CN109822549A - A kind of robotic programming method, apparatus and controller - Google Patents
A kind of robotic programming method, apparatus and controller Download PDFInfo
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- CN109822549A CN109822549A CN201811650760.1A CN201811650760A CN109822549A CN 109822549 A CN109822549 A CN 109822549A CN 201811650760 A CN201811650760 A CN 201811650760A CN 109822549 A CN109822549 A CN 109822549A
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Abstract
The present invention relates to robotic technology field, a kind of robotic programming method, apparatus and controller are disclosed.The wherein robotic programming method, applied to robot, the robot connection teaching machine and at least one terminal, which comprises creation connects the communication pipe of the terminal and robot, so that at least one described terminal connects the robot by the communication pipe；The module scripted code that at least one described terminal is sent is received, and integrates the module scripted code, generates script file；It controls the robot and executes the script file.By the above-mentioned means, the present invention, which solves existing robotic programming, depends on teaching machine unduly, cause programming efficiency low, be unfavorable for the technical issues of quickly developing, realizes more people's programmings, improve development efficiency.
Description
Technical field
The present invention relates to robotic technology fields, more particularly to a kind of robotic programming method, apparatus and controller.
Background technique
Robot, also known as automatic control machine, the machine including all simulation human behaviors or thought and simulation other biological
Tool.In modern industry, robot refers to the man-made machine device that can execute task automatically, to replace or assist human work.
Teaching machine is called teaching-programming pendant, is the core component of robot control system, is one and is used to register and store mechanical movement
Or the equipment of processing memory, which executed by electronic system or computer system.
Currently, general robotic programming is by teaching machine edit code, then downloads in robot and runs, robot
Programming and debugging heavy dependence teaching machine, cause can only people programming, people debugging, low efficiency is unfavorable for quickly developing.
Inventor has found the relevant technologies the prior art has at least the following problems: existing during realizing the embodiment of the present invention
Robotic programming depends on teaching machine unduly, causes programming efficiency low, is unfavorable for quickly developing.
Summary of the invention
The present invention is intended to provide a kind of robotic programming method, apparatus and controller, which solve existing robot volumes
Journey depends on teaching machine unduly, causes programming efficiency low, is unfavorable for the technical issues of quickly developing, and realizes that more people's programmings, raising are opened
Send out efficiency.
In order to solve the above technical problems, the embodiment of the present invention the following technical schemes are provided:
In a first aspect, the embodiment of the present invention provides a kind of robotic programming method, it is applied to robot, the robot connects
Connect teaching machine and at least one terminal, which comprises
Creation connects the communication pipe of the terminal and robot, so that at least one described terminal passes through the communication tube
Road connects the robot；
The module scripted code that at least one described terminal is sent is received, and integrates the module scripted code, generates foot
This document；
It controls the robot and executes the script file.
In some embodiments, the integration module scripted code, generates script file, comprising:
Duplicate module scripted code is judged whether there is, if so, deleting the duplicate module scripted code.
In some embodiments, at least one described terminal communicates with each other connection, the method also includes:
Obtain the network address of at least one terminal, and determine from least one described terminal master terminal and from
Terminal；
Judge whether the module scripted code is successfully generated script file, if script file failure is generated, to the master
Terminal sends failed regeneration order.
In some embodiments, the method also includes:
The teaching machine is sent by the script file, so that the teaching machine is based on the script file to the machine
Device people debugs.
In some embodiments, the method also includes:
Receive the debug command that the teaching machine is sent；
According to the debug command that the teaching machine is sent, the module scripted code that mistake occurs is determined；
Code revision order is sent to the master terminal, so that the code revision order is sent institute by the master terminal
It is corresponding from terminal to state module scripted code.
Second aspect, the embodiment of the present invention provide a kind of robot programming device, are applied to robot, and the robot connects
It connects teaching machine and at least one terminal, described device includes:
Communication pipe unit, for creating the communication pipe for connecting the terminal and robot so that it is described at least one
Terminal connects the robot by the communication pipe；
Script file unit, the module scripted code sent for receiving at least one described terminal, and integrate the mould
Block scripted code generates script file；
Execution unit executes the script file for controlling the robot.
In some embodiments, the script file unit is specifically used for:
Duplicate module scripted code is judged whether there is, if so, deleting the duplicate module scripted code.
In some embodiments, described device further include:
Teaching machine unit, for sending the teaching machine for the script file, so that the teaching machine is based on described
Script file debugs the robot.
The third aspect, the embodiment of the present invention provide a kind of controller, comprising:
At least one processor；And
The memory being connect at least one described processor communication；Wherein,
The memory is stored with the instruction that can be executed by least one described processor, and described instruction is by described at least one
A processor executes, so that at least one described processor is able to carry out robotic programming method as described above.
Fourth aspect, the embodiment of the invention also provides a kind of non-volatile computer readable storage medium storing program for executing, the calculating
Machine readable storage medium storing program for executing is stored with computer executable instructions, and the computer executable instructions are for enabling the controller to execute
Robotic programming method as described above.
The beneficial effect of the embodiment of the present invention is: being in contrast to the prior art down, provided in an embodiment of the present invention one
Kind robotic programming method is applied to robot, the robot connection teaching machine and at least one terminal, the method packet
Include: creation connects the communication pipe of the terminal and robot, so that at least one described terminal is connected by the communication pipe
Meet the robot；The module scripted code that at least one described terminal is sent is received, and integrates the module scripted code, it is raw
At script file；It controls the robot and executes the script file.By the above-mentioned means, the embodiment of the present invention is able to solve now
Some robotic programmings depend on teaching machine unduly, cause programming efficiency low, are unfavorable for the technical issues of quickly developing, and realize more people
Programming improves development efficiency.
Detailed description of the invention
One or more embodiments are illustrated by the picture in corresponding attached drawing, these exemplary theorys
The bright restriction not constituted to embodiment, the element in attached drawing with same reference numbers label are expressed as similar element, remove
Non- to have special statement, composition does not limit the figure in attached drawing.
Fig. 1 is a kind of schematic diagram of application environment provided in an embodiment of the present invention；
Fig. 2 is a kind of flow diagram of robotic programming method provided in an embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of robot programming device provided in an embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of controller provided in an embodiment of the present invention.
Specific embodiment
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.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In addition, as long as technical characteristic involved in the various embodiments of the present invention described below is each other not
Constituting conflict can be combined with each other.
Referring to Fig. 1, Fig. 1 is a kind of schematic diagram of application environment provided in an embodiment of the present invention；
As shown in Figure 1, robot connects teaching machine, and the robot connects at least one intelligence by communication pipe
Terminal, the intelligent terminal sends script file to the robot by the communication pipe, so that the robot executes
The script file.Specifically, the intelligent terminal connects the controller of the robot by the communication pipe, and pass through
The communication pipe sends script file to the controller of the robot, so that the controller of the robot executes the foot
This document controls the movement or operation of the robot.
In an embodiment of the present invention, intelligent terminal can be computer, smart phone, palm PC (Personal
Digital Assistant, PDA), tablet computer, smartwatch etc. can be carried out the electronic equipment of programming.
Specifically, the embodiment of the present invention is specifically addressed by taking computer as an example below.
Embodiment one
Referring to Fig. 2, Fig. 2 is a kind of flow diagram of robotic programming method provided in an embodiment of the present invention；It is described
Method is applied to robot, the robot connection teaching machine and at least one terminal, as shown in Figure 2, which comprises
Step S10: the communication pipe of creation connection terminal and robot, so that at least one terminal is connected by communication pipe
Welding robot；
Specifically, the communication pipe is for the data transmission between the robot and the terminal, each communication tube
Road is for the data transmission between unique terminal and robot, specifically, each communication pipe is used for unique terminal and machine
Data transmission between the controller of device people, the method also includes: the communication pipe is identified, the communication pipe
Mark it is associated with the terminal, such as: the communication pipe mark it is associated with the ID of the terminal, alternatively, described
The mark of communication pipe is associated with the IP address of the terminal, and etc..Wherein, the controller of the robot receives institute
The connection request for stating terminal, according to the connection request, creation connects the communication pipe of the terminal and robot, if the end
It is multiple for holding, and the controller of the robot receives the connection request of multiple terminals, and according to the multiple connection request, creation connects
Multiple communication pipes of the multiple terminal and robot are connect, each communication pipe corresponds to unique terminal, the multiple
Communication pipe is respectively used to the data communication between multiple terminals and robot.
Step S20: receiving the module scripted code of at least one terminal transmission, and integrate module scripted code, generates foot
This document；
Specifically, the corresponding module of each terminal, the module is a part of script file, and the script file is divided
At several modules, the corresponding module scripted code of each module, each terminal is for editing one or more module script generations
Code, and each terminal corresponds to unique communication pipe, and each terminal passes through its corresponding communication pipe to the machine respectively
The controller of people sends the module scripted code.It is understood that if only one terminal connects the control of the robot
Device processed, then the terminal directly passes through the whole module scripted code of editor, and directly generates script file at the terminal, and will
The script file is sent to the controller of the robot.
If the controller of the robot connects two or more terminals, each terminal is corresponding logical by its
The module scripted code that fuse tube road is write is sent to the controller of the robot, and the controller passes through to the multiple
The module scripted code that terminal is sent is integrated, and script file is generated.Specifically, the integration module scripted code,
Generate script file, comprising: duplicate module scripted code is judged whether there is, if so, deleting the duplicate module foot
This code.Wherein, the integration module scripted code, generates script file, further includes: judge the module scripted code
Success integration generates script file, if it is not, determining the module scripted code that integration mistake occurs, is integrated according to described
The module scripted code of mistake determines that the terminal for generating the module scripted code of the integration mistake, Xiang Suoshu terminal send generation
Code false command so that the terminal debugs the module scripted code of the integration mistake, and will debug successful mould
Block scripted code is sent to the controller of the robot.
In embodiments of the present invention, the method also includes: after robot electrifying startup, control robot starting branch
Shared service is held, each terminal connects the controller of the robot by shared agreement, specifically, connecting the machine
The network address of device people, such as: IP address.The communication pipe of each terminal and the robot forms overlapping trees, described total
Enjoying path is code script file path, and the multiple terminal remotely compiles the robot by the overlapping trees
Journey.
In embodiments of the present invention, the scripting editing software of the multiple terminal may be the same or different, Yong Huke
Different scripting editing software is installed on the terminal with selection, thus editor module scripted code, alternatively, edit script is literary
Part, it is to be understood that the scripting language of the multiple terminal may be the same or different, due to scripting editing software with
And the alternative of scripting language, it is higher to may be implemented programming efficiency, greatly improves development efficiency, also, at different ends
The module scripted code that completion is programmed on end can be integrated by the controller of the robot, form complete script text
Part advantageously reduces the debugging of multiple users, improves programming efficiency.In embodiments of the present invention, the scripting language is Lua foot
This language, since Lua scripting language is lightweight scripting language, small in size, starting speed is fast, and expansibility is strong, and in Lua
It after scripting language editor completes, is directly packaged, can directly be started by teaching machine and be run, facilitate debugging.
In embodiments of the present invention, at least one described terminal communicates with each other connection, specifically, each terminal and institute
It states and is interconnected between the communication pipe established between robot, realize communication connection, the side between each terminal to realize
Method further include: obtain the network address of at least one terminal, and determine from least one described terminal master terminal and
From terminal；Judge whether the module scripted code is successfully generated script file, if script file failure is generated, to the main end
End sends failed regeneration order.Specifically, described determine master terminal and from terminal from least one described terminal, comprising:
Communication connection is established between the multiple terminal, after determining that the master terminal, master terminal determine according to user, remaining terminal is equal
For from terminal, the master terminal increases authentication code on the module scripted code that it sends, and the authentication code is for indicating
The terminal is master terminal, and the module scripted code that the controller of the robot is sent according to the terminal determines the module
It whether include authentication code in scripted code, such as: marker, if so, the controller of the robot is true by the terminal
Be set to master terminal, if the controller of the robot after receiving the module scripted code that whole terminals are sent, in whole
Module scripted code do not recognize authentication code, then the module scripted code that the robot will receive for the first time automatically
Corresponding terminal is determined as master terminal, remaining terminal is determined as from terminal.
When the controller of the robot determines master terminal in multiple terminals and after from terminal, receives the main end
End and the module scripted code sent from terminal, and judge whether the module scripted code is successfully generated script file, if raw
Fail at script file, the controller of the robot sends failed regeneration order, the failed regeneration life to the master terminal
It enables comprising the module scripted code that mistake occurs, the master terminal is according to the module scripted code that mistake occurs, really
The fixed module scripted code that mistake occurs is corresponding from terminal, and sends the failed regeneration order to described from end
End.
In embodiments of the present invention, the method also includes: the teaching machine is sent by the script file, so that institute
Teaching machine is stated to debug the robot based on the script file.Specifically, user can pass through the teaching machine pair
The script file is debugged, and sends debug command by the teaching machine, and the controller of the robot will receive institute
The debug command for stating teaching machine transmission determines the module script generation that mistake occurs according to the debug command that the teaching machine is sent
Code, and send code revision order to the master terminal so that the master terminal send the code revision order to it is described
Module scripted code is corresponding from terminal, so that described modify to the module scripted code from terminal.It is understood that
It is that the master terminal preserves remaining mailing address from terminal, alternatively, the multiple terminal intercourses mailing address, institute
To state mailing address be network address, such as: IP address, the master terminal and from terminal by interconnecting between communication pipe
Mode realizes sharing module scripted code, so as to write scripted code jointly.
Step S30: control robot perform script file.
Specifically, the controller is in the script file for receiving one terminal and sending, alternatively, the controller exists
After receiving the module scripted code that multiple terminals are sent, the module scripted code is integrated, generates script file, institute
It states controller and controls the robot execution script file, and then execute the corresponding operation of the script file.
In embodiments of the present invention, by providing a kind of robotic programming method, it is applied to robot, the robot connects
Connecing teaching machine and at least one terminal, which comprises creation connects the communication pipe of the terminal and robot, so that
At least one described terminal connects the robot by the communication pipe；Receive the module that at least one described terminal is sent
Scripted code, and the module scripted code is integrated, generate script file；It controls the robot and executes the script file.
By the above-mentioned means, the embodiment of the present invention, which is able to solve existing robotic programming, depends on teaching machine unduly, lead to programming efficiency
It is low, it is unfavorable for the technical issues of quickly developing, realizes more people's programmings, improve development efficiency.
Embodiment two
Referring to Fig. 3, Fig. 3 is a kind of structural schematic diagram of robot programming device provided in an embodiment of the present invention, the machine
Device people's programmer can be applied to robot, the robot connection teaching machine and at least one terminal, as shown in figure 3,
The robot programming device 100 includes:
Communication pipe unit 10, for creating the communication pipe for connecting the terminal and robot, so that described at least one
A terminal connects the robot by the communication pipe；
Script file unit 20, the module scripted code sent for receiving at least one described terminal, and described in integration
Module scripted code generates script file；
Execution unit 30 executes the script file for controlling the robot.
In embodiments of the present invention, the script file unit 20 is specifically used for: judging whether there is duplicate module foot
This code, if so, deleting the duplicate module scripted code.
In embodiments of the present invention, the robot programming device 100 further include:
Teaching machine unit 40, for sending the teaching machine for the script file, so that the teaching machine is based on institute
Script file is stated to debug the robot.
Since Installation practice and embodiment of the method under the premise of content does not conflict mutually, are filled based on same design
The content for setting embodiment can be with quoting method embodiment, and this will not be repeated here.
Referring to Fig. 4, Fig. 4 is that the embodiment of the present invention provides a kind of structural schematic diagram of controller；As shown in figure 4, the control
Device 400 processed includes one or more processors 401 and memory 402.Wherein, in Fig. 4 by taking a processor 401 as an example.
Processor 401 can be connected with memory 402 by bus or other modes, to be connected by bus in Fig. 4
For.
Memory 402 is used as a kind of non-volatile computer readable storage medium storing program for executing, can be used for storing non-volatile software journey
Sequence, non-volatile computer executable program and module, as one of embodiment of the present invention robotic programming method is corresponding
Unit (for example, each unit described in Fig. 3).Processor 401 is stored in non-volatile soft in memory 402 by operation
Part program, instruction and module are realized thereby executing the various function application and data processing of robotic programming method
State the modules of embodiment of the method robotic programming method and above-mentioned apparatus embodiment and the function of unit.
Memory 402 may include high-speed random access memory, can also include nonvolatile memory, for example, at least
One disk memory, flush memory device or other non-volatile solid state memory parts.In some embodiments, memory 402
Optional includes the memory remotely located relative to processor 401, these remote memories can pass through network connection to processing
Device 401.The example of above-mentioned network includes but is not limited to internet, intranet, local area network, mobile radio communication and combinations thereof.
The module is stored in the memory 402, when being executed by one or more of processors 401, is held
Robotic programming method in the above-mentioned any means embodiment of row, for example, executing each step shown in Fig. 2 described above；
It can also realize the function of modules described in Fig. 3 or unit.
The embodiment of the invention also provides a kind of nonvolatile computer storage media, the computer storage medium storage
There are computer executable instructions, which is executed by one or more processors, such as at one in Fig. 4
Device 401 is managed, may make said one or multiple processors that the robotic programming method in above-mentioned any means embodiment can be performed,
For example, the robotic programming method in above-mentioned any means embodiment is executed, for example, executing described above shown in Fig. 2 each
A step；It can also realize the function of each unit described in Fig. 3.
Device or apparatus embodiments described above is only schematical, wherein it is described as illustrated by the separation member
Unit module may or may not be physically separated, and the component shown as modular unit can be or can also
Not to be physical unit, it can it is in one place, or may be distributed on multiple network module units.It can basis
It is actual to need that some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It is realized by the mode of software plus general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, above-mentioned technology
Scheme substantially in other words can be embodied in the form of software products the part that the relevant technologies contribute, the computer
Software product may be stored in a computer readable storage medium, such as ROM/RAM, magnetic disk, CD, including some instructions are with directly
To computer equipment (can be personal computer, server or the network equipment etc.) execute each embodiment or
Method described in certain parts of embodiment.
In embodiments of the present invention, by providing a kind of robot programming device, it is applied to robot, the robot connects
Teaching machine and at least one terminal are connect, described device includes: communication pipe unit, connects the terminal and machine for creating
The communication pipe of people, so that at least one described terminal connects the robot by the communication pipe；Script file unit,
The module scripted code sent for receiving at least one described terminal, and the module scripted code is integrated, generate script text
Part；Execution unit executes the script file for controlling the robot.Teaching machine unit is used for the script file
It is sent to the teaching machine, so that the teaching machine is based on the script file and debugs to the robot.By above-mentioned
Mode, the embodiment of the present invention are able to solve existing robotic programming and depend on teaching machine unduly, cause programming efficiency low, are unfavorable for
Quickly the technical issues of exploitation, realizes more people's programmings, improve development efficiency.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；At this
It under the thinking of invention, can also be combined between the technical characteristic in above embodiments or different embodiment, step can be with
It is realized with random order, and there are many other variations of different aspect present invention as described above, for simplicity, they do not have
Have and is provided in details；Although the present invention is described in detail referring to the foregoing embodiments, the ordinary skill people of this field
Member is it is understood that it is still possible to modify the technical solutions described in the foregoing embodiments, or to part of skill
Art feature is equivalently replaced；And these are modified or replaceed, each reality of the application that it does not separate the essence of the corresponding technical solution
Apply the range of a technical solution.
Claims (10)
1. a kind of robotic programming method, it is applied to robot, which is characterized in that the robot connection teaching machine and at least
One terminal, which comprises
Creation connects the communication pipe of the terminal and robot, so that at least one described terminal is connected by the communication pipe
Meet the robot；
The module scripted code that at least one described terminal is sent is received, and integrates the module scripted code, generates script text
Part；
It controls the robot and executes the script file.
2. the method according to claim 1, wherein the integration module scripted code, generates script text
Part, comprising:
Duplicate module scripted code is judged whether there is, if so, deleting the duplicate module scripted code.
3. the method according to claim 1, wherein at least one described terminal communicates with each other connection, the side
Method further include:
The network address of at least one terminal is obtained, and determines from least one described terminal master terminal and from end
End；
Judge whether the module scripted code is successfully generated script file, if generating script file failure, Xiang Suoshu master terminal
Send failed regeneration order.
4. according to the method described in claim 3, it is characterized in that, the method also includes:
The teaching machine is sent by the script file, so that the teaching machine is based on the script file to the robot
It is debugged.
5. according to the method described in claim 4, it is characterized in that, the method also includes:
Receive the debug command that the teaching machine is sent；
According to the debug command that the teaching machine is sent, the module scripted code that mistake occurs is determined；
Code revision order is sent to the master terminal, so that the code revision order is sent the mould by the master terminal
Block scripted code is corresponding from terminal.
6. a kind of robot programming device, it is applied to robot, which is characterized in that the robot connection teaching machine and at least
One terminal, described device include:
Communication pipe unit, for creating the communication pipe for connecting the terminal and robot, so that at least one described terminal
The robot is connected by the communication pipe；
Script file unit, the module scripted code sent for receiving at least one described terminal, and integrate the module foot
This code generates script file；
Execution unit executes the script file for controlling the robot.
7. device according to claim 6, which is characterized in that the script file unit is specifically used for:
Duplicate module scripted code is judged whether there is, if so, deleting the duplicate module scripted code.
8. device according to claim 6, which is characterized in that described device further include:
Teaching machine unit, for sending the teaching machine for the script file, so that the teaching machine is based on the script
File debugs the robot.
9. a kind of controller characterized by comprising
At least one processor；And
The memory being connect at least one described processor communication；Wherein,
The memory is stored with the instruction that can be executed by least one described processor, and described instruction is by described at least one
It manages device to execute, so that at least one described processor is able to carry out the described in any item methods of claim 1-5.
10. a kind of non-volatile computer readable storage medium storing program for executing, the computer-readable recording medium storage have computer that can hold
Row instruction makes the controller perform claim require any one of 1-5 when the computer executable instructions are executed by a controller
The method.
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| CN112171656A (en) * | 2019-07-04 | 2021-01-05 | 深圳市越疆科技有限公司 | Control method and device of mechanical arm and server |
| CN112171656B (en) * | 2019-07-04 | 2022-06-10 | 深圳市越疆科技有限公司 | Control method and device of mechanical arm and server |
| CN110480633A (en) * | 2019-08-02 | 2019-11-22 | 北京猎户星空科技有限公司 | A kind of method, apparatus and storage medium controlling equipment |
| CN111216101A (en) * | 2019-12-06 | 2020-06-02 | 深圳市山龙智控有限公司 | Robot secondary programming teaching method and device based on lua script |
| CN111216101B (en) * | 2019-12-06 | 2022-12-02 | 深圳市山龙智控有限公司 | Robot secondary programming teaching method and device based on lua script |
| CN112777058A (en) * | 2020-12-22 | 2021-05-11 | 珠海格力智能装备有限公司 | Robot control method, system, device, storage medium and processor |
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