CN108406811A - robot programming device, system and method - Google Patents
robot programming device, system and method Download PDFInfo
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- CN108406811A CN108406811A CN201810224164.0A CN201810224164A CN108406811A CN 108406811 A CN108406811 A CN 108406811A CN 201810224164 A CN201810224164 A CN 201810224164A CN 108406811 A CN108406811 A CN 108406811A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/003—Controls for manipulators by means of an audio-responsive input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
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- Evolutionary Computation (AREA)
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Abstract
The present invention relates to robotic programming technical field, a kind of robot programming device, system and method are provided.The robot programming device includes host computer and the voice capture device that is connect with host computer.Wherein voice capture device is used to acquire the voice programming password for obtaining user and voice programming password is sent to host computer, host computer is used to carry out speech recognition to voice programming password, it obtains programming operation instruction corresponding with voice programming password and operational order builds robot program based on programming, which can be downloaded to the robot being connect with host computer and execution.Using the robot programming device, user can realize carries out robotic programming by way of voice input, easy to operate, is easy to grasp.
Description
Technical field
The present invention relates to robotic programming technical field, a kind of robot programming device, system and method are provided.
Background technology
Educational robot be by production firm specially develop to excite the students ' interest of study, training student integration capability to be
Robot finished product, suit or the loose mail of target.Educational robot culture to Scientific Literacy and carries because adapting to fresh course
Height plays positive effect, is promoted in numerous schools of middle and primary schools and teenager educational institution, and with " playing middle school "
The characteristics of liked deeply by teen-age, robot enters into school and computer and popularizes as campus, have become must trend, machine
Device people educates the fresh course for having become education of middle and primary schools field.
Existing educational robot product, such as mBot robots, LEGO robots etc. are supported, to robotic programming, to learn
Life is run by writing robot program on host computer and downloading in robot, realizes specific program function.At this
In the process, student is contributed to understand the operation principle of robot and the basic knowledge of learning program exploitation, in the future further
Study related content is laid a solid foundation.The programming of existing educational robot, generally by directly write code or
The dragging of function module is carried out in graphical interfaces to complete, realization method is complex, is difficult to grasp for teenager.
Invention content
In view of this, the embodiment of the present invention provides a kind of robot programming device, system and method, by voice input into
Row robotic programming, to improve above-mentioned technical problem.
The embodiment of the present invention is achieved through the following technical solutions：
In a first aspect, the embodiment of the present invention provides a kind of robot programming device, including：
Host computer；
Voice capture device is connect with host computer, the voice programming password for acquire acquisition user and by voice programming
Password is sent to host computer；Host computer is used to carry out speech recognition to voice programming password, obtains corresponding with voice programming password
Programming operation instruction and operational order builds robot program based on programming, robot program can be downloaded to and host computer company
The robot connect and execution.
Second aspect, the embodiment of the present invention provide a kind of robotic programming system, including：
The robot programming device provided in the realization method of first aspect；
Robot, robot include：
Robot body；
Robot controller is mounted on robot body and connect with the host computer of robot programming device, be used for from
Host computer, which is downloaded, obtains robot program；
Robot function module is mounted on robot body and is connect with robot controller, and robot controller is used
In execution robot program to control robot Implement of Function Module function corresponding with robot program.
The third aspect, the embodiment of the present invention provide a kind of robotic programming system, including：
Voice capture device, for acquiring the voice programming password for obtaining user；
Robot, robot include：
Robot body；
Robot controller is mounted on robot body and is connect with voice capture device, for receiving voice collecting
If the voice programming password of transmission simultaneously carries out speech recognition to voice programming password, programming corresponding with voice programming password is obtained
Operational order and operational order builds robot program based on programming；
Robot function module is mounted on robot body and is connect with robot controller, and robot controller is also
For executing robot program to control robot Implement of Function Module function corresponding with robot program.
Fourth aspect, the embodiment of the present invention provide a kind of robotic programming method, including：
Obtain the voice programming password of user；
Speech recognition is carried out to voice programming password, obtains programming operation instruction corresponding with voice programming password；
Operational order builds robot program based on programming, and robot program can execute in robot.
The advantageous effect that the present invention realizes：
Robot programming device provided in an embodiment of the present invention includes host computer and voice capture device.Wherein, voice
Collecting device is connect with host computer, and host computer is connect with robot.Voice capture device acquisition obtains the voice programming mouth of user
Host computer is enabled and sends it to, host computer carries out speech recognition to voice programming password, obtains corresponding programming operation
It instructs and operational order builds robot program based on programming, robot can download from host computer and obtain robot program and hold
Row.As it can be seen that in robot programming device provided in an embodiment of the present invention, user is programmed by way of voice input
, compared to the prior art in robotic programming mode, it is easy to operate, be easy to grasp, learn convenient for teenager.
The first robotic programming system provided in an embodiment of the present invention includes above-mentioned robot programming device and machine
People.Robot further comprises robot body, robot controller and robot function module, robot controller and
Robot function module is mounted on robot body.Wherein, host computer is connect with robot controller, robot function module
It is connect with robot controller.Robot controller can be downloaded from host computer and obtain robot program and execute, to control
Robot Implement of Function Module function corresponding with the program.The robotic programming System Programming is easy to operate, is easy to grasp, together
When the various functions of robot can easily be realized by flexible choose to robot function module.
Second of robotic programming system provided in an embodiment of the present invention, by the function of host computer on robot controller
It realizes, system structure is more compact, other beneficial effects are similar with the first above-mentioned robotic programming system.
Robotic programming method provided in an embodiment of the present invention can be applied in above-mentioned robot programming device or system,
It realizes and is programmed based on voice input, it is easy to operate, it is easy to grasp.
To enable above-mentioned purpose, technical solution and the advantageous effect of the present invention to be clearer and more comprehensible, special embodiment below, and
The appended attached drawing of cooperation, is described in detail below.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows the structural schematic diagram of the first robotic programming system provided in an embodiment of the present invention；
Fig. 2 shows the structural schematic diagrams of second of robotic programming system provided in an embodiment of the present invention；
Fig. 3 shows the flow chart of robotic programming method provided in an embodiment of the present invention；
Fig. 4 shows the flow chart of the step S30 of robotic programming method provided in an embodiment of the present invention.
In figure：1- robotic programming systems；10- robot programming devices；100- host computers；110- voice collectings are set
It is standby；120- shows equipment；130- voice playing equipments；20- robots；200- robot controllers；The bases 210- mould
Block；220- sensor assemblies；230- execution modules；240- display modules；250- voice playing modules.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, below the detailed description of the embodiment of the present invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiments of the present invention, this field is common
The every other embodiment that technical staff is obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
In the description of the present invention, it should be noted that term "center", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, or be somebody's turn to do
Invention product using when the orientation or positional relationship usually put, be merely for convenience of description of the present invention and simplification of the description, without
It is instruction or implies that signified device or element must have a particular orientation, with specific azimuth configuration and operation, therefore not
It can be interpreted as limitation of the present invention.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and cannot manage
Solution is instruction or implies relative importance.
In addition, the terms such as term "horizontal", "vertical", " pendency " are not offered as requiring component abswolute level or pendency, and
It is that can be slightly tilted.It is not to indicate the structure if "horizontal" refers to only that its direction is more horizontal with respect to for "vertical"
It has to fully horizontally, but can be slightly tilted.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, can also be electrical connection；It can be directly connected, it can also be indirect by intermediary
It is connected, can is the connection inside two elements.For the ordinary skill in the art, it can manage as the case may be
Solve the concrete meaning of above-mentioned term in the present invention.
Other features and advantages of the present invention will be illustrated in subsequent specification, also, partly be become from specification
It is clear that being understood by implementing the embodiment of the present invention.The purpose of the present invention and other advantages can be by being write
Specifically noted structure is realized and is obtained in specification, claims and attached drawing.
First embodiment：
Fig. 1 shows the structural schematic diagram of the first robotic programming system 1 provided in an embodiment of the present invention.Referring to Fig.1,
The robotic programming system 1 includes robot programming device 10 and the robot 20 being connect with robot programming device 10,
Connection type can be by wired mode, such as Serial Port Line etc., can also wirelessly, such as WiFi, bluetooth etc..
User builds robot program on robot programming device 10 by voice input, is downloaded to robot after the completion of program
It is executed on 20, realizes the function of program.
Wherein, the voice collecting that robot programming device 10 further comprises host computer 100 and connect with host computer 100
Equipment 110.Host computer 100 can be, but be not limited to the electronics such as desktop computer, laptop, tablet computer, smart mobile phone and set
It is standby.Voice capture device 110 can be, but be not limited to the electronic equipments such as Mike, sound pick-up.Using the robot programming device
10 when being programmed, and user assigns voice programming password by oral account mode, and the acquisition of voice capture device 110 obtains voice programming
Voice programming password is simultaneously sent to host computer 100 by password.Speech recognition software is installed on host computer 100, it can be to voice
Programming password is identified, and is translated into corresponding programming operation instruction.Programming operation instruction is for building robot journey
The preset instructions of sequence, therefore the content needs of voice programming password are corresponding with programming operation instruction, host computer 100 could be by it just
Really it is converted into corresponding programming operation instruction.If the voice programming password of user is not corresponding with the instruction of any programming operation, on
Position machine 100 can prompt user, it is desirable that it gives an oral account correct voice programming password again.Repeating above said collection is transformed
Journey obtains the instruction of at least one programming operation, and robot program is built in the programming operation instruction based on acquisition.Host computer 100 can
It is executed so that robot program to be downloaded in robot 20, to realize program function.Obvious, machine provided in an embodiment of the present invention
Device people programmer 10 can complete the exploitation of robot program by way of voice input, and mode of operation is simple, technology
Threshold is relatively low, is easy to user's especially teenager user and grasps, reaches its aims of education.
Robot 20 further comprises robot body (not shown), robot controller 200 and robot function
Module.In the embodiment shown in Fig. 1, robot function module realizes that the difference of function is divided into basic module according to it
210, it sensor assembly 220 and execution module 230 and shows, it will be understood that robot function module can also take other
Dividing mode.Robot controller 200 and robot function module are mounted on robot body, and robot 20 passes through machine
People's controller 200 is connect with host computer 100, and the robot program that completion is write on host computer 100 is downloaded to robot control
Device 200 simultaneously executes.Robot function module is connected to robot controller 200, and robot controller 200 can be to robot
Function module is controlled to realize corresponding function.The core with data processing function may be used in robot controller 200
Piece is realized, such as can be passed through, but the modes such as unlimited microcontroller, ARM chips, dsp chip, asic chip, fpga chip are realized
The mounting means of robot function module is generally dismountable mounting means, is selected according to actual demand convenient for user
It selects corresponding module to be installed, configuration mode is flexible, can also avoid the wasting of resources.Specifically, basic module 210 is used
It in the basic function for realizing robot 20, such as status display function, is usually installed in each robot 20, basis
Module 210 is generally controlled by the intrinsic program of robot 20, but in some embodiments of the embodiment of the present invention, machine
Device people controller 200 can also control basic module 210 by the robot program write on host computer 100 and realize specified work(
Energy.For the function of expanding machinery people 20, sensor assembly 220 and execution module 230 can also be installed in robot 20.Sensing
Device module 220 may include one or more equipment with external data acquisition function, such as temperature sensor, humidity sensor
The equipment such as device, ultrasonic sensor, photosensitive sensor, infrared sensor, visual sensor, gyroscope, push-button array.Execute mould
Block 230 may include one or more equipment for being able to carry out specific action, for example, motor, steering engine, transmission mechanism, mechanical arm,
The equipment such as LED light.
As a kind of relatively common situation, robot controller 200 executes robot program, controls sensor assembly
220 acquisition external datas, robot controller 200 handle external data, and execution module 230 is controlled based on handling result
Specific action is executed, to realize the expanded function in addition to basic function of robot 20.For example, sensor assembly 220 is temperature
Sensor is spent, execution module 230 is motor, and the content of robot program can be：It controls temperature sensor and acquires environment temperature
And robot controller 200 is sent it to, robot controller 200 judges whether environment temperature is more than predetermined threshold value, if
Judging result is yes, then it is out of service to control motor.As another situation, robot 20 controls it and executes robot program,
It directly controls execution module 230 and executes specific action.For example, execution module 230 is LED light, the content of robot program can
Think：Control LED light is lighted.Obvious, example is above are only, robot program can also otherwise realize its work(
Energy.
It may be noted that robot 20 provided in an embodiment of the present invention can be used for robot teaching, due to curricula one
As be divided into core curriculum and upper-division courses, therefore the dividing mode of above-mentioned robot function module also contributes to robot teaching's
Implement, such as the robot 20 of basic module 210 be only installed and can be used for core curriculum, be equipped with sensor assembly 220 with
And the robot 20 of execution module 230 can be used for upper-division courses.Certainly, above-mentioned is only a kind of actual application scenarios, root
According to the different divisions that can carry out other modes to robot function module of application scenarios, different robots can also be matched
Function module.
In a kind of embodiment of the embodiment of the present invention, robot programming device 10 can also include and host computer 100
The display equipment 120 of connection, such as display etc..In view of part programming operational order complexity is higher, pass through pure voice
Mode be programmed it is more complicated, therefore can to host computer 100 install show equipment 120 by way of, by voice programming
Combine with visual programming, efficiency is built with improve robot program.Specifically, robot program can be abstracted
Only being responsible for recalling robot program for the combination of several program modules and the corresponding programming operation instruction of voice programming password will make
The program module and figure for being shown in display equipment 120 is built in interface, and the parameter setting of program module is then in figure
It builds and is completed on interface.
By taking the robot program of " lighting for control LED light " above-mentioned as an example, which is segmented into two programs
Module, one is " LED light " module, corresponds to the LED light in the execution module 230 of robot 20, one is " LED light is lighted "
Module lights action (LED light may include lighting action and extinguishing to act) corresponding to LED light, then the program was write
Journey can carry out as follows：
-- start；
-- voice inputs " LED light "；
-- display " LED light " module on interface is built in figure, and passes through the ginseng of the text prompt user setting module
Number, for example, LED light certain adjustable attributes, such as color, brightness, colour temperature etc.；
-- voice inputs " LED light is lighted "；
-- display " LED light is lighted " module on interface is built in figure, and passes through the text prompt user setting module
Parameter, such as time that LED light is lighted；
-- voice inputs " completion is built ", and robot program builds completion at this time, and host computer 100 can carry out program
The subsequent processings such as compiling, while user can build the module map that complete program is checked on interface (i.e. to program mould in figure
The graphic software platform of block) or program source code, further carry out deep analysis and study；
-- terminate.
About the specific build process of robot program, more detailed elaboration is also had in subsequent processes embodiment, this
Place's no longer in-depth explanation.Certainly, the above-mentioned mode for combining voice programming and visual programming is only a kind of example, can also be adopted
With other combinations.Robot program is built in such a way that voice programming and visual programming are combined, writes effect
Rate is higher, and facilitates user that the program finished intuitively is checked and studied.
In a kind of embodiment of the embodiment of the present invention, robot programming device 10 can also include and host computer 100
The voice playing equipment 130 of connection, such as loud speaker etc..During building robot program, 100 control voice of host computer
Playback equipment 130 plays the voice prompt for assisting user to be programmed, and the programming to improve user is experienced so that new user
Also voice programming process can be familiarized without too many additional description.For example, in the example being previously mentioned,
After following two steps,
-- voice inputs " LED light "；
-- build display " LED light " module on interface in figure；
It is a step of broadcasting voice prompt can be increased, specific as follows：
-- voice inputs " LED light "；
-- build display " LED light " module on interface in figure；
-- play voice prompt：The parameter of " LED light " module please be set；
Voice prompt has visual high, the features such as with obvious effects is prompted, in the part embodiment party of the embodiment of the present invention
In formula, can also using voice prompt with figure build user is programmed by the way of the text prompt on interface is combined it is auxiliary
It helps so that entire programming process is more easy to grasp.
In conclusion in robotic programming system 1 provided in an embodiment of the present invention, user is carried out by way of oral account
Voice programming, programming efficiency is high, easy to operate to be easy to grasp.Meanwhile in some embodiments of the embodiment of the present invention, also
It can show that voice programming and visual programming are combined by equipment 120 by setting, to further increase programming efficiency, simultaneously
So that programming process is more intuitive.It further, can also be by the way that language be arranged in some embodiments of the embodiment of the present invention
Sound playback equipment 130 plays voice prompt to assist user to complete programming so that programmed method is easier to grasp.The robot
Robot 20 in programing system 1, have can optional robot function module, configuration is convenient, flexible, and autgmentability is strong, can be with
Abundant function is expanded, can be realized for the function of robot program and good hardware supported is provided.
Second embodiment：
Fig. 2 shows the structural schematic diagrams of second of robotic programming system 1 provided in an embodiment of the present invention.Reference Fig. 2,
The robotic programming system 1 includes voice capture device 110 and the robot 20 being connect with voice capture device 110, machine
People 20 further comprises robot body and the robot controller 200 on robot body and robot function
Module, robot function module can be divided into basic module 210, sensor assembly 220 and execution module 230.Wherein, machine
Device people controller 200 is connect with voice capture device 110 and robot function module respectively.
The acquisition of voice capture device 110 obtains the voice programming password of user, and robot controller 200 receives voice programming
Password simultaneously carries out speech recognition to voice programming password, obtains programming operation corresponding with voice programming password and instructs and be based on compiling
Journey operational order builds robot program, and after the completion of robot program builds, robot controller 200 executes the program to control
Robot Implement of Function Module function corresponding with the program.
It is not difficult to find out, the robotic programming system 1 in second embodiment, actually by the robot in first embodiment
The function of host computer 100 in programing system 1 is integrated into robot 20, is completed by robot controller 200, with structure
Compact advantage, other advantageous effects are identical with the first embodiment.
As a kind of optional embodiment of second embodiment, the display equipment 120 mentioned in first embodiment,
Two embodiments can be implemented as the display module 240 in the basic module 210 of robot 20, and display module 240 may be used tactile
Control screen is realized, is configured to the program module mentioned in first embodiment to which user can directly input information, to real
The combination of existing voice programming and visual programming.
As a kind of optional embodiment of second embodiment, the voice playing equipment 130 mentioned in first embodiment,
Voice playing module 250 in the basic module 210 that second embodiment can be implemented as robot 20, voice playing module
250, for playing voice prompt during user program, assist user.
In conjunction with reference to the realization method in first embodiment and second embodiment, further, the programming of robot 20 is set
It is standby to be also implemented as other structures.For example, for the robotic programming system 1 that first embodiment provides, robotic programming dress
It can not includes voice capture device 110 to set 10, and voice capture device 110 is connected in robot 20, the use of acquisition
Family programming password is sent to robot controller 200, then controls it by robot 20 and be forwarded to host computer 100, by host computer 100
It is translated into programming operation instruction.In some implementations, robot 20 be interactive voice robot, have and user into
The function of row simple dialog, this kind of interactive voice robot natively need to install the language that voice capture device 110 acquires user
Sound, therefore the voice programming password of acquisition user can be used it in passing, to improve the utilization rate of voice capture device 110,
Save cost.In another example for the robotic programming system 1 that first embodiment provides, robot programming device 10 can not wrap
Voice playing equipment 130 is included, the basic module 210 of robot 20 may include the speech play for replacing playback equipment 130
Module 250, host computer 100 will be for assisting the information of voice prompt that user is programmed to be sent to robot controller 200, machine
Device people controller 200 is based on information of voice prompt control voice playing module 250 and plays voice prompt.In certain realization methods
In, robot 20 natively needs to install some voice prompts during 250 broadcasting machine people of voice playing module, 20 use,
Therefore it can use it for playing the voice prompt in programming process in passing, to improve the utilization rate of voice playing module 250, section
Cost-saving.In another example for the robotic programming system 1 that first embodiment provides, the basic module 210 of robot 20 can wrap
Display module 240 is included, the robot program for writing completion in the display equipment 120 of robot programming device 10 in addition to can carry out
Check, can also synchronously be shown on the display module 240 of robot 20, robot 20 downloaded robot program it
Afterwards, the connection with host computer 100 can be disconnected, the use of other places is carried into, display module 240 is set in robot 20
User is contributed to check the current robot program in robot 20 at any time.In some implementations, robot 20 is natively
It needs that some status informations during 20 use of the display of display module 240 robot are installed, therefore can use it in passing
It shows robot program, to improve the utilization rate of display module 240, saves cost.The function that above-mentioned various embodiments are realized
And advantageous effect can refer to the first embodiment or the second embodiment, be not repeated to illustrate herein.
3rd embodiment：
Fig. 3 shows the flow chart of robotic programming method provided in an embodiment of the present invention.The robotic programming method can
With applied in first embodiment host computer 100 (can also be applied to second embodiment in robot controller 200, but
It is convenient to illustrate, when illustrating 3rd embodiment only in case of to be applied in host computer 100).With reference to Fig. 3, the machine
People's programmed method includes：
S10：Obtain the voice programming password of user.
S20：Speech recognition is carried out to the voice programming password, obtains programming behaviour corresponding with the voice programming password
It instructs.
In step slo, host computer 100 obtains the voice programming password that user gives an oral account from voice capture device 110, in step
In rapid S20, host computer 100 converts voice programming password to corresponding programming operation and instructs, this process is in implementation before
It has been elaborated in example, the description in embodiment before please referring to.
S30：Robot program is built based on programming operation instruction, the robot program can be in robot 20
It executes.
The programming operation instruction of acquisition is connected according to the sequencing of execution and may be constructed robot by host computer 100
Program.If be programmed by way of pure voice, when programming operation instruction is complex, user needs to give an oral account in more
Hold, and part programming operational order may be not easy to be described with language.It therefore, can be by voice in actual implementation
Programming and visual programming are combined, to simplify the build process of robot program.It had been illustrated in embodiment before,
It can show that figure builds interface in display equipment 120.Meanwhile robot program being abstracted as to the group of several program modules
Programming operation instruction corresponding with voice programming password is closed only to be responsible for recalling robot program's program module to be used and show
In figure builds interface, and the parameter setting of program module is then completed on graphical interfaces.Below to this process again into one
Step illustrates：
Fig. 4 shows the flow chart of the step S30 of robotic programming method provided in an embodiment of the present invention.With reference to Fig. 4, step
Rapid S30 may further include：
S300：Display program module corresponding with programming operation instruction.
For example, the voice programming password of user's oral account is " LED light ", and the execution module 230 that LED light is robot 20,
Host computer 100 is translated into a module call instruction after identifying the voice programming password, and the programming instruction is for calling
" LED lamp module ", and include being built on interface in figure in a manner of patterned by it.Wherein, " LED lamp module " is a journey
Sequence module, it is corresponding with LED light in practice.
It, can be there are many realization method, as wherein for robot program to be abstracted as to the combination of several program modules
A kind of realization method, robot program is regarded as to the combination of assembly module, action module and process control module.Its
In, assembly module is corresponding with robot function module, and action module is corresponding with the action that robot function module executes, and flow
Control module is then corresponding with the control logic of action that robot function module executes.For example, " temperature sensor acquires environment temperature
Degree, judges whether environment temperature is more than predetermined threshold value, if it is judged that being yes, motor is out of service " this robot program,
It can be decomposed into two assembly modules " temperature sensor " (sensor assembly 220) and " motor " (execution module 230), two
Action module " acquisition " (action of sensor assembly 220) and " out of service " (action of execution module 230), a flow
Control module " judgement " (control logic of the action of execution module 230), it is clear that robot program can be by above procedure module
It connects and composes, specially " temperature sensor " " acquisition " " judgement " " motor " " out of service " is sequentially connected composition.
S310：The input operation for responding user, obtains the parameter of described program module and based on the parameter to the journey
Sequence module is configured.
The parameter of program module can be built from figure by user and be inputted on interface, or pass through visual mode
It is configured.Before user inputs, voice prompt can be played by voice playing equipment 130, to remind user to join
Number setting, it is clear that text prompt on interface is built or word prompts user in such a way that voice is combined figure
It is possible.The parameter of so-called program module refers to the specific descriptions and functional specification to program module.Program module is set
Parameter blanket program module can be embodied.For example, for the example in step S300, the ginseng of " judgement " module
Number may include Rule of judgment, such as " environment temperature is more than predetermined threshold value ", wherein " environment temperature " as conditional-variable, makees
For " being more than " of logical operator, as judging that " predetermined threshold value " of numerical value can be configured by user.
S320：The robot program is built based on the program module after arrange parameter.
Program module meaning after arrange parameter has defined, and can complete building for robot program, specifically, can
To complete building for robot program based on assembly module, action module and the process control module after arrange parameter.Below
Or it is illustrated with the example of temperature sensor program：
-- start；
-- voice prompt " please build assembly module "
-- voice inputs " temperature sensor "；
-- build display " temperature sensor " module on interface in figure；
-- voice prompt " setting input pin, 1-8 pins are available ", user configuration temperature sensor and robot control
The pin that device 200 processed uses when carrying out data transmission；
-- voice inputs " motor "；
-- build display " motor " module on interface in figure；
-- voice prompt " setting input pin, 1-8 pins are available ", user configuration motor and robot controller 200
The pin used when carrying out data transmission；
-- voice inputs " assembly module builds completion "；
-- voice prompt " please build action module "；
-- voice inputs " acquisition "；
-- build display " acquisition " module on interface in figure；
-- voice prompt " parameter for asking setup module ", the parameter of user configuration " acquisition " module, including to be acquired
Data (environment temperature) and the assembly module (" temperature sensor " module) relied on；
-- voice inputs " out of service "；
-- build display " out of service " module on interface in figure；
-- voice prompt " parameter for asking setup module ", the parameter of user configuration " out of service " module, including institute according to
Bad assembly module (" motor " module)；
-- voice inputs " action module builds completion "；
-- voice prompt " please build process control module "；
-- voice inputs " judgement "；
-- build display " judgement " module on interface in figure；
-- voice prompt " parameter for asking setup module ", the parameter of user configuration " judgement " module, including Rule of judgment
(environment temperature is more than predetermined threshold value), (" acquisition " module is as input, " out of service " module conduct for the action module relied on
The output of one selection branch)；
-- voice inputs " process control module builds completion "；
-- voice inputs " all to build completion "；
-- terminate.
In the above example, user specifies 20 institute's robot function module to be used of robot, each robot function
Logical relation between module action which be to be and each action.To run on machine based on this robot program built
People's controller 200 can realize scheduled function, i.e., the function of " controlling motor work by detecting environment temperature ".Entire machine
The build process of device people's program is simply clear, should be readily appreciated that grasp.
In conclusion robotic programming method provided in an embodiment of the present invention carries out robot by way of voice input
20 programmings, have the advantages of easy to operate, to be easy to grasp.At the same time it can also which voice programming is combined with visual programming, into
One step improves program and writes efficiency, when building robot program, can be by program abstraction assembly module, action module with
And the simple combination of process control module, to be built into line program based on program module, simple and practical, program thread is clearly easy
Understand.
It should be noted that each embodiment in this specification is described in a progressive manner, each embodiment weight
Point explanation is all difference from other examples, and the same or similar parts between the embodiments can be referred to each other.
For device class embodiment, since it is basically similar to the method embodiment, so fairly simple, the related place ginseng of description
See the part explanation of embodiment of the method.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through it
Its mode is realized.The apparatus embodiments described above are merely exemplary, for example, the flow chart and block diagram in attached drawing are aobvious
The device of multiple embodiments according to the present invention, architectural framework in the cards, the work(of method and computer program product are shown
It can and operate.In this regard, each box in flowchart or block diagram can represent one of a module, section or code
Point, a part for the module, section or code includes one or more for implementing the specified logical function executable
Instruction.It should also be noted that at some as in the realization method replaced, the function of being marked in box can also be attached to be different from
The sequence marked in figure occurs.For example, two continuous boxes can essentially be basically executed in parallel, they also may be used sometimes
To execute in the opposite order, this is depended on the functions involved.It is also noted that each of block diagram and or flow chart
The combination of box in box and block diagram and or flow chart, function or the dedicated of action are based on as defined in execution
The system of hardware is realized, or can be realized using a combination of dedicated hardware and computer instructions.
In addition, each function module in each embodiment of the present invention can integrate to form an independent portion
Point, can also be modules individualism, can also two or more modules be integrated to form an independent part.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be expressed in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access
The various media that can store program code such as memory (RAM, Random Access Memory), magnetic disc or CD.It needs
It is noted that herein, relational terms such as first and second and the like are used merely to an entity or operation
It is distinguished with another entity or operation, without necessarily requiring or implying between these entities or operation, there are any this
Actual relationship or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to nonexcludability
Including so that the process, method, article or equipment including a series of elements includes not only those elements, but also wrap
Include other elements that are not explicitly listed, or further include for this process, method, article or equipment intrinsic want
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that wanted including described
There is also other identical elements in the process, method, article or equipment of element.
Obviously, the above embodiment of the present invention is just for the sake of clearly illustrating examples made by the present invention, and it is pair to be not
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this
All any modification, equivalent and improvement etc., should be included in the claims in the present invention made by within the spirit and principle of invention
Protection domain within.
Claims (10)
1. a kind of robot programming device, which is characterized in that including：
Host computer；
Voice capture device is connect with the host computer, the voice programming password for acquire acquisition user and by the voice
Programming password is sent to the host computer；The host computer be used for the voice programming password carry out speech recognition, obtain with
The corresponding programming operation of the voice programming password, which instructs and is based on the programming operation instruction, builds robot program, the machine
Device people program can be downloaded to the robot being connect with the host computer and execution.
2. robot programming device according to claim 1, which is characterized in that the robot programming device further includes：
It shows equipment, is connect with the host computer, for showing program module corresponding with programming operation instruction, so that the use
Family can be configured described program module.
3. robot programming device according to claim 2, which is characterized in that the robot programming device further includes：
Voice playing equipment is connect with the host computer, is carried out for playing auxiliary user during building the device people program
The voice prompt of programming.
4. a kind of robotic programming system, which is characterized in that including：
Robot programming device in claim 1-3 described in any claim；
Robot, the robot include：
Robot body；
Robot controller is mounted on the robot body and is connect with the host computer of the robot programming device, used
Robot program is obtained in being downloaded from the host computer；
Robot function module is mounted on the robot body and is connect with the robot controller, the robot
Controller is corresponding with the robot program to control the robot Implement of Function Module for executing the robot program
Function.
5. robotic programming system according to claim 4, which is characterized in that the robot function module includes：
Basic module is connect with the robot controller, and the robot controller is realized for controlling the basic module
The basic function of the robot；
Sensor assembly is connect with the robot controller, and the robot controller is for executing the robot program
To control the external data acquisition function that the sensor assembly realizes the robot；
Execution module is connect with the robot controller, the robot controller for execute the robot program with
Control the expanded function that the execution module realizes the robot.
6. a kind of robotic programming system, which is characterized in that including：
Voice capture device, for acquiring the voice programming password for obtaining user；
Robot, the robot include：
Robot body；
Robot controller is mounted on the robot body and is connect with the voice capture device, described for receiving
Voice collecting sets the voice programming password of transmission and carries out speech recognition to the voice programming password, obtains and institute's predicate
The corresponding programming operation of sound programming password, which instructs and is based on the programming operation instruction, builds robot program；
Robot function module is mounted on the robot body and is connect with the robot controller, the robot
Controller is additionally operable to execute the robot program to control the robot Implement of Function Module and the robot program couple
The function of answering.
7. a kind of robotic programming method, which is characterized in that including：
Obtain the voice programming password of user；
Speech recognition is carried out to the voice programming password, obtains programming operation instruction corresponding with the voice programming password；
Robot program is built based on programming operation instruction, the robot program can execute in robot.
8. robotic programming method according to claim 7, which is characterized in that described to be taken based on programming operation instruction
Robot program is built, including：
Display program module corresponding with programming operation instruction；
The input operation for responding user, obtains the parameter of described program module and is carried out based on the parameter to described program module
Setting；
The robot program is built based on the program module after arrange parameter.
9. robotic programming method according to claim 8, which is characterized in that described program module includes：
Assembly module, it is corresponding with affiliated robot function module；
Action module, it is corresponding with the action that the robot function module executes；
Process control module, it is corresponding with the control logic of action that the robot function module executes；
The program module based on after arrange parameter builds the robot program：
Described in after the assembly module after arrange parameter, the action module after arrange parameter and arrange parameter
Process control module builds the robot program.
10. robotic programming method according to claim 8 or claim 9, which is characterized in that the display and the programming operation
After instructing corresponding program module, the input operation of the response user obtains the parameter of described program module and is based on institute
It states before parameter is configured described program module, the method further includes：
The voice prompt for prompting user to carry out parameter setting is played, is joined so that the user inputs according to the voice prompt
Number.
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| CN201810224164.0A CN108406811A (en) | 2018-03-19 | 2018-03-19 | robot programming device, system and method |
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|---|---|---|---|
| CN201810224164.0A CN108406811A (en) | 2018-03-19 | 2018-03-19 | robot programming device, system and method |
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