CN106355991B - Teaching method and device - Google Patents
Teaching method and device Download PDFInfo
- Publication number
- CN106355991B CN106355991B CN201610972909.2A CN201610972909A CN106355991B CN 106355991 B CN106355991 B CN 106355991B CN 201610972909 A CN201610972909 A CN 201610972909A CN 106355991 B CN106355991 B CN 106355991B
- Authority
- CN
- China
- Prior art keywords
- teaching
- data
- point
- operation information
- points
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
Abstract
The invention discloses a teaching method, which comprises the following steps: the data storage unit sequentially stores teaching operation information and teaching data of each teaching point in teaching operation; and when the execution unit receives a trigger cancel or/and redo operation instruction, calling teaching operation information and teaching data of a teaching point of the current teaching operation, and executing corresponding response according to the teaching operation information and teaching data of the teaching point.
Description
Technical Field
The invention relates to the field of industrial teaching robot control, in particular to a teaching method and a teaching device.
Background
In industrial production, the machining track of the robot depends on teaching operation information and teaching data of teaching points in teaching operation, once the teaching operation type and the teaching data of the teaching points are determined, the machining track is determined, and the machining track directly determines the precision and the quality of a machined product, however, an operation error easily occurs in the teaching process, if the error operation cannot be remedied, the precision and the quality of the produced machined product are not high, and the loss is serious for industrial production.
Disclosure of Invention
To solve the above technical problems, an aspect of the present invention provides a teaching method. The method comprises the following steps:
the data storage unit sequentially stores teaching operation information and teaching data of each teaching point in teaching operation;
and when the execution unit receives a trigger cancel or/and redo operation instruction, calling teaching operation information and teaching data of a teaching point of the current teaching operation, and executing corresponding response according to the teaching operation information and teaching data of the teaching point.
Further, the data storage unit sequentially stores teaching operation information and teaching data of each teaching point in teaching operation specifically includes:
and the data storage unit sequentially stores the teaching operation information of each teaching point in the teaching operation into a cancel stack or/and a redo stack, simultaneously sequentially stores the teaching data of each teaching point in the teaching operation into a data cache region, and returns the teaching data index of each teaching point.
Further, the teaching operation information includes at least position information of a teaching point and a teaching operation type.
Further, after the teaching data of each teaching point in the teaching operation is stored in the data buffer area in sequence, the method further comprises:
and respectively creating corresponding teaching data indexes for teaching data of each teaching point in the teaching operation, respectively binding the teaching data indexes with corresponding teaching operation information, and sequentially storing the teaching data indexes into a cancel stack or/and a redo stack.
Further, the specific step of executing a corresponding response according to the teaching operation information and teaching data of the teaching point is:
and calling a function pointed by a function pointer corresponding to the teaching operation information and the teaching data of the teaching point to cancel or/and redo the function execution according to the teaching operation information and the teaching data of the teaching point.
Further, the type of teaching operation includes at least one teaching operation of:
positioning a teaching point;
capturing teaching points;
inching control of teaching points;
jumping teaching points;
teach point insertion and modification.
Another aspect of the present invention provides a teaching apparatus comprising:
the data storage unit is used for sequentially storing teaching operation information and teaching data of each teaching point in teaching operation;
and the execution unit is used for calling teaching operation information and teaching data of a teaching point of the current teaching operation when a trigger cancel or/and redo operation instruction is received, and executing corresponding response according to the teaching operation information and the teaching data of the teaching point.
Further, the data storage unit at least comprises an undo stack, a redo stack and a data cache region.
Further, the teaching operation information includes at least position information of a teaching point and a teaching operation type.
Further, the specific step of executing a corresponding response according to the teaching operation information and teaching data of the teaching point is:
and according to the teaching operation information and the teaching data of the teaching points, the execution unit calls the function pointed by the function pointer corresponding to the teaching operation information and the teaching data of the teaching points to execute undo or/and redo.
Has the advantages that:
the invention provides a teaching method and a teaching device, wherein the teaching method comprises the following steps: by sequentially storing the teaching operation information and teaching data of each teaching point in the teaching operation while executing the teaching operation, when a user triggers the cancel or/and redo operation, corresponding response is executed according to the teaching operation information and the teaching data of the teaching points, so that the current teaching operation can be cancelled or/and redo. When the operation is in error, the operation can be immediately cancelled, so that the error is avoided, or after cancellation, the redo operation is executed when the original operation is needed.
Drawings
FIG. 1 is a flow chart of a teaching method provided in embodiment 1 of the present invention;
FIG. 2 is a schematic structural diagram of a teaching device according to the present invention;
fig. 3 is a flowchart of a teaching method provided in embodiment 2 of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without any creative work belong to the protection scope of the present invention.
Fig. 1 is a flowchart of a teaching method provided in embodiment 1 of the present invention, including:
step S1: the data storage unit sequentially stores teaching operation information and teaching data of each teaching point in teaching operation;
specifically, when teaching operation is performed, the data storage unit sequentially stores teaching operation information of each teaching point in the teaching operation into an undo stack or/and a redo stack of the data storage unit, and correspondingly sequentially stores teaching data of each teaching point in the teaching operation into a data buffer area of the data storage unit. The teaching operation information at least comprises position information and teaching operation types of teaching points, and the position information is the linked list sequence of the teaching points in the teaching programming file; the type of taught operation in turn comprises at least one taught operation from the following:
positioning a teaching point;
capturing teaching points;
inching control of teaching points;
jumping teaching points;
teach point insertion and modification.
Step S2: and when the execution unit receives a trigger cancel or/and redo operation instruction, calling teaching operation information and teaching data of a teaching point of the current teaching operation, and executing corresponding response according to the teaching operation information and teaching data of the teaching point.
Specifically, when the execution unit receives a trigger undo or/and redo operation instruction, teaching operation information of a teaching point of the current teaching operation is called from an undo stack or/and a redo stack of the data storage unit, teaching data of the teaching point of the current teaching operation is called from a data buffer area of the data storage unit, and a function pointed by a corresponding function pointer is called according to the teaching operation information and the teaching data of the teaching point to execute the undo or/and redo.
As shown in fig. 3, a flowchart of a teaching method provided in embodiment 2 of the present invention includes:
step S101: the data storage unit sequentially stores the position information and teaching data of each teaching point in teaching operation;
specifically, when the teaching operation is performed, the data storage unit sequentially stores the position information of each teaching point in the teaching operation into an undo stack or/and a redo stack of the data storage unit, correspondingly, the teaching data of each teaching point in the teaching operation is sequentially stored into a data buffer area of the data storage unit, and a teaching data index corresponding to each data is returned. The teaching operation information at least comprises position information and teaching operation types of teaching points, and the position information is the linked list sequence of the teaching points in the teaching programming file; the teaching operation includes at least one of:
positioning a teaching point;
capturing teaching points;
inching control of teaching points;
jumping teaching points;
teach point insertion and modification.
Step S102: and respectively creating corresponding teaching data indexes for teaching data of each teaching point in the teaching operation, respectively binding the teaching data indexes with corresponding teaching operation information, and sequentially storing the teaching data indexes into a cancel stack or/and a redo stack.
Step S103: and when the execution unit receives a trigger cancel or/and redo operation instruction, calling teaching operation information and a teaching data index of a teaching point of the current teaching operation, and executing corresponding response according to the teaching operation information and the teaching data index of the teaching point.
Specifically, when the execution unit receives a trigger undo or/and redo operation instruction, the execution unit calls teaching operation information of a teaching point of the current teaching operation and a teaching data index of the corresponding teaching point from an undo stack or/and a redo stack of the data storage unit, and calls a function pointed by a corresponding function pointer to perform undo or/and redo according to the teaching operation information of the teaching point and the teaching data index.
Because the memory occupied by the index is far less than that of the teaching data, the memory is reduced by creating the position information index or/and the teaching data index, resources are saved, and the data structure is optimized.
As shown in fig. 2, the present invention provides a teaching apparatus corresponding to a teaching method, comprising:
a data storage unit 101 for sequentially storing teaching operation information and teaching data of each teaching point in the teaching operation;
specifically, the data storage unit at least comprises an undo stack, a redo stack and a data cache region.
When teaching operation is performed, the data storage unit 101 sequentially stores teaching operation information of each teaching point in the teaching operation into the undo stack or/and the redo stack, and correspondingly sequentially stores teaching data of each teaching point in the teaching operation into the data buffer area. The teaching operation information at least comprises position information and teaching operation types of teaching points, and the position information is the linked list sequence of the teaching points in the teaching programming file; the teaching operation includes at least one of:
positioning a teaching point;
capturing teaching points;
inching control of teaching points;
jumping teaching points;
teach point insertion and modification.
And the execution unit 102 is configured to, when receiving a trigger cancel or/and redo operation instruction, call position information and teaching data of a currently operated teaching point, and execute a corresponding response according to the position information and the teaching data of the teaching point.
Specifically, when the execution unit 102 receives a command for triggering undo or/and redo operation, the position information of the teaching point of the current teaching operation is called from the undo stack or/and redo stack in the data storage unit 101, the teaching data of the teaching point of the current teaching operation is called from the data buffer area in the data storage unit 101, and the function pointed by the corresponding function pointer is called according to the position information of the teaching point and the teaching data to execute undo or/and redo.
Wherein the data storage unit 101 is further configured to,
and respectively creating corresponding teaching data indexes for teaching data of each teaching point in the teaching operation, respectively binding the teaching data indexes with corresponding teaching operation information, and sequentially storing the teaching data indexes into a cancel stack or/and a redo stack.
When an operation instruction of canceling or/and redo triggering is received, teaching operation information and teaching data indexes of teaching points of the current teaching operation are directly called from the data storage unit 101, and canceling or/and redo operations are executed.
The teaching data index is written into the undo operation or/and the redo operation, and the teaching data index can be called when the undo operation and the redo operation are executed simultaneously for the same operation, so that at least half of memory resources are saved, and the teaching data of the same teaching point can be used in the multi-step operation, so that the memory resources of the embedded system are saved.
The above is a teaching method and apparatus provided by the present invention. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (7)
1. A method of teaching, the method comprising:
the data storage unit sequentially stores teaching operation information and teaching data of each teaching point in teaching operation;
when receiving a trigger cancel or/and redo operation instruction, the execution unit calls teaching operation information and teaching data of a teaching point of the current teaching operation, and executes corresponding response according to the teaching operation information and teaching data of the teaching point;
the teaching operation information at least comprises position information of teaching points and teaching operation types, and the teaching operation types comprise at least one teaching operation in the following steps:
positioning a teaching point;
capturing teaching points;
inching control of teaching points;
jumping teaching points;
teach point insertion and modification.
2. The teaching method according to claim 1, wherein the data storage unit sequentially stores teaching operation information and teaching data for each teaching point in the teaching operation specifically:
and the data storage unit sequentially stores the teaching operation information of each teaching point in the teaching operation into a cancel stack or/and a redo stack, and simultaneously sequentially stores the teaching data of each teaching point in the teaching operation into a data cache region.
3. The teaching method according to claim 2, wherein said step of simultaneously and sequentially storing the teaching data of each teaching point in the teaching operation into a data buffer area further comprises:
and respectively creating corresponding teaching data indexes for teaching data of each teaching point in the teaching operation, respectively binding the teaching data indexes with corresponding teaching operation information, and sequentially storing the teaching data indexes into a cancel stack or/and a redo stack.
4. The teaching method according to claim 1, wherein the performing of the corresponding response based on the teaching operation information and teaching data of the teaching point is specifically:
and calling a function pointed by a function pointer corresponding to the teaching operation information and the teaching data of the teaching point to cancel or/and redo the function execution according to the teaching operation information and the teaching data of the teaching point.
5. A teaching device, comprising:
the data storage unit is used for sequentially storing teaching operation information and teaching data of each teaching point in teaching operation;
the execution unit is used for calling teaching operation information and teaching data of a teaching point of current teaching operation when a trigger cancel or/and redo operation instruction is received, and executing corresponding response according to the teaching operation information and the teaching data of the teaching point;
the teaching operation information at least comprises position information of teaching points and teaching operation types, and the teaching operation types comprise at least one teaching operation in the following steps:
positioning a teaching point;
capturing teaching points;
inching control of teaching points;
jumping teaching points;
teach point insertion and modification.
6. The teach pendant of claim 5 wherein said data storage unit comprises at least an undo stack, a redo stack, and a data buffer.
7. The teaching device according to claim 6, wherein the performing of the corresponding response based on the teaching operation information and teaching data of the teaching point is specifically:
and according to the teaching operation information and the teaching data of the teaching points, the execution unit calls the function pointed by the function pointer corresponding to the teaching operation information and the teaching data of the teaching points to execute undo or/and redo.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610972909.2A CN106355991B (en) | 2016-10-31 | 2016-10-31 | Teaching method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610972909.2A CN106355991B (en) | 2016-10-31 | 2016-10-31 | Teaching method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106355991A CN106355991A (en) | 2017-01-25 |
| CN106355991B true CN106355991B (en) | 2020-12-18 |
Family
ID=57864538
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610972909.2A Active CN106355991B (en) | 2016-10-31 | 2016-10-31 | Teaching method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106355991B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107520847B (en) * | 2017-08-18 | 2020-12-29 | 深圳市同川科技有限公司 | Collaborative robot trajectory teaching method |
| CN107584493B (en) * | 2017-08-29 | 2020-08-14 | 成都乐创自动化技术股份有限公司 | Method and system for capturing target teaching points |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101460930A (en) * | 2005-05-06 | 2009-06-17 | 微软公司 | Maintenance of link level consistency between database and file system |
| CN104572034A (en) * | 2013-10-11 | 2015-04-29 | 北京西门子西伯乐斯电子有限公司 | Method and device for implementing undo and/or redo |
| CN104820580A (en) * | 2014-01-31 | 2015-08-05 | 想象技术有限公司 | Improved return stack buffer |
| CN105118341A (en) * | 2015-08-21 | 2015-12-02 | 福建天晴数码有限公司 | Network classroom teaching method and system |
| CN105164496A (en) * | 2013-05-10 | 2015-12-16 | 爱信艾达株式会社 | Map data storage device, map data updating method, and computer program |
| CN105528334A (en) * | 2015-12-17 | 2016-04-27 | 广州视睿电子科技有限公司 | Method for processing document operation and terminal |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5035000B2 (en) * | 2008-02-14 | 2012-09-26 | 株式会社デンソーウェーブ | Robot control device |
| JP2012232363A (en) * | 2011-04-28 | 2012-11-29 | Seiko Epson Corp | Robot control system, robot system and program |
| US9481086B2 (en) * | 2015-02-18 | 2016-11-01 | Disney Enterprises, Inc. | Control method for floating-base robots including generating feasible motions using time warping |
-
2016
- 2016-10-31 CN CN201610972909.2A patent/CN106355991B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101460930A (en) * | 2005-05-06 | 2009-06-17 | 微软公司 | Maintenance of link level consistency between database and file system |
| CN105164496A (en) * | 2013-05-10 | 2015-12-16 | 爱信艾达株式会社 | Map data storage device, map data updating method, and computer program |
| CN104572034A (en) * | 2013-10-11 | 2015-04-29 | 北京西门子西伯乐斯电子有限公司 | Method and device for implementing undo and/or redo |
| CN104820580A (en) * | 2014-01-31 | 2015-08-05 | 想象技术有限公司 | Improved return stack buffer |
| CN105118341A (en) * | 2015-08-21 | 2015-12-02 | 福建天晴数码有限公司 | Network classroom teaching method and system |
| CN105528334A (en) * | 2015-12-17 | 2016-04-27 | 广州视睿电子科技有限公司 | Method for processing document operation and terminal |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106355991A (en) | 2017-01-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107414837B (en) | Method and system for safely and automatically returning to original position after abnormal shutdown of industrial robot | |
| US20140364989A1 (en) | Controller for controlling machine tool and robot | |
| CN109807903B (en) | Robot control method, device, equipment and medium | |
| CN103678536A (en) | Method and device for implementing page returning | |
| CN106355991B (en) | Teaching method and device | |
| CN108334037A (en) | A kind of digital control system and its breakpoint continue blanking method | |
| CN103778009A (en) | Interrupt processing method and device | |
| CN102831054A (en) | Program breakpoint processing method and device | |
| JP4958608B2 (en) | Robot control device, robot control method, and robot transfer device | |
| CN102411519A (en) | Process restoring method and device | |
| CN102880473A (en) | Method and device for task execution based on quartz framework | |
| US7434222B2 (en) | Task context switching RTOS | |
| CN114327929A (en) | Priority processing method, device, scheduler and multi-core system based on AMP architecture | |
| EP1756682B1 (en) | Control system for an industrial robot | |
| CN107391283A (en) | A kind of message treatment method and device | |
| CN108594763B (en) | Batch stretching method and device on model entity based on Unigraphics NX secondary development | |
| CN110413153B (en) | False touch prevention method and device and storage medium | |
| CN101819527B (en) | Method for improving real-time performance of embedded graphic user interface system | |
| CN109932997A (en) | A kind of programmable logic controller (PLC) core system | |
| JPH056213A (en) | Method and device for controlling industrial robot | |
| AU2016102107A4 (en) | Robot control system | |
| CN110020352A (en) | A kind of restoring method of the page, system, storage medium and controller | |
| WO2019100314A1 (en) | Mistouch prevention cancellation method and apparatus for terminal device | |
| CN115756831A (en) | Two-stage asynchronous task result proxy system and method suitable for heterogeneous interface | |
| JPS6217803A (en) | Control system for programmable controller |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |