CN106873977A - A kind of expansible robot demonstrator based on script and plug-in unit - Google Patents
A kind of expansible robot demonstrator based on script and plug-in unit Download PDFInfo
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- CN106873977A CN106873977A CN201611263518.XA CN201611263518A CN106873977A CN 106873977 A CN106873977 A CN 106873977A CN 201611263518 A CN201611263518 A CN 201611263518A CN 106873977 A CN106873977 A CN 106873977A
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- G—PHYSICS
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F8/00—Arrangements for software engineering
- G06F8/20—Software design
- G06F8/22—Procedural
Abstract
The invention provides a kind of expansible robot demonstrator based on script and plug-in unit, including basic module and plug-in unit library module；Basic module, for each feature card in the addition in the form of the script file or modification plug-in unit library module, and is instructed and state communication with robot controller；Plug-in unit library module, module provides one or more functions plug-in unit based on being used for.The teaching machine is coordinated using the combination of basic module and plug-in unit library module, enhances the exploitation flexibility ratio of teaching machine software, reduces development amount, additionally it is possible to allow user oneself development function bag, with preferably using flexibility.
Description
Technical field
The present invention relates to a kind of robot demonstrator, especially a kind of expansible robot teaching based on script and plug-in unit
Device.
Background technology
Industrial robot refers to the multi-joint or multivariant machine dress that intelligence under control completes default work
It is standby.Industrial robot possesses low cost compared to people, efficiency high, the advantages of can overcome adverse circumstances.At present, industrial machine
People in automobile making, electronics, rubber plastic, military project, Aerospace manufacturing, food industry, medical equipment, the field such as metallic article
It is applied.
Industrial robot includes three parts：Robot body, controller and teaching machine.Teaching machine is that man-machine interaction sets
It is standby, monitoring system state, and transmitting-receiving control instruction.In face of many application fields of robot, the need of many working methods and user
Variation is asked, it is necessary to develop the teaching machine program of multiple versions.The development efficiency of teaching machine software is relatively low, and software version is more, difficult
To manage, and can not in time meet user's request.
The content of the invention
The technical problem to be solved in the present invention is existing teaching machine poor universality, it is difficult to meet general between different editions
Adapt to use, software updating efficiency is low, poor expandability.
In order to solve the above-mentioned technical problem, the invention provides a kind of expansible robot teaching based on script and plug-in unit
Device, including basic module and plug-in unit library module；
Basic module, for each feature card in the addition in the form of the script file or modification plug-in unit library module, and and machine
Device people's controller is instructed and state communication；
Plug-in unit library module, module provides one or more functions plug-in unit based on being used for.
Used as further limits scheme of the invention, basic module includes communication submodule, script initialization submodule, master
Interface submodule, instruction transmitting-receiving submodule and status display submodule；
Communication submodule, communicates and heartbeat inspecting for being set up with robot controller, and timing acquisition robot controller
Running status；
Script initialization submodule, for the running environment of configuration script file, the running environment of registration function to script file
In, so as to call the function of registration to realize the loading of feature card in script file, while being also connected with feature card and machine
The signal and groove of people's controller, realize the function call of feature card and robot controller；
Main interface submodule, for providing the interface of communication submodule and script initialization submodule, and it is slotting to read each function
The script file of part；
Instruction transmitting-receiving submodule, for setting teaching instruction and teaching instruction being sent into robot controller, or receiver
The feedback command that device people controller sends, and parse the content of feedback command；
Status display submodule, the running status for refreshing display robot controller on main interface submodule.
As further limits scheme of the invention, feature card and/or custom feature plug-in unit based on feature card.
As further limits scheme of the invention, basic function plug-in unit be engineering management plug-in unit, program editing plug-in unit and/
Or data management plug-in unit.
The beneficial effects of the present invention are：Combination using basic module and plug-in unit library module coordinates, and enhances teaching machine
The exploitation flexibility ratio of software, reduces development amount；User oneself development function bag can be allowed using custom feature plug-in unit, increased
The strong use flexibility of teaching machine.
Brief description of the drawings
Fig. 1 is teaching machine general frame of the invention；
Fig. 2 is constituted for teaching machine basic module of the invention；
Fig. 3 is custom feature plug-in unit visioning procedure of the invention；
Fig. 4 is plug-in unit communication mechanism of the invention.
Specific embodiment
As Figure 1-3, the expansible robot demonstrator based on script and plug-in unit disclosed by the invention, including basic mould
Block and plug-in unit library module；
Basic module, for each feature card in the addition in the form of the script file or modification plug-in unit library module, and and machine
Device people's controller is instructed and state communication, in the status display that user is needed to main interface or on plug-in unit.
Plug-in unit library module, module provides one or more functions plug-in unit based on being used for.
Basic module include communication submodule, script initialization submodule, main interface submodule, instruction transmitting-receiving submodule with
And status display submodule；
Communication submodule, communicates and heartbeat inspecting for being set up with robot controller, and timing acquisition robot controller
Running status；
Script initialization submodule, for the running environment of configuration script file, the running environment of registration function to script file
In, so as to call the function of registration to realize the loading of feature card in script file, while being also connected with feature card and machine
The signal and groove of people's controller, realize the function call of feature card and robot controller；
Main interface submodule, for providing the interface of communication submodule and script initialization submodule, and it is slotting to read each function
The script file of part；
Instruction transmitting-receiving submodule, for setting teaching instruction and teaching instruction being sent into robot controller, or receiver
The feedback command that device people controller sends, and parse the content of feedback command；
Status display submodule, the running status for refreshing display robot controller on main interface submodule.
Feature card and/or custom feature plug-in unit based on feature card；Basic function plug-in unit be engineering management plug-in unit,
Program editing plug-in unit and/or data management plug-in unit.
Expansible robot demonstrator based on script and plug-in unit disclosed by the invention, using basic module plus feature card
Software architecture exploitation teaching machine, and flexibly added using script file, change feature card and robot instruction, state.Base
Plinth module is most basic teaching machine software kit, possesses each feature card of loading, is communicated with controller, is set and display controller
State and the function of order.Basic module also provides system mode, and the pointer of data management class gives all feature cards.Using pin
Presents flexible configuration feature card, instruction and state, are the loadings for realizing feature card by function in script, and function is inserted
Communication between part, dynamic configuration instruction and status architecture.Teaching machine is upgraded or user oneself exploitation, it is only necessary to development function
Plug-in unit, and added in state script and command script can just realize teaching machine upgrade.
As illustrated in fig. 1 and 2, teaching machine is made up of basic module and feature card.Basic application includes communication submodule, pin
This initialization submodule, main interface submodule, instruction transmitting-receiving submodule and status display submodule.
Main interface submodule is used to build basic program frame, can provide and be connect with the interface and script of communication module
Mouthful, read script file, and Dynamic Announce interface.
Communication submodule is used to set up communication and heartbeat inspecting, timing acquisition controller state, transmitting-receiving instruction.
Script initialization submodule is used for configuration script running environment, in the function that registration needs to script environment, in pin
The function of registration can be called in this, the loading of plug-in unit, connection plug-in unit and the signal and groove of main program is realized, plug-in unit and master is realized
The function call of program.
Instruction transmitting-receiving submodule, for setting teaching instruction format, and is sent to controller, or receive by teaching instruction
The feedback command that controller sends, and parse the content of feedback command；Teaching instruction and feedback command can be by scripts
File dynamically addition or modification.
Status display submodule, for each state of display system, key state and main interface submodule is connected, and is refreshed
Status information.
The present invention using developing plug teaching machine program by the way of, it is whole as one equivalent to using whole teaching machine program
Body, is easily facilitated exploitation and safeguarded, and on the basis of it need not move former teaching machine program, can be put into self-defined plug-in unit
In teaching machine program.Developing plug firstly the need of allow application program perceive plug-in unit.Plug-in unit is exactly to realize one or more to connect
The dynamic base of mouth.Interface is exactly the class being made up of proprietary pure virtual function.These pure virtual functions realize Basic application and plug-in unit
Communication.Therefore plug-in unit is realized, it is necessary first to allow the Basic application can to use plug-in unit using interface.Then create again slotting
Part.Then again based on module creation interface class.Interface class must include a pure empty destructor function, further according to Basic application
Demand, the multiple pure virtual functions of addition.These pure virtual functions realize the communication of plug-in unit and main program.Finally use Q_DECLARE_
INTERFACE () is grand to be made this interface associate symbol with one to connect.
The visioning procedure of custom feature plug-in unit is as shown in figure 3, plug-in unit is exactly interface class subclass defined above.In plug-in unit
The middle Virtual Function realized defined in interface class., it is necessary to change file after storehouse engineering is created with Qt.First it is exactly to change head text
Part, plug-in unit class must inherit interface document, for the interface inherited is grand using Q_INTERFACE ().And interface statement function,
Interface function is realized in cpp files, Q_EXPORT_PLUGIN2 () is finally added in cpp files, allow plug-in unit to be employed journey
Sequence is used.Interface function realizes the communication of main program and plug-in unit, and the system mode pointer in main program is passed into plug-in unit, plug-in unit
Pointer in plug-in unit can also be passed to main program.Another realizes that the mode that plug-in unit communicates is the signal and mechanism slot of Qt,
As shown in Figure 4.Each plug-in unit provides respective signal and groove, and user only needs to connect signals and groove reality in script file
Now communicate.A library file can be generated after compiling SB, is used under copying library file to where main program catalogue.Teaching machine
Program can be divided into multiple plug-in units, including engineering management plug-in unit, program editing plug-in unit, data management plug-in unit etc..Engineering management is inserted
Part edits all engineerings under current system for showing.Program editing interface is used to show the instruction column of the program being loaded
Table, and can be checked to instructing into edlin.Data management plug-in unit edits all variables under current engineering for showing.
The signal and mechanism slot of interface document and Qt are the key technologies for realizing plug-in unit communication.
In the present invention, script and plug-in unit combine be teaching machine key technology, the loading of plug-in unit, the connection of signal and groove,
The editor of state and instruction completes in script plug-in unit.The loading of plug-in unit is realized in main program, but in pin
Called in this.Before calling, it is necessary to the interface for calling plug-in unit is first finished writing in main program, interface function is registered into script
In environment, it is possible to which the function registered in calling out program in script file, registration function can be with Transfer Parameters.
When script configuration system mode and instruction is carried out, the state knot of good robot system defined in script file
Structure.After startup program, controller can send system mode to teaching machine according to the structure defined in script, and teaching machine is being received
After state, script file is read, obtain the analytic method of state, institute is parsed successively stateful.Adopt in such a way, only need
Changing script file just can flexibly add, and delete or change system mode, and the upgrading to the teaching machine later stage is unusual
It is convenient.Equally, it is also possible to instructed defined in script file, teaching machine or controller send the ginseng that instruction is defined according to script
Number order sends parameter, and the structure elucidation parameter that parsing is also defined according to script realizes the instruction transmitting-receiving of controller and teaching machine.
Done well herein according to the parsing of state script is a more complicated process.The method that the present invention is used is, according in script
The definition of table and nest relation, create Qmap, and the key of map is the keyword of each element, and the value of map is a structure, knot
Address information comprising currentElement, type information etc. in structure body.The getValue for being provided according to data management class in a program
Interface, incoming keyword parameter, it is possible to obtain desired status information.The processing mode of instruction is similar with state.
Claims (4)
1. a kind of expansible robot demonstrator based on script and plug-in unit, it is characterised in that：Including basic module and plugin library
Module；
Basic module, for each feature card in the addition in the form of the script file or modification plug-in unit library module, and and machine
Device people's controller is instructed and state communication；
Plug-in unit library module, module provides one or more functions plug-in unit based on being used for.
2. the expansible robot demonstrator based on script and plug-in unit according to claim 1, it is characterised in that：Basic mould
Block includes communication submodule, script initialization submodule, main interface submodule, instruction transmitting-receiving submodule and status display submodule
Block；
Communication submodule, communicates and heartbeat inspecting for being set up with robot controller, and timing acquisition robot controller
Running status；
Script initialization submodule, for the running environment of configuration script file, the running environment of registration function to script file
In, so as to call the function of registration to realize the loading of feature card in script file, while being also connected with feature card and machine
The signal and groove of people's controller, realize the function call of feature card and robot controller；
Main interface submodule, for providing the interface of communication submodule and script initialization submodule, and it is slotting to read each function
The script file of part；
Instruction transmitting-receiving submodule, for setting teaching instruction and teaching instruction being sent into robot controller, or receiver
The feedback command that device people controller sends, and parse the content of feedback command；
Status display submodule, the running status for refreshing display robot controller on main interface submodule.
3. the expansible robot demonstrator based on script and plug-in unit according to claim 1, it is characterised in that：Function is inserted
Feature card and/or custom feature plug-in unit based on part.
4. the expansible robot demonstrator based on script and plug-in unit according to claim 3, it is characterised in that：Basic work(
Energy plug-in unit is engineering management plug-in unit, program editing plug-in unit and/or data management plug-in unit.
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107491308A (en) * | 2017-08-15 | 2017-12-19 | 成都民航空管科技发展有限公司 | Utilize script and the system and method for plug-in unit fast custom multipoint positioning monitoring system |
| CN107632859A (en) * | 2017-09-30 | 2018-01-26 | 江西洪都航空工业集团有限责任公司 | A kind of robot pattern development plug-in type framework |
| CN109634144A (en) * | 2018-11-23 | 2019-04-16 | 珠海格力电器股份有限公司 | A kind of exchange method and device of universal teaching machine |
| CN110293539A (en) * | 2019-06-24 | 2019-10-01 | 佛山智异科技开发有限公司 | Implementation method, device and the teaching machine of industrial robot teaching device software architecture |
| CN110450172A (en) * | 2019-08-15 | 2019-11-15 | 遨博（北京）智能科技有限公司 | A kind of processing method and processing device of teaching machine and its plug-in unit |
| CN110737601A (en) * | 2019-10-24 | 2020-01-31 | 北京字节跳动网络技术有限公司 | test methods, devices, electronic equipment and storage medium |
| CN110928531A (en) * | 2019-11-19 | 2020-03-27 | 中国电子科技集团公司第四十一研究所 | Electromagnetic spectrum monitoring system software platform construction method |
| CN111459574A (en) * | 2020-02-25 | 2020-07-28 | 季华实验室 | Data transmission method, device, equipment and storage medium |
| CN112187871A (en) * | 2020-09-07 | 2021-01-05 | 珠海格力电器股份有限公司 | Robot control method, device, electronic device and storage medium |
| CN112959317A (en) * | 2019-12-13 | 2021-06-15 | 上海智殷自动化科技有限公司 | Industrial robot human-computer interaction system |
| CN113626014A (en) * | 2021-08-09 | 2021-11-09 | 宝宝巴士股份有限公司 | Plug-in implementation method based on Xcode |
| CN115150444A (en) * | 2019-07-04 | 2022-10-04 | 深圳市越疆科技有限公司 | Control method and device for mechanical arm and server |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107491308A (en) * | 2017-08-15 | 2017-12-19 | 成都民航空管科技发展有限公司 | Utilize script and the system and method for plug-in unit fast custom multipoint positioning monitoring system |
| CN107632859A (en) * | 2017-09-30 | 2018-01-26 | 江西洪都航空工业集团有限责任公司 | A kind of robot pattern development plug-in type framework |
| CN109634144A (en) * | 2018-11-23 | 2019-04-16 | 珠海格力电器股份有限公司 | A kind of exchange method and device of universal teaching machine |
| CN110293539A (en) * | 2019-06-24 | 2019-10-01 | 佛山智异科技开发有限公司 | Implementation method, device and the teaching machine of industrial robot teaching device software architecture |
| CN115150444A (en) * | 2019-07-04 | 2022-10-04 | 深圳市越疆科技有限公司 | Control method and device for mechanical arm and server |
| CN110450172A (en) * | 2019-08-15 | 2019-11-15 | 遨博（北京）智能科技有限公司 | A kind of processing method and processing device of teaching machine and its plug-in unit |
| CN110737601A (en) * | 2019-10-24 | 2020-01-31 | 北京字节跳动网络技术有限公司 | test methods, devices, electronic equipment and storage medium |
| CN110928531A (en) * | 2019-11-19 | 2020-03-27 | 中国电子科技集团公司第四十一研究所 | Electromagnetic spectrum monitoring system software platform construction method |
| CN112959317A (en) * | 2019-12-13 | 2021-06-15 | 上海智殷自动化科技有限公司 | Industrial robot human-computer interaction system |
| CN112959317B (en) * | 2019-12-13 | 2022-07-19 | 上海智殷自动化科技有限公司 | Industrial robot human-computer interaction system |
| CN111459574A (en) * | 2020-02-25 | 2020-07-28 | 季华实验室 | Data transmission method, device, equipment and storage medium |
| CN111459574B (en) * | 2020-02-25 | 2024-03-08 | 季华实验室 | Data transmission method, device, equipment and storage medium |
| CN112187871A (en) * | 2020-09-07 | 2021-01-05 | 珠海格力电器股份有限公司 | Robot control method, device, electronic device and storage medium |
| CN113626014A (en) * | 2021-08-09 | 2021-11-09 | 宝宝巴士股份有限公司 | Plug-in implementation method based on Xcode |
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