CN109690473A - A kind of graphic programming method, apparatus, computer storage medium and vision system - Google Patents
A kind of graphic programming method, apparatus, computer storage medium and vision system Download PDFInfo
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- CN109690473A CN109690473A CN201780036109.2A CN201780036109A CN109690473A CN 109690473 A CN109690473 A CN 109690473A CN 201780036109 A CN201780036109 A CN 201780036109A CN 109690473 A CN109690473 A CN 109690473A
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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
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/44—Arrangements for executing specific programs
Abstract
The present invention discloses a kind of graphic programming method, comprising: the first graphic element is shown on programming interface；List type graphic element is shown on the programming interface, and shows the connection relationship between the list type graphic element and first graphic element；It is parsed using operation result of the second function to the first function, and parsing result is shown on the list type graphic element；Second graph element is shown on the programming interface, and shows the connection relationship between the list type graphic element and the second graph element, wherein the second graph element corresponds to third function；The third function, which is controlled, using the parsing result on the list type graphic element executes corresponding function.The invention also discloses corresponding device, computer storage medium and vision systems.The present invention realizes that operation is visual clear, intuitive and succinct.
Description
Technical field
The present invention relates to Industrial Robot Technology fields more particularly to a kind of graphic programming method, apparatus, computer to deposit
Storage media and vision system.
Background technique
In current industrial Vision Design, the interactive interface of process design is generally held with graphical operation, electrical form, design
The modes such as row sequence or programming are realized, wherein in graphical operation mode, operate it is most simple, but at present in visual field
Middle graphical operation can't easily solve much to commonly use operational issue；Electrical form is in more complicated programming
When, use is complex；It is fairly simple that design executes sequence, but is not readily used for complicated program, especially in robot and vision
On, it cannot substantially use；Programming mode is more complicated, it is difficult to promote.
Thus, the externally input inconvenient victory of industrial vision process design at present, whole terseness is poor, and hands over
Mutual interface expression is not intuitive, and it is unintelligible to execute dependence, and then cannot achieve clearly operation visualization.
Summary of the invention
It is an object of the present invention to which the interactive interface for industrial vision process design in the prior art is inconvenient
Victory cannot achieve and clearly operate visual problem, provide a kind of graphic programming method, apparatus, computer storage medium
And vision system.
The technical proposal adopted by the invention to solve the above technical problems is that a kind of graphic programming method is provided, it is described
Method includes: that the first graphic element is shown on programming interface, wherein first graphic element corresponds to first function；Institute
It states and shows list type graphic element on programming interface, and show between the list type graphic element and first graphic element
Connection relationship, parsed wherein the list type graphic element corresponds to for the operation result to the first function
Second function；It is parsed using operation result of the second function to the first function, and parsing result is shown
On the list type graphic element；Second graph element is shown on the programming interface, and shows the parsing result and institute
The connection relationship between second graph element is stated, wherein the second graph element corresponds to third function；Utilize the parsing
As a result it controls the third function and executes corresponding function.
The present invention solves another technical solution used by above-mentioned technical problem there is provided a kind of graphic programming device,
Wherein, described device includes memory and processor, in which: the memory is configured as being held by the processor for storing
Capable program instruction；The processor executes described program instruction to realize graphic programming method as described above.
The present invention solves another technical solution used by above-mentioned technical problem there is provided a kind of computer storage medium,
Wherein, it is stored with the computer instruction that processor can be run, the computer instruction is for executing graphical volume as described above
Cheng Fangfa.
The present invention solves another technical solution used by above-mentioned technical problem, and there is provided a kind of vision systems, wherein
The system comprises graphic programming devices as described above.
The beneficial effects of the present invention are as follows: corresponding to the first graphic element by the corresponding second function of list type graphic element
The operation result of first function parsed, parsing result is shown on list type graphic element, programming personnel is facilitated
The operation of input is solved, then realizes the connection relationship between second graph element and parsing result, and then can control the second figure
The corresponding third function of shape element executes corresponding function, thus realize that operation is visual clear, it is intuitive and succinct.
Detailed description of the invention
Below in conjunction with drawings and the embodiments, the invention will be further described, in attached drawing:
Fig. 1 is the flow chart of one embodiment of graphic programming method of the invention；
Fig. 2 is the schematic diagram of the list type graphic element first embodiment in the above embodiment of the present invention；
Fig. 3 is the schematic diagram of the list type graphic element second embodiment in the above embodiment of the present invention；
Fig. 4 is the schematic diagram of the execution information of a certain third graphic element in the above embodiment of the present invention；
Fig. 5 is the schematic diagram for carrying out a concrete application scene of method of the above embodiment of the present invention；
Fig. 6 is the schematic diagram for carrying out another concrete application scene of method of the above embodiment of the present invention；
Fig. 7 is the structural schematic diagram of one embodiment of graphic programming device of the invention.
Specific embodiment
To make those skilled in the art more fully understand technical solution of the present invention, with reference to the accompanying drawing and it is embodied
Mode is described in further detail technical solution of the present invention.
As shown in Figure 1, being the flow chart of one embodiment of graphic programming method of the invention, this method can be applied to industry
In Vision Design, operation visualization is realized, certainly, this method can also be used in otherwise design, for example, certain management system
Management operation interface be not construed as limiting within the scope of the understanding of those skilled in the art.Method includes the following steps:
Step S102: showing the first graphic element on programming interface, wherein the first graphic element corresponds to first function.
Programming interface can be industrial vision system, be also possible to other visual control systems.First pattern primitive
Element is arranged by programming personnel in advance, and shape can be oval for one, certainly, in other embodiments, shape can be it is rectangular, can set
It is placed in the toolbar of programming interface, corresponds to first function, first function is also preset by System Programming personnel, is used for
Obtain information required for programming, such as the external information from external input/output device.In another example industrial vision system
When controlling robot, when showing the first graphic element on programming interface, first function is correspondingly had invoked in system,
The operation result of first function is exported, and then is obtained accordingly from the external information of robot, to carry out later programmed processing.
Step S104: showing list type graphic element on programming interface, and shows list type graphic element and the first figure
Connection relationship between shape element, wherein list type graphic element corresponds to and parses for the operation result to first function
Second function.
The corresponding second function of list type graphic element, parses for the operation result to first function, also by being
System programming personnel presets, and the rule of parsing can be consistent with the setting development rule of operation result of first function, for example,
In development rule, the operation result of first function indicates to control the movement of some component, then parse operation result is control later
The relevant parameter of some component movement.List type graphic element and the first figure can be indicated by a straight line on programming interface
Established connection relationship between element.Connection relationship between list type graphic element and the first graphic element indicates the
The operation result of one function is input in list type graphic element, the input quantity as second function.
Step S106: it is parsed using operation result of the second function to first function, and parsing result is shown
On list type graphic element.
For example, when showing the connection relationship between list type graphic element and the first graphic element, second function is to the
The operation result of one function is parsed, for example, calling second function in system, i.e., to first function in industrial vision system
Operation result parsed, and then when being parsed, parsing result is shown on list type graphic element.
Step S108: showing second graph element on programming interface, and show parsing result and second graph element it
Between connection relationship, wherein second graph element correspond to third function.
The corresponding third function of second graph element, by System Programming, personnel are preset, and can be preset in system more
A third function, for subsequent different execution order.Parsing result is shown on list type graphic element, display parsing knot
Connection relationship between fruit and second graph element is to establish connection between list type graphic element and second graph element
Relationship.It can also indicate to have built up between second graph element and list type graphic element by a straight line on programming interface
Connection relationship.After connection relationship between second graph element and list type graphic element is established, list type figure is indicated
Parsing result on element controls corresponding second graph element, so that it executes corresponding function.
Step S110: corresponding function is executed using the parsing result control third function on list type graphic element.
For example, controlling third function in the connection relationship established between second graph element and list type graphic element
Corresponding function is executed, for example, when showing second graph element on programming interface, calling in system in industrial vision system
Third function executes corresponding function, for example, opening video camera, the corresponding program of selection etc..
It is worth noting that, above-mentioned first graphic element, list type graphic element and second graph element are can be with
Pre-set, shape is different or part is identical, may be disposed on the toolbar of programming interface, need using
When, it directly drags it on programming interface, and shown, meanwhile, when being operated on it on programming interface, such as singly
It hits or double-clicks, the parameter of its corresponding function can be shown on programming interface, if user needs to carry out the parameter of function
Modification, can carry out on programming interface, convenient succinct.
In the present embodiment, on programming interface, the corresponding second function of list type graphic element is to the first graphic element pair
The operation result for the first function answered is parsed, and parsing result is shown on list type graphic element, programming personnel is facilitated
Understand the operation of input, in turn, when second graph element and parsing result establish a connection, controls second graph element pair
The third function answered executes corresponding function, realizes clearly operation visualization.
It further, include logical variable in information required for the programming that first function is got, logical variable is corresponding
Whether ground indicates in information required for programming to include corresponding item of information, be expressed at later programmed by logical variable in this way
Reason, so that programming interface is intuitive and succinct, wherein logical variable can be indicated with Boolean, for example, what 1 expression was got
It include corresponding item of information in information required for programming, 0 indicates in information required for the programming got not comprising corresponding
Item of information, i.e., without corresponding item of information, certain logical variable can also be indicated with other, such as multidigit binary number.When
So, in other embodiments, other statement variables, example can also be included in information required for the programming that first function is got
Such as alphabetical variable, i.e., whether indicated with letter in information required for programming comprising corresponding item of information.In turn, above-mentioned steps
S106 includes: to be parsed using second function to the logical variable in the operation result of first function, and logical variable is shown
Show on list type graphic element.In the present embodiment, logical variable is shown on list type graphic element, in this way, in list
Required item of information in the graphic programming after list type graphic element can be intuitively recognized on formula graphic element.
Specifically, in one embodiment, in industrial vision system, first function is for obtaining from robot or outside
The external information of portion's input-output apparatus, the i.e. operation result of first function are the external informations got, at this point, utilizing
Two functions parse the logical variable in the operation result of first function, and logical variable is shown in list type pattern primitive
On element, comprising: parsed using second function to the logical variable in external information, and logical variable is shown in list type
On graphic element.
Specifically, if including multiple logical variables in information required for the programming that first function is got, at this point, logic
Variable be it is multiple, each logical variable correspond to a subsequent item of information to be dealt with, at this point, using second function to first
Logical variable in the operation result of function is parsed, and logical variable is shown on list type graphic element, comprising: root
According to the specified logical variable for selecting user to specify from multiple logical variables of user, and the logical variable that user is specified is shown
On list type graphic element.In this way, logical variable can be shown to list type figure according to the selection of itself in programming by user
On shape element, it is convenient to operate.
Specifically, in one embodiment, list type graphic element is logic list, which may include one
Or multiple logical variables, each logical variable correspond to a column position, i.e. column of logic list, each column position comprising one or
The multiple fields of person.At this point, parsed using second function to the logical variable in the operation result of first function, and by logic
Variable is shown on list type graphic element, comprising: using second function to the logical variable in the operation result of first function
It is parsed, and logical variable is shown in the correspondence field of logic list.
Further, after logical variable to be shown to the correspondence field of logic list, above-mentioned steps S108 includes: aobvious
Show the connection relationship between second graph element and corresponding field.
Further, it on the basis of list type graphic element is logic list, before above-mentioned steps S106, also wraps
It includes: according to the field quantity in the specified setting list type graphic element of user.User can be accustomed to making by oneself according to the programming of oneself
The field quantity of adopted list type graphic element, for example, if user's specified list formula graphic element includes 3 fields, quantity
It is 3, as shown in Figure 2, wherein the first field indicates the Boolean of item of information, that is, display logic variable is used for, at this point, by logic
It includes: to specify the display logic in corresponding first field to become according to user that variable, which is shown in the correspondence field of logic list,
Amount.Further, the second field indicates that first graphic element in the logical variable institute source of the first field, third field indicate to use
Family is directed to the customized description of first graphic element in logical variable institute source, at this point, logical variable is shown to logic list
Correspondence field in include: the first figure for specifying the display logic variable institute source in corresponding second field according to user
Element and/or the customized description that user is shown in corresponding third field.
Further, if user's specified list formula graphic element includes 4 fields, quantity 4, as shown in figure 3, the
Four fields indicate that different logical variables carries out the value after operation, at this point, logical variable to be shown to the correspondence column of logic list
Further comprise in position: carrying out operations according to the specified different logical variables in logic list of user, and by operation knot
Fruit is shown to corresponding 4th field.
It is worth noting that, corresponding information is shown in corresponding field according to the specified of user, in programming process
In, it voluntarily can be voluntarily written in logic list by user, and shown, for example, logic shown in the second field becomes
First graphic element in institute source is measured, alternatively, the customized description of user shown in third field can also run certainly
It when second function, is automatically write by system, for example, logical variable shown in the first field.
As shown in figure 3, carrying out operations to the different logical variables in logic list, and operation result is shown to pair
On the basis of the 4th field answered, in step S108, show that the connection relationship between parsing result and second graph element includes:
Show the connection relationship between the 4th field and second graph element.Correspondingly, step S110 includes: to be controlled using operation result
Third function executes corresponding function.
Specifically, in one embodiment, it is patrolled in the information required for the programming that first function is got comprising one
Variable is collected, at this point, step S110 includes: that logical variable control third function is utilized to execute corresponding control function or logic fortune
It calculates.For example, indicating to open video camera, at this point, third function directly opens video camera if the logical variable of some item of information is 1
This control function；If the logical variable of certain two item of information needs to be 1, Fang Jinhang subsequent processing, at this point, third function
The logical variable of two items of information is subjected to logical operation, for example, logic and operation, in turn, in patrolling for two items of information
When volume variable is 1, Fang Jinhang subsequent processing.
It in other embodiments, include multiple logical variables in the information required for the programming that first function is got,
At this point, step S110 includes: to control the corresponding control function of third function execution, logical operation according to logical variable and/or patrol
Collect judgement.If the logical variable of some item of information is 1, representation program selection, at this point, third function executes logic judgment, if patrolling
Volume judgement the result is that 0, then select to execute some program, if logic judgment the result is that 1, select to execute another journey
Sequence.It controls third function and executes corresponding control function and logical operation, be illustrated, repeat no more above.
Specifically, in one embodiment, same list type graphic element connects at least two first graphic elements, wherein
First function corresponding at least two first graphic elements is different.For example, needing to obtain machine simultaneously in industrial vision system
The external information of device people and the external information of external input/output device, at this time, it may be necessary to be distinguished using two the first graphic elements
Obtain the external information of robot and the external information of external input/output device, in turn, this two first graphic element and one
A list type graphic element connection.In turn, it is carried out using the logical variable in operation result of the second function to first function
After parsing, logical variable is shown on list type graphic element include: will be to corresponding at least two first graphic elements
The logical variable that parses of first function be simultaneously displayed on list type graphic element.
Further, this method further comprises: showing third graphic element on programming interface, and shows third figure
Connection relationship between element and second graph element, wherein third graphic element corresponds to the 4th function, wherein the 4th function
Corresponding to program required for programming, for example, in industrial vision system, when needing to obtain the external information of robot, to machine
The external information of device people is programmed corresponding some program for needing selection, which is set as certain on programming interface
A tool box when calling the tool box, that is, executes program corresponding to the tool box.Further, in this embodiment this method
Include: to respond operation of the user to third graphic element, a dialog box is shown on programming interface, and shows in dialog box the
Execution information corresponding to four functions.In this way, making graphic programming more intuitionistic and concise, user is facilitated to check implementing result.
In one embodiment, user includes clicking third graphic element, obtaining focus etc. to the operation of third graphic element, but unlimited
In this, in other embodiments, user includes double-clicking third graphic element etc. to the operation of third graphic element.The present embodiment
In, execution information includes at least one of setting parameter, intermediate data and implementing result of the 4th function or combines,
In, the appearance form of execution information includes any one or combination in text, figure and list.As shown in figure 4, being a kind of
The schematic diagram of dialog box, execution information is according to genesis analysis, wherein Ture/False indicates implementing result, and Data indicates intermediate
Data, ROI and Para respectively indicate setting parameter, and ROI indicates the region that the 4th function is acted on, and Para indicates specific related
Parameter.Certainly, within the scope of the understanding of those skilled in the art, which can also be other layouts.It is noticeable
It is that above-mentioned third graphic element may also set up on the toolbar of programming interface, when need to use, directly drags it to volume
On journey interface, meanwhile, it when being operated on it on programming interface, such as clicks or double-clicks, can be shown on programming interface
Show the parameter of its corresponding function, if user needs to modify to the parameter of function, can be carried out on programming interface, it is convenient
Succinctly.
If execution information is multiple；This method further comprises: being selected in multiple execution informations according to specifying for user
The execution information that user specifies, close box, and the execution information that user is specified are shown in corresponding third graphic element
Around.It further facilitates user and checks implementing result.For example, as shown in figure 5, intermediate data is shown in third graphic element
Around.
The process for carrying out the obtained graphic programming of the above method is carried out below with reference to multiple concrete application scenes detailed
It describes in detail bright.
Firstly, being illustrated by taking industrial vision system as an example to the input quantity being programmed using the above method, it is assumed that
Need to obtain the external information of robot and the external information of external input/output device simultaneously, i.e. input quantity there are 2, wherein
List type graphic element is logic list.
As shown in figure 5, being the first application scenarios, firstly, showing two the first graphic elements on programming interface, wherein
The corresponding first function of first graphic element message obtains the external information of robot, and list type graphic element I/O is corresponding
First function obtains the external information of external input/output device, in display list type graphic element, and shows the first pattern primitive
Connection relationship between element and list type graphic element, that is, be respectively adopted a straight line for the first graphic element message and list
It is attached between formula graphic element and between the first graphic element I/O and list type graphic element, at this point, operation is different
First function the operation result of different first functions, including logical variable, logic are then shown on list type graphic element
First graphic element in variable institute source and the customized description of user.Then, second graph member is shown according to logical variable
Element, for example, according in logic list it is shown it is customized be described as control camera, show second graph element
open camera；In another example according in logic list it is shown it is customized be described as program select, show phase
The second graph element answered, i.e., logic judgment part select in figure, it includes straight line 0, straight line 1 and with straight line 0 and straight line 1
The black dot being all connected with then shows that the connection between each field and second graph element of list type graphic element is closed
System, for example, being shown using a straight line by the customized field for being described as control camera and second graph element open
Connection relationship between camera, in another example, it is shown respectively using two straight lines and is described as program select's for customized
The connection relationship between black dot in field and logic judgment part select, at this point, executing different second graph elements
Corresponding difference third function, as shown in figure 5, being to open video camera, execute logic judgment.Finally, display third pattern primitive
Element, for example, third graphic element pattern and blob, are program, i.e. program select institute required for programming information
The program of direction then shows the connection relationship between third graphic element and second graph element, for example, as shown in figure 5,
Straight line 0 is directed toward third graphic element pattern, straight line 1 is directed toward third graphic element blob, at this point, executing third figure
Corresponding 4th function of element.Simultaneously as shown in figure 4, when clicking third graphic element blob, show corresponding to the 4th function
Execution information, close box, the execution information that user is specified is shown in around corresponding third graphic element.
As shown in fig. 6, being the second application scenarios, the difference with the first application scenarios is, in programming process, list type
Show that different logical variable carries out the operation result after operation in graphic element, i.e., shown in logic list is made by oneself
Justice description is that two logical variables corresponding to program select carry out the operation result after logic and operations and are shown to
In 4th field of list type graphic element, in turn, the connection relationship time control between the 4th field and second graph element is shown
Third function processed executes corresponding logic judgment.
It is fewer to can be seen that the straight line used from the graphic programming in Fig. 5 and Fig. 6 on programming interface, and can be straight
The processing for recognizing that programming is performed is seen, realizes operation visualization, expression is intuitive, and the friendship of connection relationship is not present between each other
It is clear to execute dependence for fork, and relative to graphical in Fig. 5, and connecting line used in graphical in Fig. 6 is less, into
And illustrate, can simplify execution relationship using logic list, further such that programming interface expression is intuitive, realization is clearly operated
Visualization.
As shown in fig. 7, being the structural schematic diagram of one embodiment of graphic programming device of the invention, graphic programming dress
Setting 700 can be applied in industrial vision design, including memory 710, processor 720 and bus 730.
Memory 710 is for storing the computer instruction for being configured as being executed by processor 720 and in 720 work of processor
The data for saving or caching needed for during making.
In the present embodiment, the computer instruction that processor 720 is stored by calling memory 710, for executing:
The first graphic element is shown on programming interface, wherein the first graphic element corresponds to first function；
List type graphic element is shown on programming interface, and is shown between list type graphic element and the first graphic element
Connection relationship, wherein list type graphic element corresponds to the second letter for being parsed for the operation result to first function
Number；
It is parsed using operation result of the second function to first function, and parsing result is shown in list type figure
On element；
Second graph element is shown on programming interface, and shows that the connection between parsing result and second graph element is closed
System, wherein second graph element corresponds to third function.
It should be noted that above-mentioned processor 720 can be to each step being applied in execution above method embodiment, tool
Body illustrates the description for please referring to above method embodiment.
Above-mentioned processor 720 can also be known as CPU (Central Processing Unit, central processing unit).Storage
Device 710 may include read-only memory and random access memory, and provide instruction and data to processor 720.Memory 710
It is a part of can also include nonvolatile RAM (NVRAM).In specific application, mobile terminal it is above-mentioned each
A component is coupled by bus 730, wherein bus 730 in addition to including data/address bus, can also include power bus,
Control bus and status signal bus in addition etc..But for the sake of clear explanation, various buses are all designated as bus 730 in figure.
The method that the embodiments of the present invention disclose can be applied in processor 720, or be realized by processor 720.
Processor 720 may be a kind of IC chip, the processing capacity with signal.During realization, the above method it is each
Step can be completed by the integrated logic circuit of the hardware in processor 720 or the instruction of software form.Above-mentioned processing
Device 720 can be general processor, digital signal processor (DSP), specific integrated circuit (ASIC), ready-made programmable gate array
(FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hardware components.May be implemented or
Person executes disclosed each method, step and the logic diagram in the embodiment of the present invention.General processor can be microprocessor or
Person's processor is also possible to any conventional processor etc..The step of method in conjunction with disclosed in the embodiment of the present invention, can be straight
Connect and be presented as that hardware decoding processor executes completion, or in decoding processor hardware and software module combination executed
At.Software module can be located at random access memory, and flash memory, read-only memory, programmable read only memory or electrically-erasable can
In the storage medium of this fields such as programmable memory, register maturation.The storage medium is located at memory 710, and processor 720 is read
Information in access to memory 710, in conjunction with the step of its hardware completion above method.
For this purpose, the computer readable storage medium specifically can be used as the present invention also provides computer readable storage medium
Memory 710 as shown in Figure 7 is stored with the computer instruction that can be run on processor 720, specifically, in this implementation
In example, computer instruction can be performed to realize the graphic programming method in above-described embodiment.
It should be noted that computer-readable recording medium storage has the computer instruction that can be run on processor 730
Corresponding to the step in above method embodiment.
In the present embodiment, on programming interface, the corresponding second function of list type graphic element is to the first graphic element pair
The operation result for the first function answered is parsed, and parsing result is shown on list type graphic element, programming personnel is facilitated
Understand the operation of input, in turn, when second graph element and parsing result establish a connection, controls second graph element pair
The third function answered executes corresponding function, realizes clearly operation visualization.
In addition, the present invention can also provide a kind of vision system, which be can be applied in industrial vision design, packet
Graphic programming device described in above-described embodiment is included, realizes operation visualization.Certainly, in other embodiments, the system is also
Including image collecting device and image processing apparatus, wherein image collecting device and image processing apparatus are respectively to industrial vision
Robot in design carries out relevant information acquisition and processing.
The above is only embodiments of the present invention, are not intended to limit the scope of the invention, all to utilize the present invention
Equivalent structure or equivalent flow shift made by specification and accompanying drawing content is applied directly or indirectly in other relevant technologies
Field is included within the scope of the present invention.
Claims (20)
1. a kind of graphic programming method, which is characterized in that the described method includes:
The first graphic element is shown on programming interface, wherein first graphic element corresponds to first function；
List type graphic element is shown on the programming interface, and shows the list type graphic element and first figure
Connection relationship between element, wherein the list type graphic element correspond to for the operation result to the first function into
The second function of row parsing；
It is parsed using operation result of the second function to the first function, and parsing result is shown in the column
On tabular form graphic element；
Second graph element is shown on the programming interface, and shows the list type graphic element and second graph member
Connection relationship between element, wherein the second graph element corresponds to third function；
The third function, which is controlled, using the parsing result on the list type graphic element executes corresponding function.
2. method according to claim 1, which is characterized in that described to utilize the second function to the first function
Operation result parsed, and parsing result is shown on the list type graphic element and includes:
The logical variable in the operation result of the first function is parsed using the second function, and by the logic
Variable is shown on the list type graphic element.
3. method according to claim 2, which is characterized in that the first function is for obtaining from robot or outside
The external information of portion's input-output apparatus；
It is described that the logical variable in the operation result of the first function is parsed using the second function, and will be described
Logical variable makes an addition on the second graph element
The logical variable in the external information is parsed using the second function, and the logical variable is made an addition to
On the second graph element.
4. method according to claim 2, which is characterized in that the logical variable is multiple；
It is described that the logical variable in the operation result of the first function is parsed using the second function, and will be described
Logical variable is shown on the list type graphic element
According to the specified logical variable for selecting user to specify from the multiple logical variable of user, and patrolled what user specified
Variable is collected to be shown on the list type graphic element.
5. method according to claim 2, which is characterized in that the list type graphic element is logic list, described
The logical variable in the operation result of the first function is parsed using the second function, and by the logical variable
It is shown on the list type graphic element and includes:
The logical variable in the operation result of the first function is parsed using the second function, and by the logic
Variable is shown in the correspondence field of the logic list.
6. method according to claim 5, which is characterized in that described to show second graph member on the programming interface
Element, and show that the connection relationship between the parsing result and the second graph element includes:
Second graph element is shown on the programming interface, and is shown between the second graph element and corresponding field
Connection relationship.
7. method according to claim 5, which is characterized in that show list type figure on the programming interface described
Before shape element, further includes:
According to the field quantity in the specified setting of the user list type graphic element.
8. method according to claim 5, which is characterized in that described that the logical variable is shown to the logical row
Include: in the correspondence field of table
The logical variable is shown in corresponding first field according to specifying for user.
9. method according to claim 8, which is characterized in that described that the logical variable is shown to the logical row
Further comprise in the correspondence field of table:
First graphic element in logical variable institute source is shown in corresponding second field according to specifying for user
And/or the customized description of user is shown in corresponding third field.
10. method according to claim 8, which is characterized in that described that the logical variable is shown to the logic
Further comprise in the correspondence field of list:
Operation is carried out according to the specified different logical variables in the logic list of user, and operation result is shown to
Corresponding 4th field.
11. method according to claim 10, which is characterized in that the display parsing result and second figure
Connection relationship between shape element includes:
Show the connection relationship between the 4th field and the second graph element；
The parsing result using on the list type graphic element controls the third function and executes corresponding function
Include:
The third function, which is controlled, using the operation result executes corresponding function.
12. method according to claim 2, which is characterized in that the institute using on the list type graphic element
Stating the corresponding function of the parsing result control third function execution includes:
The third function, which is controlled, using the logical variable executes corresponding control function or logical operation.
13. method according to claim 2, which is characterized in that the same list type graphic element connection at least two
A first graphic element, wherein first function corresponding at least two first graphic element is different；
Described show the logical variable on the list type graphic element include:
Simultaneously by the logical variable parsed to the first function corresponding at least two first graphic element
It is shown on the list type graphic element.
14. method according to claim 2, which is characterized in that described to control the third using the parsing result
Function executes corresponding function
The third function, which is controlled, according to the logical variable executes corresponding control function, logical operation and/or logic judgment.
15. method according to claim 3, which is characterized in that the method further includes:
Third graphic element is shown on the programming interface, and shows the third graphic element and the second graph element
Between connection relationship, wherein the third graphic element correspond to the 4th function.
16. method according to claim 15, which is characterized in that the method further includes:
Operation of the user to the third graphic element is responded, a dialog box is shown on the programming interface, and described right
Execution information corresponding to the 4th function is shown in words frame；
Wherein: the execution information include in setting parameter, intermediate data and the implementing result of the 4th function at least
A kind of or combination；
The appearance form of the execution information includes any one or combination in text, figure and list.
17. method according to claim 16, which is characterized in that the execution information is multiple；
The method further includes:
The execution information for selecting user to specify in the multiple execution information is specified according to user, closes the dialog box,
And the execution information for specifying user is shown in around the corresponding third graphic element.
18. a kind of graphic programming device, which is characterized in that described device includes memory and processor, in which:
The memory is for storing the program instruction for being configured as being executed by the processor；
The processor executes described program instruction to realize the graphic programming side as described in any one of claim 1-17
Method.
19. a kind of computer storage medium, which is characterized in that be stored with the computer instruction that processor can be run, the calculating
Machine instruction is for executing such as the described in any item graphic programming methods of claim 1 to 17.
20. a kind of vision system, which is characterized in that the system comprises graphic programming devices as claimed in claim 18.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/101252 WO2019047218A1 (en) | 2017-09-11 | 2017-09-11 | Graphic programming method, device, computer storage medium, and vision system |
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| CN109690473B CN109690473B (en) | 2022-04-15 |
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Also Published As
| Publication number | Publication date |
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| CN109690473B (en) | 2022-04-15 |
| WO2019047218A1 (en) | 2019-03-14 |
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