CN106502207B - Data analysis method and device - Google Patents
Data analysis method and device Download PDFInfo
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- CN106502207B CN106502207B CN201610842613.9A CN201610842613A CN106502207B CN 106502207 B CN106502207 B CN 106502207B CN 201610842613 A CN201610842613 A CN 201610842613A CN 106502207 B CN106502207 B CN 106502207B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/408—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35356—Data handling
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35376—Input program, analyze, store to buffer ready to control nc, no further data handling
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35407—Position data, calculate data to project characters along curve
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- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
Abstract
The invention discloses a kind of data analysis method and devices.Wherein, this method comprises: obtaining the point data of robot；Obtain predetermined symbol, wherein predetermined symbol is for parsing point data；According to the predetermined symbol of acquisition, the point data of the robot of acquisition are parsed.The present invention solves the technical issues of expression formula that can not parse robot point in the related technology.
Description
Technical field
The present invention relates to data processing fields, in particular to a kind of data analysis method and device.
Background technique
In robot (or manipulator) point file, point is usually indicated with point title and point data (also referred to as
For joint position, wherein the point of robot generally comprises shoulder joint point, elbow joint point, wrist joint point etc.), such as certain
Joint position, which can be used to lower form, to be indicated: 0 Q5 of PT0 Q1 0 Q2,0 Q3,0 Q4,0 Q6 Mode 0, wherein PT0 is indicated
Point title, Q1~Q6 indicate the angle of joint of robot, and Mode indicates robot point type, and 0 indicates that the point is joint
Angle.Robot TCP (i.e. tool center point) position, which can be used to lower form, to be indicated: 1087 A of PT1 X 910 Y, 0 Z, 0 B 0
C 0 Mode 1, PT1 indicate point title, and X, Y, Z, A, B, C indicate the position robot TCP, and Mode indicates robot point class
Type, 1 indicates that the point type is the position TCP.The expression-form of both the above point is with space-separated character string.
In robot controller, for the ease of point data are stored in corresponding data structure, generally require machine
The character string of the point of device people parses, but currently, in the related art, there are no the expression formulas for automatically parsing point
Mode.
In view of the above-mentioned problems, currently no effective solution has been proposed.
Summary of the invention
The embodiment of the invention provides a kind of data analysis method and devices, at least to solve not parsing in the related technology
The technical issues of expression formula of robot point.
According to an aspect of an embodiment of the present invention, a kind of data analysis method is provided, comprising: obtain the point of robot
Position data；Obtain predetermined symbol, wherein above-mentioned predetermined symbol is for parsing above-mentioned point data；According to the predetermined symbol of acquisition,
The point data of the robot of acquisition are parsed.
Further, wherein above-mentioned point data include joint data, point categorical data, and above-mentioned joint data include
Joint name and the corresponding joint angles of joint name, above-mentioned point categorical data includes that point type name and point type name are corresponding
Identifier, wherein according to the predetermined symbol of acquisition, carrying out parsing to the point data of the robot of acquisition includes: according to acquisition
Predetermined symbol parse each joint name and its corresponding joint angles, each point class from the corresponding character string of point data
Type name and its corresponding identifier.
Further, according to the predetermined symbol of acquisition, from the corresponding character string of point data, parse each joint name and
Its corresponding joint angles, each point type name and its corresponding identifier include: by above-mentioned predetermined symbol successively with above-mentioned word
Each character is compared in symbol string；In comparison process, if finding to exist in above-mentioned character string consistent with above-mentioned predetermined symbol
Character then disconnects above-mentioned character string from the character, obtains in a parsing result and above-mentioned character string except above-mentioned parsing knot
Remainder outside fruit, and continue to carry out character each in above-mentioned predetermined symbol successively character string corresponding with above-mentioned remainder
It compares, until parsing terminates, until obtaining all parsing results, wherein comprising above-mentioned each in above-mentioned all parsing results
Joint name and its corresponding joint angles, and include premises position type name and its corresponding identifier.
Further, the above method further include: in comparison process, according to parsing sequence to above-mentioned all parsing results
It is counted；Judge the target parsing result in above-mentioned all parsing results whether be even number indicate joint angles number
According to；If so, storing the data of the corresponding joint angles of above-mentioned target parsing result into corresponding point data structure.
Further, if it is not, being then zeroed out processing to buffer.
Further, in the predetermined symbol according to acquisition, before being parsed to the point data of the robot of acquisition, on
State method further include: judge whether above-mentioned predetermined symbol is identical as the valid data in above-mentioned point data；If they are the same, then first more
Predetermined symbol is changed, the predetermined symbol after reusing replacement later parses the point data of the robot of acquisition；If no
Together, then the predetermined symbol according to acquisition is executed, the step of parsing to the point data of the robot of acquisition.
According to another aspect of an embodiment of the present invention, a kind of data analysis device is additionally provided, comprising: first obtains list
Member, for obtaining the point data of robot；Second acquisition unit, for obtaining predetermined symbol, wherein above-mentioned predetermined symbol is used
In the above-mentioned point data of parsing；Resolution unit, for the predetermined symbol according to acquisition, to the point data of the robot of acquisition into
Row parsing.
Further, wherein above-mentioned point data include joint data, point categorical data, and above-mentioned joint data include
Joint name and the corresponding joint angles of joint name, above-mentioned point categorical data includes that point type name and point type name are corresponding
Identifier, wherein above-mentioned resolution unit is also used to: according to the predetermined symbol of acquisition, from the corresponding character string of point data,
Parse each joint name and its corresponding joint angles, each point type name and its corresponding identifier.
Further, above-mentioned resolution unit includes: comparison module, for by above-mentioned predetermined symbol successively with above-mentioned character string
In each character be compared；Parsing module, in comparison process, if finding to exist in above-mentioned character string and above-mentioned default symbol
Number consistent character, then disconnect above-mentioned character string from the character, obtains in a parsing result and above-mentioned character string except upper
The remainder outside parsing result is stated, and continuing will be each in above-mentioned predetermined symbol successively character string corresponding with above-mentioned remainder
Character is compared, until parsing terminates, until obtaining all parsing results, wherein wrap in above-mentioned all parsing results
Containing above-mentioned each joint name and its corresponding joint angles, and include premises position type name and its corresponding identifier.
Further, above-mentioned apparatus further include: counting unit is used in comparison process, according to parsing sequence to above-mentioned
All parsing results are counted；First judging unit, for judging the parsing knot of the target in above-mentioned all parsing results
Fruit whether be even number indicate joint angles data；Storage unit is used to tie where it has, above-mentioned target is parsed
The data of the corresponding joint angles of fruit are stored into corresponding point data structure.
Further, above-mentioned apparatus further include: resetting unit, in a case of no, being zeroed out place to buffer
Reason.
Further, above-mentioned apparatus further include: second judgment unit, in the predetermined symbol according to acquisition, to acquisition
Robot point data parsed before, judge above-mentioned predetermined symbol whether with the valid data in above-mentioned point data
It is identical；Updating unit, under identical circumstances, first replacing predetermined symbol, the predetermined symbol after reusing replacement later is right
The point data of the robot of acquisition are parsed, wherein above-mentioned resolution unit is also used in different situations, execute root
According to the predetermined symbol of acquisition, the step of parsing to the point data of the robot of acquisition.
In embodiments of the present invention, in such a way that a kind of predetermined symbol parses robot point information, by obtaining machine
The point data of device people；Obtain predetermined symbol, wherein above-mentioned predetermined symbol is for parsing above-mentioned point data；According to acquisition
Predetermined symbol parses the point data of the robot of acquisition, has reached the expression formula for automatically parsing robot point
Purpose automatically extracts required information to realize, improves the technical effect of program efficiency, and then solves the relevant technologies
In the technical issues of can not parsing the expression formula of robot point.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is a kind of flow chart of optional data analysis method according to an embodiment of the present invention；
Fig. 2 is a kind of flow chart of specific data analysis method according to an embodiment of the present invention；
Fig. 3 is a kind of schematic diagram of optional data analysis device according to an embodiment of the present invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
Embodiment 1
According to embodiments of the present invention, a kind of data analysis method embodiment is provided, it should be noted that in the stream of attached drawing
The step of journey illustrates can execute in a computer system such as a set of computer executable instructions, although also, flowing
Logical order is shown in journey figure, but in some cases, it can be to be different from shown or described by sequence execution herein
The step of.
Fig. 1 is a kind of flow chart of optional data analysis method according to an embodiment of the present invention, as shown in Figure 1, the party
Method includes the following steps:
Step S102 obtains the point data of robot；
Step S104 obtains predetermined symbol, wherein predetermined symbol is for parsing point data；
Step S106 parses the point data of the robot of acquisition according to the predetermined symbol of acquisition.
Since the point data of current robot are difficult to realize the parsing of automation, in order to realize the parsing side of computer type
Formula can solve the problem of point data parse using a kind of predetermined symbol corresponding with point data.Wherein, symbol is preset
Except number optional sign can be used, but occur in point data character string letter and number.
By above embodiment, in such a way that a kind of predetermined symbol parses robot point information, by obtaining machine
The point data of device people；Obtain predetermined symbol, wherein predetermined symbol is for parsing point data；According to the predetermined symbol of acquisition,
The point data of the robot of acquisition are parsed, have achieved the purpose that the expression formula for automatically parsing robot point, thus
It realizes and automatically extracts required information, improve the technical effect of program efficiency, and then solve and can not solve in the related technology
The technical issues of analysing the expression formula of robot point.
Optionally, wherein point data include joint data, and point categorical data, joint data include joint name and pass
The corresponding joint angles of section name, point categorical data include point type name and the corresponding identifier of point type name, wherein root
According to the predetermined symbol of acquisition, carrying out parsing to the point data of the robot of acquisition includes: the predetermined symbol according to acquisition, from point
In the corresponding character string of position data, each joint name and its corresponding joint angles are parsed, each point type name and its corresponding
Identifier.
For example, the point of robot generally comprises shoulder joint point, elbow closes in robot (or manipulator) point file
Other points such as node position, wrist joint point, certain joint position, which can be used to lower form, to be indicated: 0 Q2 of PT0 Q1,0 Q3,0 Q4
0 Q5,0 Q6 Mode 0, wherein PT0 indicates point title, and Q1-Q6 indicates that the joint angles of robot, Mode indicate machine
People's point type, 0 indicates that the point is joint angles.The expression-form of above-mentioned point is with space-separated character string.It needs
Bright, the expression way of point includes many kinds, above-mentioned expression way be it is one such, be also possible to such as: PT1 X
910 Y, 0 Z, 1087 A, 0 B, 0 C 0 Mode 1, PT1 indicate point title, and X, Y, Z, A, B, C indicate robot TCP
It sets, Mode indicates robot point type, and 1 indicates that the point type is the position TCP.By obtaining a kind of predetermined symbol, from point
The corresponding character string parsing of position data goes out each joint name and its corresponding joint angles, each point type name and its corresponding mark
Other information such as will symbol.
Optionally, according to the predetermined symbol of acquisition, from the corresponding character string of point data, parse each joint name and its
Corresponding joint angles, each point type name and its corresponding identifier include: by predetermined symbol successively with word each in character string
Symbol is compared；In comparison process, if discovery character string in exist with the consistent character of predetermined symbol, by character string from this
It is disconnected at character, obtains the remainder in a parsing result and character string in addition to parsing result, and continue predetermined symbol
Successively each character is compared in character string corresponding with remainder, and until parsing terminates, obtaining all parsing results is
Only, wherein comprising each joint name and its corresponding joint angles in all parsing results, and comprising each point type name and
Its corresponding identifier.
Optionally, the above method further include: in comparison process, all parsing results are counted according to parsing sequence
Number；Judge the target parsing result in all parsing results whether be even number indicate joint angles data；If so,
The data of the corresponding joint angles of target parsing result are stored into corresponding point data structure.Optionally, if it is not, it is then right
Buffer is zeroed out processing.
Specifically, for example, Fig. 2 is a kind of flow chart of specific data analysis method according to an embodiment of the present invention, such as
Shown in Fig. 2, before corresponding data parsing, need to carry out Initialize installation；After the point data for obtaining robot, need pair
The joint name each out and its corresponding joint angles, each point type name and its corresponding identifier of point data are solved automatically
Analysis, resolving are as follows: predetermined symbol is successively compared with character each in character string, exists in character string and presets when finding
The consistent character of symbol then disconnects character string from the character, a parsing result is obtained, in addition, further including in character string
Remainder in addition to parsing result, it is also necessary to continue each character in predetermined symbol successively character string corresponding with remainder
It is compared, until parsing terminates.
Also, in comparison process, need to count all parsing results according to parsing sequence；Judge all
Whether the target parsing result in parsing result is the data of even number expression joint angles, it is of course also possible to be other
Judgment mode, such as judge the target parsing result in all parsing results whether be odd number indicate joint angles number
According to.It can be set according to the actual situation.
Optionally, above-mentioned before being parsed to the point data of the robot of acquisition in the predetermined symbol according to acquisition
Method further include: judge whether predetermined symbol is identical as the valid data in point data；If they are the same, then first replacement is default accords with
Number, the predetermined symbol after reusing replacement later parses the point data of the robot of acquisition；If it is different, then executing
According to the predetermined symbol of acquisition, the step of parsing to the point data of the robot of acquisition.
For example, needing when occurring the letter occurred in number and point data character string in point data by predetermined symbol
It is changed to other symbols.Arbitrarily meet by using except the letter occurred in number and point data character string is outer as dividing
Every, can be improved program flexibility, while it is alternative extract needed for information, reduce redundancy, improve program efficiency.
Embodiment 2
According to another aspect of an embodiment of the present invention, a kind of data analysis device is additionally provided, Fig. 3 is real according to the present invention
A kind of schematic diagram of optional data analysis device of example is applied, as indicated at 3, comprising: first acquisition unit 20, for obtaining machine
The point data of people；Second acquisition unit 40, for obtaining predetermined symbol, wherein predetermined symbol is for parsing point data；Solution
Analysis unit 60 parses the point data of the robot of acquisition for the predetermined symbol according to acquisition.
By above embodiment, the expression formula for automatically parsing robot point is achieved the purpose that, to realize certainly
It is dynamic extract required for information, improve the technical effect of program efficiency, and then solve and can not parse robot in the related technology
The technical issues of expression formula of point.
Optionally, wherein point data include joint data, and point categorical data, joint data include joint name and pass
The corresponding joint angles of section name, point categorical data include point type name and the corresponding identifier of point type name, wherein solution
Analyse unit, be also used to: according to the predetermined symbol of acquisition, from the corresponding character string of point data, parse each joint name and its
Corresponding joint angles, each point type name and its corresponding identifier.
Optionally, resolution unit includes: comparison module, for successively comparing predetermined symbol with character each in character string
It is right；Parsing module, in comparison process, if exist in discovery character string with the consistent character of predetermined symbol, by character
String disconnects from the character, obtains the remainder in a parsing result and character string in addition to parsing result, and continuing will be pre-
If successively each character is compared symbol in character string corresponding with remainder, until parsing terminates, all parsings are obtained
As a result until, wherein comprising each joint name and its corresponding joint angles in all parsing results, and include each point class
Type name and its corresponding identifier.
Optionally, above-mentioned apparatus further include: counting unit is used in comparison process, according to parsing sequence to all
Parsing result is counted；First judging unit, for judging whether the target parsing result in all parsing results is
The data of even number expression joint angles；Storage unit, for where it has, by the corresponding joint angle of target parsing result
The data of degree are stored into corresponding point data structure.
Optionally, above-mentioned apparatus further include: resetting unit, in a case of no, being zeroed out processing to buffer.
Optionally, above-mentioned apparatus further include: second judgment unit, in the predetermined symbol according to acquisition, to acquisition
Before the point data of robot are parsed, judge whether predetermined symbol is identical as the valid data in point data；It updates
Unit, under identical circumstances, first replacing predetermined symbol, the predetermined symbol after reusing replacement later, to the machine of acquisition
The point data of device people parse, wherein resolution unit is also used in different situations, execute according to the default of acquisition
Symbol, the step of parsing to the point data of the robot of acquisition.
It should be noted that each embodiment of method is opposite in each embodiment with embodiment 1 of device in embodiment 2
It answers, reference implementation example 1 is discussed in detail, details are not described herein.
Serial number of the embodiment of the present invention is for illustration only, does not represent the advantages or disadvantages of the embodiments.
In an embodiment of the present invention, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail in some embodiment
Part, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, such as the division of the unit, Ke Yiwei
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
On unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can for personal computer, server or network equipment etc.) execute each embodiment the method for the present invention whole or
Part steps.And storage medium above-mentioned includes: that USB flash disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic or disk etc. be various to can store program code
Medium.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of data analysis method characterized by comprising
Obtain the point data of robot；
Obtain predetermined symbol, wherein the predetermined symbol is for parsing the point data；
According to the predetermined symbol of acquisition, the point data of the robot of acquisition are parsed；
Wherein, the point data include joint data, and point categorical data, the joint data include joint name and joint name
Corresponding joint angles, the point categorical data include point type name and the corresponding identifier of point type name, wherein root
According to the predetermined symbol of acquisition, carrying out parsing to the point data of the robot of acquisition includes:
According to the predetermined symbol of acquisition, from the corresponding character string of point data, each joint name and its corresponding joint are parsed
Angle, each point type name and its corresponding identifier.
2. corresponding from point data the method according to claim 1, wherein according to the predetermined symbol of acquisition
In character string, parses each joint name and its corresponding joint angles, each point type name and its corresponding identifier include:
The predetermined symbol is successively compared with each character in the character string；
In comparison process, if find in the character string exist with the consistent character of the predetermined symbol, by the character
String disconnects from the character, obtains the remainder in a parsing result and the character string in addition to the parsing result, and
Continue for each character in the predetermined symbol successively character string corresponding with the remainder to be compared, until parsing is tied
Beam, until obtaining all parsing results, wherein comprising each joint name and its corresponding in all parsing results
Joint angles, and include each point type name and its corresponding identifier.
3. according to the method described in claim 2, it is characterized in that, the method also includes:
In comparison process, all parsing results are counted according to parsing sequence；
Judge the target parsing result in all parsing results whether be even number indicate joint angles data；
If so, storing the data of the corresponding joint angles of the target parsing result into corresponding point data structure.
4. according to the method described in claim 3, it is characterized in that, if it is not, being then zeroed out processing to buffer.
5. according to the method described in claim 2, it is characterized in that, in the predetermined symbol according to acquisition, to the robot of acquisition
Point data parsed before, the method also includes:
Judge whether the predetermined symbol is identical as the valid data in the point data；
If they are the same, then predetermined symbol is first replaced, the predetermined symbol after reusing replacement later, to the point digit of the robot of acquisition
According to being parsed；
If it is different, the predetermined symbol according to acquisition is then executed, the step of parsing to the point data of the robot of acquisition.
6. a kind of data analysis device characterized by comprising
First acquisition unit, for obtaining the point data of robot；
Second acquisition unit, for obtaining predetermined symbol, wherein the predetermined symbol is for parsing the point data；
Resolution unit parses the point data of the robot of acquisition for the predetermined symbol according to acquisition；
Wherein, the point data include joint data, and point categorical data, the joint data include joint name and joint name
Corresponding joint angles, the point categorical data include point type name and the corresponding identifier of point type name, wherein institute
Resolution unit is stated, is also used to:
According to the predetermined symbol of acquisition, from the corresponding character string of point data, each joint name and its corresponding joint are parsed
Angle, each point type name and its corresponding identifier.
7. device according to claim 6, which is characterized in that the resolution unit includes:
Comparison module, for the predetermined symbol to be successively compared with each character in the character string；
Parsing module, in comparison process, if find to exist in the character string with the consistent character of the predetermined symbol,
The character string is disconnected from the character then, is obtained in a parsing result and the character string in addition to the parsing result
Remainder, and continue for each character in the predetermined symbol successively character string corresponding with the remainder to be compared,
Until parsing terminates, until obtaining all parsing results, wherein include each joint name in all parsing results
And its corresponding joint angles, and include each point type name and its corresponding identifier.
8. device according to claim 7, which is characterized in that described device further include:
Counting unit, for being counted according to parsing sequence to all parsing results in comparison process；
First judging unit, for judging whether the target parsing result in all parsing results is that even number indicates
The data of joint angles；
Storage unit, for where it has, storing the data of the corresponding joint angles of the target parsing result to right
In the point data structure answered.
9. device according to claim 8, which is characterized in that described device further include: resetting unit, in no feelings
Under condition, processing is zeroed out to buffer.
10. device according to claim 7, which is characterized in that described device further include:
Second judgment unit, for carrying out parsing it to the point data of the robot of acquisition in the predetermined symbol according to acquisition
Before, judge whether the predetermined symbol is identical as the valid data in the point data；
Updating unit, under identical circumstances, first replacing predetermined symbol, the predetermined symbol after reusing replacement later is right
The point data of the robot of acquisition are parsed,
Wherein, the resolution unit is also used in different situations, the predetermined symbol according to acquisition be executed, to the machine of acquisition
The step of point data of device people parse.
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| CN104699662A (en) * | 2015-03-18 | 2015-06-10 | 北京交通大学 | Method and device for recognizing whole symbol string |
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| CN102222093A (en) * | 2011-06-09 | 2011-10-19 | 中国工程物理研究院计算机应用研究所 | Method for obtaining longest common substring of alphabetic strings |
| CN102508690A (en) * | 2011-11-11 | 2012-06-20 | 瑞斯康达科技发展股份有限公司 | Storing method and decoding method for command line of embedded equipment |
| CN102609459A (en) * | 2012-01-12 | 2012-07-25 | 神州数码网络(北京)有限公司 | Method and device for string matching based on regular expression |
| CN104699662A (en) * | 2015-03-18 | 2015-06-10 | 北京交通大学 | Method and device for recognizing whole symbol string |
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