CN110262378A - A method of online programming is realized using APP control robot - Google Patents
A method of online programming is realized using APP control robot Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/11—Plc I-O input output
- G05B2219/1103—Special, intelligent I-O processor, also plc can only access via processor
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Abstract
The present invention relates to the methods that a kind of APP control robot realizes online programming, mainly it is made of mobile terminal APP and robot two large divisions, the mobile terminal APP of the present invention program design need to be used cooperatively with matched robot firmware program, mobile terminal APP primary operational interface is graphical control interface, and graphical control interface is mainly made of control button, parameter modification input, status display area, image conversion program component selection area, graphic programming area.Present invention design is applicable not only to robot control, is suitable for all intelligence control systems, the external equipment of robot controller is changed to household electric appliances product, the control of smart home system can be realized.It can be used as the flexible operational version of internet of things product, dummy program method through the invention is customized by the user the intelligent control method of equipment, compared with the programmed method of traditional specialty, operation difficulty is low, user can carry out simple dummy program operation after reading operations explanation, allow user that arbitrary functional effect may be implemented.
Description
Technical field
It is especially a kind of to realize online programming using APP control robot the present invention relates to a kind of method of online programming
Method, belong to robotic programming field.
Background technique
With the continuous development of intelligence manufacture industry, the continuous maturation of robot technology, the market development of educational robot
It is just like a raging fire.Computer programming thinking culture is the core of educational robot, traditional based on text and symbol
Calculation machine programming language is more difficult for middle and primary schools' hobby person's primary learning, understands that difficulty is larger, code write, compiling,
The standardization work such as debugging is comparatively uninteresting, is unfavorable for cultivating the interest of students in middle and primary schools' Outside Class Studying, therefore, the present invention proposes
A kind of APP mobile terminal On-line Control robot and dummy program method, through the wireless connection of APP and robot, in APP
Creation one similar dummy program environment, completes programming operation, then by sending to robot in virtual programmed environment
Control instruction realizes robot program's downloading and On-line Control.
It generally can not achieve real-time update, changing machine in relation to developing the graphical programming software of children intelligence in the market
Device people's program, juvenile understand the problems such as difficulty is larger, and in addition children intelligence development toy is all hardware and programming mostly in the market
Software separation, has no connection, and the present invention proposes a kind of APP mobile terminal On-line Control robot and dummy program method, logical
APP is crossed to connect with robot and control, creation one similar dummy program environment, then by sending control instruction to robot
Realize robot On-line Control, simultaneously energy part or instruction repertorie update, all instructions program change robot program one by one, operation
On can choose part instruction update and run or all update operation robot program, thus by the colourful content of courses
It is presented to juvenile, develops its intelligence, interest learner is allowed to fully understand the effect of each instruction.
Summary of the invention
The purpose of the present invention is to solve above-mentioned technical problems, provide a kind of APP control robot and realize online programming
Method, mobile terminal APP and robot form its basic structure, and programmed method passes through mobile terminal APP and two, robot
Divide and realizes.
Mobile terminal APP and robot are interacted by bluetooth, and mobile terminal APP obtains check number using Bluetooth of mobile phone
Real-time update robotary variable is obtained according to frame, after being decoded, and control instruction is generated by graphical control interface again, then
It is passed through into encoded translated generation data frame.Robot obtains verification data frame using its bluetooth module, is then written pending
Instruction buffer area executes instruction after being decoded as control instruction.It executes instruction and is divided into two paths, one of path is to obtain in fact
When status data variable, then carry out real time data variable coding regeneration data frame after be transmitted to bluetooth module；Another road
Diameter is to update variable data then to export control, is finally that hardware executes.
Robot mainly includes controller, and bluetooth module, 5G communication module, sensor interface, expansion interface, motor connect
Mouth, steering engine interface, voice broadcast module and power supply, key, LED light basic circuit.
Robot On-line Control corresponding with mobile terminal APP cooperation completion and programming Control must first be loaded into firmware journey
Sequence only need to actual hardware change in environment interface according to controller and instruction when using different controllers.
Work step is as follows:
(1) after mobile terminal APP data are sent to robot, robot data interrupts receiver function and verifies data receiver
After be stored in instruction area；
(2) instruction operation control function reads the instruction in instruction area from initial address；
(3) instruction control function is carried out the instruction read with to Selection and call function instruction code by lookup table mode
Comparison, determines the corresponding function of the instruction, and address adds 1 if it can not find the instruction respective function code, until to the finger read
Until enabling corresponding function code effective；
(4) actual parameter for continuing function reading, the data of reading are converted according to preset data format,
Such as finding instruction is that delay function corresponds to code, then the instruction after delay function is corresponding delay time；
(5) corresponding code function is called by instruction operation control function and actual parameter is written；
(6) function that is called executes；
(7) once command operation is completed.
Such as getting function parameter is function instruction code, then obtains function return value conduct by modes such as recursive calls
Function parameter realizes the normal operation of instruction.Instruction output control mainly by assignment function change corresponding address numerical value with
Reach control purpose: the special address such as defined below sensor, motor speed, audio player, by writing motor speed
The numerical value of corresponding address can change the target that motor speed reaches control motor speed, by changing audio player accordingly
Location can choose the audio for playing and accordingly numbering.
The received instruction of institute, robot, which is generated by mobile terminal APP and passes through bluetooth, is sent to robot, and APP mainly includes
Model selection, graphic programming operating space, remote control operation area, wherein graphic programming operating space includes graphic programming editor
Area, all instructions download button, newly-increased instruction download button, programmer may be selected online to be that robot increases new instruction or complete
Portion covers the instruction run；Under remote control operation mode, the value that instruction changes output variable is sent by remote keying, is reached
It is remotely controlled purpose.
The operation work of APP mainly includes programming mode and remote control mode.,
The step of programming mode, is as follows:
(1) functional blocks are selected, (2) select variable or input parameter, and (3) repeat 1,2 operations, and (4) complete program editing,
(5) downloading of selection all instructions or newly-increased instruction downloading, (6) APP by graphically with symbol lookup conversion function and function pair
It answers instruction code table, variable range address table to compare, patterned functional blocks is converted into corresponding code, variable or input
Parameter is converted according to preset format, and (7) generate corresponding data frame, is such as selected newly-increased instruction downloading, is then only given birth to
At part instruction increased after last time downloading, (8) send data frame to robot, and (9) confirmation robot has normally received, such as
It does not receive and normally receives returned data, then send data again, (10) complete to send.
The step of remote control mode, is as follows:
(1) remote control mode is selected；(2) it presses the button；(3) according to the instruction of assignment function, corresponding address of variable, parameter
Format generates corresponding data frame；(4) it is sent to robot, (5) robot requires to change corresponding output variable according to instruction.
Mobile terminal APP primary operational interface be graphical control interface, graphical control interface mainly by control button,
Parameter modifies input, status display area, image conversion program component selection area, graphic programming area composition.
Graphical control interface specifically includes that
(1) mode selection button: remote control mode, online programming mode, automatic running pattern (tracking, avoidance etc.).
(2) it is mainly following several types key in remote control mode lower-pilot picture:
(1) sound broadcasting button: multiple keys, different key selections play different audios, and audio is that downloading is deposited in advance
Storage may be modified such that remarks in robot, the audio for needing to play by number selection, key display Name；
(2) remote controlled travelling key: mainly there are advance, retrogressing, left-hand rotation, right-hand rotation；
(3) multiple color RGB LED light luminescent color selection key: can be set.
(3) it is pressed in several operational mode selections such as the main tracking mode of automatic running pattern lower-pilot picture, avoidance mode
Key:
(4) status display area: display robot real-time running state mainly includes motor speed, sensor states, steering engine
Angle, LED light state etc..It is present in all mode interfaces, is convenient for each sensor states of observer robot operational process and machine
Device people test.
(5) parameter modifies input area: the modification robot speed of service, volume, LED light under remote control mode is bright
Degree.
(6) graphic programming component selects area, specifically includes that
A) cyclical function
B) discriminant function
C) delay function
D) assignment function
E) mathematical operator
F) input variables such as sensor
G) output variables such as motor speed
H) intermediate variable
(7) graphic programming area mainly includes mainly comprising graphic programming component rest area and On-line Control key:
" all downloadings ", " update and change ", " bringing into operation ", " out of service " four keys press " update and change " key only to machine
Device people increases newly-increased instruction, supports online addition program component, it can be achieved that online gradually add program purpose.
Control instruction is generated by backstage after graphical control interface changes corresponding operating and requires to compile according to communications protocol
Code conversion generates data frame and is sent to robot by Bluetooth of mobile phone, presses after verification data format is errorless after robot reception data
Covering is required according to instruction or updates instruction buffer area, and robot will execute instruction change output state of a control according to instruction buffer area
The basic object of robot online programming, control is completed, while robot can also be sent according to setting interval time to robot
Real-time status data variable value, including motor speed, ultrasonic sensor distance, infrared sensor detecting state, steering engine angle
Degree, audio broadcast state, light emitting LED lamp color etc..Under remote control mode, in short distance, preferentially selection passes through for robot
Bluetooth is attached with mobile phone, and when exceeding bluetooth communication scope, robot will be realized remote with mobile phone by 5G communication module
Journey connects, and under 5G communication pattern, remote real_time control, display robotary is may be implemented in cell phone application.
Also can be used as method of the invention is equally applicable to other intelligence control systems, dummy program side of the invention simultaneously
Method does not directly generate executable program, is that data command is sent to controller by programming Content Transformation, by controller
Firmware program according to data and instruction format predetermined comparison after call execute command adapted thereto realize dummy program purpose,
The invention is fitted to controller without limitation, be can be used for update, the modification of the control technology of intelligence control system, be can be used as intelligent control
System user self-defining control method means program user voluntarily and realize most suitable control method.
The beneficial effects of the present invention are:
1. On-line Control, subprogram is supported to update, the robot learning fan that is more convenient for controls robot, existing figure
Shape programs to re-download program completely, does not support to update judgement, the In-circuit programming system that the present invention designs can be in program
Only operation updates part after update, debugs link closer to specialized procedure, learning efficiency can be improved.
2. robotary real-time update passes through robot real-time status determining program operational process, knot convenient for user
Robotary real-time update data and robot operating condition are closed, can quickly be detected, the reasonability of proving program, allows study
Person understands the result of every instruction operation.
3. the study of the various modes such as remote control, automatic running, programming combines, user association can be promoted to observe, explore,
The learning methods such as comparison, reference more preferably grasp Program Thought faster.
4. only downloading newly-increased command function online, runs newly-increased instruction repertorie one by one by this function, can achieve use
Downloading program must be completely covered in the purpose of person's gradually debugging routine, existing robotic programming tool, only the newly-increased instruction of downloading,
It is suitable for program development process.
5. robot hardware is unrestricted, any controller can be used, method of the invention is suitable for all robots,
Only need to it can be used according to robot instruction's system, external hardware interface change firmware program.
6. present invention design is applicable not only to robot control, it is suitable for all intelligence control systems, robot is controlled
The external equipment of device is changed to household electric appliances product, and the control of smart home system can be realized.
7. can be used as the flexible operational version of internet of things product, dummy program method through the invention is customized by the user
The intelligent control method of equipment, compared with the programmed method of traditional specialty, operation difficulty is low, and user illustrates in reading operations
After can carry out simple dummy program operation, allow user that arbitrary functional effect may be implemented.
8. remotely controlled under 5G communication network, compared with existing 4G, broadband network communication mode substantially without when
Between delay, strong real-time, it is ensured that the accuracy of remote operation, realize remote real_time control.
It is data by programming Content Transformation 9. dummy program method of the invention does not directly generate executable program
Instruction is sent to controller, calls and holds after being compared by the firmware program in controller according to data and instruction format predetermined
Row command adapted thereto realizes dummy program purpose, and more stable and reliable, fault-tolerance is strong, will not interrupt because instruction updates, robot burst
Property power-off and the case where cause systemic breakdown to be unable to run.
Detailed description of the invention
Figure 1A PP and robot work block diagram
Fig. 2 buffer area instructs operational process
Fig. 3 function operation process schematic
Fig. 4 function recursive call process
Fig. 5 robot architecture
Fig. 6 robot firmware program structure
Fig. 7 APP software program code generates primary structure
Fig. 8 remote control mode realizes process
Fig. 9 mobile phone remote controls robot signals transmission
Specific embodiment
It is carried out below with reference to the method that APP control robot of Fig. 1-Fig. 9 to the embodiment of the present invention realizes online programming detailed
Thin description.
The main working process of mobile terminal APP and robot interactive such as Fig. 1,
Mobile terminal APP need to be used cooperatively with matched robot firmware program, and mobile terminal APP primary operational interface is
Graphical control interface, graphical control interface are mainly compiled by control button, parameter modification input, status display area, image conversion
Journey component selects area, graphic programming area to constitute.
Graphical control interface specifically includes that
(1) mode selection button: remote control mode, online programming mode, automatic running pattern (tracking, avoidance etc.).
(2) it is mainly following several types key in remote control mode lower-pilot picture:
A) sound broadcasting button: multiple keys, different key selections play different audios, and audio is downloading storage in advance
In robot, the audio for needing to play by number selection, key display Name may be modified such that remarks.
B) remote controlled travelling key: mainly there are advance, retrogressing, left-hand rotation, right-hand rotation
C) multiple color RGB LED light luminescent color selection key: can be set.
(3) it is pressed in several operational mode selections such as the main tracking mode of automatic running pattern lower-pilot picture, avoidance mode
Key:
(4) status display area: display robot real-time running state mainly includes motor speed, sensor states, steering engine
Angle, LED light state etc..It is present in all mode interfaces, is convenient for each sensor states of observer robot operational process and machine
Device people test.
(5) parameter modifies input area: modification the robot speed of service, volume, LED light brightness under remote control mode.
(6) graphic programming component selects area, specifically includes that
I) cyclical function
J) discriminant function
K) delay function
L) assignment function
M) mathematical operator
N) input variables such as sensor
O) output variables such as motor speed
P) intermediate variable
(7) graphic programming area mainly includes mainly comprising graphic programming component rest area and On-line Control key:
" all downloadings ", " update and change ", " bringing into operation ", " out of service " four keys press " update and change " key only to machine
Device people increases newly-increased instruction, supports online addition program component, it can be achieved that online gradually add program purpose.
Control instruction is generated by backstage after graphical control interface changes corresponding operating and requires to compile according to communications protocol
Code conversion generates data frame and is sent to robot by Bluetooth of mobile phone, presses after verification data format is errorless after robot reception data
Covering is required according to instruction or updates instruction buffer area, and robot will execute instruction change output state of a control according to instruction buffer area
The basic object of robot online programming, control is completed, while robot can also be sent according to setting interval time to robot
Real-time status data variable value, including motor speed, ultrasonic sensor distance, infrared sensor detecting state, steering engine angle
Degree, audio broadcast state, light emitting LED lamp color etc..Under remote control mode, in short distance, preferentially selection passes through for robot
Bluetooth is attached with mobile phone, and when exceeding bluetooth communication scope, robot will be realized remote with mobile phone by 5G communication module
Journey connects, and under 5G communication pattern, remote real_time control, display robotary is may be implemented in cell phone application.
Robot architecture is as shown in Fig. 2, mainly include general controller, bluetooth module, 5G communication module, sensor connects
The basic circuits such as mouth, expansion interface, motor interface, steering engine interface, voice broadcast module and power supply, key, LED light.
Robot will cooperate the corresponding On-line Control of completions and programming Control to work with APP must first be loaded into firmware program,
It, only need to actual hardware change in environment interface according to controller and instruction when using different controllers.Shown robot is solid
The main implementation process of part is as shown in Fig. 3,4,5.
Firmware program core program operational process such as Fig. 6, robot firmware program mainly include instruction operation control
Function, instruction area, variable range, to Selection and call function, data outage receiver function, robot program's work is as follows:
(1) after mobile terminal APP data are sent to robot, robot data interrupts receiver function and verifies data receiver
After be stored in instruction area；
(2) instruction operation control function reads the instruction in instruction area from initial address；
(3) instruction control function is carried out the instruction read with to Selection and call function instruction code by lookup table mode
Comparison, determines the corresponding function of the instruction, and address adds 1 if it can not find the instruction respective function code, until to the finger read
Until enabling corresponding function code effective；
(4) actual parameter for continuing function reading, the data of reading are converted according to preset data format,
Such as finding instruction is that delay function corresponds to code, then the instruction after delay function is corresponding delay time；
(5) corresponding code function is called by instruction operation control function and actual parameter is written；
(6) function that is called executes；
(7) once command operation is completed.
Such as getting function parameter is function instruction code, then obtains function return value conduct by modes such as recursive calls
Function parameter realizes the normal operation of instruction.Instruction output control mainly by assignment function change corresponding address numerical value with
Reach control purpose: the special address such as defined below sensor, motor speed, audio player, by writing motor speed
The numerical value of corresponding address can change the target that motor speed reaches control motor speed, by changing audio player accordingly
Location can choose the audio for playing and accordingly numbering.
The received instruction of institute, robot, which is generated by mobile terminal APP and passes through bluetooth, is sent to robot, and APP mainly includes
Model selection, graphic programming operating space, remote control operation area, wherein graphic programming operating space includes graphic programming editor
Area, all instructions download button, newly-increased instruction download button, programmer may be selected online to be that robot increases new instruction or complete
Portion covers the instruction run；Under remote control operation mode, the value that instruction changes output variable is sent by remote keying, is reached
It is remotely controlled purpose.
The operation work of APP mainly includes programming mode and remote control mode.,
The step of programming mode, is as follows:
(1) functional blocks are selected, (2) select variable or input parameter, and (3) repeat 1,2 operations, and (4) complete program editing,
(5) downloading of selection all instructions or newly-increased instruction downloading, (6) APP by graphically with symbol lookup conversion function and function pair
It answers instruction code table, variable range address table to compare, patterned functional blocks is converted into corresponding code, variable or input
Parameter is converted according to preset format, and (7) generate corresponding data frame, is such as selected newly-increased instruction downloading, is then only given birth to
At part instruction increased after last time downloading, (8) send data frame to robot, and (9) confirmation robot has normally received, such as
It does not receive and normally receives returned data, then send data again, (10) complete to send.
The step of remote control mode, is as follows:
(1) remote control mode is selected；(2) it presses the button；(3) according to the instruction of assignment function, corresponding address of variable, parameter
Format generates corresponding data frame；(4) it is sent to robot, (5) robot requires to change corresponding output variable according to instruction.
Claims (3)
1. the method that a kind of APP control robot realizes online programming, forms basic structure by mobile terminal APP and robot,
It is characterized by: programmed method realizes that mobile terminal APP utilizes mobile phone by bluetooth interaction by mobile terminal APP and robot
Bluetooth verifies obtained data frame, and acquisition real-time update robotary variable passes through again after being decoded graphically controls
Interface processed generates control instruction, then by it by encoded translated generation data frame, and robot will be obtained using its bluetooth module
Data frame is verified, and buffer area instructions to be performed is then written, and is executed instruction after being decoded as control instruction, is executed instruction and be divided into
Two paths, one of path are to obtain real-time status data variable, then carry out real time data variable coding regeneration number
According to being transmitted to bluetooth module after frame；Another path is to update variable data then to export control, is finally that hardware executes；
Robot mainly includes controller, bluetooth module, 5G communication module, sensor interface, expansion interface, motor interface, rudder
Machine interface, voice broadcast module and power supply, key, LED light basic circuit；
Robot On-line Control corresponding with mobile terminal APP cooperation completion and programming Control must first be loaded into firmware program, when
When using different controllers, only need to according to the actual hardware change in environment interface of controller and instruction,
Working procedure process is as follows:
(1) after mobile terminal APP data are sent to robot, robot data, which is interrupted after receiver function verifies data receiver, is deposited
It is placed on instruction area；
(2) instruction operation control function reads the instruction in instruction area from initial address；
(3) instruction control function is carried out the instruction read pair with to Selection and call function instruction code by lookup table mode
Than determining the corresponding function of the instruction, address adds 1 if it can not find the instruction respective function code, until the instruction of reading
Until corresponding function code is effective；
(4) actual parameter for continuing function reading, the data of reading are converted according to preset data format, are such as looked into
Finding instruction is that delay function corresponds to code, then the instruction after delay function is corresponding delay time；
(5) corresponding code function is called by instruction operation control function and actual parameter is written；
(6) function that is called executes；
(7) once command operation is completed；
Such as getting function parameter is function instruction code, then obtains function return value as function by recursive call mode and join
Number realizes the normal operation of instruction.
2. the method that a kind of APP control robot as described in claim 1 realizes online programming, it is characterised in that: robot
The received instruction of institute, which is generated by mobile terminal APP and passes through bluetooth, is sent to robot, and mobile terminal APP mainly includes mode choosing
It selects, graphic programming operating space, remote control operation area, the operation work of mobile terminal APP mainly includes programming mode and remote control mould
Formula, graphic programming operating space include graphic programming editing area, all instructions download button, increase instruction download button newly,
The step of programming mode, is as follows:
(1) functional blocks are selected, (2) select variable or input parameter, and (3) repeat 1,2 operations, and (4) complete program editing, (5) choosing
Select all instructions downloading or newly-increased instruction downloading, (6) APP by graphically with symbol lookup conversion function and function corresponding instruction
Code table, variable range address table compare, and patterned functional blocks are converted to corresponding code, the parameter of variable or input is pressed
It is converted according to preset format, (7) generate corresponding data frame, such as select newly-increased instruction downloading, then only generate one
Increased part instruction after secondary downloading, (8) send data frame to robot, and (9) confirmation robot has been normally received, do not received such as
To returned data is normally received, then data are sent again, (10) complete to send；
The step of remote control mode, is as follows:
(1) remote control mode is selected；(2) it presses the button；(3) according to assignment function, corresponding address of variable, parameter instruction format
Generate corresponding data frame；(4) it is sent to robot, (5) robot requires to change corresponding output variable according to instruction.
3. the method that a kind of APP control robot as claimed in claim 2 realizes online programming, it is characterised in that:
Mobile terminal APP primary operational interface is graphical control interface, and graphical control interface is mainly by control button, parameter
Modify input, status display area, image conversion program component selection area, graphic programming area composition；
Graphical control interface specifically includes that
(1) mode selection button: remote control mode, online programming mode, automatic running pattern；
(2) key mainly includes sound broadcasting button, remote controlled travelling key and the choosing of RGB LED light luminescent color under remote control mode
Key is selected, wherein sound broadcasting button is multiple keys, and different key selections plays different audios, and audio is that downloading is deposited in advance
It stores up in robot, the audio for needing to play by number selection, remote controlled travelling key mainly has advance, retrogressing, left-hand rotation, right-hand rotation four
Multiple color can be set in a order, LED light luminescent color selection key；
(3) mainly there are two kinds of operational mode selection keys of tracking mode and avoidance mode in automatic running pattern lower-pilot picture；
(4) parameter modifies input area: modification the robot speed of service, volume, LED light brightness under remote control mode；
(5) status display area: display robot real-time running state mainly includes motor speed, sensor states, steering engine angle
Degree, LED light state, are present in all mode interfaces, are convenient for each sensor states of observer robot operational process and machine
People's test；
(6) graphic programming component selects area, specifically includes that condition cyclical function, number of cycles function, discriminant function, delay
Function, receives return function, operational mode control function, mathematical operation function at assignment function, including sensor parameters
Input variable, the output variable including motor speed and intermediate variable；
(7) graphic programming area mainly includes mainly comprising graphic programming component rest area and On-line Control key: " all
Downloading ", " update and change ", " bringing into operation ", " out of service " four keys are pressed " update and change " key and are only increased to robot
Add newly-increased instruction, supports online addition program component, it can be achieved that the online purpose for gradually adding program.
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| CN110587612A (en) * | 2019-10-09 | 2019-12-20 | 福州旺星人智能科技有限公司 | Intelligent coding system of robot |
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| CN113094282A (en) * | 2021-04-28 | 2021-07-09 | 腾讯科技（深圳）有限公司 | Program block running method, device, equipment and storage medium |
| CN113391566A (en) * | 2021-06-23 | 2021-09-14 | 疯壳(深圳)科技有限公司 | Cooperative working method and system of integrated programmable device |
| CN113674585A (en) * | 2021-08-18 | 2021-11-19 | 杭州优必学科技有限公司 | Programming learning machine system |
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| CN110587612A (en) * | 2019-10-09 | 2019-12-20 | 福州旺星人智能科技有限公司 | Intelligent coding system of robot |
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| CN110774282B (en) * | 2019-10-15 | 2022-07-15 | 哈尔滨工程大学 | Spherical tensioning integral robot control system and control method based on mobile phone Bluetooth APP software |
| CN112621744B (en) * | 2020-11-20 | 2022-07-12 | 创泽智能机器人集团股份有限公司 | Robot remote control system and control method thereof |
| CN112621744A (en) * | 2020-11-20 | 2021-04-09 | 创泽智能机器人集团股份有限公司 | Robot remote control system and control method thereof |
| CN112684739A (en) * | 2020-12-15 | 2021-04-20 | 深圳市童心网络有限公司 | Building block robot control system and control method thereof |
| CN112685059A (en) * | 2020-12-24 | 2021-04-20 | 上海荣泰健康科技股份有限公司 | Online generation method and system of massage chair control data and server |
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