a or the second robot 100b controlling the first joint ring light 130a or the second joint ring light 130b to display a preset color. This preset color is stored in the storage unit 320 of the first robot 100a or the second robot 100b. Alternatively, the color control method further includes: the first robot 100a or the second robot 100b controlling the first joint ring light 130a or the second joint ring light 130b to display the color indicated by the color information previously received by the first robot 100a or the second robot 100b. The previously received color information refers to the color information received from the server when the robot previously established an IDE-based connection with the server. This server may be Server 400 or another server.

[0094] In other embodiments, the robot system may include more than three robots. The following is a brief description of a robot system with three robots. Those skilled in the art can conceive of robot systems with more than three robots based on this. The user may assign a third color (e.g., purple) different from the first and second colors to the third robot. For the third robot, the user uses a VPL tool to create a third initial VPL block based on the third robot's unique identifier and the third color information indicating the third color, and stores the third initial VPL block in the VPL library.

[0095] The color control method further includes: using VPL tool 610 to select a third initial VPL block corresponding to the third robot from the VPL library via server 400; in response to the selection of the third initial VPL block, server 400 establishes a third IDE-based connection with the third robot on the communication network; the server obtains third color information indicating the third color from the third initial VPL block and sends the obtained third color information to the third robot via the established third connection; the robot controller of the third robot generates a third color instruction in response to the received third color information to control the joint ring lights of the third robot to display the third color.

[0096] refer to Figure 6 The diagram illustrates the creation of a robot's task sequence using a VPL tool. To facilitate differentiation between multiple robots being programmed on the GUI interface, the VPL blocks corresponding to each robot can be displayed in association with the color assigned to that robot. The color control method further includes: displaying a first initial VPL block 631a and a plurality of first task VPL blocks 632a corresponding to the first robot 100a in association with a first color; and displaying a second initial VPL block 631b and a plurality of second task VPL blocks 632b corresponding to the second robot 100b in association with a second color. For example, at least a portion of each VPL block in the first initial VPL block 631a and the plurality of first task VPL blocks 632a is rendered in the first color, and at least a portion of each VPL block in the second initial VPL block 631b and the plurality of second task VPL blocks 632b is rendered in the second color.

[0097] like Figure 7 As shown, in one embodiment, the first initial VPL block 631a and the first task VPL block 632a are both outlined in blue (i.e., the first color), and the second initial VPL block 631b and the second task VPL block 632b are both outlined in green (i.e., the second color). Since the first initial VPL block 631a and the first task VPL block 632a are both outlined in blue, their outlines are both blue. Similarly, since the second initial VPL block 631b and the second task VPL block 632b are both outlined in green, their outlines are both green. Thus, by recognizing the blue or green color, it is possible to identify which set of VPL blocks corresponds to the first robot 100a and which set corresponds to the second robot 100b.

[0098] As described above, other methods can be used to display VPL blocks in association with colors. For example, the bottom layer of each VPL block corresponding to the first robot 100a may be partially or entirely colored with a first color, and the bottom layer of each VPL block corresponding to the second robot 100b may be partially or entirely colored with a second color. Alternatively, the first color may be indicated in text within each VPL block corresponding to the first robot 100a, and the second color may be indicated in text within each VPL block corresponding to the second robot 100b.

[0099] Those skilled in the art will understand that the methods and procedures disclosed herein can be implemented using one or more computer programs or components. These components may be provided as a set of computer instructions on any conventional computer-readable or machine-readable medium, including volatile and non-volatile memories such as RAM, ROM, flash memory, magnetic or optical disks, optical storage, or other storage media. These instructions may be provided as software or firmware and may be implemented, in whole or in part, in hardware components such as ASICs, FPGAs, DSPs, or any other similar devices. These instructions may be configured to be executed by one or more processors, which, when executing these instructions, perform or facilitate the implementation of all or part of the disclosed methods and procedures.

[0100] Those skilled in the art should understand that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, the present invention is not limited to the described order of actions, because according to the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions involved are not necessarily essential to the present invention.

[0101] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A robotic system comprising at least two articulated robots and a server, characterized in that: Each of the at least two articulated robots has a robot controller, multiple rotary joints, and multiple light-emitting devices, with each light-emitting device arranged at a corresponding rotary joint among the multiple rotary joints; as well as The server includes a controller, a storage unit, and a display unit. The storage unit stores multiple instructions executable by the controller and a visual programming language library including multiple visual programming language blocks. in: The at least two articulated robots and the server are connected to a communication network; The at least two articulated robots include a first articulated robot and a second articulated robot; The server is configured to use the controller to execute instructions from the storage unit to run an integrated development environment (IDE), and to use the display unit to display the graphical user interface of the IDE, the graphical user interface being configured to provide visual programming language tools; The server is configured to use the visual programming language tool to select a first initial visual programming language block and a second initial visual programming language block from the visual programming language library. The first initial visual programming language block corresponds to the first articulated robot, and the second initial visual programming language block corresponds to the second articulated robot. After selecting the first initial visual programming language block, the server establishes a first connection with the first articulated robot on the communication network based on the integrated development environment (IDE). After selecting the second initial visual programming language block, the server establishes a second connection with the second articulated robot on the communication network based on the IDE. The server is configured to obtain first color information indicating a first color from the first initial visualization programming language block, and to obtain second color information indicating a second color from the second initial visualization programming language block, wherein the second color is different from the first color; The server is configured to send the acquired first color information and second color information to the first articulated robot and the second articulated robot respectively via the established first connection and second connection; The robot controller of the first articulated robot is configured to generate a first color command in response to the received first color information, so as to control multiple light-emitting devices of the first articulated robot to display the first color; and The robot controller of the second articulated robot is configured to generate a second color instruction in response to the received second color information, so as to control multiple light-emitting devices of the second articulated robot to display the second color.

2. The robot system according to claim 1, characterized in that, Each of the at least two articulated robots has a unique identifier. The server is configured to use the visual programming language tool to create a first initial visual programming language block based on the unique identifier of the first articulated robot and associated with the first color information, and to create a second initial visual programming language block based on the unique identifier of the second articulated robot and associated with the second color information. The server then adds the created first initial visual programming language block and second initial visual programming language block to the visual programming language library stored in the storage unit.

3. The robot system according to claim 2, characterized in that, The unique identifier for each of the at least two articulated robots is selected from the Internet Protocol address of the articulated robot or the serial number of the articulated robot.

4. The robot system according to claim 1, characterized in that, The server is configured to use the visual programming language tool to edit the first initial visual programming language block or the second initial visual programming language block to modify the first color information or the second color information contained in the first initial visual programming language block or the second initial visual programming language block, wherein the modified first color information or second color information indicates a color different from the first color or the second color.

5. The robot system according to claim 1, characterized in that, Each articulated robot's controller is configured to control multiple light-emitting devices of the articulated robot to display a preset color when the articulated robot is not connected to the server based on the integrated development environment.

6. The robot system according to claim 1, characterized in that, Each articulated robot's controller is configured to control multiple light-emitting devices of the articulated robot to display the color indicated by the color information previously received by the articulated robot when the articulated robot has not established a connection with the server based on the integrated development environment.

7. The robot system according to claim 1, characterized in that, The server is configured as follows: Using the visual programming language tool, select multiple first task visual programming language blocks and multiple second task visual programming language blocks from the visual programming language library. The multiple first task visual programming language blocks correspond to the first joint robot, and the multiple second task visual programming language blocks correspond to the second joint robot. The first initial visual programming language block and each of the plurality of first task visual programming language blocks are displayed in association with the first color, and the second initial visual programming language block and each of the plurality of second task visual programming language blocks are displayed in association with the second color. Wherein, the first initial visualization programming language block and the plurality of first task visualization programming language blocks constitute a task sequence to be executed by the first articulated robot, and the second initial visualization programming language block and the plurality of second task visualization programming language blocks constitute a task sequence to be executed by the second articulated robot.

8. The robot system according to claim 7, characterized in that, At least a portion of each of the first initial visualization programming language blocks and the plurality of first task visualization programming language blocks is presented in the first color, and at least a portion of each of the second initial visualization programming language blocks and the plurality of second task visualization programming language blocks is presented in the second color.

9. The robot system according to claim 8, characterized in that, Each of the first initial visual programming language block and each of the plurality of first task visual programming language blocks is outlined by the first color, and each of the second initial visual programming language block and each of the plurality of second task visual programming language blocks is outlined by the second color.

10. The robot system according to claim 7, characterized in that, The first color is marked in text form in each of the first initial visualization programming language blocks and the plurality of first task visualization programming language blocks, and the second color is marked in text form in each of the second initial visualization programming language blocks and the plurality of second task visualization programming language blocks.

11. A color control method for a robot system, the robot system comprising a server and at least two articulated robots, each articulated robot having a robot controller, multiple rotary joints and multiple light-emitting devices, each light-emitting device being arranged at a corresponding rotary joint among the multiple rotary joints, the at least two articulated robots and the server being connected to a communication network, the at least two articulated robots including a first articulated robot and a second articulated robot, the server including a storage unit storing a visual programming language library including multiple visual programming language blocks, the color control method comprising: The server runs an integrated development environment and displays the graphical user interface of the integrated development environment, the graphical user interface being configured to provide visual programming language tools; Using the server, the visual programming language tool selects a first initial visual programming language block and a second initial visual programming language block from the visual programming language library. The first initial visual programming language block corresponds to the first articulated robot, and the second initial visual programming language block corresponds to the second articulated robot. In response to the selection of the first initial visual programming language block, the server establishes a first connection with the first articulated robot on the communication network based on the integrated development environment, and in response to the selection of the second initial visual programming language block, the server establishes a second connection with the second articulated robot on the communication network based on the integrated development environment. The server obtains first color information indicating a first color from the first initial visualization programming language block and second color information indicating a second color from the second initial visualization programming language block, wherein the second color is different from the first color; The server transmits the first color information and the second color information to the first articulated robot and the second articulated robot respectively via the established first connection and the second connection; In response to the received first color information, a first color command is generated by the first articulated robot to control multiple light-emitting devices of the first articulated robot to display the first color; and In response to the received second color information, the second articulated robot generates a second color instruction to control multiple light-emitting devices of the second articulated robot to display the second color.

12. The color control method according to claim 11, characterized in that, Each of the at least two articulated robots has a unique identifier, and the color control method further includes: Using the server and the visualization programming language tool, a first initial visualization programming language block is created based on the unique identifier of the first articulated robot and associated with the first color information, and a second initial visualization programming language block is created based on the unique identifier of the second articulated robot and associated with the second color information. The created first initial visualization programming language block and second initial visualization programming language block are then added to the visualization programming language library stored in the storage unit.

13. The color control method according to claim 12, characterized in that, The unique identifier for each of the at least two articulated robots is selected from the Internet Protocol address of the articulated robot or the serial number of the articulated robot.

14. The color control method according to claim 11, characterized in that, The color control method further includes: Using the server, the first initial visual programming language block or the second initial visual programming language block is edited using the visual programming language tool to modify the first color information or the second color information contained in the first initial visual programming language block or the second initial visual programming language block. The modified first color information or second color information indicates a color different from the first color or the second color.

15. The color control method according to claim 11, characterized in that, The color control method further includes: When any one of the at least two articulated robots fails to establish a connection with the server based on the integrated development environment, the multiple light-emitting devices of the articulated robot are controlled by the articulated robot to display a preset color.

16. The color control method according to claim 11, characterized in that, The color control method further includes: When any one of the at least two articulated robots fails to establish a connection with the server based on the integrated development environment, the multiple light-emitting devices of the articulated robot are controlled by the articulated robot to display the color indicated by the color information previously received by the articulated robot.

17. The color control method according to claim 11, characterized in that, The color control method further includes: Using the server, the visual programming language tool selects multiple first task visual programming language blocks and multiple second task visual programming language blocks from the visual programming language library. The multiple first task visual programming language blocks correspond to the first joint robot, and the multiple second task visual programming language blocks correspond to the second joint robot. The first initial visual programming language block and each of the plurality of first task visual programming language blocks are displayed in association with the first color, and the second initial visual programming language block and each of the plurality of second task visual programming language blocks are displayed in association with the second color. Wherein, the first initial visualization programming language block and the plurality of first task visualization programming language blocks constitute a task sequence to be executed by the first articulated robot, and the second initial visualization programming language block and the plurality of second task visualization programming language blocks constitute a task sequence to be executed by the second articulated robot.

18. The color control method according to claim 17, characterized in that, At least a portion of each of the first initial visualization programming language blocks and the plurality of first task visualization programming language blocks is presented in the first color, and at least a portion of each of the second initial visualization programming language blocks and the plurality of second task visualization programming language blocks is presented in the second color.

19. The color control method according to claim 18, characterized in that, Each of the first initial visual programming language block and each of the plurality of first task visual programming language blocks is outlined by the first color, and each of the second initial visual programming language block and each of the plurality of second task visual programming language blocks is outlined by the second color.

20. The color control method according to claim 18, characterized in that, The first color is marked in text form in each of the first initial visualization programming language blocks and the plurality of first task visualization programming language blocks, and the second color is marked in text form in each of the second initial visualization programming language blocks and the plurality of second task visualization programming language blocks.

Images