CN103600350A - Robot steering gear control system and method based on imaging - Google Patents

Robot steering gear control system and method based on imaging Download PDF

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Publication number
CN103600350A
CN103600350A CN201310435637.9A CN201310435637A CN103600350A CN 103600350 A CN103600350 A CN 103600350A CN 201310435637 A CN201310435637 A CN 201310435637A CN 103600350 A CN103600350 A CN 103600350A
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CN
China
Prior art keywords
code
module
flow chart
user
control
Prior art date
Application number
CN201310435637.9A
Other languages
Chinese (zh)
Inventor
朴松昊
冷晓琨
常琳
毕云龙
赵尚杰
仇奇文
裴昭义
李国�
Original Assignee
哈尔滨工大天才智能科技有限公司
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Application filed by 哈尔滨工大天才智能科技有限公司 filed Critical 哈尔滨工大天才智能科技有限公司
Priority to CN201310435637.9A priority Critical patent/CN103600350A/en
Publication of CN103600350A publication Critical patent/CN103600350A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1602Programme controls characterised by the control system, structure, architecture
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1656Programme controls characterised by programming, planning systems for manipulators

Abstract

A robot steering gear control system and method based on imaging aims at solving the problem that the existing robot steering gear control system and method based on imaging cannot be used for building new motion and modifying built motion. The control system is formed by a control module, a flow diagram design module, a code generation and display module and a serial port communication module. The method includes the steps of control, flow diagram design, code generation and display and serial port communication. The system and method is applicable to the field of intelligent robot motion control.

Description

A kind of based on patterned robot steering gear control system and control method
Technical field
The present invention relates to a kind of based on patterned robot steering gear control system and control method.
Background technology
Common robot steering gear control system mainly contains two kinds at present, a kind of be technology oriented exploitation crowd based on high-level language machine people steering gear control system, normally used is C language or BASIC, this system is used complicated, particularly when a plurality of steering wheel collective control, be difficult to develop the action of coordination, and can not find out intuitively each steering wheel state now, need personnel or user that program capability is stronger just can use, domestic consumer is difficult to oneself the action of robot is designed and debugged.Another kind is graphical control system, this system is the action of the robot that sets of simple add-on system, user can not be revised action or be set up new action by own coding, be adapted to low age user and remove the steering wheel on control, but autgmentability and universality are poor, and cannot further be used in conjunction with sensor A/D mouth, and the transmitting and receiving of serial ports, be only that control is carried out existing action, cannot improve environmental adaptation and the perception of robot.
Summary of the invention
The present invention will solve existingly based on patterned robot steering gear control system and control method, cannot set up new action and revise the problem of existing action, and propose a kind of based on patterned robot steering gear control system and control method.
Of the present invention a kind of based on patterned robot steering gear control system by four module compositions, be respectively: control module, Flow Chart Design module, code generation and display module and serial communication modular;
Control module: for menu bar to flow process map file and with it corresponding executable code manage;
Flow Chart Design module: the maneuver library element that is used to user to provide Flow Chart Design panel and system to carry, wherein flow chart consists of maneuver library element and line, by user's self-defining;
Code generates and display module: comprise code generation module and code display module, wherein code generation module connects after each element for user, when forming flow chart, flow chart is converted into corresponding with it executable code, whether the executable code producing before verification is correct, upgrades the executable code having produced; Code display module is for showing the executable code after upgrading by code frame;
Serial communication modular: for realizing on-line debugging and downloading mode; On-line debugging: module is directly sent to serial data intelligent robot master control borad, realizes the online single-step debug to steering wheel; Program is downloaded: module downloads to the serial data in .out file on master control borad, to store and be written into operation.
Fig. 1 is a kind of based on each functional module operational flow diagram of patterned robot steering gear control system; In conjunction with Fig. 1, illustrate a kind of based on patterned robot steering wheel control method;
Based on a patterned robot steering wheel control method, carry out according to the following steps:
Control step: in menu bar to flow process map file and with it corresponding executable code manage;
Flow Chart Design step: be the maneuver library element that user provides Flow Chart Design panel and system to carry, wherein flow chart consists of maneuver library element and line, by user's self-defining;
Code generates and step display: comprise that code generates step and code step display, wherein code generates step: user connects after each element, when forming flow chart, flow chart is converted into corresponding with it executable code, whether the executable code producing before verification is correct, upgrades the executable code having produced; Code step display: the executable code after upgrading is shown by code frame;
Serial communication step: realize on-line debugging and downloading mode; On-line debugging: module is directly sent to serial data intelligent robot master control borad, realizes the online single-step debug to steering wheel; Program is downloaded: module downloads to the serial data in .out file on master control borad, to store and be written into operation.
The present invention includes following beneficial effect:
1,, by a kind of based on patterned robot steering gear control system, user can design and debug intelligence machine human action by design flow diagram simply and intuitively;
2, user can use the module of visualization, top down builds flow chart, when building flow chart, system can dynamically generate the interactive c language codes without syntax error, flow chart is built complete, and program has just been write, and can download in robot and move immediately;
3, the user who understands programming is direct coding in code editing environment also.
Accompanying drawing explanation
Fig. 1 is a kind of based on each functional module operational flow diagram of patterned robot steering gear control system.
The specific embodiment
Described in the specific embodiment one, present embodiment a kind of based on patterned robot steering gear control system by four module compositions, be respectively: control module, Flow Chart Design module, code generation and display module and serial communication modular;
Control module: for menu bar to flow process map file and with it corresponding executable code manage;
Flow Chart Design module: the maneuver library element that is used to user to provide Flow Chart Design panel and system to carry, wherein flow chart consists of maneuver library element and line, by user's self-defining;
Code generates and display module: comprise code generation module and code display module, wherein code generation module connects after each element for user, when forming flow chart, flow chart is converted into corresponding with it executable code, whether the executable code producing before verification is correct, upgrades the executable code having produced; Code display module is for showing the executable code after upgrading by code frame;
Serial communication modular: for realizing on-line debugging and downloading mode; On-line debugging: module is directly sent to serial data intelligent robot master control borad, realizes the online single-step debug to steering wheel; Program is downloaded: module downloads to the serial data in .out file on master control borad, to store and be written into operation.
A kind of based on patterned robot steering wheel control method described in the specific embodiment two, present embodiment, carry out according to the following steps:
Control step: in menu bar to flow process map file and with it corresponding executable code manage;
Flow Chart Design step: be the maneuver library element that user provides Flow Chart Design panel and system to carry, wherein flow chart consists of maneuver library element and line, by user's self-defining;
Code generates and step display: comprise that code generates step and code step display, wherein code generates step: user connects after each element, when forming flow chart, flow chart is converted into corresponding with it executable code, whether the executable code producing before verification is correct, upgrades the executable code having produced; Code step display: the executable code after upgrading is shown by code frame;
Serial communication step: realize on-line debugging and downloading mode; On-line debugging: module is directly sent to serial data intelligent robot master control borad, realizes the online single-step debug to steering wheel; Program is downloaded: module downloads to the serial data in .out file on master control borad, to store and be written into operation.
The present invention includes following beneficial effect:
1,, by a kind of based on patterned robot steering gear control system, user can design and debug intelligence machine human action by design flow diagram simply and intuitively;
2, user can use the module of visualization, top down builds flow chart, when building flow chart, system can dynamically generate the interactive c language codes without syntax error, flow chart is built complete, and program has just been write, and can download in robot and move immediately;
3, the user who understands programming is direct coding in code editing environment also.
The specific embodiment three, present embodiment are to a kind of further illustrating based on patterned robot steering wheel control method described in the specific embodiment two, the detailed process of Flow Chart Design step is as follows: user moves after native system at operation interface and clicks the operation that the button of menu bar carries out newly-built flow chart or opens flow chart, by control module identification dependent instruction, send control command and start Flow Chart Design module; Flow Chart Design module can be monitored between the interpolation of flow chart element and deletion and element the events such as line, and information is sent to code generates and display module; The Automatic generation of information code that code generation module can send according to flow chart modules, code display module can be shown to code on the code frame at main interface, for reference.
The specific embodiment four, present embodiment is to a kind of further illustrating based on patterned robot steering wheel control method described in the specific embodiment two, the detailed process of serial communication step is as follows: after Flow Chart Design is good, user can provide compiler directive, control module is sent corresponding control command, ROBOTGC code file is converted into it corresponding serial data flow and encapsulates generation .out file, then user provides download instruction, by control module, send control signal, by serial communication modular, the serial data in .out file can be read out and downloads on master control borad and move, user also can provide online debug command, by control module, send control signal, serial data under the steering wheel state correspondence of constantly user being adjusted is sent to serial communication modular, serial communication modular supplements the serial data of the adjustment steering wheel sending over complete (adding necessary program segment, as separator, time of implementation etc.) and sends to master control borad to realize on-line debugging and operation by serial ports.
The specific embodiment five, present embodiment are to a kind of further illustrating based on patterned robot steering wheel control method described in the specific embodiment two, maneuver library described in Flow Chart Design step is an important component part of native system, be mainly used in general user and set up perform their routines, also some moved to be applicable to advanced level user's quick calling, remove the direct steering wheel of facing from and regulate, work out action, be conducive to improve various users' operating efficiency; Each action in maneuver library is all encapsulated as a dynamic link library, only it need to be pulled from tool box into chief editor's volume window when user need to call, and connects and enters in program flow diagram.

Claims (5)

1. based on a patterned robot steering gear control system, it is characterized in that it,, by four module compositions, is respectively: control module, Flow Chart Design module, code generation and display module and serial communication modular;
Control module: for menu bar to flow process map file and with it corresponding executable code manage;
Flow Chart Design module: the maneuver library element that is used to user to provide Flow Chart Design panel and system to carry, wherein flow chart consists of maneuver library element and line, by user's self-defining;
Code generates and display module: comprise code generation module and code display module, wherein code generation module connects after each element for user, when forming flow chart, flow chart is converted into corresponding with it executable code, whether the executable code producing before verification is correct, upgrades the executable code having produced; Code display module is for showing the executable code after upgrading by code frame;
Serial communication modular: for realizing on-line debugging and downloading mode; On-line debugging: module is directly sent to serial data intelligent robot master control borad, realizes the online single-step debug to steering wheel; Program is downloaded: module downloads to the serial data in .out file on master control borad, to store and be written into operation.
2. based on a patterned robot steering wheel control method, it is characterized in that it realizes by following steps:
Control step: in menu bar to flow process map file and with it corresponding executable code manage;
Flow Chart Design step: be the maneuver library element that user provides Flow Chart Design panel and system to carry, wherein flow chart consists of maneuver library element and line, by user's self-defining;
Code generates and step display: comprise that code generates step and code step display, wherein code generates step: user connects after each element, when forming flow chart, flow chart is converted into corresponding with it executable code, whether the executable code producing before verification is correct, upgrades the executable code having produced; Code step display: the executable code after upgrading is shown by code frame;
Serial communication step: realize on-line debugging and downloading mode; On-line debugging: module is directly sent to serial data intelligent robot master control borad, realizes the online single-step debug to steering wheel; Program is downloaded: module downloads to the serial data in .out file on master control borad, to store and be written into operation.
3. as claimed in claim 2 a kind of based on patterned robot steering wheel control method, the detailed process that it is characterized in that Flow Chart Design step is as follows: user moves after native system at operation interface and clicks the operation that the button of menu bar carries out newly-built flow chart or opens flow chart, by control module identification dependent instruction, send control command and start Flow Chart Design module; Flow Chart Design module can be monitored between the interpolation of flow chart element and deletion and element the events such as line, and information is sent to code generates and display module; The Automatic generation of information code that code generation module can send according to flow chart modules, code display module can be shown to code on the code frame at main interface, for reference.
4. a kind of based on patterned robot steering wheel control method as claimed in claim 2 or claim 3, the detailed process that it is characterized in that serial communication step is as follows: after Flow Chart Design is good, user can provide compiler directive, control module is sent corresponding control command, ROBOTGC code file is converted into it corresponding serial data flow and encapsulates generation .out file, then user provides download instruction, by control module, send control signal, by serial communication modular, the serial data in .out file can be read out and downloads on master control borad and move; User also can provide online debug command, by control module, send control signal, serial data under the steering wheel state correspondence of constantly user being adjusted is sent to serial communication modular, and serial communication modular supplements the serial data of the adjustment steering wheel sending over complete and sends to master control borad to realize on-line debugging and operation by serial ports.
5. a kind of based on patterned robot steering wheel control method as claimed in claim 2 or claim 3, it is characterized in that the maneuver library described in Flow Chart Design step is an important component part of native system, be mainly used in general user and set up perform their routines, also some moved to be applicable to advanced level user's quick calling, remove the direct steering wheel of facing from and regulate, work out action, be conducive to improve various users' operating efficiency; Each action in maneuver library is all encapsulated as a dynamic link library, only it need to be pulled from tool box into chief editor's volume window when user need to call, and connects and enters in program flow diagram.
CN201310435637.9A 2013-09-23 2013-09-23 Robot steering gear control system and method based on imaging CN103600350A (en)

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CN105404295A (en) * 2015-10-22 2016-03-16 上海未来伙伴机器人有限公司 Robot motion performing algorithm
CN105955745A (en) * 2016-05-04 2016-09-21 山东中创软件商用中间件股份有限公司 Flow chart simulation debugging method and device
CN107848109A (en) * 2015-07-08 2018-03-27 优傲机器人公司 For the method for the end user programming that bag extension industrial robot is contributed using third party

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Application publication date: 20140226