CN112486073A - Robot control method, control system and readable storage medium - Google Patents
Robot control method, control system and readable storage medium Download PDFInfo
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- 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
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention provides a robot control method, a control system and a readable storage medium. The robot control method comprises the following steps: acquiring a robot flow chart input by a user based on a client; converting the robot flow chart into tree structure data according to the relation between a plurality of flow nodes and a plurality of line data of the robot flow chart; generating a robot template in a preset format according to the tree structure data; and controlling the robot to operate according to the robot template. According to the robot control method provided by the invention, the local robot designer is realized at the cloud end, the problems that a client end of the local designer depends on the environment more, a plurality of plug-ins need to be downloaded, and the local robot designer cannot be separated from the fixed equipment at any time and any place are solved, the logic of the robot is more clearly displayed in a flow chart mode, when the designer has a new function, the designer only needs to update the service on the cloud, no perception is provided for the developer, and therefore the rapid iteration and upgrade of the function of the designer are realized.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot control method, a robot control system and a readable storage medium.
Background
The RPA robot Process Automation (robot Process Automation) can replace or assist human beings to complete repetitive work and tasks in digital equipment such as computers and RPA mobile phones.
The development of the RPA robot depends on a corresponding local designer client, the robot design has the characteristics of low code, no code and fast iteration, and the local client faces the following key problems:
the local client designer is much dependent on the environment, for example, the client is required to use a specific operating system, a plurality of plug-ins are required to be downloaded, and the local client designer cannot be separated from the fixed equipment at any time and any place.
The method needs a special installation program of the client, cannot realize rapid deployment, installation and configuration, cannot realize non-perception upgrade of the client during updating of the client, and needs to manually download a new client.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art or the related art.
To this end, an aspect of the present invention is to provide a robot control method.
Another aspect of the present invention is to provide a robot control system.
Yet another aspect of the present invention is directed to a readable storage medium.
In view of the above, according to an aspect of the present invention, there is provided a robot control method including: acquiring a robot flow chart input by a user based on a client; converting the robot flow chart into tree structure data according to the relation between a plurality of flow nodes and a plurality of line data of the robot flow chart; generating a robot template in a preset format according to the tree structure data; and controlling the robot to operate according to the robot template.
According to the robot control method provided by the invention, the C/S architecture of the client side of the local robot designer is changed into the B/S architecture, the service is deployed at the cloud side, and the robot can be designed/developed as long as a browser and a network are available. The robot flow chart input by a user on a client page (comprising a Web client and an App client) is obtained, and the robot flow chart is converted into a tree according to the relation between a plurality of flow nodes and a plurality of line data in the robot flow chart, namely tree-shaped structure data. And executing a 'preamble traversal' algorithm on the tree structure data to obtain a template (in a preset format) when the robot runs, wherein the template comprises a command supported by the robot, so that the robot is controlled to run according to the robot template. According to the robot control method provided by the invention, the local robot designer is realized at the cloud end, the problems that a client end of the local designer depends on the environment more, a plurality of plug-ins need to be downloaded, and the local robot designer cannot be separated from the fixed equipment at any time and any place are solved, the logic of the robot is more clearly displayed in a flow chart mode, when the designer has a new function, the designer only needs to update the service on the cloud, no perception is provided for the developer, and therefore the rapid iteration and upgrade of the function of the designer are realized.
The robot may be an RPA robot.
The robot flow chart is a visual robot flow chart.
The robot control method according to the present invention may further include the following features:
in the above technical solution, the step of converting the robot flowchart into tree-structured data according to the relationship between a plurality of process nodes and a plurality of line data of the robot flowchart specifically includes: acquiring a plurality of first identifications corresponding to a plurality of process nodes and a plurality of second identifications corresponding to a plurality of line data; according to the relation among the first identifications, the second identifications, the process nodes and the line data are combined into Map data; and generating tree structure data according to the Map data.
In the technical scheme, a method for converting the robot flow chart into tree structure data according to the relationship between a plurality of flow nodes and a plurality of line data of the robot flow chart is limited. The flow nodes and the line data of the robot flow chart have unique identification of the robot. The relationship of the plurality of process nodes and the plurality of line data presents the execution logic of the robot. The method comprises the steps of obtaining a plurality of first identifications corresponding to a plurality of process nodes and a plurality of second identifications corresponding to a plurality of line data, forming the plurality of process nodes and the plurality of line data into Map data according to the plurality of first identifications and the plurality of second identifications and the relationship between the plurality of process nodes and the plurality of line data, and forming a tree through continuous iteration of the starting line. Each node of the tree may be used as a root node of a sub-process, i.e., a tree. According to the technical scheme, the visual robot flow chart is converted into tree structure data based on the service deployed at the cloud end, and further converted into the template during the operation of the robot, so that a developer cannot feel the template.
In any of the above technical solutions, the robot control method further includes: and storing the robot flow chart to a cloud cache space according to a preset time interval, and storing the robot flow chart to a cloud database under the condition of receiving a storage request.
In the technical scheme, in the robot design process, the robot flow chart in development is stored in a cloud cache space according to a preset time interval, if the robot flow chart is stored in Redis, historical data recording and recovery are supported, and due to the characteristic that the cache space is operated quickly, the historical snapshot is guaranteed to be generated quickly, so that the efficiency of developing the robot is improved. Furthermore, a save function is provided when the robot flow graph needs to be converted into a robot template. And when a storage request is received, storing the robot flow chart in a cloud database. The cloud service is logically converted into a tree through data stored in a database, and then a robot template is correctly generated through a tree 'forward traversal' algorithm.
Wherein the issuer may trigger the save request by clicking on a save button or generating a template button.
In any of the above technical solutions, the plurality of process nodes include start, execution, end, judgment, and process; any flow node in the plurality of flow nodes comprises block data and a plurality of pieces of command data corresponding to the block data, wherein the command data comprises a plurality of command parameters.
In the technical scheme, a plurality of process nodes included in the robot flowchart comprise start, execution and end, and the nesting of judgment and processes is supported. Any flow node of the plurality of flow nodes includes a block of data and a plurality of pieces of command data corresponding to the block of data. Each piece of command data represents a command supported by the robot and is composed of a corresponding one or more command parameters.
In any of the above technical solutions, before the step of obtaining the robot flowchart input by the user based on the page of the client, the method further includes: displaying different block data and line data on a first page in a control form; and editing the command data, grouping different command data according to types, and displaying the different command data on the second page in the form of a control.
In the technical scheme, the front-end service is further designed, the front-end service is the page service of the robot designer and is a design entrance, and a developer and a back-end service interact interface. The layout of double layers of canvas is adopted, the outer layer of canvas shows the execution logic of the robot in a flow chart, and the inner layer of canvas designs specific commands. The first page, namely the outer layer canvas, shows different block data and line data on the outer layer canvas in a control form, and is characterized in that what you see is what you get, the flow logic of the whole robot is shown, all elements support dragging operation, and quick operations such as cancelling and recovering are supported, so that the development is convenient, and the development efficiency is improved. The second page, namely the inner layer canvas, is characterized in that different command data are grouped and displayed on the inner layer canvas in a control form, the characteristics are also what you see is what you get, and the command data support dragging. Meanwhile, the cloud service dynamically manages the command data by editing the command data, can adjust parameters of the command at any time, supports definition of command variables, and completes all the operations in the cloud service without perception to developers.
In any of the above technical solutions, the robot control method further includes: and calling a preset debugging client based on the condition that the operation request is received, and deploying the robot template at the preset debugging client to control the robot to operate.
According to the technical scheme, when an operation request is received, a preset debugging client, namely a local debugging client, can be called, and the robot is controlled to operate by deploying the robot template at the debugging client so as to debug the robot, so that convenience is brought to the design and debugging of the robot. Wherein the user may trigger the run request by clicking a preset button, such as a run button.
In any of the above technical solutions, the client includes a Web client and an App client.
In the technical scheme, the Web client mainly refers to a Web Browser (Browser), and the App client only refers to a mobile application client, generally a mobile phone client.
In any of the above technical solutions, the preset format is an XML format.
In this embodiment, the preset format is an XML format, but is not limited thereto.
According to another aspect of the present invention, there is provided a robot control system including: a memory storing a program; and a processor which implements the robot control method according to any one of the above-described technical aspects when executing the program.
In the robot control system provided by the invention, the processor executes the program to realize the steps of the robot control method according to any one of the above technical schemes, so that the robot control system has all the beneficial effects of the robot control method according to any one of the above technical schemes.
According to still another aspect of the present invention, there is provided a readable storage medium having a program stored thereon, the program, when executed by a processor, implementing the robot control method according to any one of the above aspects.
The readable storage medium provided by the present invention, when the program is executed by the processor, implements the steps of the robot control method according to any of the above-mentioned technical solutions, and therefore, the readable storage medium includes all the advantageous effects of the robot control method according to any of the above-mentioned technical solutions.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 shows a schematic flow diagram of a robot control method of a first embodiment of the invention;
fig. 2 shows a schematic flow chart of a robot control method according to a second embodiment of the present invention;
fig. 3 shows a schematic flow chart of a robot control method of a third embodiment of the present invention;
FIG. 4 shows a schematic block diagram of a robot control system of one embodiment of the present invention;
FIG. 5 illustrates an architectural diagram of a robotic control system in accordance with a specific embodiment of the present invention;
FIG. 6 is a diagram illustrating a first page of a particular embodiment of the present invention;
FIG. 7 is a diagram illustrating a second page of a specific embodiment of the present invention;
FIG. 8 is a diagram illustrating a debug page of a particular embodiment of the present invention;
FIG. 9 is a diagram illustrating a database storage model in accordance with a specific embodiment of the present invention;
FIG. 10 is a diagram illustrating data flow of a particular embodiment of the present invention;
FIG. 11 is a diagram illustrating Map data in accordance with an exemplary embodiment of the present invention;
FIG. 12 is a diagram illustrating tree structured data in accordance with an embodiment of the present invention;
FIG. 13 shows a schematic view of a robot flow diagram of a specific embodiment of the present invention;
FIG. 14 is a diagram illustrating another tree structured data according to an embodiment of the present invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
First embodiment, fig. 1 is a flowchart illustrating a robot control method according to a first embodiment of the present invention. Wherein, the method comprises the following steps:
102, acquiring a robot flow chart input by a user based on a client page;
104, converting the robot flow chart into tree structure data according to the relation between a plurality of flow nodes and a plurality of line data of the robot flow chart;
step 106, generating a robot template in a preset format according to the tree structure data;
and step 108, controlling the robot to operate according to the robot template.
According to the robot control method provided by the embodiment, the C/S architecture of the local robot designer client is changed into the B/S architecture, the service is deployed in the cloud, and the robot can be designed/developed as long as a browser and a network are available. The robot flow chart input by a user on a client page (comprising a Web client and an App client) is obtained, and the robot flow chart is converted into a tree according to the relation between a plurality of flow nodes and a plurality of line data in the robot flow chart, namely tree-shaped structure data. And executing a 'preamble traversal' algorithm on the tree structure data to obtain a template (in a preset format) when the robot runs, wherein the template comprises a command supported by the robot, so that the robot is controlled to run according to the robot template. According to the robot control method provided by the embodiment, the local robot designer is realized at the cloud end, the problems that a client end of the local designer depends on the environment more, a plurality of plug-ins need to be downloaded, and the local robot designer cannot be separated from fixed equipment at any time and any place are solved, the logic of the robot is displayed more clearly in a flow chart mode, when the designer has a new function, only the service on the cloud needs to be updated, no perception is provided for a developer, and therefore quick iteration and upgrading of the function of the designer are achieved.
Wherein, the robot is an RPA robot, and the robot flow chart is a visual robot flow chart.
Second embodiment, fig. 2 is a flowchart illustrating a robot control method according to a second embodiment of the present invention. Wherein, the method comprises the following steps:
step 204, acquiring a plurality of first identifications corresponding to a plurality of process nodes of a robot flowchart and a plurality of second identifications corresponding to a plurality of line data;
step 208, generating tree structure data according to the Map data;
and step 212, controlling the robot to operate according to the robot template.
In this embodiment, a method of converting the robot flowchart into tree structure data according to a relationship between a plurality of process nodes and a plurality of line data of the robot flowchart is defined. The flow nodes and the line data of the robot flow chart have unique identification of the robot. The relationship of the plurality of process nodes and the plurality of line data presents the execution logic of the robot. The method comprises the steps of obtaining a plurality of first identifications corresponding to a plurality of process nodes and a plurality of second identifications corresponding to a plurality of line data, forming the plurality of process nodes and the plurality of line data into Map data according to the plurality of first identifications and the plurality of second identifications and the relationship between the plurality of process nodes and the plurality of line data, and forming a tree through continuous iteration of the starting line. Each node of the tree may be used as a root node of a sub-process, i.e., a tree. According to the embodiment of the invention, based on the service deployed by the cloud, the visual robot flow chart is converted into the tree structure data, and further converted into the template during the operation of the robot, so that the template is not perceived by a developer.
Third embodiment, fig. 3 is a flowchart illustrating a robot control method according to a third embodiment of the present invention. Wherein, the method comprises the following steps:
step 302, acquiring a robot flow chart input by a user based on a client page, and storing the robot flow chart to a cloud cache space according to a preset time interval;
step 306, acquiring a plurality of first identifications corresponding to a plurality of process nodes of a robot flowchart and a plurality of second identifications corresponding to a plurality of line data;
and step 314, controlling the robot to operate according to the robot template.
In the embodiment, in the robot design process, the robot flow chart in development is stored in the cloud cache space according to the preset time interval, for example, the robot flow chart is stored in Redis, and history record and recovery of data are supported. Furthermore, a save function is provided when the robot flow graph needs to be converted into a robot template. And when a storage request is received, storing the robot flow chart in a cloud database. The cloud service is logically converted into a tree through data stored in a database, and then a robot template is correctly generated through a tree 'forward traversal' algorithm. Wherein the issuer may trigger the save request by clicking on a save button or generating a template button.
In any of the above embodiments, the robot flow diagram includes a plurality of flow nodes including start, execute, and end, and supports nesting of decisions and flows. Any flow node of the plurality of flow nodes includes a block of data and a plurality of pieces of command data corresponding to the block of data. Each piece of command data represents a command supported by the robot and is composed of a corresponding one or more command parameters.
In any of the above embodiments, the robot control method further comprises: displaying different block data and line data on a first page of a client in a control form; and editing the command data, grouping different command data according to types, and displaying the command data on a second page of the client in a control form.
In this embodiment, a front-end service is further designed, the front-end service is a page service of a robot designer, and is a design entrance, and a developer interacts with a back-end service. The layout of double layers of canvas is adopted, the outer layer of canvas shows the execution logic of the robot in a flow chart, and the inner layer of canvas designs specific commands. The first page, namely the outer layer canvas, shows different block data and line data on the outer layer canvas in a control form, and is characterized in that what you see is what you get, the flow logic of the whole robot is shown, all elements support dragging operation, and quick operations such as cancelling and recovering are supported, so that the development is convenient, and the development efficiency is improved. The second page, namely the inner layer canvas, is characterized in that different command data are grouped and displayed on the inner layer canvas in a control form, the characteristics are also what you see is what you get, and the command data support dragging. Meanwhile, the cloud service dynamically manages the command data by editing the command data, can adjust parameters of the command at any time, supports definition of command variables, and completes all the operations in the cloud service without perception to developers.
In any of the above embodiments, the robot control method further comprises: and calling a preset debugging client based on the condition that the operation request is received, and deploying the robot template at the preset debugging client to control the robot to operate.
In the embodiment, when the operation request is received, a preset debugging client, namely a local debugging client, can be invoked, and the robot is controlled to operate by deploying the robot template at the debugging client so as to debug the robot, thereby providing convenience for the design and debugging of the robot. Wherein the user may trigger the run request by clicking a preset button, such as a run button.
In any of the above embodiments, the client includes a Web client and an App client. The Web client mainly refers to a Web Browser (Browser), and the App client only refers to a mobile application client, generally a mobile phone client.
In any of the above embodiments, the predetermined format is an XML format.
Fourth embodiment, fig. 4 shows a schematic block diagram of a robot control system 400 according to an embodiment of the present invention. Wherein, robot control system 400 includes: a memory 402, the memory 402 storing a program; a processor 404, the processor 404 implementing the robot control method according to any of the above embodiments when the processor 404 executes the program.
In the robot control system 400 provided in the present embodiment, the processor 404 executes the program to implement the steps of the robot control method according to any one of the above embodiments, so that the robot control system 400 includes all the advantages of the robot control method according to any one of the above embodiments.
Embodiment five, a robot control system according to an embodiment of the present invention is provided, and fig. 5 shows an architecture diagram of the robot control system according to an embodiment of the present invention.
The robot control system of the embodiment mainly comprises a WYSIWYG (what you see is what you get) page presented in a browser and corresponding back-end services. The whole system can enable an RPA developer to design an RPA robot in a browser in an imaging and flow chart mode, and the flow supports branch judgment and flow nesting. The method comprises the functions of RPA robot design, variable maintenance, remote mode adjustment, template storage and the like.
The front-end service is a page service of a designer, is an entrance of design, is an interactive interface of a developer, adopts the layout of a double-layer canvas, and has the main functions of:
1. outer canvas (first page): the method is characterized in that as shown in fig. 6, an outer layer canvas presents the flow logic of the whole robot, supports the nesting of judgment and flow, supports the dragging operation of all elements, and has the functional effects of quick operation such as cancellation and recovery, flow chart navigation and the like.
2. Inner canvas (second page): the characteristics are also what you see is what you get, as shown in fig. 7, the inner layer canvas presents different command groups (browser, office, data, mail), the command supports search through keyword screening, the command supports dragging, and the command can dynamically edit the alignment position through the background system.
3. Variables are as follows: supporting the definition of the variable setting of the robot, as shown in fig. 7, taking the creation of a browser as an example, by editing the attribute, the setting of the command parameters including the name of the browser instance, the window state, the full screen start, the use of the current user data, etc. is completed.
4. Debugging the page: the method supports page saving and remote mode adjustment, and as shown in fig. 8, a local mode-adjusting client can be called by clicking an operation button on a debugging page, so that the development and debugging of the robot are greatly facilitated.
Back end and data service, providing back end support service of RPA Web designer. Various functions of the Web designer are accomplished by providing an http service interface for front-end calls.
FIG. 9 illustrates a database storage model of a specific embodiment of the present invention. Where solid line boxes represent tables in the data and dashed line boxes represent associated service lines. Specifically, the method comprises the following steps:
1. and the outer layer canvas data entity-flow mainly stores outer layer canvas data, the main data is data of block and line, the block and the line are used for describing the flow chart of the outer layer canvas, and each block and line have unique identification of the block and line.
2. The system mainly comprises an inner layer canvas data entity-process, wherein the entity mainly stores inner layer canvas data, each piece of process data represents a command (command supported by RPA) and a corresponding param (command parameter), and each block of the outer layer canvas corresponds to a plurality of pieces of data.
FIG. 10 shows a schematic diagram of data flow for one embodiment of the present invention. The dotted line represents that the historical snapshots of the client are stored through Redis, and a user transmits a data entity in a JSON format based on a robot flow chart input by a webpage and stores the data entity in a MySQL database. And converting the data into corresponding tree structure data according to the relation between a plurality of flow nodes and a plurality of line data in the robot flow chart, and further generating the robot template in the XML format. The user may download and save the template on a web page.
The core logic of the robot control system processing of the present embodiment is how to generate a template, and a flow of generating a template will be described with reference to fig. 11 and 12. The line data and block data are grouped into Map data as shown in fig. 11, and the tree data structure of the tree in fig. 12 is formed through the starting line and through successive iterations.
The flow of generating the template will be further described with reference to fig. 10, 13, and 14.
1. And converting the visual flow chart into a data structure of a tree through the relationship between the line and the block in the page. FIG. 13 is a flow diagram and FIG. 14 is an abstract "tree" data structure, where each node of the tree may be a root node of a sub-flow, i.e., a tree, such as node C, D, H, M, and the backend logic translates this relationship.
2. And the back-end service is converted into a tree through the data stored in MySQL by logic, and then the RPA robot template is correctly generated through the 'forward traversal' algorithm of the tree. The corresponding front-end traversal structure of the tree structure of fig. 14 is: ABCEDFGIMPOJK.
3. And generating a snapshot of the storage history, and supporting data history recording and recovery in the saved Redis through certain compression calculation. The sequence of the whole historical version is ensured by utilizing the principle that key value atoms in Redis are increased progressively; the Redis memory has the characteristic of quick operation, and the historical snapshot can be generated quickly.
The plug-in service system related to the embodiment realizes the online design of the robot, does not require special requirements for the user environment, and only needs a network and a browser; and cloud debugging simplifies the development and deployment processes and improves the efficiency of the development robot. And the logic of the robot is more clearly shown in a flow chart mode, and the realization of the web end can also quickly iterate and upgrade the function of the designer.
According to an embodiment of a further aspect of the present invention, a readable storage medium is proposed, on which a program is stored, which when executed by a processor, implements the robot control method according to any of the embodiments described above.
The present embodiment provides a readable storage medium, and the program is executed by a processor to implement the steps of the robot control method according to any of the above embodiments, so that the readable storage medium includes all the beneficial effects of the robot control method according to any of the above embodiments.
In the description herein, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance unless explicitly stated or limited otherwise; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A robot control method, comprising:
acquiring a robot flow chart input by a user based on a client page;
converting the robot flow chart into tree structure data according to the relation between a plurality of flow nodes and a plurality of line data of the robot flow chart;
generating a robot template in a preset format according to the tree structure data;
and controlling the robot to operate according to the robot template.
2. The robot control method according to claim 1, wherein the step of converting the robot flowchart into tree-structured data according to a relationship between a plurality of process nodes and a plurality of line data of the robot flowchart specifically includes:
acquiring a plurality of first identifications corresponding to the plurality of process nodes and a plurality of second identifications corresponding to the plurality of line data;
according to the relation among the first identifications, the second identifications and the flow nodes and the line data, the flow nodes and the line data are combined into Map data;
and generating the tree structure data according to the Map data.
3. The robot control method according to claim 1, further comprising:
and storing the robot flow chart to a cloud cache space according to a preset time interval, and storing the robot flow chart to a cloud database under the condition of receiving a storage request.
4. Robot control method according to any of claims 1 to 3,
the plurality of flow nodes includes a start and an end, and any one or a combination of: executing, judging and processing;
any flow node in the plurality of flow nodes comprises block data and a plurality of pieces of command data corresponding to the block data, wherein the command data comprises a plurality of command parameters.
5. The robot control method of claim 4, further comprising, prior to the step of obtaining a robot flowchart input by a user based on a client page:
displaying different block data and line data on a first page in the form of a control;
and editing the command data, grouping different command data according to types, and displaying the different command data on a second page in a control form.
6. The robot control method according to claim 5, further comprising:
and calling a preset debugging client side based on the condition of receiving the operation request, and deploying the robot template at the preset debugging client side so as to control the robot to operate.
7. The robot control method according to claim 6,
the client comprises a Web client and an App client.
8. The robot control method according to claim 7,
the preset format is an XML format.
9. A robotic control system, comprising:
a memory storing a program;
a processor implementing the robot control method of any one of claims 1 to 8 when executing the program.
10. A readable storage medium on which a program is stored, the program realizing the robot control method according to any one of claims 1 to 8 when executed by a processor.
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| CN202011394990.3A CN112486073B (en) | 2020-12-03 | 2020-12-03 | Robot control method, control system and readable storage medium |
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