CN106997285A - A kind of method and device of control machine people - Google Patents
A kind of method and device of control machine people Download PDFInfo
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- CN106997285A CN106997285A CN201610833829.9A CN201610833829A CN106997285A CN 106997285 A CN106997285 A CN 106997285A CN 201610833829 A CN201610833829 A CN 201610833829A CN 106997285 A CN106997285 A CN 106997285A
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- logical block
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- logical
- button
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F8/00—Arrangements for software engineering
- G06F8/30—Creation or generation of source code
- G06F8/34—Graphical or visual programming
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F8/00—Arrangements for software engineering
- G06F8/40—Transformation of program code
- G06F8/41—Compilation
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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
- G06F9/30—Arrangements for executing machine instructions, e.g. instruction decode
- G06F9/30003—Arrangements for executing specific machine instructions
Abstract
The embodiments of the invention provide a kind of method and device of control machine people, methods described includes:Show the logical block pre-set;Obtain the logical block of user's selection;The order determined by user, the logical block of user's selection is shown with tree structure;The each logical block selected for user, shows the corresponding logical block configuration interface of the logical block;Receive the corresponding configuration parameter of the logical block that user is selected by the logical block configuration interface;The configuration parameter selected according to user, generates the corresponding programmed logic of the logical block, and the corresponding programmed logic of the logical block is converted into the instruction that robot can be recognized;The instruction changed for each logical block is sent to robot, robot is controlled.Using the embodiment of the present invention, the method for simplifying control machine people so that the method that layman grasps control machine people in a short time.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of method and device of control machine people.
Background technology
At present, to traditional robot control is, it is necessary to which technical professional writes complicated abstract program to realize pair
The control of robot, in order to simplify the control difficulty to robot, the robot of main flow largely (is not required to using procedural language
Compile, can directly run) robot is controlled.Although procedural language is compared with former complicated abstract program
Compared with part difficulty being reduced, but procedural language remains unchanged and is difficult to be used by master by non-professional persons, so occurring in that teaching machine
The pattern of control machine people.
Prior art is mostly come control machine people, specific control machine people by the way of teaching machine combination class process language
Process mainly includes two steps:
First, user writes the control logic of robot with class process language under the guidance of teaching machine.
Second, teaching machine is converted to the control logic that user is write with class process language the instruction of explanatory procedural language
Robot is sent to, so as to realize the control to robot.
It can be seen that, when user is controlled to robot, it is still desirable to which user writes robot with class process language
Control logic.Such control mode is more complicated, higher to the requirement of user in itself, and layman is difficult to by short-term
Between study, the method to grasp control machine people.
The content of the invention
The purpose of the embodiment of the present invention is to provide a kind of method and device of control machine people, with simplify control robot
Operation, reduce requirement to user.Concrete technical scheme is as follows:
On the one hand, the embodiment of the invention discloses a kind of method of control machine people, including:
Show the logical block pre-set;Wherein, one control logic sentence of each logical block correspondence;
Obtain the logical block of user's selection;
The order determined by user, the logical block of user's selection is shown with tree structure;
The each logical block selected for user, shows the corresponding logical block configuration interface of the logical block;
Receive the corresponding configuration parameter of the logical block that user is selected by the logical block configuration interface;
The configuration parameter selected according to user, generates the corresponding programmed logic of the logical block, and the logical block is corresponding
Programmed logic is converted to the instruction that robot can be recognized;
The instruction changed for each logical block is sent to robot, robot is controlled.
Preferably, the logical block is divided into basic condition logical block and senior conditional logic block according to preparatory condition,
Wherein, the preparatory condition includes the logical block selected frequency or edits the corresponding control logic language of the logical block
The complexity of sentence;
The step of logical block that the display is pre-set, including:
Programming interface is shown by user instruction;
When the basic condition logical block option button detected in the programming interface is pressed, then in the programming interface
Middle display base conditional logic block;
When the senior conditional logic block option button detected in the programming interface is pressed, then in the programming interface
The middle senior conditional logic block of display.
Preferably, the order determined by user, the step of showing the logical block of user's selection with tree structure, bag
Include:
The order of logical block is selected by user, in the first predeterminable area of the programming interface, with tree structure by upper
To the logical block of lower display user selection;
When any one the logical block Edit button detected in the programming interface is pressed, then the logic block editing is performed
The corresponding edit operation of button, increases logical block in the tree structure or deletes position of the logical block in tree structure;
The logical block Edit button is:Increase button or delete button.
Preferably, each logical block selected for user, shows the corresponding logical block configuration interface of the logical block
The step of, including:
In the second predeterminable area of the programming interface, display logic block configuration interface;The logical block configuration interface
In include all optional parameters of the logical block, and/or the logical block parameter input frame.
Preferably, the configuration parameter selected according to user, generates the corresponding programmed logic of the logical block, and this is patrolled
The step of corresponding programmed logic of block is converted to the instruction that robot can be recognized is collected, including:
When the ACK button detected in the logical block configuration interface is pressed, then the configuration selected according to user is joined
Number, generates the corresponding XML language source code of the logical block;
The corresponding XML language source code of the logical block is converted into the script language code that robot can be recognized.
Preferably, described programming interface is integrated in robot demonstrator software.
On the other hand, the embodiment of the invention also discloses a kind of device of control machine people, including:
First display unit, for showing the logical block pre-set;Wherein, one control logic of each logical block correspondence
Sentence;
Acquiring unit, the logical block for obtaining user's selection;
Second display unit, for the order determined by user, the logical block of user's selection is shown with tree structure;
3rd display unit, for each logical block selected for user, shows that the corresponding logical block of the logical block is matched somebody with somebody
Put interface;
Receiving unit, for receiving the corresponding configuration ginseng of the logical block that user is selected by the logical block configuration interface
Number;
Converting unit, for the configuration parameter selected according to user, generates the corresponding programmed logic of the logical block, and should
The corresponding programmed logic of logical block is converted to the instruction that robot can be recognized;
Control unit, for the instruction changed for each logical block to be sent into robot, is carried out to robot
Control.
Preferably, described device also includes:
Division unit, for the logical block to be divided into basic condition logical block and senior condition according to preparatory condition
Logical block, wherein, the preparatory condition includes the logical block selected frequency or edits the corresponding control of the logical block
The complexity of logical statement processed;
First display unit, including:
First display subelement, for showing programming interface by user instruction;
Second display subelement, for when detect basic condition logical block option button in the programming interface by by
Under, then the display base conditional logic block in the programming interface;
3rd display subelement, for when detect senior conditional logic block option button in the programming interface by by
Under, then senior conditional logic block is shown in the programming interface.
Preferably, second display unit, including:
4th display subelement, the order for selecting logical block by user, in the first preset areas of the programming interface
In domain, the logical block of user's selection is from top to bottom shown with tree structure;
5th display subelement, for when detect any one logical block Edit button in the programming interface by by
Under, then the corresponding edit operation of logical block Edit button is performed, increases logical block in the tree structure or deletes logic
Position of the block in tree structure;The logical block Edit button is:Increase button or delete button.
Preferably, the 3rd display unit specifically for:
In the second predeterminable area of the programming interface, display logic block configuration interface;The logical block configuration interface
In include all optional parameters of the logical block, and/or the logical block parameter input frame.
Preferably, the converting unit, including:
First converting unit, for being pressed when detecting the ACK button in the logical block configuration interface, then according to
The configuration parameter of user's selection, generates the corresponding XML language source code of the logical block;
Second converting unit, for the corresponding XML language source code of the logical block to be converted into what robot can be recognized
Script language code.
The method of control machine people provided in an embodiment of the present invention, in patrolling that acquisition user selects from the logical block of display
Collect after block, the logical block is selected to the order of logical block according to user, is added to tree structure, and in the configuration of each logical block
Interface, selects the corresponding configuration parameter of each logical block, the corresponding programmed logic of the logical block is generated, further by programmed logic
The instruction that robot can be recognized is converted to, the control to robot can just be realized by the instruction.Using present invention implementation
Example, user is only needed to from the logical block of display, selects the logical block of needs, then select each by logical block configuration interface
The configuration parameter of logical block, it becomes possible to realize the control to robot, therefore, the method for simplifying control machine people so that non-
The method that professional grasps control machine people in a short time.Implementing any product or method of the present invention must be not necessarily required to
Reach all the above advantage simultaneously.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the flow chart of the method for control machine people provided in an embodiment of the present invention;
Fig. 2 is in the method for control machine people provided in an embodiment of the present invention, Loop patrols in selection basic condition logical block
Collect the surface chart of block;
Fig. 3 is in the method for control machine people provided in an embodiment of the present invention, the basic condition logical block of user's selection gives birth to
Into tree structure surface chart;
Fig. 4 is in the method for control machine people provided in an embodiment of the present invention, selects the surface chart of senior conditional logic block;
Fig. 5 for control machine people provided in an embodiment of the present invention method in, the Loop logics in basic condition logical block
The configuration interface figure of block;
Fig. 6 for control machine people provided in an embodiment of the present invention method in, the Set logical blocks in basic condition logical block
Configuration interface figure;
Fig. 7 for control machine people provided in an embodiment of the present invention method in, the If logical blocks in basic condition logical block
Configuration interface figure;
Fig. 8 for control machine people provided in an embodiment of the present invention method in, the Move logics in basic condition logical block
The configuration interface figure of block;
Fig. 9 for control machine people provided in an embodiment of the present invention method in, the Waypoint in basic condition logical block
The configuration interface figure of logical block;
Figure 10 is the structural representation of the device of control machine people provided in an embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
The embodiments of the invention provide a kind of method and device of control machine people, with the operation of simplify control robot,
Reduce the requirement to user.
It should be noted that the embodiment of the present invention, from the logical block of display, after the logical block for obtaining user's selection, is pressed
The order of the logical block selected according to user, successively by selected logical block, is added to tree structure, for the every of user's selection
Individual logical block, shows the corresponding configuration interface of the logical block, selects the corresponding configuration parameter of the logical block in the configuration interface, obtains
To the corresponding programmed logic of the logical block, programmed logic is further converted into the instruction that robot can be recognized, so, passed through
The instruction, it is possible to realize the control to robot.The method and device of the control machine people of the embodiment of the present invention, is simplified
The method of control machine people so that the method that layman grasps control machine people in a short time.
Referring to Fig. 1, Fig. 1 is the flow chart of the method for control machine people provided in an embodiment of the present invention, is comprised the following steps:
S101, shows the logical block pre-set;Wherein, one control logic sentence of each logical block correspondence;
Specifically, one control logic language of each logical block correspondence, when showing each logical block, user it can be seen that
The title of the logical block of display.For example, circulation (Loop) logical block, interruption (Break) logical block, continuation (Continue) logic
Block, condition (If/Else if/Else) logical block, exchange (Switch) logical block, example (Case) logical block, acquiescence
(Default) logical block, row annotation (Line Comment) logical block, section annotation (Block) logical block, movement (Move) logic
Block, waypoint/athletic posture (Waypoint) logical block, setting (Set) logical block, wait (Wait) logical block, thread
(Thread) logical block, process (Procedure) logical block, script (Script) logical block, message (Message) logical block,
Track (Track) logical block etc..Wherein, condition (If/Else if/Else) logical block represents three logical blocks, including If logics
Block, Else if logical blocks and Else logical blocks.
S102, obtains the logical block of user's selection;
In the logical block pre-set of display, when user selects a logical block in logical block, just it is somebody's turn to do
Logical block and the corresponding control logic sentence of the logical block.
S103, the order determined by user shows the logical block of user's selection with tree structure;
It is preferred that, user, according to the order of selection logical block, successively adds the logical block of selection in the logical block of selection
It is added to tree structure.Here.It should be noted that before user does not select any logical block, tree structure is blank,
It is to be understood that tree structure is not present, when user selects a logical block, the logical block of selection is added to the tree of blank
Shape structure, when user have selected multiple logical blocks, by multiple logical blocks according to the sequencing of selection logical block successively by institute
Multiple logical blocks are stated, are added to tree structure, so as to generate the complete tree structure including multiple logical blocks.
S104, each logical block selected for user, shows the corresponding logical block configuration interface of the logical block;
It is understood that in the tree structure, the logical block selected comprising multiple users, pair of each logical block
Respective logical block configuration interface is answered, the logical block configuration interface is used to select the corresponding configuration parameter of the logical block.
S105, receives the corresponding configuration parameter of the logical block that user is selected by the logical block configuration interface;
It in each logical block configuration interface, have selected after the corresponding configuration parameter of the logical block, receive the configuration parameter,
It should be noted that each corresponding configuration parameter of logical block is much editted in advance, user is according to the actual need of oneself
Ask, in configuration parameter, select suitable configurations parameter;The configuration parameter of some other logical blocks also only needs to carry out simply
Parameter input.
S106, the configuration parameter selected according to user generates the corresponding programmed logic of the logical block, and by the logical block pair
The programmed logic answered is converted to the instruction that robot can be recognized;
In the tree structure generated, for the logical block option and installment parameter in the tree structure, and tree-like knot is generated
The corresponding programmed logic of logical block in structure, so, the corresponding programmed logic of tree structure be the tree structure in each patrol
Collect the corresponding programmed logic composition of block.The corresponding programmed logic of each logical block in tree structure is converted to robot can
The instruction of identification, that is, the corresponding programmed logic of tree structure is converted into the instruction that robot can be recognized.
S107, is sent to robot by the instruction changed for each logical block, robot is controlled.
After the corresponding programmed logic of logical block in tree structure is converted into the instruction that robot can be recognized, by institute
State instruction and be sent to robot, robot will perform action according to the instruction, to realize the control to robot.
Generated it should be noted that tree structure is the logical block selected according to user, so the logic of user's selection
Block is different, and the tree structure of generation is also different, then the corresponding programmed logic of tree structure is also different, then changes programmed logic
The instruction that can be recognized for robot is also just different, so that control machine people completes different actions.So, user can basis
The demand of oneself, selects different logical blocks, generates different tree structures so that programmed logic is converted into robot can
The different instruction of identification, control machine people completes different actions.
Using each above-mentioned embodiment, from the logical block of display, obtain after the selected logical block of user, by user institute
The logical block of selection, the order of logical block is selected according to user, is added to tree structure, in the configuration interface of each logical block,
The corresponding configuration parameter of each logical block is selected, the corresponding programmed logic of the logical block is generated, is by described program logical transition
The instruction that robot can be recognized, realizes the control to robot.So, the method for simplifying control machine people so that non-special
The method that industry personnel grasp control machine people in a short time.
In a kind of possible implementation of the embodiment of the present invention, the logical block is divided into base according to preparatory condition
Plinth conditional logic block and senior conditional logic block, wherein, the preparatory condition include the logical block selected frequency or
The complexity of the corresponding control logic sentence of the logical block is edited, logical block is divided into base strip according to preparatory condition
Part logical block and senior conditional logic block.
Specifically, basic condition logical block includes:Circulate (Loop) logical block, interruption (Break) logical block, continuation
(Continue) logical block, condition (If/Else if/Else) logical block, exchange (Switch) logical block, example (Case) are patrolled
Collect block, acquiescence (Default) logical block, row annotation (Line Comment) logical block, section annotation (Block) logical block, movement
(Move) logical block, waypoint/athletic posture (Waypoint) logical block, setting (Set) logical block, wait (Wait) logical block.
The senior conditional logic block includes:Thread (Thread) logical block, process (Procedure) logical block, script
(Script) logical block, message (Message) logical block, track (Track) logical block.Wherein, the condition (If/Else
If/Else) logical block can be with exchange (Switch) logical block, example (Case) logical block, acquiescence (Default) logical block three
Person replaces, i.e., in tree structure, this three can respectively be patrolled with Switch logical blocks, Case logical blocks and Default logical blocks
Volume block replaces If logical blocks, Else if logical blocks and Else logical blocks these three logical blocks.
Specifically, it is described show pre-set logical block the step of, including:Programming interface is shown by user instruction;When
The basic condition logical block option button detected in the programming interface is pressed, then the display base in the programming interface
Conditional logic block;When the senior conditional logic block option button detected in the programming interface is pressed, then in the programming
Senior conditional logic block is shown in interface.
Referring to Fig. 2, Fig. 2 is in the method for control machine people provided in an embodiment of the present invention, selects basic condition logical block
In Loop logical blocks surface chart.Fig. 2 is shown, basic condition logical block option button is have selected when detecting user
(Basic) when being pressed, in programming interface after display base condition (Basic Condition) logical block, user's selection
Loop logical blocks in Basic Condition logical blocks, show that Loop is patrolled under engineering project (Project Program)
Collect the title of block.
For example, when detecting user and have selected basic condition logical block option button (Basic) and be pressed, on programming circle
Display base condition (Basic Condition) logical block in face.Senior conditional logic block option is have selected when detecting user
When button (Advanced) is pressed, display base condition (Advanced Condition) logical block in programming interface.
Fig. 2 also show, engineering button (Project), sub- engineering button (procedure), criteria button
(Condition), development kit button (Wizard), it is preceding increase logical block button (Add before), it is rear increase patrol
Collect block button (Add after), reproduction button (Copy), paste buttons (Paste), deletion button (Remove), variable button
(Variable), script buttons (Script), emulation button (Simulator) track button (Track), start button
(Start), stop button (Stop) and next button (Step).
It is preferred that, the order determined by user, the step of logical block of user's selection is shown with tree structure, bag
Include:The order of logical block is selected by user, in the first predeterminable area of the programming interface, is from top to bottom shown with tree structure
Show the logical block of user's selection;When any one the logical block Edit button detected in the programming interface is pressed, then perform
The corresponding edit operation of logical block Edit button, increases logical block in the tree structure or deletes logical block in tree-like knot
Position in structure;The logical block Edit button is:Increase button or delete button.It should be noted that here, described first
Predeterminable area is the region where the Project Program in Fig. 2.
Referring to Fig. 3, Fig. 3 is in the method for control machine people provided in an embodiment of the present invention, the basic condition of user's selection
The surface chart of the tree structure of logical block generation.Fig. 3 shows that the logical block selected in user includes:Loop logical blocks, If are patrolled
Block, Move logical blocks, Waypoint logical blocks and Else logical blocks are collected, and the order of the sequential logic block of user's selection is
Loop logical blocks, If logical blocks, Move logical blocks, Waypoint logical blocks, Waypoint logical blocks, Else logical blocks, Move
Logical block, Waypoint logical blocks and Waypoint logical blocks;The order of logical block is selected according to user, in programming circle
In first predeterminable area in face, the logical block of user's selection is from top to bottom shown with tree structure.
Here, the logical block Edit button includes:Increase button and delete button;The increase button includes:Preceding
Increase logical block button (Add before) and in rear increase logical block button (Add after).The deletion button
(Remove) it is used to delete the logical block under the logical block selected in tree structure and the logical block.For example, described first
In predeterminable area, Loop logical blocks are selected, when being pressed in preceding increase logical block button (Add before), in Loop logics
Increase a Loop logical block before block, when being pressed in rear increase logical block button (Add after), after Loop logical blocks
Increase a Loop logical block.And for example, in first predeterminable area, Loop logical blocks are selected, when deletion button
(Remove) when being pressed, the logical block below Loop logical blocks and Loop logical blocks in tree structure is all deleted.
It should be noted that first predeterminable area is the region where the Project Program in Fig. 2.
It can be seen that, first predeterminable area of the logical block that user selects in programming interface, to select the order of logical block, by
The logical block of up to lower display user selection, for example, when selecting Loop logical blocks, Loop logical blocks are added into described first pre-
If region, when user selects If logical blocks, the lower section for the Loop logical blocks that If logical blocks are added in the first predeterminable area.
Referring to Fig. 4, Fig. 4 is in the method for control machine people provided in an embodiment of the present invention, selects senior conditional logic block
Surface chart.Fig. 4 is shown, selects senior conditional logic block to include:Thread (Thread) logical block, process (Procedure)
Logical block, script (Script) logical block, message (Message) logical block, track (Track) logical block etc..
In a kind of possible implementation of the embodiment of the present invention, each logical block selected for user shows
The step of showing the logical block corresponding logical block configuration interface, including:
In the second predeterminable area of the programming interface, display logic block configuration interface;The logical block configuration interface
In include all optional parameters of the logical block, and/or the logical block parameter input frame.
For example, as shown in figure 5, in the second predeterminable area of editing interface, here, second predeterminable area is Loop
Region where Condition.Fig. 5 is shown, in second predeterminable area, in the configuration interface of Loop logical blocks, bag
The optional parameter of Loop logical blocks is contained, the optional parameter includes:All the time circulation (loop always), given number of times
Circulate (loop times) and condition circulation (loop condition).Also include in second predeterminable area:Empty by
Button (Clear), deletion button (Remove) and ACK button (Confirm).The button that empties is used to empty the Loop
The content of user's input in the parameter input frame of logical block.
In addition, the configuration parameter selected according to user, the corresponding programmed logic of the logical block is generated, and by the logic
The step of corresponding programmed logic of block is converted to the instruction that robot can be recognized, including:
When the ACK button detected in the logical block configuration interface is pressed, then the configuration selected according to user is joined
Number, generates the corresponding XML language source code of the logical block;
For example, when the ACK button (Confirm) detected in the logical block configuration interface is pressed, being selected according to user
The circulation all the time (loop always) selected, the corresponding XML language source code of generation Loop logical blocks, or selected according to user
Given number of cycles (loop times), the corresponding XML language source code of generation Loop logical blocks, or condition circulation
The configuration parameter of (loop condition), the corresponding XML language source code of generation Loop logical blocks.
The corresponding XML language source code of the logical block is converted into the script language code that robot can be recognized.
Here, the corresponding XML language source code of the logical block is the corresponding programmed logic of the logical block, the machine
The script language code that people can recognize is the instruction that the robot can be recognized.According to the instruction, it is possible to control machine
Device people.For example, after the XML language source code is converted to the script language code, when detect in Fig. 5 start by
When button (Start) is pressed, robot begins to action, and when detecting stop button (Stop) and being pressed, robot just stops
The action being only carrying out, when detecting next button (Step) and being pressed, robot will perform the next of current action
Step is acted.
It should be noted that the programming interface in each above-mentioned embodiment is integrated in robot demonstrator software.
Referring to Fig. 6, Fig. 6 is in the method for control machine people provided in an embodiment of the present invention, in basic condition logical block
The configuration interface figure of Set logical blocks.
For example, in the second predeterminable area of editing interface, here, second predeterminable area is Set Condition
The region at place.In second predeterminable area, in the configuration interface of Set logical blocks, the optional of Set logical blocks is contained
The parameter input frame of parameter and Set logical blocks.Also include in second predeterminable area:Button (Clear) is emptied, deletes and presses
Button (Remove) and ACK button (Confirm).In the parameter input frame that button is emptied for emptying the logical block
User input content.
Fig. 7 for control machine people provided in an embodiment of the present invention method in, the If logical blocks in basic condition logical block
Configuration interface figure.Specifically, here, second predeterminable area is the region where If Condition.Described second
In predeterminable area, in the configuration interface of If logical blocks, the parameter input frame of If logical blocks is contained.In second predeterminable area
Also include:Empty button (Clear), the button for increasing the button of Else If logical blocks, increasing Else logical blocks, delete button
And ACK button (Confirm) (Remove).In the parameter input frame that button is emptied for emptying the logical block
The content of user's input, the button of the increase Else If logical blocks is used in tree structure increase Else If logical blocks,
The button of the increase Else logical blocks is used in tree structure increase the button of Else logical blocks.The deletion button is used for
Delete the If logical blocks in tree structure and the logical block under the If logical blocks.For example, in Fig. 7, when detect delete by
When button (Remove) is pressed, delete the If logical blocks in the first predeterminable area (region where Project Program) with
And Move logical blocks and two Waypoint logical blocks under the If logical blocks.
Fig. 8 for control machine people provided in an embodiment of the present invention method in, the Move logics in basic condition logical block
The configuration interface figure of block.Specifically, in the second predeterminable area of editing interface, here, second predeterminable area is Move
Region where Condition.In second predeterminable area, in the configuration interface of Move logical blocks, contain Move and patrol
Collect the optional parameter of block.Also include in second predeterminable area:Flip button (Reversal), deletion button (Remove)
And ACK button (Confirm).It is described to empty user's input that button is used to empty in the parameter input frame of the logical block
Content.The ACK button is used to the corresponding programmed logic of Move logical blocks being converted to the instruction that robot can be recognized.
Fig. 9 for control machine people provided in an embodiment of the present invention method in, the Waypoint in basic condition logical block
The configuration interface figure of logical block.Specifically, in the second predeterminable area of editing interface, here, second predeterminable area is
Region where Waypoint Condition.In second predeterminable area, including:In preceding increase logical block button (Add
Before) and in rear increase logical block button (Add after), drag buttons (Set Waypoint) and movable button
(Move here).The Add before buttons are used in tree structure before the logical block of the Waypoint plus one
Waypoint logical block, the Addbefore buttons are used in tree structure after the logical block of the Waypoint plus one
Waypoint logical block, the Set Waypoint are used to pull the robot in analogous diagram, and the Move here buttons are used
In the robot in analogous diagram is moved into target location.Here, analogous diagram is shown robot simulation figure in Fig. 9.
The programmed logic (XML language source code) for the tree structure introduced in the embodiment of the present invention of getting off and script generation
The corresponding relation of code.
By taking the tree structure shown in Fig. 3 as an example.Wherein,
The corresponding XML language source code of Loop logical blocks is:
<Model logic=" Loop " row_number=" 0 " logic_mark=" 3 " mode_mark=" 1 ">
<Attribute mode=" Always "/>
</model>
Wherein, the position of the Loop logical blocks in row_number=" 0 ", corresponding basic condition logical block display interface
Put, logic_mark=" 3 " represents that Loop logical blocks are represented with 3, in mode_mark=" 1 " correspondence configuration interfaces
Always options.
The corresponding script Script codes of Loop logical blocks are:
setRunLine(0)
while(true)do
end
The corresponding XML language source code of Set logical blocks is:
The corresponding script Script codes of Set logical blocks are:
setRunLine(1)
Var_bool_1=not var_bool_1
Wherein, the position of the Set logical blocks in row_number=" 1 ", corresponding basic condition logical block display interface,
Logic_mark=" 12 " represents that Set logical blocks are represented with 12, the Set in mode_mark=" 6 " correspondence configuration interfaces
Variable options.
The corresponding XML language source code of If logical blocks is:
The corresponding script source code of If logical blocks is:
setRunLine(2)
if(var_bool_1)then
end
Wherein, the position of the If logical blocks in row_number=" 2 ", corresponding basic condition logical block display interface,
Logic_mark=" 4 " represents that If logical blocks are represented with 4, the Input in mode_mark=" 4 " correspondence configuration interfaces
Var_bool_1 in condition, 0bda7cec17f14c4e9f814b50b22a9c0d correspondence configuration interface.
The corresponding XML language source code of Move and Waypoint logical blocks is:
The corresponding script source code of Move and Waypoint logical blocks is:
Wherein, in " Move " row_number=" 3 " logic_mark=" 10 " mode_mark=" 1 ", row_
Number=" 3 " represents position of the Move logical blocks in corresponding basic condition logical block display interface, logic_mark="
10 " represent that Move logical blocks are represented with 10, the Move Joint in mode_mark=" 4 " correspondence configuration interfaces.
<Model logic=" Waypoint " row_number=" 4 " logic_mark=" 11 ">In, row_
Number=" 4 " represents position of the Waypoint logical blocks in corresponding basic condition logical block display interface, logic_
Mark=" 11 " represents that Waypoint logical blocks are represented with 11.
<Model logic=" Waypoint " row_number=" 5 " logic_mark=" 11 ">In, row_
Number=" 5 " represents position of the Waypoint logical blocks in corresponding basic condition logical block display interface, logic_
Mark=" 11 " represents that Waypoint logical blocks are represented with 11.
The corresponding XML language source code of Else logical blocks is:
<Model logic=" Else " row_number=" 6 " logic_mark=" 6 ">
</model>
The corresponding script source code of Else logical blocks is:
setRunLine(6)
else
Wherein, Else " row_number=" 6 " represents Else logical blocks in corresponding basic condition logical block display interface
In position, logic_mark=" 6 " represent Else logical blocks represented with 6.
The embodiment of the present invention additionally provides a kind of device of control machine people.
Referring to Figure 10, Figure 10 is the structural representation of the device of control machine people provided in an embodiment of the present invention, including:
First display unit 1010, for showing the logical block pre-set;Wherein, each one control of logical block correspondence
Logical statement;
Acquiring unit 1020, the logical block for obtaining user's selection;
Second display unit 1030, for the order determined by user, the logical block of user's selection is shown with tree structure;
3rd display unit 1040, for each logical block selected for user, shows the corresponding logic of the logical block
Block configuration interface;
Receiving unit 1050, for receiving, the logical block that user selected by the logical block configuration interface is corresponding to match somebody with somebody
Put parameter;
Converting unit 1060, for the configuration parameter selected according to user, generates the corresponding programmed logic of the logical block, and
The corresponding programmed logic of the logical block is converted into the instruction that robot can be recognized;
Control unit 1070, for the instruction changed for each logical block to be sent into robot, to robot
It is controlled.
Further, described device also includes:
Division unit, for the logical block to be divided into basic condition logical block and senior condition according to preparatory condition
Logical block, wherein, the preparatory condition includes the logical block selected frequency or edits the corresponding control of the logical block
The complexity of logical statement processed;
First display unit, including:
First display subelement, for showing programming interface by user instruction;
Second display subelement, for when detect basic condition logical block option button in the programming interface by by
Under, then the display base conditional logic block in the programming interface;
3rd display subelement, for when detect senior conditional logic block option button in the programming interface by by
Under, then senior conditional logic block is shown in the programming interface.
Further, second display unit, including:
4th display subelement, the order for selecting logical block by user, in the first preset areas of the programming interface
In domain, the logical block of user's selection is from top to bottom shown with tree structure;
5th display subelement, for when detect any one logical block Edit button in the programming interface by by
Under, then the corresponding edit operation of logical block Edit button is performed, increases logical block in the tree structure or deletes logic
The position of block or mobile logical block in tree structure;The logical block Edit button is:Increase button or delete button or shifting
Dynamic button.
Further, the 3rd display unit specifically for:
In the second predeterminable area of the programming interface, display logic block configuration interface;The logical block configuration interface
In include all optional parameters of the logical block, and/or the logical block parameter input frame.
Further, the converting unit, including:
First converting unit, for being pressed when detecting the ACK button in the logical block configuration interface, then according to
The configuration parameter of user's selection, generates the corresponding XML language source code of the logical block;
Second converting unit, for the corresponding XML language source code of the logical block to be converted into what robot can be recognized
Script language code.
Using each above-mentioned embodiment, from the logical block of display, the selected logical block of user is obtained, is selected according to user
The logical block generation tree structure selected, in the corresponding configuration interface of each logical block, selects the configuration parameter of each logical block, raw
Into the corresponding programmed logic of logical block in tree structure, the corresponding programmed logic of tree structure is converted into robot to know
Other instruction, realizes the control to robot.So, the method for simplifying control machine people so that layman is in short-term
The interior method for grasping control machine people.
For device embodiment, because it is substantially similar to embodiment of the method, so description is fairly simple, it is related
Part illustrates referring to the part of embodiment of the method.
It should be noted that herein, such as first and second or the like relational terms are used merely to a reality
Body or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or deposited between operating
In any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Nonexcludability is included, so that process, method, article or equipment including a series of key elements not only will including those
Element, but also other key elements including being not expressly set out, or also include being this process, method, article or equipment
Intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that
Also there is other identical element in process, method, article or equipment including the key element.
Each embodiment in this specification is described by the way of related, identical similar portion between each embodiment
Divide mutually referring to what each embodiment was stressed is the difference with other embodiment.It is real especially for system
Apply for example, because it is substantially similar to embodiment of the method, so description is fairly simple, related part is referring to embodiment of the method
Part explanation.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all
Any modification, equivalent substitution and improvements made within the spirit and principles in the present invention etc., are all contained in protection scope of the present invention
It is interior.
Claims (11)
1. a kind of method of control machine people, it is characterised in that including:
Show the logical block pre-set;Wherein, one control logic sentence of each logical block correspondence;
Obtain the logical block of user's selection;
The order determined by user, the logical block of user's selection is shown with tree structure;
The each logical block selected for user, shows the corresponding logical block configuration interface of the logical block;
Receive the corresponding configuration parameter of the logical block that user is selected by the logical block configuration interface;
The configuration parameter selected according to user, generates the corresponding programmed logic of the logical block, and by the corresponding program of the logical block
Logical transition is the instruction that robot can be recognized;
The instruction changed for each logical block is sent to robot, robot is controlled.
2. according to the method described in claim 1, it is characterised in that the logical block is divided into base strip according to preparatory condition
Part logical block and senior conditional logic block, wherein, the preparatory condition includes the logical block selected frequency or editor
The complexity of the corresponding control logic sentence of the logical block;
The step of logical block that the display is pre-set, including:
Programming interface is shown by user instruction;
When the basic condition logical block option button detected in the programming interface is pressed, then show in the programming interface
Show basic condition logical block;
When the senior conditional logic block option button detected in the programming interface is pressed, then show in the programming interface
Show senior conditional logic block.
3. method according to claim 2, it is characterised in that the order determined by user, is shown with tree structure
The step of logical block of user's selection, including:
The order of logical block is selected by user, in the first predeterminable area of the programming interface, with tree structure from top to bottom
Show the logical block of user's selection;
When any one the logical block Edit button detected in the programming interface is pressed, then the logical block Edit button is performed
Corresponding edit operation, increases logical block in the tree structure or deletes position of the logical block in tree structure;It is described
Logical block Edit button is:Increase button or delete button.
4. method according to claim 2, it is characterised in that each logical block selected for user, display should
The step of logical block corresponding logical block configuration interface, including:
In the second predeterminable area of the programming interface, display logic block configuration interface;Wrapped in the logical block configuration interface
Parameter input frame containing all optional parameters of the logical block, and/or the logical block.
5. method according to claim 2, it is characterised in that the configuration parameter selected according to user, generates this and patrols
Volume corresponding programmed logic of block, and the corresponding programmed logic of the logical block is converted to the step for the instruction that robot can be recognized
Suddenly, including:
When the ACK button detected in the logical block configuration interface is pressed, then the configuration parameter selected according to user is raw
Into the corresponding XML language source code of the logical block;
The corresponding XML language source code of the logical block is converted into the script language code that robot can be recognized.
6. method according to claim 2, it is characterised in that:Described programming interface is integrated in robot demonstrator software
In.
7. a kind of device of control machine people, it is characterised in that including:
First display unit, for showing the logical block pre-set;Wherein, one control logic language of each logical block correspondence
Sentence;
Acquiring unit, the logical block for obtaining user's selection;
Second display unit, for the order determined by user, the logical block of user's selection is shown with tree structure;
3rd display unit, for each logical block selected for user, shows the corresponding logical block configuration circle of the logical block
Face;
Receiving unit, for receiving the corresponding configuration parameter of the logical block that user is selected by the logical block configuration interface;
Converting unit, for the configuration parameter selected according to user, generates the corresponding programmed logic of the logical block, and by the logic
The corresponding programmed logic of block is converted to the instruction that robot can be recognized;
Control unit, for the instruction changed for each logical block to be sent into robot, is controlled to robot.
8. device according to claim 7, it is characterised in that described device also includes:
Division unit, for the logical block to be divided into basic condition logical block and senior conditional logic according to preparatory condition
Block, wherein, the preparatory condition includes the logical block selected frequency or the corresponding control of editor's logical block is patrolled
Collect the complexity of sentence;
First display unit, including:
First display subelement, for showing programming interface by user instruction;
Second display subelement, is pressed for that ought detect the basic condition logical block option button in the programming interface,
The then display base conditional logic block in the programming interface;
3rd display subelement, is pressed for that ought detect the senior conditional logic block option button in the programming interface,
Senior conditional logic block is then shown in the programming interface.
9. method according to claim 8, it is characterised in that second display unit, including:
4th display subelement, the order for selecting logical block by user, in the first predeterminable area of the programming interface,
The logical block of user's selection is from top to bottom shown with tree structure;
5th display subelement, is pressed, then for that ought detect any one logical block Edit button in the programming interface
The corresponding edit operation of logical block Edit button is performed, increases logical block in the tree structure or deletes logical block in tree
Position in shape structure;The logical block Edit button is:Increase button or delete button.
10. method according to claim 8, it is characterised in that the 3rd display unit specifically for:
In the second predeterminable area of the programming interface, display logic block configuration interface;Wrapped in the logical block configuration interface
Parameter input frame containing all optional parameters of the logical block, and/or the logical block.
11. method according to claim 8, it is characterised in that the converting unit, including:
First converting unit, is pressed for that ought detect the ACK button in the logical block configuration interface, then according to user
The configuration parameter of selection, generates the corresponding XML language source code of the logical block;
Second converting unit, for the corresponding XML language source code of the logical block to be converted into the script that robot can be recognized
Language codes.
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PCT/CN2017/102475 WO2018054303A1 (en) | 2016-09-20 | 2017-09-20 | Method and device for controlling robot |
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WO2018054303A1 (en) * | 2016-09-20 | 2018-03-29 | 遨博(北京)智能科技有限公司 | Method and device for controlling robot |
CN108268255A (en) * | 2018-02-11 | 2018-07-10 | 遨博(北京)智能科技有限公司 | For programming the method and apparatus of robot |
CN108500967A (en) * | 2018-05-05 | 2018-09-07 | 深圳市越疆科技有限公司 | Control method, modular articulated robot and storage medium |
CN108673486A (en) * | 2018-05-05 | 2018-10-19 | 深圳市越疆科技有限公司 | modular articulated robot, control method and storage medium |
CN108762183A (en) * | 2018-05-05 | 2018-11-06 | 深圳市越疆科技有限公司 | Chip type controls integral structure |
CN109032571A (en) * | 2018-08-28 | 2018-12-18 | 苏州艾利特机器人有限公司 | A kind of robot process generation method |
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CN110599874A (en) * | 2018-09-05 | 2019-12-20 | 南京科青信息科技有限公司 | Programming method and device of robot controller, computer equipment and storage medium |
CN111387878A (en) * | 2020-03-09 | 2020-07-10 | 江苏美的清洁电器股份有限公司 | Control method, terminal equipment, sweeper and computer storage medium |
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WO2018054303A1 (en) * | 2016-09-20 | 2018-03-29 | 遨博(北京)智能科技有限公司 | Method and device for controlling robot |
CN109690473A (en) * | 2017-09-11 | 2019-04-26 | 深圳配天智能技术研究院有限公司 | A kind of graphic programming method, apparatus, computer storage medium and vision system |
CN108268255A (en) * | 2018-02-11 | 2018-07-10 | 遨博(北京)智能科技有限公司 | For programming the method and apparatus of robot |
CN108500967A (en) * | 2018-05-05 | 2018-09-07 | 深圳市越疆科技有限公司 | Control method, modular articulated robot and storage medium |
CN108673486A (en) * | 2018-05-05 | 2018-10-19 | 深圳市越疆科技有限公司 | modular articulated robot, control method and storage medium |
CN108762183A (en) * | 2018-05-05 | 2018-11-06 | 深圳市越疆科技有限公司 | Chip type controls integral structure |
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CN110599874A (en) * | 2018-09-05 | 2019-12-20 | 南京科青信息科技有限公司 | Programming method and device of robot controller, computer equipment and storage medium |
CN109048928A (en) * | 2018-10-25 | 2018-12-21 | 遨博(北京)智能科技有限公司 | A kind of generation method and device of robot control program |
CN111387878A (en) * | 2020-03-09 | 2020-07-10 | 江苏美的清洁电器股份有限公司 | Control method, terminal equipment, sweeper and computer storage medium |
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