CN106484545A - The method and device of call subroutine - Google Patents
The method and device of call subroutine Download PDFInfo
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- CN106484545A CN106484545A CN201610861894.2A CN201610861894A CN106484545A CN 106484545 A CN106484545 A CN 106484545A CN 201610861894 A CN201610861894 A CN 201610861894A CN 106484545 A CN106484545 A CN 106484545A
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- program
- subprogram
- main program
- call
- subroutine
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/54—Interprogram communication
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2209/00—Indexing scheme relating to G06F9/00
- G06F2209/54—Indexing scheme relating to G06F9/54
- G06F2209/543—Local
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- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Executing Machine-Instructions (AREA)
Abstract
The invention discloses a kind of method and device of call subroutine.Wherein, the method includes：Including：During robot operation main program, judge whether to need call subroutine；If so, then carry out call subroutine using default subroutine call function.The present invention is solved when running robot program in correlation technique, dispatches the inconvenient technical problem of other programs.
Description
Technical field
The present invention relates to robot field, in particular to a kind of method and device of call subroutine.
Background technology
At present, in robot field, increasing people is in the how efficient smooth control robot of research, many institute's weeks
Know, when robot is controlled, the control program of robot is extremely important, is often related to machine task efficiency, however, mesh
Before, in the invoked procedure of robot program, the subprogram of robot or other program scheduler abilities are very limited, call sub- journey
Sequence is inconvenient.
For above-mentioned problem, effective solution is not yet proposed at present.
Content of the invention
A kind of method and device of call subroutine is embodiments provided, at least to solve to run in correlation technique
During robot program, the inconvenient technical problem of other programs is dispatched.
A kind of one side according to embodiments of the present invention, there is provided method of call subroutine, including：Transport in robot
During row main program, judge whether to need call subroutine；If so, then using default subroutine call function come on calling
State subprogram.
Further, after above-mentioned subprogram is called using default subroutine call function, said method also includes：
Open above-mentioned subprogram；Load and parse the data file of above-mentioned subprogram；Start to execute above-mentioned subprogram.
Further, said method also includes：After above-mentioned subprogram is finished, above-mentioned main program is come back to；
Continue executing with the residual program row of above-mentioned main program.
Further, after loading and parsing the data file of above-mentioned subprogram, said method also includes：Periodically return
The program name of the above-mentioned main program for passing is to teaching machine；Preserve the program name path of above-mentioned main program；Keep program line periodically more
Newly.
Further, while using default subroutine call function to call above-mentioned subprogram, said method is also wrapped
Include：Interrupt above-mentioned main program；Preserve the interruption position of above-mentioned main program；Or the interruption position of above-mentioned main program is first added
1 preserves the position after plus 1 again.
According to a further aspect in the invention, there is provided a kind of device of call subroutine, including：Judging unit, for
During robot operation main program, judge whether to need call subroutine；Call unit, for where it has, make
Above-mentioned subprogram is called with default subroutine call function.
Further, said apparatus also include：Opening unit, for using default subprogram to adjust in above-mentioned call unit
After calling above-mentioned subprogram with function, for opening above-mentioned subprogram；Loading unit, for loading and parsing above-mentioned sub- journey
The data file of sequence；First performance element, for starting to execute above-mentioned subprogram.
Further, said apparatus also include：Jump-transfer unit, after being finished in above-mentioned subprogram, is returned again
To above-mentioned main program；Second performance element, for continuing executing with the residual program row of above-mentioned main program.
Further, said apparatus also include：Back propagation unit, in the data file for loading and parsing above-mentioned subprogram
Afterwards, the program name of the periodically above-mentioned main program of passback is to teaching machine；First storage unit, for preserving above-mentioned main program
Program name path；Updating block, for keeping program line to periodically update.
Further, said apparatus also include：Interrupt location, for being called using default subroutine call function
While stating subprogram, interrupt above-mentioned main program；Second storage unit, for preserving the interruption position of above-mentioned main program,
Or, the interruption position of above-mentioned main program is first added 1 and preserves the position after plus 1 again.
In embodiments of the present invention, using a kind of method of call subroutine, the method includes：Main journey is run in robot
During sequence, judge whether to need call subroutine；If so, then carry out call subroutine using default subroutine call function,
When operation robot program has been reached, the purpose of other programs is easily dispatched, it is achieved thereby that maintaining robot normal work
Technique effect, and then solve when running robot program in correlation technique, dispatch the inconvenient technical problem of other programs.
Description of the drawings
Accompanying drawing described herein is used for providing a further understanding of the present invention, constitutes the part of the application, this
Bright schematic description and description does not constitute inappropriate limitation of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 is the method flow diagram of a kind of optional call subroutine according to embodiments of the present invention；
Fig. 2 is the schematic diagram of the optional call subroutine of another kind according to embodiments of the present invention；
Fig. 3 is the schematic diagram of the device of a kind of optional call subroutine according to embodiments of the present invention.
Specific embodiment
In order that those skilled in the art more fully understand the present invention program, below in conjunction with the embodiment of the present invention
Accompanying drawing, is clearly and completely described to the technical scheme in the embodiment of the present invention, it is clear that described embodiment is only
The embodiment of a present invention part, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill people
The every other embodiment obtained under the premise of creative work is not made by member, should all belong to the model of present invention protection
Enclose.
It should be noted that description and claims of this specification and the term " first " in above-mentioned accompanying drawing, "
Two " be etc. for distinguishing similar object, without for describing specific order or precedence.It should be appreciated that so using
Data can exchange in the appropriate case, so as to embodiments of the invention described herein can with except here diagram or
Order beyond those of description is implemented.Additionally, term " comprising " and " having " and their any deformation, it is intended that cover
Lid is non-exclusive to be included, and for example, the process, method, system, product or the equipment that contain series of steps or unit are not necessarily limited to
Those steps that clearly lists or unit, but may include clearly not list or for these processes, method, product
Or intrinsic other steps of equipment or unit.
Embodiment 1
According to embodiments of the present invention, there is provided a kind of embodiment of the method for call subroutine, it should be noted that in accompanying drawing
Flow process can execute in the such as computer system of one group of computer executable instructions the step of illustrate, and, although
Show logical order in flow charts, but in some cases, can with the order that is different from herein execute shown or
The step of description.
Fig. 1 is the method flow diagram of a kind of optional call subroutine according to embodiments of the present invention, as shown in figure 1, should
Method comprises the steps：
Step S102, during robot operation main program, judges whether to need call subroutine；
Step S104, if so, then carrys out call subroutine using default subroutine call function.
That is, during control robot, need to run the main program of robot, in the main program of robot,
Include subprogram, first determine whether whether the running of robot needs call subroutine, judging to need call subroutine
In the case of, the operation program of robot can be braked using default subroutine call function, the process of complete call subprogram.
By above-mentioned embodiment, using a kind of method of call subroutine, the method includes：Main journey is run in robot
During sequence, judge whether to need call subroutine；If so, then carry out call subroutine using default subroutine call function,
When operation robot program has been reached, the purpose of other programs is easily dispatched, it is achieved thereby that maintaining robot normal work
Technique effect, and then solve when running robot program in correlation technique, dispatch the inconvenient technical problem of other programs.
Alternatively, after call subroutine is carried out using default subroutine call function, said method also includes：Open son
Program；Load and parse the data file of subprogram；Start execution subroutine.
That is, in order to normal call subroutine, using default subroutine call function come call subroutine it
Afterwards, need the data file in just subprogram to be loaded and parsed, by loading and data file being parsed, son can be obtained
The order executed required for program, and then complete different operational motions.
Alternatively, said method also includes：After subprogram is finished, main program is come back to；Continue executing with master
The residual program row of program.That is, after subprogram has been executed, in order to maintain robot to run according to program set in advance,
Need to come back in main program, complete remaining program line in main program.
Alternatively, after loading and parsing the data file of subprogram, said method also includes：The master for periodically returning
The program name of program is to teaching machine；Preserve the program name path of main program；Program line is kept to periodically update.That is, in order to clear
Chu ground obtains operation program length of run in some program concrete, can pass back to the program name of main program in teaching machine, when
So, can be returned according to cycle regular hour, specifically can be determined according to actual conditions.In addition, in order to avoid when appearance
Emergency case, i.e., when operation program breaks down, Program path is lost, and can preserve the program name path of main program,
It is possible to further program line is periodically updated.
Alternatively, while call subroutine is carried out using default subroutine call function, said method also includes：Interrupt
Operation main program；Preserve the interruption position of main program；Or the interruption position of main program is first added 1 preserve the position after plus 1 again.
Specifically, Fig. 2 is the schematic diagram of the optional call subroutine of another kind according to embodiments of the present invention, as shown in Figure 2.In order to anti-
Only during runtime subroutine, system gets muddled, and can interrupt the main program for running before, to ensure program just
Often run.It is, of course, preferable to the interruption position of main program can also be preserved or first add 1 by the interruption position of main program and protect again by ground
Deposit the position after plus 1.And then accelerate operation next time main program.It should be noted that Call A：Call subroutine A；
SubPrgOp.CurPrgName：Present procedure name；SubPrgOp.SaveCurrentPrgDone=1：Preserve present procedure name
Complete；PrgControlStep=30 (stop)：Program stopped；SubPrgOp.LoadSubPrgDone=1：Open current son
Program is completed；PrgControlStep=20：Subprogram starts to execute；SubPrgOp.ExeDone=1：Subprogram activation is complete
Become；PrgControlStep=30 (stop)：Subprogram stops；SubPrgOp.LoadMainPrgDone=1：Recover main program
Complete.
Embodiment 2
According to a further aspect in the invention, there is provided a kind of device of call subroutine, Fig. 3 is according to embodiments of the present invention
A kind of optional call subroutine device schematic diagram, as shown in figure 3, the device includes：Judging unit 20, in machine
During device people operation main program, judge whether to need call subroutine；Call unit 40, for where it has, make
With default subroutine call function come call subroutine.
By above-mentioned embodiment, the purpose of other programs when operation robot program has been reached, is easily dispatched, so as to
The technique effect for maintaining robot normal work is achieved, and then when solving operation robot program in correlation technique, scheduling
The inconvenient technical problem of other programs.
Alternatively, said apparatus also include：Opening unit, for using default subroutine call function in call unit
After carrying out call subroutine, for opening subprogram；Loading unit, for loading and parsing the data file of subprogram；First
Performance element, for starting execution subroutine.
Alternatively, said apparatus also include：Jump-transfer unit, after being finished in subprogram, comes back to main journey
Sequence；Second performance element, for continuing executing with the residual program row of main program.
Alternatively, said apparatus also include：Back propagation unit, for after loading and parsing the data file of subprogram,
The program name of the main program for periodically returning is to teaching machine；First storage unit, for preserving the program name path of main program；More
New unit, for keeping program line to periodically update.
Alternatively, said apparatus also include：Interrupt location, for calling sub- journey using default subroutine call function
While sequence, interrupt operation main program；Second storage unit, for preserving the interruption position of main program, or, by main program
Interruption position first adds 1 and preserves the position after plus 1 again.
It should be noted that in embodiment 2 in each embodiment of device part and embodiment 1 method part each enforcement
Mode is corresponding, will not be described here.
The embodiments of the present invention are for illustration only, do not represent the quality of embodiment.
In the above embodiment of the present invention, the description to each embodiment all emphasizes particularly on different fields, and does not have in certain embodiment
The part of detailed description, may refer to the associated description of other embodiment.
In several embodiments provided herein, it should be understood that disclosed technology contents, can pass through other
Mode is realized.Wherein, device embodiment described above is only the schematically division of for example described unit, Ke Yiwei
A kind of division of logic function, can have when actually realizing other dividing mode, for example multiple units or component can in conjunction with or
Person is desirably integrated into another system, or some features can be ignored, or does not execute.Another, shown or discussed is mutual
Between coupling direct-coupling or communication connection can be the INDIRECT COUPLING or communication link of unit or module by some interfaces
Connect, can be electrical or other forms.
The unit that illustrates as separating component can be or may not be physically separate, aobvious as unit
The part for showing can be or may not be physical location, you can be located at a place, or can also be distributed to multiple
On unit.Some or all of unit therein can be selected according to the actual needs to realize the purpose of this embodiment scheme.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it is also possible to
It is that unit is individually physically present, it is also possible to which two or more units are integrated in a unit.Above-mentioned integrated list
Unit both can be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.
If the integrated unit is realized and as independent production marketing or use using in the form of SFU software functional unit
When, can be stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially
The part in other words prior art being contributed or all or part of the technical scheme can be in the form of software products
Embody, the computer software product is stored in a storage medium, use so that a computer including some instructions
Equipment (can be personal computer, server or network equipment etc.) execute each embodiment methods described of the present invention whole or
Part steps.And aforesaid storage medium includes：USB flash disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), portable hard drive, magnetic disc or CD etc. are various can be with store program codes
Medium.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of method of call subroutine, it is characterised in that include：
During robot operation main program, judge whether to need call subroutine；
If so, then the subprogram is called using default subroutine call function.
2. method according to claim 1, it is characterised in that calling the son using default subroutine call function
After program, methods described also includes：
Open the subprogram；
Load and parse the data file of the subprogram；
Start to execute the subprogram.
3. method according to claim 2, it is characterised in that methods described also includes：
After the subprogram is finished, the main program is come back to；
Continue executing with the residual program row of the main program.
4. method according to claim 2, it is characterised in that load and parse the subprogram data file it
Afterwards, methods described also includes：
The program name of the main program for periodically returning is to teaching machine；
Preserve the program name path of the main program；
Program line is kept to periodically update.
5. method according to claim 1, it is characterised in that calling the son using default subroutine call function
While program, methods described also includes：
Interrupt the main program；
Preserve the interruption position of the main program；Or
The interruption position of the main program is first added 1 and preserves the position after plus 1 again.
6. a kind of device of call subroutine, it is characterised in that include：
Judging unit, for, during robot operation main program, judging whether to need call subroutine；
Call unit, for where it has, call the subprogram using default subroutine call function.
7. device according to claim 6, it is characterised in that described device also includes：
Opening unit, in the call unit after the subprogram is called using default subroutine call function,
For opening the subprogram；
Loading unit, for loading and parsing the data file of the subprogram；
First performance element, for starting to execute the subprogram.
8. device according to claim 7, it is characterised in that described device also includes：
Jump-transfer unit, after being finished in the subprogram, comes back to the main program；
Second performance element, for continuing executing with the residual program row of the main program.
9. device according to claim 7, it is characterised in that described device also includes：
Back propagation unit, for after loading and parsing the data file of the subprogram, the main program of periodically passback
Program name to teaching machine；
First storage unit, for preserving the program name path of the main program；
Updating block, for keeping program line to periodically update.
10. device according to claim 6, it is characterised in that described device also includes：
Interrupt location, described for, while using default subroutine call function to call the subprogram, interrupting
Main program；
Second storage unit, for preserving the interruption position of the main program, or, the interruption position of the main program is first added
1 preserves the position after plus 1 again.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610861894.2A CN106484545A (en) | 2016-09-27 | 2016-09-27 | The method and device of call subroutine |
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| CN201610861894.2A CN106484545A (en) | 2016-09-27 | 2016-09-27 | The method and device of call subroutine |
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Cited By (4)
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| CN110427003A (en) * | 2019-07-29 | 2019-11-08 | 珠海格力智能装备有限公司 | The control method and device of robot, robot |
| CN111027194A (en) * | 2019-12-02 | 2020-04-17 | 珠海格力智能装备有限公司 | Debugging method and device for machine tool |
| CN111240816A (en) * | 2020-01-03 | 2020-06-05 | 上海瀚之友信息技术服务有限公司 | Program interruptible operation system and method |
| CN115167325A (en) * | 2022-08-23 | 2022-10-11 | 郑州华泰联合工业自动化有限公司 | Intelligent processing control method, system, equipment and storage medium for cable |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110427003A (en) * | 2019-07-29 | 2019-11-08 | 珠海格力智能装备有限公司 | The control method and device of robot, robot |
| CN111027194A (en) * | 2019-12-02 | 2020-04-17 | 珠海格力智能装备有限公司 | Debugging method and device for machine tool |
| CN111240816A (en) * | 2020-01-03 | 2020-06-05 | 上海瀚之友信息技术服务有限公司 | Program interruptible operation system and method |
| CN115167325A (en) * | 2022-08-23 | 2022-10-11 | 郑州华泰联合工业自动化有限公司 | Intelligent processing control method, system, equipment and storage medium for cable |
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Application publication date: 20170308 |