CN108874394A - The means of interpretation and interpreting means of robotic user program - Google Patents
The means of interpretation and interpreting means of robotic user program Download PDFInfo
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- CN108874394A CN108874394A CN201810343629.4A CN201810343629A CN108874394A CN 108874394 A CN108874394 A CN 108874394A CN 201810343629 A CN201810343629 A CN 201810343629A CN 108874394 A CN108874394 A CN 108874394A
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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
Abstract
The means of interpretation and interpreting means of present invention offer robotic user program.The means of interpretation includes：Receive user program；The user program includes mutually independent user's main program and user's background program；Create mutually independent first state machine and the second state machine；User's main program is translated into computer-executable code by the first state machine；User's background program is translated into computer-executable code by second state machine.The present invention overcomes the defects that existing interpreter does not support robot multiple programming, while having had both many advantages such as real-time is good, syntax library is abundant.
Description
Technical field
The present invention relates to industrial robot fields, means of interpretation and explanation dress more particularly to robotic user program
It sets.
Background technique
In industrial robot field, most of producer comes oneself customized robot generally according to robot motion's rule
Programming instruction.For ordinary user, the instruction of these robotic programmings is easy-to-understand, is easy to grasp.Based on these robots
Programming instruction, user are easy to robotic motion routine needed for writing out actual items.However, these robotic programmings instruct
It can not directly run on computers, need that generation can be performed at computer in these robotic programming instruction translations by interpreter
Code.
Currently, interpreter on the market, due to design defect, real-time is low, syntax library is simple, the robotic programming of support
Instruction set is seldom, and limitation is big.In addition, more important point is, robot multiple programming cannot be supported, that is to say, that explain
Device cannot execute background program.Background program refers to when main program operation while the program of operation, can execute repeatedly, no
By alarm, emergency stop is influenced, will not influence the operation of main program.Background program is commonly used in monitoring external signal, without executing fortune
Dynamic instruction, for assisting the operation of main program, being equivalent to a Soft- PLC, (Programmable Logic Controller, can
Programmed logic controller).
Need to develop that a real-time is high, syntax library is abundant in the industry as a result, it is often more important that can support that robot is parallel
The interpreter of programming.
Summary of the invention
In view of the foregoing deficiencies of prior art, the purpose of the present invention is to provide the explanation sides of robotic user program
Method and interpreting means cannot support that robot multiple programming, real-time are low, prop up for solving robot interpreter in the prior art
The problems such as robotic programming instruction set held is few.
In order to achieve the above objects and other related objects, the present invention provides a kind of means of interpretation of robotic user program,
Including：Receive user program；The user program includes mutually independent user's main program and user's background program；Creation is mutual
Independent first state machine and the second state machine；User's main program is translated into computer and can be performed by the first state machine
Code；User's background program is translated into computer-executable code by second state machine.
In one embodiment of the invention, user's main program is translated into computer by the first state machine can be performed generation
Code implementation include：User's main program is translated into the format of default scripting language；Call the default script language
The interpreter of speech, to enable the interpreter carry out grammer inspection to the user's main program for being translated into the default scripting language format
It looks into, and is construed as computer-executable code when no syntax error occurs；Second state machine will be after the user
Platform program translation includes at the implementation of computer-executable code：User's background program is translated into default script language
The format of speech；The interpreter of the default scripting language is called, to enable the interpreter to being translated into the default script language
It says that user's background program of format carries out syntax check, and is construed as computer when no syntax error occurs and generation can be performed
Code.
In one embodiment of the invention, user's main program is translated into computer by the first state machine can be performed generation
Code implementation further include：If you need to load the computer-executable code that the explanation generates from nominated bank, then by the computer
Executable code is written in the nominated bank of bottom data structure.
In one embodiment of the invention, the user program writes generation according to robotic programming instruction；The method is also
Including：The interface function for writing default scripting language format respectively for the instruction of several robotic programmings in advance, is gathered with being formed
For user's main program to be translated into the default syntax library of the syntax rule of the format of default scripting language.
In one embodiment of the invention, the method also includes：Enable user's background program monitoring is described to use householder's journey
Variable in sequence.
In one embodiment of the invention, the method also includes：Remember when loading robot point during programming jump
Record all points；The point of the program is all pressed into stack in programming jump, is fetched from stack to programming jump Hui Houzai.
In one embodiment of the invention, the method also includes：Receive selected row information；The selected row information is translated
At external equipment is sent to after computer-executable code, so that external equipment executes program since select row.
In one embodiment of the invention, the method also includes：By comparing the program loaded every time with the presence or absence of variation
To decide whether dynamically load again；If discovery is identical as last time operation program when loading procedure, static state uses upper one
It is secondary to run the computer-executable code left.
In one embodiment of the invention, the method also includes：It is generated according to the computer-executable code that translation generates
Robot control instruction, and it is sent to robot controller；Receive the robot operating status that the robot controller is sent
Information, and forward it to robot demonstrator.
In one embodiment of the invention, the default scripting language includes：Lua scripting language.
In order to achieve the above objects and other related objects, the present invention provides a kind of interpreting means of robotic user program,
For realizing the means of interpretation of described in any item robotic user programs as above.
As described above, the means of interpretation and interpreting means of robotic user program of the invention, have the advantages that：
1, it supports multiple programming, background program can be run；
2, real-time is good, by calling lua interpreter, quickly and accurately translates customized robot programming language
Code is run at computer；
3, syntax library is abundant, can support the interfaces such as a variety of grammers such as loop branches, mathematical computations, time operation, energy simultaneously
The robot motion's instruction for explaining various complexity；
4, user friendly provides the mutual calling function of dynamic loading function, user program, and common user is without tool
The robot of standby profession controls relevant knowledge, as long as will use clear and easy to understand customized robotic programming instruction, so that it may compile
Complicated robot motion track program is write out, actual items demand is met；
5, stability is good, and failure handling mechanisms are perfect, and robot is run long-term and stably, is not in journey
Sequence collapse phenomenon；
6, scalability is strong, can adapt to the robot of various types, such as：Six-joint robot, SCARA robot etc..
Detailed description of the invention
Fig. 1 is shown as the schematic illustration of the means of interpretation of the robotic user program in one embodiment of the invention.
Fig. 2 is shown as the module diagram of the interpreting means of the robotic user program in one embodiment of the invention.
Specific embodiment
Illustrate embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this specification
Other advantages and efficacy of the present invention can be easily understood for disclosed content.The present invention can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints and application, without departing from
Various modifications or alterations are carried out under spirit of the invention.It should be noted that in the absence of conflict, following embodiment and implementation
Feature in example can be combined with each other.
It should be noted that illustrating the basic structure that only the invention is illustrated in a schematic way provided in following embodiment
Think, only shown in schema then with related component in the present invention rather than component count, shape and size when according to actual implementation
Draw, when actual implementation kenel, quantity and the ratio of each component can arbitrarily change for one kind, and its assembly layout kenel
It is likely more complexity.
The present embodiment provides a kind of meanss of interpretation of robotic user program, applied to interpreter as shown in Figure 1, so that
The interpreter has many advantages such as support robot multiple programming, real-time is good, syntax library is abundant.
The means of interpretation includes the following steps：
1. receiving user program.
For interpreter shown in FIG. 1, the use sent by robot demonstrator (robot handheld terminal) is received
Family program, it is, of course, also possible to receive simultaneously by robot demonstrator send robot motion's parameter (as interpretative order,
Stop interpretative order etc.) etc. information.Particularly, the user program includes：User's main program, user's background program, the two
It is the mutual independent operating of program, non-interference.
2. creating mutually independent first state machine and the second state machine.
So-called state machine refers to the memory headroom that the interpreter of the default scripting language called by follow-up operation is opened up,
Two state machines are created herein to be respectively intended to explain user's main program and user's background program.
Explain that user program would generally be realized using scripting language, however existing scripting language has there are many kinds of class and respectively
Advantage and disadvantage.Industrial robot is higher to requirement of real-time, the problems such as Caton, reaction is slow must not occurs, and lua interpreter has
Micro-kernel, real-time are high, the advantages that easily interacting with C/C++, particularly suitable for the very high robot field of requirement of real-time.Cause
This, the default scripting language of the present embodiment is preferably lua scripting language, the interpreter of the default scripting language of the present embodiment namely
Preferably lua interpreter (since scripting language is to execute when explaining so interpreter must be carried), correspondingly, first state
Machine namely lua state machine 1 preferably shown in FIG. 1, the second state machine namely lua state machine 2 preferably shown in FIG. 1.Creation
The concrete methods of realizing of two lua state machines is for example：Lua_State*L=luaL_newstate (), wherein L is lua's
State machine.Preferably, terminating program run time call lua_close (L) to discharge all resources of the state machine.
3. user's main program is translated into computer-executable code by the first state machine；Second state machine
User's background program is translated into computer-executable code.
Referring to Fig. 1, in the preferred embodiment for selecting lua scripting language：
The implementation that user's main program translates into computer-executable code is included following step by the first state machine
Suddenly：Firstly, lua state machine 1 by user's main program translate into lua format (namely the receptible format of lua interpreter) with
Generate user's main program lua code；Then, lua state machine 1 calls lua interpreter, to enable lua interpreter to user's main program
Lua code carries out syntax check, and can hold user's main program lua code interpreter at computer when no syntax error occurs
Line code.If you need to load the computer-executable code that the explanation generates from nominated bank, then the computer-executable code is write
In the nominated bank for entering bottom data structure.
The implementation that user's background program translates into computer-executable code is included following by second state machine
Step：Firstly, user's background program is translated into lua format (namely receptible lattice of lua interpreter by lua state machine 2
Formula) to generate user's background program lua code；Then, lua state machine 2 calls lua interpreter, to enable lua interpreter to user
Background program lua code carry out syntax check, and when no syntax error occurs by user's background program lua code interpreter at
Computer-executable code.
It should be noted that so-called lua interpreter is to increase income, is existing, interpreter of the invention is only had invoked
Lua interpreter realizes syntax check (ensuring the accuracy of user program) and the code interpreter of lua code.
User's background program need to be used to monitor variable (variable here such as exterior I O signal etc. in user's main program
Deng), it only monitors but does not make an amendment, it acts as the function that the interpreter into Fig. 1 assigns programming jump ability and multi-thread programming
Can, i.e., robot back-end controller can also run user's background program monitoring master while running user's main program
Program exterior I O signal, enormously simplifies the complexity of user program.Specifically：Utilize the multi-threaded operating system tune of bottom
With two lua state machines of creation simultaneously.One is used to explain user's main program, another special disposal is used to monitor with householder's journey
User's background program file (.parrallel.prg file) of variable in preface part.User can be increased by modifying this document
A series of logics and IO control routine is added to achieve the effect that monitor state.32 provided in user's main program by control
FLAG passes through FLAG [1] to enable the functional switch of user's background program, such as in user's main program:=True remembers first mark
Will position position, user's background program check execute after the flag bit user wherein written by code and execute, example code
It is as follows：
In one embodiment, the means of interpretation further includes：It is write respectively for the instruction of several robotic programmings in advance default
The interface function of scripting language format, to form the lattice gathered for user's main program to be translated into default scripting language
The default syntax library of the syntax rule of formula.
So-called default syntax library, which refers to, is construed to syntax rule corresponding to lua program for user program.The present embodiment
Means of interpretation be in advance that the instruction of each robotic programming has write lua interface to support robotic programming abundant to instruct
Collection.Specific implementation process be by calling lua_register function to expose external interface, such as：lua_register(L,"
Sleep ", mysleep) the internal suspend mode function based on Millisecond is encapsulated, these interface functions can translate into lua by interpreter
Code.Robot to user expose motion interface ptp (PTP (p, d, b)) describe robot with what kind of speed and
Curve moves to target point P from current point), lin, circ, clock interface clock, I/O interface din, dout, mathematics interface math
Etc., user can be programmed based on relevant interface, to realize motion control, the logic control to robot based on these interfaces
System, mathematical operation, IO control etc..
In one embodiment, the means of interpretation further includes：It is recorded when loading robot point during programming jump
All points；The point of the program is all pressed into stack in programming jump, is fetched from stack to programming jump Hui Houzai.
This step provides a kind of function for interpreter of the invention, is to allow between user program and mutually calls.It is false
If user writes one section of program A now, wherein some functional block was write before for discovery, in program B.At this point, user is just not
It needs to repeat to write this functional block, it is only necessary to call B program can (Call (" name of B ")).In order to realize this function, this
Step provides a set of variable administrative mechanism, all customized variables be all it is global, easily can call son
The variable is directly used when program.However, since the dot position information of robot needs to be indicated with multiple variables, it is each
A different programming file needs the point comprising not heavy information of bearing the same name again, and normal variable is all individually, so should area
Separated point can normally transmit its dependent variable again.So can be by subprogram when process points (robot coordinate position)
(called program, such as B program) and main program (program of calling, such as A program) distinguishes, and main program cannot use subprogram
The point individually declared, subprogram can not directly use the point of main program, to guarantee the independence and safety of motion process.This
Step reduces the number of repetition load, improves the efficiency of load(ing) point.
In one embodiment, the means of interpretation further includes：Receive selected row information；The selected row information is translated into
External equipment is sent to after computer-executable code, so that external equipment executes program since select row.
This step provides a kind of function for interpreter of the invention, is exactly very humanized dynamic loading function, can
To bring into operation from any row of user program.If user is dissatisfied for point when needing retest in exploitation, can
Directly to pass through the select row functional localization of handheld terminal to the row.Then, interpreter of the present invention is first from handheld terminal
It is middle to obtain selected row information, back-end controller is sent information to after interpreted, robot is controlled from selected by back-end controller
Row starts to execute.In this way, user can control robot from required row setting in motion, the testing time is greatly reduced, is simplified
Operation.
In one embodiment, the means of interpretation further includes：Come by comparing the program loaded every time with the presence or absence of variation
Decide whether dynamically load again；If discovery is identical as last time operation program when loading procedure, static state uses last
Run the computer-executable code left.
This step provides a kind of function for interpreter of the invention, is exactly the function of dynamic explanation and static interpreter.Foot
The characteristic of this language is to need to read source program load every time, although very convenient modification and operation, can actually reduce fortune
Line efficiency.Whether interpreter of the present invention changes by comparing the program loaded every time to decide whether dynamically load again.
Directly static last time operation can be used if file is there is no modification when discovery ran program with last time when loading procedure
The binary code left is equivalent to and eliminates morphological analysis to the step of compiling, greatly reduces the time of operation, save
Hardware resource.
In one embodiment, the means of interpretation further includes：Machine is generated according to the computer-executable code that translation generates
Device people's control instruction, and it is sent to robot controller；Receive the robot operating status letter that the robot controller is sent
Breath, and forward it to robot demonstrator.
Interpreter of the present invention processing needs to complete user program explanation, at the same can also in real time with handheld terminal, rear end
Controller interaction.
Referring to fig. 2, the present embodiment provides a kind of interpreting means of robotic user program (namely interpreter in Fig. 1),
For executing all or part of the steps of the means of interpretation of aforementioned machines people's user program.
The interpreting means of the robotic user program mainly include：Interactive module, explanation module.
Based on interactivity good between C/C++ and lua, the interactive module writes completion using C/C++, is responsible for realization
The data interaction of interpreter of the present invention and robot demonstrator, interpreter of the present invention and back-end controller.Explain user program portion
Divide and is completed with scripting language.Scripting language has many advantages, such as quickly exploitation, Dynamic Execution without compiling.
The explanation module is responsible for creating mutually independent first state machine and the second state machine.The first state machine and
Second state machine is by respective preprocessing module, calling module, loading module, respectively by user's main program and institute
It states user's background program and translates into computer-executable code.Specifically：
The preprocessing module of the first state machine is used to translate into user's main program the lattice of default scripting language
Formula；The preprocessing module of second state machine is used to translate into user's background program the format of default scripting language.
Further, it checks whether using system variable and checks grammer logical problem.
The calling module of the first state machine is used to call the interpreter of the default scripting language, described default to enable
The interpreter of scripting language carries out syntax check to the user's main program for being translated into the default scripting language format, and in nothing
Computer-executable code is construed as when syntax error occurs.The calling module of second state machine is described for calling
The interpreter of default scripting language, to enable the interpreter of the default scripting language to being translated into the default scripting language lattice
User's background program of formula carries out syntax check, and is construed as computer-executable code when no syntax error occurs.
Wherein, it further includes having checked for stack overflow etc. that grammer checks comprehensively.
The loading module of the first state machine is responsible for loading its present procedure explained from nominated bank, by need to run
Code is write in the data structure of bottom.The loading module of second state machine is responsible for loading the current of its explanation from nominated bank
Program will need code to be run to write in the data structure of bottom.
In addition to this, the interpreting means scalability of the present embodiment is strong, may migrate to other robot without changing source code
Platform, such as：Six-joint robot, SCARA robot etc..At the beginning of design, the interpreting means of the present embodiment just by data-interface,
Function interface is defined as universal class, is not directed to certain specific robotic type.
The interpreting means robustness of the present embodiment is good, is not in program crashing.In design, it is contemplated that various to cause journey
A possibility that sequence is abnormal, such as：In interactive module, because in real industrial scene, between interpreter and handheld terminal
Communication may be subjected to interference, for this purpose, this interpreting means can check that handheld terminal is transmitted through the accuracy for carrying out data, it is subsequent with determination
Work is wanted to carry out.For another example, user is when writing user program, it is possible to mistake occurs, be that this this interpreting means can be in language
Method checks that module carries out syntax check to user program.
In conclusion the means of interpretation and interpreting means of robotic user program of the invention, program efficiency is high, occupies system
Resource of uniting is smaller, effectively overcomes various shortcoming in the prior art and has high industrial utilization value.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause
This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as
At all equivalent modifications or change, should be covered by the claims of the present invention.
Claims (11)
1. a kind of means of interpretation of robotic user program, which is characterized in that including：
Receive user program；The user program includes mutually independent user's main program and user's background program；
Create mutually independent first state machine and the second state machine；
User's main program is translated into computer-executable code by the first state machine；Second state machine will be described
User's background program translates into computer-executable code.
2. the method according to claim 1, wherein
The implementation that user's main program translates into computer-executable code includes by the first state machine：
User's main program is translated into the format of default scripting language；
The interpreter of the default scripting language is called, to enable the interpreter to being translated into the default scripting language format
User's main program carry out syntax check, and be construed as computer-executable code when no syntax error occurs；
The implementation that user's background program translates into computer-executable code includes by second state machine：
User's background program is translated into the format of default scripting language；
The interpreter of the default scripting language is called, to enable the interpreter to being translated into the default scripting language format
User's background program carry out syntax check, and be construed as computer-executable code when no syntax error occurs.
3. according to the method described in claim 2, it is characterized in that, the first state machine translates into user's main program
The implementation of computer-executable code further includes：Generation can be performed if you need to load the computer that the explanation generates from nominated bank
Code, then will be in the nominated bank of computer-executable code write-in bottom data structure.
4. according to the method described in claim 2, it is characterized in that, the user program writes life according to robotic programming instruction
At；The method also includes：Write the interface function of default scripting language format respectively for the instruction of several robotic programmings in advance,
To form the default grammer for the syntax rule for having gathered the format for user's main program to be translated into default scripting language
Library.
5. the method according to claim 1, wherein further including：User's background program is enabled to monitor the use
Variable in householder's program.
6. the method according to claim 1, wherein further including：
All points are recorded when loading robot point during programming jump；
The point of the program is all pressed into stack in programming jump, is fetched from stack to programming jump Hui Houzai.
7. the method according to claim 1, wherein further including：
Receive selected row information；
It is sent to external equipment after the selected row information is translated into computer-executable code, so that external equipment is from selected
Row starts to execute program.
8. the method according to claim 1, wherein further including：Whether deposited by comparing the program loaded every time
Dynamically load again is decided whether in variation；If discovery is identical as last time operation program when loading procedure, static state makes
The computer-executable code left with last operation.
9. the method according to claim 1, wherein further including：
Robot control instruction is generated according to the computer-executable code that translation generates, and is sent to robot controller；
The robot running state information that the robot controller is sent is received, and forwards it to robot demonstrator.
10. method according to claim 1 to 9, which is characterized in that the default scripting language includes：lua
Scripting language.
11. a kind of interpreting means of robotic user program, which is characterized in that for realizing any in such as claims 1 to 10
The means of interpretation of robotic user program described in.
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| CN111708525A (en) * | 2020-06-24 | 2020-09-25 | 华中科技大学 | Graphical programming system interpreter based on XML industrial robot |
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