CN110587612A - Intelligent coding system of robot - Google Patents
Intelligent coding system of robot Download PDFInfo
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- CN110587612A CN110587612A CN201910954986.9A CN201910954986A CN110587612A CN 110587612 A CN110587612 A CN 110587612A CN 201910954986 A CN201910954986 A CN 201910954986A CN 110587612 A CN110587612 A CN 110587612A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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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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- Engineering & Computer Science (AREA)
- Software Systems (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Numerical Control (AREA)
Abstract
The invention relates to the technical field of robot coding, in particular to an intelligent coding system of a robot, which comprises a monitoring module, an input instruction module, a format conversion module and an execution instruction module; the format conversion module comprises a program editing unit, a program coding unit and a storage unit, the input instruction module inputs a text program through a keyboard or codes the text program in a graphical interface clicking mode in a text editing state, the program editing unit edits the input instruction into an editing program, and the program coding unit is used for coding and converting the editing program into an execution instruction statement. Through the input instruction module, the invention can not only meet the requirement of a beginner user to carry out coding in a graphical interface clicking mode, but also meet the requirement of a senior user to carry out coding by utilizing a text program input through a keyboard in a text editing state, is suitable for various users with different learning degrees, and has stronger practicability.
Description
Technical Field
The invention relates to the technical field of robot coding, in particular to an intelligent coding system for a robot.
Background
The robot programming method is characterized in that a mode that a robot is directly controlled by computer programming languages such as C language, Java, Python and the like is eliminated, at present, the robot programming instruction is complex, a user needs to learn basic terms of the language before coding the computer, the requirement on learning ability of a beginner user is high, and the learning difficulty is high.
Disclosure of Invention
The invention aims to provide a robot intelligent coding system to solve the problems.
In order to achieve the above purpose, the invention provides the following technical scheme:
an intelligent coding system of a robot comprises a monitoring module, an input instruction module, a format conversion module and an execution instruction module; the format conversion module comprises a program editing unit, a program coding unit and a storage unit, wherein the input instruction module inputs a text program through a keyboard or codes the text program in a graphical interface clicking mode in a text editing state, the program editing unit edits the input instruction into an editing program, the program coding unit is used for coding and converting the editing program into an execution instruction statement, and the storage unit is used for storing the input instruction unit and the program coding unit and is connected with the execution instruction module.
Specifically, the monitoring module comprises a position and posture unit, a list unit and a system state control unit.
Specifically, the input instruction module comprises a motion instruction data block, a speed instruction data block, a finger opening and closing instruction data block, a coordinate system definition instruction data block and a track definition instruction data block.
Specifically, the editing program is in units of joints, and the joints represent state sets of robot execution units.
Specifically, the joints form a robot joint coordinate system, the robot joint coordinate system is used for describing the position and the posture of the robot, and the offset angle of each joint relative to the joint zero point is a real-axis coordinate under the robot joint coordinate system.
Specifically, the motion instruction data block controls each node to move to a target position at the same time, the maximum speed is set as a basic parameter, and the actual motion is the multiplying power of the basic parameter; the speed command data block sets a percentage of a maximum speed; the finger opening and closing instruction data block sets an opening distance value, and the fingers are opened and closed respectively by using OPEN and CLOSE; the coordinate system defines a fixed position of the instruction data block in the working unit or the working station and sets a position zero point; the track definition instruction data block is used for planning the motion of each node, and comprises a path between a starting point and an end point, and the speed and the acceleration of each path point.
Specifically, the list unit is used for displaying all user program names in the storage unit, and the system state control unit is used for calibrating the joint position sensor, displaying the user program state, displaying the currently unused storage capacity and starting and stopping system hardware.
The invention has the advantages that through the input instruction module, a beginner user can perform coding in a graphical interface clicking mode, a senior user can perform coding by inputting a text program through a keyboard in a text editing state, and the invention is suitable for various users with different learning degrees and has strong practicability.
Drawings
Fig. 1 is a structural diagram of an intelligent encoding system of a robot according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the following embodiments, unless otherwise specified, the technical means used are conventional means well known to those skilled in the art.
Referring to fig. 1, an intelligent encoding system for a robot includes a monitoring module, an input instruction module, a format conversion module, and an execution instruction module; the format conversion module comprises a program editing unit, a program coding unit and a storage unit, wherein the input instruction module inputs a text program through a keyboard or codes the text program in a text editing state through a graphical interface clicking mode, the program editing unit edits an input instruction into an editing program, the program coding unit is used for coding and converting the editing program into an execution instruction sentence, and the storage unit is used for storing the input instruction unit and the program coding unit and is connected with the execution instruction module; the robot is controlled to execute corresponding actions by connecting an execution instruction module based on the data stored in the storage unit, and the instructions are simple, clear and understandable; the monitoring module is used for monitoring the program state and the joint position state of the robot in real time, so that the data precision is improved and the fault-tolerant rate is reduced during data interaction.
The monitoring module comprises a position and posture unit, a list unit and a system state control unit.
The input instruction module comprises a motion instruction data block, a speed instruction data block, a finger opening and closing instruction data block, a coordinate system definition instruction data block and a track definition instruction data block.
The editing program is in units of joints, and the joints represent state sets of robot execution units.
The joints form a robot joint coordinate system, the robot joint coordinate system is used for describing the position and the posture of the robot, and the offset angle of each joint relative to the joint zero point is the real-axis coordinate of the robot joint coordinate system.
The motion instruction data block controls each node to move to a target position at the same time, the maximum speed is set as a basic parameter, and the actual motion is the multiplying power of the basic parameter; the speed command data block sets a percentage of a maximum speed; the finger opening and closing instruction data block sets an opening distance value, and the fingers are opened and closed respectively by using OPEN and CLOSE; the coordinate system defines a fixed position of the instruction data block in the working unit or the working station and sets a position zero point; the track definition instruction data block is used for planning the motion of each node, and comprises a path between a starting point and an end point, and the speed and the acceleration of each path point.
The system state control unit is used for calibrating the joint position sensor, displaying the state of the user program, displaying the current unused storage capacity and starting and stopping system hardware.
The invention is further described below with reference to specific examples.
The position and posture unit comprises the following instruction blocks:
POINT instruction block: and executing homogeneous conversion of the position and the posture of the terminal and accurate point position assignment represented by the joint position.
The formats are two:
POINT = [ variable 1, variable 2.., variable n ] or [ exact POINT ]
DPOINT instruction block: any number of position variables, including precise points or variables, are deleted.
The HERE instruction block: the current robot position, for example: HEREPLACE define the PLACE parameters as the current robot position.
WHERE instruction block: representing the current position of the robot in rectangular coordinate space and the values of the joint variables.
The list unit includes the following instruction blocks:
DIRECTORY instruction Block: for displaying all the user program names in the storage unit.
LISTL instruction block: for displaying the value of any position variable.
An LISTP instruction block: for displaying the entire program for any number of users.
The system state control unit comprises the following instruction blocks:
CALIB instruction block: for calibrating joint position sensors.
STATUS instruction block: for displaying the status of the user program.
FREE instruction block: for displaying the currently unused storage capacity.
An ENABL instruction block: for opening and closing system hardware.
The input instruction module comprises the following instruction blocks under the condition that a text program is input through a keyboard in a text editing state:
the motion instruction data block comprises GO, MOVE, DRAW, DRIVE, OPEN, CLOSE, DELAY and the like, and is used for realizing that the robot MOVEs from one pose to another pose according to a specific mode.
The SPEED command data block is a SPEED command block, the maximum SPEED is set to 100, and the actual motion SPEED is a percentage of the maximum SPEED.
The finger opening and closing instruction data block is an OPEN instruction block and a CLOSE instruction block, for example: OPEN [ finger OPEN ] or CLOSE [ finger CLOSE ].
The coordinate system definition command data block is a COORD command block for setting a reference coordinate system, and the origin of the reference coordinate system is set at the intersection of the joint 1 and the joint 2, and the direction is along the direction of coordinate axes, for example, COORD [ X, Y, Z, along the X rotation direction ].
The track definition instruction data blocks are TRAJ instruction blocks, TRAJSPEED instruction blocks, and trajaccelered instruction blocks, such as: TRAJSPEED = [ speed of precise point ].
The working process of the specific implementation mode of the invention is as follows:
s1: inputting a text program through a keyboard or coding in a graphical interface clicking mode in a text editing state by using an input instruction module;
s2: editing the input command into an editing program through a program editing unit;
s3: the program coding unit is used for coding and converting the editing program into an execution instruction statement;
s4: the robot may act according to the execution instruction statement.
Further, the specific steps of editing the input command into the editing program by the program editing unit are as follows:
s5: the editing program takes a joint as a unit, and the joint represents a state set of a robot execution unit;
s6: and establishing a robot joint coordinate system through the joints to obtain real-axis coordinates under the robot joint coordinate system.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, but rather as the intention of all modifications, equivalents, improvements, and equivalents falling within the spirit and scope of the invention.
Claims (7)
1. An intelligent coding system of a robot is characterized by comprising a monitoring module, an input instruction module, a format conversion module and an execution instruction module; the format conversion module comprises a program editing unit, a program coding unit and a storage unit, wherein the input instruction module inputs a text program through a keyboard or codes the text program in a graphical interface clicking mode in a text editing state, the program editing unit edits the input instruction into an editing program, the program coding unit is used for coding and converting the editing program into an execution instruction statement, and the storage unit is used for storing the input instruction unit and the program coding unit and is connected with the execution instruction module.
2. The intelligent coding system of robot of claim 1, wherein the monitoring module comprises a position and posture unit, a list unit and a system state control unit.
3. The intelligent coding system of robot of claim 1, wherein the input command module comprises a motion command data block, a speed command data block, a finger open/close command data block, a coordinate system definition command data block, and a trajectory definition command data block.
4. A robot intelligent coding system according to claim 1, wherein the editing program is in units of joints representing state sets of robot execution units.
5. A robot intelligent coding system according to claim 4, wherein each joint constitutes a robot joint coordinate system, the robot joint coordinate system is used for describing the position and the posture of the robot, and the angle of offset of each joint relative to the joint zero point is a real-axis coordinate in the robot joint coordinate system.
6. The intelligent coding system of robot of claim 3, wherein the motion instruction data block controls each node to move to a target position at the same time, setting a maximum speed as a basic parameter, and actual motion as a multiplying factor of the basic parameter; the speed command data block sets a percentage of a maximum speed; the finger opening and closing instruction data block sets an opening distance value, and the fingers are opened and closed respectively by using OPEN and CLOSE; the coordinate system defines a fixed position of the instruction data block in the working unit or the working station and sets a position zero point; the track definition instruction data block is used for planning the motion of each node, and comprises a path between a starting point and an end point, and the speed and the acceleration of each path point.
7. The intelligent coding system of robot of claim 2, wherein the list unit is used to display all user program names in the storage unit, and the system state control unit is used to calibrate the joint position sensor, display user program states, display currently unused storage capacity, and turn on and off system hardware.
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| CN201910954986.9A CN110587612A (en) | 2019-10-09 | 2019-10-09 | Intelligent coding system of robot |
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| CN201910954986.9A CN110587612A (en) | 2019-10-09 | 2019-10-09 | Intelligent coding system of robot |
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Citations (8)
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| JPH04178836A (en) * | 1990-11-14 | 1992-06-25 | Nec Software Kansai Ltd | Format editing processing system |
| CN102581850A (en) * | 2012-02-10 | 2012-07-18 | 广州数控设备有限公司 | GSK-Link bus based modular robot control device and control method |
| CN102821917A (en) * | 2010-02-26 | 2012-12-12 | 库卡实验仪器有限公司 | Process module library and programming environment for programming a manipulator process |
| CN105033996A (en) * | 2015-05-22 | 2015-11-11 | 苏州法鲁克自动化设备有限公司 | Control system based on hand-push teaching type five-shaft horizontal joint robot |
| CN107363812A (en) * | 2017-08-07 | 2017-11-21 | 浙江工业大学 | Wireless control six-degree-of-freedom mechanical arm demonstration system |
| CN110026983A (en) * | 2019-04-30 | 2019-07-19 | 南京云图机器人科技有限公司 | A kind of robotic programming system |
| TW201933044A (en) * | 2018-01-30 | 2019-08-16 | 聯捷創新股份有限公司 | Intelligent execution system for interactive application program and method thereof capable of reducing the number of steps operated by the user for a specified application program |
| CN110262378A (en) * | 2019-07-02 | 2019-09-20 | 张艳五 | A method of online programming is realized using APP control robot |
-
2019
- 2019-10-09 CN CN201910954986.9A patent/CN110587612A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04178836A (en) * | 1990-11-14 | 1992-06-25 | Nec Software Kansai Ltd | Format editing processing system |
| CN102821917A (en) * | 2010-02-26 | 2012-12-12 | 库卡实验仪器有限公司 | Process module library and programming environment for programming a manipulator process |
| CN102581850A (en) * | 2012-02-10 | 2012-07-18 | 广州数控设备有限公司 | GSK-Link bus based modular robot control device and control method |
| CN105033996A (en) * | 2015-05-22 | 2015-11-11 | 苏州法鲁克自动化设备有限公司 | Control system based on hand-push teaching type five-shaft horizontal joint robot |
| CN107363812A (en) * | 2017-08-07 | 2017-11-21 | 浙江工业大学 | Wireless control six-degree-of-freedom mechanical arm demonstration system |
| TW201933044A (en) * | 2018-01-30 | 2019-08-16 | 聯捷創新股份有限公司 | Intelligent execution system for interactive application program and method thereof capable of reducing the number of steps operated by the user for a specified application program |
| CN110026983A (en) * | 2019-04-30 | 2019-07-19 | 南京云图机器人科技有限公司 | A kind of robotic programming system |
| CN110262378A (en) * | 2019-07-02 | 2019-09-20 | 张艳五 | A method of online programming is realized using APP control robot |
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Application publication date: 20191220 |