CN107678743A - A kind of method for intelligent robot programming - Google Patents
A kind of method for intelligent robot programming Download PDFInfo
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- CN107678743A CN107678743A CN201710889532.9A CN201710889532A CN107678743A CN 107678743 A CN107678743 A CN 107678743A CN 201710889532 A CN201710889532 A CN 201710889532A CN 107678743 A CN107678743 A CN 107678743A
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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
- G06F8/30—Creation or generation of source code
- G06F8/38—Creation or generation of source code for implementing user interfaces
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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
- G06F8/00—Arrangements for software engineering
- G06F8/40—Transformation of program code
- G06F8/41—Compilation
- G06F8/42—Syntactic analysis
Abstract
The invention discloses a kind of system for intelligent robot programming, and it carries out system the graphical operation module of image conversion editor, the display module that described image operation module content of edit is shown, the integrated system integration module based on the intelligent program for perceiving action.The system integration module, is comprised at least：To perceive action DLL and User Interface is defined interactive interface definition unit, read it is described perceive action DLL and User Interface is defined and perception action program unit, Integrated System Control Unit and download unit are write to system initialization.The present invention is capable of the design robot program of simplicity, meets the daily simple clear thoughtcast of people, greatly reduces difficulty of learning.The understanding to high-level language logic is deepened by the contrast study of Graphic Programming Design and actual code simultaneously, forms gradual mode of learning, so as to effectively attract the interest of beginner.
Description
Technical field
The present invention relates to a kind of method for intelligent robot programming, belong to robotic programming system regions.
Background technology
Machine intelligence is one of core technology of robot, and machine intelligence is related to read sensor information in real time and effective
Ground controls transmission device.Machine intelligence is typically designed using the high-level language of similar C language, it is generally the case that these are controlled in real time
Processing procedure sequence is complicated and indigestion.For students in middle and primary schools and largely to the unfamiliar beginner of high-level programming language, he
Need to take a significant amount of time the bottom control for understanding robot, study high-level language grammer and adjustment Skill, therefore lose
Practise interest and power.For programmer, debugging machine is intelligently and a complexity and uninteresting thing.Therefore, based on advanced
The intelligent robot programming of language is robot teaching, the obstacle of robot technology popularization, and the difficult point of machine intelligence design.
Many popular Robot Designs, teaching and match platform at present, are directed to simplifying the programming of machine intelligence, and push away
Go out many programming tools, such as：MicrosoftVisualProgramLanguage、RoboLab、
LegoMindstormsEv3, RobotC, iRobotQ radish circle 3D visual programmings and Na Ying special machine people's graphic programming instruments
Deng.
These Programming instrument common features are the machine bottom control programs for shielding complexity, while by high-level language
High-rise control it is graphical, so as to be high-rise control that beginner can be absorbed in machine intelligence.But machine intelligence design is still
So using the thinking logic of advanced procedures design.The thinking logic of advanced procedures design and the daily thoughtcast of human brain have one
Difference is determined, it is necessary to which a long-term learning process is to adapt to the thinking logic of programming.Meanwhile graphic programming is in program
When complex, figure connection can become mixed and disorderly, while be difficult in a screen display, it is necessary to be shown with multiple page screens, very
Ugly relation between understanding program statement, very big difficulty is brought to debugging and editor.
So for the technician, a kind of method and its system for intelligent robot programming of exploitation, design is closed
Reason, meet the daily simple clear thoughtcast of people, it will greatly reduce difficulty of learning.Pass through Graphic Programming Design and reality
The understanding to high-level language logic is deepened in the contrast study of border code, forms gradual mode of learning, so as to effectively attract
The interest of beginner.Simple apparent design method simultaneously, and the coding of machine intelligence become funny and relaxed with debugging, are suitable to
Promote, turn into a urgent problem to be solved.
The content of the invention
It is proposed a kind of system for intelligent robot programming of the present invention for problem above, it is characterised in that at least
Including：System is subjected to the graphical operation module of image conversion editor, is shown described image operation module content of edit
The integrated system integration module of the display module shown, the intelligent program based on perception-action.
Further, the system integration module, is comprised at least：To perception-action DLL and to user mutual circle
Interactive interface definition unit that face is defined, read the perception-action DLL and User Interface is determined
Justice and perception-action program unit, Integrated System Control Unit and download unit is write to system initialization.
Further, the interactive interface definition unit, is comprised at least：Definition to perception-action DLL and
Definition to User Interface；The definition of described pair of perception-action DLL：Define robot system first is with control
Interface and system variable between system, then the control parameter of any one sensor reading or driver all needed to be defined as interface change
Amount, system automatically provide suitable edit control；The User Interface comprises at least three regions：The program of management program
The sentence definition of the definition of directorial area, perception-action sentence tree directorial area of management sentence tree generation and statement type.
Further, the perception-action program unit of writing is by reading perception-action DLL and user's friendship
The definition at mutual interface, completes the initialization of system and User Interface；In the basic perception of editor, system defines according to interface
The legitimacy of user's input is checked in real time, and real-time reminding user changes；When edit high-grade perceives and advanced action is edited, it is
The advanced perception and advanced action that system writes user, which are added in test program, forms complete test code, and this is tested
Code gives system progress syntax check and Real-time Feedback is to user.
Further, the Integrated System Control Unit：Programing system automatically generates interface function, and the interface function is in machine
The Infinite Cyclic of device people's system is called；When robot system receives information, receive information function is called；Machine intelligence has been handled
After information, robot system obtains transmission information function and sends information to control centre.
Further, the download unit, is comprised at least：Translate perception-action program translation of programmed statements and incite somebody to action
Programmed statements are compiled and downloaded；The perception-action program translation is compiled firstly the need of by perception-action program translation for robot
The high-level language that journey uses.
Meanwhile further, the graphical operation module, comprise at least：Management program it is newly-built, preserve, compiling and
Interface defines, be responsible for user and set to preserve, while manages the program administrative unit of setting of machine name word and numbering, sentence
Addition, insertion, delete, replicate, paste, the class of mobile and name perception-action sentence tree administrative unit and definition statement
Type and the sentence definition unit for editing sensed condition and order of action；
Further, the sensed condition and the order of action pass through the advanced perception of text editor and advanced
Action；The action editor compound can also take action and edit, and the compound action includes：One sequence acted and each action
Executable condition, each action is single action or repetitive operation；The repetitive operation repeats to hold when execution condition is true
OK, next action is performed for fictitious time；The single action only performs when execution condition meets.
Further, the system interface function comprises at least：Sensor sets function, perception-action program, driver
Command functions, receive information function, send information function；
Further, the robot system reads sensor values and called in each system interval
Sensor sets function to notify perception-action program sensor values change.Perception-action program determines according to sensor values
Current order of action, robot system are called actuator command function to obtain actuator command parameter and performed, robot system
Call transmission information function and send information to control centre.
The present invention also propose it is a kind of for intelligent robot programming system programmed method, its feature including at least with
Lower step：
S1：Define the interface between intelligent robot system and control system；
The input interface of the intelligent robot system includes：Variable name, type and the value of robot all the sensors
Scope；The output interface of the intelligent robot system includes：Variable name, type and the span of all execution units；S2：
Define the type of perception-action sentence, perceive state and order of action；The perception is the group of different sensors interval
Close, the variable in state interval combination also includes system variable and what self-defined and variable was write meets high-level programming language grammer
Advanced condition；Described take action refers to one of execution unit action of robot or set and to system variable and made by oneself
The various operations for meeting high-level language grammer of adopted variable；S3：Define perception-action sentence tree；The sentence tree is used to define
Priority, sentence level and the executing rule of perception-action sentence.
Further, perception-action sentence in the step S2, including：Acquiescence and super categories；The super categories
Priority be higher than than default type.
Further, the action in the step S2, including：Single action and compound action；The single action is to hold
One action of row part, the compound action are the set of execution unit；Compound action defines described in step S2
Set and each action can set execution condition；Action includes two types, i.e. single action and repetitive operation,
Single action performs once when execution condition meets, repetitive operation performs always when condition meets；
The action of the step S2 includes two kinds of execution patterns, i.e. not interrupt mode and interrupt mode；Super categories sentence
All it is that interrupt mode, the action of interrupt mode can not interrupted by the action of super categories sentence.
Further, for step S3 when the sensed condition of father's sentence meets, substatement just can be by by the scanning that puts in order；
When the perception state of certain substatement meets, stop scanning other substatements, the action of the substatement is performed；When sub- language useless
When the perception state of sentence meets, the action of father's sentence is performed；
Further, in step S3, system scans the super categories sentence of the first level, super statement type in order
Can only be in the first hierarchy definition of sentence tree；When the sensed condition of a certain sentence meets, by the method for perception-action sentence tree
Scan substatement；If the perception state of no super categories sentence meets, system then scans the first level in order
Default type sentence；When the sensed condition of a certain sentence meets, substatement is scanned by the method for perception-action sentence tree；Such as
When fruit does not have the sensed condition of default type sentence to meet, perform the order of action of acquiescence or keep the action life finally performed
Order.
The advantage of the invention is that：For non-technical personnel, a kind of side for intelligent robot programming of the present invention
Method and its system, it is capable of the design robot program of simplicity, meets the daily simple clear thoughtcast of people, greatly reduce
Difficulty of learning.The understanding to high-level language logic, shape are deepened by the contrast study of Graphic Programming Design and actual code simultaneously
Into gradual mode of learning, so as to effectively attract the interest of beginner.Further, simple apparent design method,
It is that the coding of machine intelligence and debugging become funny and relaxed, suitable for promoting.
Brief description of the drawings
, below will be to embodiment or existing for clearer explanation embodiments of the invention or the technical scheme of prior art
There is the required accompanying drawing used in technology description to do one and simply introduce, it should be apparent that, drawings in the following description are only
Some embodiments of the present invention, for those of ordinary skill in the art, on the premise of not paying creative work, may be used also
To obtain other accompanying drawings according to these accompanying drawings.
Fig. 1 is that the present invention is overall flow schematic diagram；
Fig. 2 is perception-action programmed environment main interface schematic diagram in the embodiment of the present invention；
Fig. 3 is composite move editing interface schematic diagram in the embodiment of the present invention；
Fig. 4 is perception-action programming flow diagram in the embodiment of the present invention；
Fig. 5 is the flow chart of perception-action program call method in robot system in the embodiment of the present invention；
Fig. 6 is perception-customized interface of action programmed environment in the embodiment of the present invention；
Fig. 7 is the flow chart of perception-action program process in the embodiment of the present invention.
Embodiment
To make the purpose, technical scheme and advantage of embodiments of the invention clearer, with reference to the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly completely described：
A kind of system for intelligent robot programming as shown in figs. 1-7, is comprised at least：
System is subjected to the graphical operation module of image conversion editor, is shown image conversion operation module content of edit
Display module, the integrated system integration module of intelligent program based on perception-action；System integration module, comprise at least：
To perception-action DLL and the interactive interface definition unit being defined to User Interface, read perception-action volume
Journey interface and User Interface is defined and perception-action program unit, system collection are write to system initialization
Into unit and download unit.
In the present embodiment, interactive interface definition unit comprises at least：Definition to perception-action DLL and right
The definition of User Interface；Definition to perception-action DLL：Define first between robot system and control system
Interface and system variable, then the control parameter of any one sensor reading or driver all needed to be defined as interface variables, it is
System provides the edit control for being used for editing sensed condition and action order；User Interface comprises at least three regions：Management
The sentence of the definition of the program directorial area of program, perception-action sentence tree directorial area of management sentence tree generation and statement type
Definition.Robot system includes：The control zone being controlled to device, connect the comunication area and the fortune of robot and control zone
The intelligent control area of intelligent control algorithm of the row in robot controller；
In the present embodiment, write perception-action program unit and handed over by reading perception-action DLL and user
The definition at mutual interface, the input of complete paired systems and User Interface and the initialization of output interface；In editor's apparatus control
During basic perception of the system sensor to the simple combination of the sensing range or value of dependent variable and system variable, system is according to connecing
Mouth definition checks the legitimacy of user's input, and real-time reminding user modification in real time；Perceived in edit high-grade and advanced action is compiled
When collecting, advanced perception and advanced action that system writes user are added to composition test code in test program, and this is surveyed
The feedback of examination code gives system progress syntax check and Real-time Feedback is to user；
In the present embodiment, Integrated System Control Unit programing system automatically generates interface function, and interface function is in robot
The Infinite Cyclic of system is called；When robot system receives information, receive information function is called；Machine is according to the sensing of reception
After reading and system variable state the generation activity control instruction of device have handled information, robot system, which obtains, sends information function
And send information to control centre；
In the present embodiment, download unit comprises at least：Translate perception-action program translation of programmed statements and will compile
Journey sentence is compiled and downloaded；Perception-action program translation uses firstly the need of by perception-action program translation for robotic programming
High-level language.
As preferred embodiment, graphical operation module comprises at least：Management program it is newly-built, preserve, compiling and
Interface defines, be responsible for user and set to preserve, while manages the program administrative unit of setting of machine name word and numbering, sentence
Addition, insertion, delete, replicate, paste, the class of mobile and name perception-action sentence tree administrative unit and definition statement
Type and the sentence definition unit for editing sensed condition and order of action；
Sensed condition and order of action pass through the advanced perception of text editor and advanced action；Action editor can also answer
Action editor is closed, compound action includes：The sequence and the executable condition of each action of one action, each action is single dynamic
Work or repetitive operation；Repetitive operation is repeated when execution condition is true, and next action is performed for fictitious time；Single action
Only performed when execution condition meets.
As preferred embodiment, system interface function comprises at least：Sensor set function, perception-action program,
Actuator command function, receive information function, send information function；
System of the robot system in each real time response speed that can be met according to the demand and system of intelligent control
In time interval, read sensor values and call sensor to set function to notify perception-action program sensor values change.
Perception-action program determines current order of action according to sensor values, and robot system calls actuator command function to obtain
Actuator command parameter simultaneously performs, and robot system calls transmission information function and sends information to control centre.
Simultaneously disclosed herein as well is a kind of programmed method of the system for intelligent robot programming, its feature is at least
Comprise the following steps：
S1：Define intelligent robot system and exchange data-interface between control system；
The input interface of intelligent robot system includes：Variable name, type and the span of robot all the sensors；
The output interface of intelligent robot system includes：Variable name, type and the span of all execution units；
S2：Define the type of perception-action sentence, perceive state and order of action；Perception is sensor interval
Variable in combination, state interval combination also meets high-level programming language language including what system variable and self-defined and variable were write
The advanced condition of method；Action refers to one of the execution unit action or set and to system variable and self-defined of robot
The various operations for meeting high-level language grammer of variable；
S3：Define perception-action sentence tree；Sentence tree for define the priority of perception-action sentence, sentence level and
Executing rule.
As preferred embodiment, perception-action sentence in step S2, including：Acquiescence and super categories；Super class
The priority of type is higher than than default type；Action in step S2, including：Single action and compound action；Single action is to hold
One action of row part, compound action are the set of execution unit；In step S2 it is compound action define set,
And each action can set execution condition；Action includes two types, i.e. single action and repetitive operation, and single action exists
Performed once when execution condition meets, repetitive operation performs always when condition meets；
Step S2 action includes two kinds of execution patterns, i.e. not interrupt mode and interrupt mode；Super categories sentence is all
Not interrupt mode, the action of interrupt mode can be interrupted by the action of super categories sentence.
As preferred embodiment, for step S3 when the sensed condition of father's sentence meets, substatement just can be by by arrangement
Sequential scan；When the perception state of certain substatement meets, stop scanning other substatements, the action of the substatement is performed；
When the perception state of substatement useless meets, the action of father's sentence is performed；
In step S3, system scans the super categories sentence of the first level in order, and super statement type can only be in sentence
The first hierarchy definition of tree；When the sensed condition of a certain sentence judges to meet by sensor machine reading, by perception-action
The method scanning substatement of sentence tree；If the perception state of no super categories sentence meets, system is then swept in order
Take aim at the default type sentence of the first level；When the sensed condition of a certain sentence meets, swept by the method for perception-action sentence tree
Retouch substatement；If the sensed condition of no default type sentence meets, perform the order of action of acquiescence or keep finally holding
Capable order of action.
Embodiment：
1st, exemplified by three wheel robots, i.e. robot A, the interface definition of intelligent robot system is illustrated.Robot A bags
Include：Two differential gears, respectively by the motor control of left and right two；One castle wheel does not have motor control；One LED, includes three
Kind of state, that is, close, flash and often bright；One ultrasonic distance sensor and a gray-scale sensor.Table 1 gives machine A
A kind of definition method of interface.
Table 1RobotA intelligence system and the interface of control system and system variable
Programming main interface schematic diagram, main interface include three regions, i.e. program directorial area, perception-action language as shown in Figure 2
Sentence tree directorial area and sentence definition.The loading of program directorial area management program, preservation, compiling, download, compiled code are checked
Deng.The setting of machine mankind type, name and numbering is managed simultaneously, and is responsible for the preservation that user is set.Perception-action sentence tree pipe
Reason area manages the generation of sentence tree, including sentence addition, insertion, deletion, duplication, paste, mobile and name etc..Bear sentence definition
Blame the editor of the definition of statement type, sensed condition and order of action.Compound action editing interface shown in Fig. 3, including action tree
Directorial area and action definition area, action tree directorial area are used for defining an action sequence performed in order, and action definition area determines
The execution condition and action parameter that justice specifically acts.
2nd, by taking robot RobotA as an example, the machine intelligence of a search black wisp in white place can be as
3 perception-action sentence shown in table 2 is completed.First statement RobotA slows down after gray-scale sensor finds black object
And LED flashes, the sentence be precedence type, action type be it is non-interrupted, can be in the action execution of other interrupt types
Interrupt them.Article 3 sentence is that Robot gos ahead search black wisp RobotA apart from obstacle in other cases
10cm is with inside turn.
Table 2RobotA searches perception-action procedure quantity of the search black wisp in white place
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should all be included within the scope of the present invention.
Claims (6)
1. a kind of system for intelligent robot programming, it is characterised in that comprise at least：
System is subjected to the graphical operation module of image conversion editor, is shown described image operation module content of edit
Display module, the integrated system integration module of intelligent program based on perception-action；
The system integration module, is comprised at least：To perception-action DLL and the friendship being defined to User Interface
Mutual interface definition unit, read the perception-action DLL and User Interface is defined and at the beginning of system
Beginningization writes perception-action program unit, Integrated System Control Unit and download unit；
The interactive interface definition unit, is comprised at least：Definition to perception-action DLL and to User Interface
Definition；The definition of described pair of perception-action DLL：The interface and system between robot system and control system are defined first
Variable, then the control parameter of any one sensor reading or driver all needed to be defined as interface variables, system, which provides, to be used for
Edit the edit control of sensed condition and action order；The User Interface comprises at least three regions：Management program
The sentence definition of the definition of program directorial area, perception-action sentence tree directorial area of management sentence tree generation and statement type；
The robot system includes：The control zone being controlled to device, connect robot and control zone the comunication area and
The intelligent control area of the intelligent control algorithm operated in robot controller；
Perception-action the program unit of writing is complete by reading the definition of perception-action DLL and User Interface
The input of paired systems and User Interface and the initialization of output interface；In editor's control system of machine sensor to strain
When measuring the basic perception with the sensing range of system variable or the simple combination of value, system defines according to interface and checks use in real time
The legitimacy of family input, and real-time reminding user changes；When edit high-grade perceives and advanced action is edited, system compiles user
The advanced perception and advanced action write, which are added in test program, forms test code, and the feedback of the test code is given and is
System carries out syntax check and Real-time Feedback is to user；
The Integrated System Control Unit：Programing system automatically generates interface function, and the interface function is in the unlimited of robot system
Recursive call；When robot system receives information, receive information function is called；Machine according to the reading of the sensor of reception and
System variable state is produced after activity control instruction handle information, and robot system obtains transmission information function and concurrently delivered letters breath
To control centre；
The download unit, is comprised at least：Translate perception-action program translation of programmed statements and by programmed statements compiling with
Carry；The perception-action program translation is firstly the need of the advanced language for using perception-action program translation for robotic programming
Speech.
2. a kind of system for intelligent robot programming according to claim 1, is further characterized in that：
The graphical operation module, is comprised at least：The newly-built of management program, preservation, compiling and interface definition, responsible user set
Preservation is put, while manages the program administrative unit of setting of the machine name word and numbering, addition of sentence, insertion, deletion, multiple
System, paste, mobile and name perception-action sentence tree administrative unit and definition statement type and edit sensed condition and
The sentence definition unit of order of action；
The sensed condition and the order of action pass through the advanced perception of text editor and advanced action；The action is compiled
The editor that compound can also take action is collected, the compound action includes：The sequence and the executable condition of each action of one action, each
Action is single action or repetitive operation；The repetitive operation repeats when execution condition is true, under being performed for fictitious time
One action；The single action only performs when execution condition meets.
3. a kind of system for intelligent robot programming according to claim 1, is further characterized in that：
The system interface function comprises at least：Sensor sets function, perception-action program, actuator command function, reception
Information function, send information function；
System of the robot system in each real time response speed that can be met according to the demand and system of intelligent control
In time interval, read sensor values and call sensor to set function to notify perception-action program sensor values change.
Perception-action program determines current order of action according to sensor values, and robot system calls actuator command function to obtain
Actuator command parameter simultaneously performs, and robot system calls transmission information function and sends information to control centre.
4. a kind of programmed method using the system for being used for intelligent robot programming described in claim 1-3 any one, it is special
Sign is including at least following steps：
S1：Define intelligent robot system and exchange data-interface between control system；
The input interface of the intelligent robot system includes：Variable name, type and the span of robot all the sensors；
The output interface of the intelligent robot system includes：Variable name, type and the span of all execution units；
S2：Define the type of perception-action sentence, perceive state and order of action；The perception is sensor interval
Variable in combination, state interval combination also meets high-level programming language language including what system variable and self-defined and variable were write
The advanced condition of method；It is described take action refer to robot one of execution unit action or set and to system variable and from
The various operations for meeting high-level language grammer of defined variable；
S3：Define perception-action sentence tree；The sentence tree for define the priority of perception-action sentence, sentence level and
Executing rule.
5. a kind of method for intelligent robot programming according to claim 4, is further characterized in that：
Perception-action sentence in the step S2, including：Acquiescence and super categories；The priority of the super categories is higher than
Compare default type；
Action in the step S2, including：Single action and compound action；The single action is one of execution unit dynamic
Make, the compound action is the set of execution unit；Compound action described in step S2 defines set and each
Action can set execution condition；Action includes two types, i.e. single action and repetitive operation, and single action is performing bar
Performed once when part meets, repetitive operation performs always when condition meets；
The action of the step S2 includes two kinds of execution patterns, i.e. not interrupt mode and interrupt mode；Super categories sentence is all
Not interrupt mode, the action of interrupt mode can be interrupted by the action of super categories sentence.
6. a kind of method for intelligent robot programming according to claim 4, is further characterized in that：
For step S3 when the sensed condition of father's sentence meets, substatement just can be by by the scanning that puts in order；When the sense of certain substatement
When knowing that state meets, stop scanning other substatements, the action of the substatement is performed；When the perception state of substatement useless expires
When sufficient, the action of father's sentence is performed；
In step S3, system scans the super categories sentence of the first level in order, and super statement type can only be in sentence tree
First hierarchy definition；When the sensed condition of a certain sentence judges to meet by sensor machine reading, by perception-action sentence
The method scanning substatement of tree；If the perception state of no super categories sentence meets, system then scans in order
The default type sentence of one level；When the sensed condition of a certain sentence meets, son is scanned by the method for perception-action sentence tree
Sentence；If the sensed condition of no default type sentence meets, perform the order of action of acquiescence or keep what is finally performed
Order of action.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN109822595A (en) * | 2019-03-25 | 2019-05-31 | 杭州纳茵特科技有限公司 | A kind of educational robot |
| CN110026983A (en) * | 2019-04-30 | 2019-07-19 | 南京云图机器人科技有限公司 | A kind of robotic programming system |
| CN110955421A (en) * | 2019-11-22 | 2020-04-03 | 上海乐白机器人有限公司 | Method, system, electronic device, storage medium for robot programming |
| CN111267087A (en) * | 2018-12-04 | 2020-06-12 | 北京猎户星空科技有限公司 | Method, device, equipment and storage medium for generating and executing action molecules |
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