CN115319750A - Method and device for configuring post-processing program of robot - Google Patents
Method and device for configuring post-processing program of robot Download PDFInfo
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Abstract
The application discloses a configuration method and a configuration device of a post-processing program of a robot, and the configuration method comprises the steps of obtaining a post-format of a target robot, wherein the post-format is used for indicating the type of the post-processing program; selecting a target type node on a preset concept tree according to the post format, wherein the preset concept tree comprises a plurality of type nodes, and each type node is provided with a plurality of sub-nodes; moving target child nodes under the target type nodes to a target post-tree, wherein each tree node of the target post-tree corresponds to a plurality of post-subprograms; selecting a dependent node and a dependent node value of the target child node; and configuring a post-processing program of the target robot according to the target post-tree. The method and the device solve the problem of low efficiency of configuration of the post processing program of the robot.
Description
Technical Field
The application relates to the technical field of computers, in particular to a method and a device for configuring a post-processing program of a robot.
Background
In related robot applications, the brands are various, such as ABB, KUKA, yaskawa, and the like. The post processing programs of each robot are different, so that various post templates are needed when the post programs of the robots are configured, the used post templates cannot be the same due to the fact that the programming languages or the processing programs used by companies or everyone are different, the templates can be pre-recorded into a background server or a background memory, a user can call the corresponding post processing program template as long as clicking the corresponding template, and the corresponding control language or program can be added.
However, in some practical applications, because of the personalized needs of users, the existing template cannot meet the needs of users, so that a way of customizing the post template appears, users can select the types of all the trees of the post tree, configure the child nodes of each tree, and adjust the sequence of all the nodes of the tree so as to achieve the post processing program desired by themselves.
The inventor finds that some data can only be output under specific conditions when the configuration of the post processing program of the robot is carried out in the mode of customizing the post template, and for the special conditions, the robot program cannot be directly generated according to the post template, a large amount of time is wasted in the later period for carrying out independent processing, and time is wasted.
Disclosure of Invention
The main purpose of the present application is to provide a method and an apparatus for configuring a post-processing program of a robot, which solve the problem of inefficient configuration of the post-processing program of the robot.
In order to achieve the above object, according to a first aspect of the present application, there is provided a method of configuring a post handler of a robot.
The method for configuring the post processing program of the robot comprises the following steps: acquiring a post format of a target robot, wherein the post format is used for indicating the type of a post processing program; selecting a target type node on a preset concept tree according to the post format, wherein the preset concept tree comprises a plurality of type nodes, and each type node is provided with a plurality of child nodes; moving target child nodes under the target type nodes to a target post-tree, wherein each tree node of the target post-tree corresponds to a plurality of post-subprograms; selecting a dependent node and a dependent node value of the target child node; and configuring a post-processing program of the target robot according to the target post-tree.
Optionally, the selecting the dependent node of the target child node and the value of the dependent node includes: acquiring all nodes in the current target post tree; selecting a node in the current target post-tree as a dependent node of a current target child node; and selecting a value in the node values of the dependent nodes of the current target child node as the dependent node value of the current target child node.
Optionally, the plurality of type nodes on the preset concept tree includes at least one of: the system comprises point type nodes, coordinate system type nodes, tool type nodes, variable type nodes related to transmission control TCP variables, variable type nodes related to point variables and input/output IO event type nodes.
Optionally, the method further includes: and configuring a dependent node attribute and a dependent node value attribute for each node in the target post-tree.
Optionally, configuring a post-processing program of the target robot according to the target post-tree includes: determining an initial post program according to the target post tree; comparing whether the initial post program and the target post program are the same; if not, performing child node adjustment on the target post tree to obtain an adjusted target post tree; and configuring a post-processing program of the target robot according to the adjusted target post-tree.
Optionally, moving the target child node under the target type node to the target post tree includes: acquiring first position information of a first target child node to be moved under the target type node and second position information of a second target child node to be added in the target post-tree, wherein the first target child node to be moved is to be moved to the position of the second target child node; and moving the first target child node to be moved to the target post-tree according to the first position information and the second position information.
Optionally, moving the first target child node to be moved to the target post-tree according to the first location information and the second location information includes: judging whether the first target child node can move to a position corresponding to the second position information or not according to the first position information and the second position information; if the first target child node can move to the position corresponding to the second position information, moving the first target child node to the target position corresponding to the second position information according to the second position information, wherein the target position is one of the following positions: before the position corresponding to the second position information, after the position corresponding to the second position information and the child node position of the second target child node; and if the first target child node cannot move to the position corresponding to the second position information, sending a prompt message, wherein the prompt message is used for prompting that the first target child node cannot move to the second target position.
In order to achieve the above object, according to a second aspect of the present application, there is provided a configuration apparatus of a post processing program of a robot.
The configuration device of the post processing program of the robot comprises: an acquisition unit configured to acquire a post format of a target robot, wherein the post format is used to indicate a type of a post processing program; the first selection unit is used for selecting a target type node on a preset concept tree according to the post format, wherein the preset concept tree comprises a plurality of type nodes, and each type node is provided with a plurality of child nodes; a moving unit, configured to move a target child node under the target type node into a target post-tree, where each tree node of the target post-tree corresponds to multiple post-subroutines; a second selecting unit, configured to select a dependent node and a dependent node value of the target child node; and the first configuration unit is used for configuring the post-processing program of the target robot according to the target post-tree.
Optionally, the second selecting unit includes: the first acquisition module is used for acquiring all nodes in the current target post tree; the first selection module is used for selecting the nodes in the current target post-tree as the dependent nodes of the current target child nodes; and the second selection module is used for selecting a value in the node value of the dependent node of the current target child node as the dependent node value of the current target child node.
Optionally, the plurality of type nodes on the preset concept tree includes at least one of: the system comprises point type nodes, coordinate system type nodes, tool type nodes, variable type nodes related to transmission control TCP variables, variable type nodes related to point variables and input/output IO event type nodes.
Optionally, the method further includes: and the second configuration unit is used for configuring the attribute of the dependent node and the attribute of the value of the dependent node for each node in the target post-tree.
Optionally, the first configuration unit includes: the determining module is used for determining an initial post program according to the target post tree; the comparison module is used for comparing whether the initial post program is the same as the target post program or not; the adjusting module is used for adjusting the child nodes of the target post tree if the target post tree is different from the target post tree, so as to obtain an adjusted target post tree; and the configuration module is used for configuring a post-processing program of the target robot according to the adjusted target post-tree.
Optionally, the mobile unit includes: a second obtaining module, configured to obtain first location information of a first target child node to be moved in the target type node and second location information of a second target child node to be added in the target post-tree, where the first target child node to be moved is to be moved to a location of the second target child node; and the moving module is used for moving the first target child node to be moved to the target post-tree according to the first position information and the second position information.
Optionally, the moving module is configured to: judging whether the first target child node can move to a position corresponding to the second position information or not according to the first position information and the second position information; if the first target child node can move to the position corresponding to the second position information, moving the first target child node to the target position corresponding to the second position information according to the second position information, wherein the target position is one of the following positions: before the position corresponding to the second position information, after the position corresponding to the second position information and the child node position of the second target child node; and if the first target child node cannot move to the position corresponding to the second position information, sending a prompt message, wherein the prompt message is used for prompting that the first target child node cannot move to the second target position.
In order to achieve the above object, according to a third aspect of the present application, there is provided a computer-readable storage medium storing computer instructions for causing a computer to execute the method of configuring a post processing program of a robot according to any one of the first aspect.
In order to achieve the above object, according to a fourth aspect of the present application, there is provided an electronic apparatus comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to cause the at least one processor to perform the method of configuring a post-processing program for a robot according to any one of the first aspect.
In the configuration method and device of the post-processing program of the robot in the embodiment of the application, a post-format of a target robot is obtained first, wherein the post-format is used for indicating the type of the post-processing program; selecting a target type node on a preset concept tree according to a post format, wherein the preset concept tree comprises a plurality of type nodes, and a plurality of child nodes are arranged under each type node; moving target child nodes under the target type nodes to a target post-tree, wherein each tree node of the target post-tree corresponds to a plurality of post-subprograms; selecting a dependent node and a dependent node value of a target child node; and configuring a post-processing program of the target robot according to the target post-tree. In the embodiment, by selecting the type nodes on the preset concept tree, each node has a detailed child node of the type, and then moving the desired child node to the target post-tree to construct the target post-tree, in addition, after moving to the target post-tree, the nodes on which the child nodes need to depend and the values of the dependent nodes can be selected, so that the nodes output under the specific condition can be output under the specific condition in a configuration-dependent manner. After the configuration of the embodiment, the post processing program is automatically generated according to the post tree, and the nodes output under the specific condition do not need to be independently processed, so that the configuration efficiency of the post processing program is greatly improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and the description of the exemplary embodiments of the present application are provided for explaining the present application and do not constitute an undue limitation on the present application. In the drawings:
fig. 1 is a flowchart of a configuration method of a post-processing program of a robot according to an embodiment of the present application;
fig. 2 and fig. 3 are schematic diagrams of attribute interface diagrams corresponding to nodes after dependent nodes and dependent node values have been configured according to an embodiment of the present application;
fig. 4 is a block diagram of a configuration device of a post-processing program of a robot according to an embodiment of the present application;
fig. 5 is a block diagram of a configuration apparatus of another post-processing program of a robot according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The following embodiments of the present application can be applied to various robots, including industrial robots, commercial robots, etc., and, of course, the present application is not limited to specific models and types of robots.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The steps illustrated in the flow charts of the drawings may be performed in a computer system such as a set of computer-executable instructions and, although a logical order is illustrated in the flow charts, in some cases, the steps illustrated or described may be performed in an order different than here. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
According to an embodiment of the present application, there is provided a method for configuring a post handler of a robot, as shown in fig. 1, the method including the following steps S101 to S106: s101, acquiring a post format of a target robot, wherein the post format is used for indicating the type of a post processing program; s102, selecting target type nodes on a preset concept tree according to the post format, wherein the preset concept tree comprises a plurality of type nodes, and a plurality of child nodes are arranged below each type node; s103, moving the target child nodes under the target type nodes to a target post-tree, wherein each tree node of the target post-tree corresponds to a plurality of post-subprograms; s104, selecting a dependent node and a dependent node value of the target child node; and S105, configuring a post-processing program of the target robot according to the target post-tree.
In step S101, the post format may be a post handler for different robots, and the post format may be different for each post handler. The specific type of the postamble is not limited in the embodiments of the present application. The post format referred to in the embodiments of the present application includes but is not limited to: ABB, ADT, GSK, KEBA, KUKA, STEP, UR, YASKAWA, EPSON, etc. Further, the post format of the target robot may be: determining teaching parameters according to a plurality of teaching points of the target robot; and determining a post format according to the teaching parameters. The teaching points can be points which are described by the autonomous control of the robot, and the post format required by the robot can be obtained through the known teaching points.
In step S102, the preset concept tree may refer to each type including a known robot, and a corresponding concept tree, where the preset concept tree integrates all robot settings, and for each point of the robot, optionally, a plurality of type nodes on the preset concept tree include at least one of: the system comprises point type nodes, coordinate system type nodes, tool type nodes, variable type nodes related to transmission control TCP variables, variable type nodes related to point variables and input/output IO event type nodes. For each position of different robots, different types of nodes may be included, for example, when a robot describes a point, the point type node may further include child nodes of the following types: the system comprises an iterator of points, a point coordinate-X, a point coordinate-Y, a point coordinate-Z, a point coordinate-A, a point coordinate-B, a point coordinate-C, circular arc transition, a track point serial number, a global point serial number, a point instruction, a moving point moveL and the like, and can be provided with sub-nodes of various point types aiming at different points set by the robot. And other coordinate system nodes can refer to the mechanical arm of the robot and the nodes of the coordinate system indicated by the scale needle. Certainly, the type nodes of the preset concept tree are not limited in the present application, and the type nodes may be described for different parts or different types of the robot, for example, corresponding type nodes are set for a flange, a mechanical arm, and the like of the robot.
In step S104, the dependent node and the dependent node value may be set according to actual requirements, and not all target child nodes need to be selected, where the dependent node and the dependent node value mean that the current node output needs to be equal to the node selected and the value of the node needs to be equal to the value of the dependent node to be output, and if not, the dependent node and the dependent node value do not output. In this way, the output of the node can be conditioned, so that the output requirement under special conditions can be met. It should be noted that the selection of the dependent node and the dependent node value may be performed immediately after the movement to the target post-tree, or may be performed after all the nodes have been moved, and may be freely selected in actual applications.
In step S105, the post-processing procedure for configuring the target robot based on the target post-tree includes: determining an initial post program according to the target post tree; comparing whether the initial post program is the same as the target post program; if not, performing child node adjustment on the target post tree to obtain an adjusted target post tree; and configuring a post-processing program of the target robot according to the adjusted target post-tree. The target post-processing program may be a post-processing program expected by a user. The target post tree may refer to a post tree formed after configuring each tree node and each child node, for example, in a target post tree, the target post tree includes: a file (containing a file header), an iterator for a track group (containing an iterator for a track), a file trailer, etc. An alternative embodiment, comparing whether the initial post program and the target post program are the same comprises: acquiring a file header of an initial post program and a global post program of the initial post program; and comparing whether the global post program of the initial post program is the same as the target post program.
Through the steps, the post format of the target robot can be obtained firstly, wherein the post format is used for indicating the type of the post processing program; selecting target type nodes on a preset concept tree according to a post format, wherein the preset concept tree comprises a plurality of type nodes, and each type node is provided with a plurality of child nodes; moving target child nodes under the target type nodes to a target post-tree, wherein each tree node of the target post-tree corresponds to a plurality of post-subprograms; selecting a dependent node and a dependent node value of a target child node; and configuring a post-processing program of the target robot according to the target post-tree. In the embodiment, by selecting the type nodes on the preset concept tree, each node has a detailed child node of the type, and then moving the desired child node to the target post-tree to construct the target post-tree, in addition, after moving to the target post-tree, the nodes on which the child nodes need to depend and the values of the dependent nodes can be selected, so that the nodes output under the specific condition can be output under the specific condition in a configuration-dependent manner. After the configuration of the embodiment, the post processing program is automatically generated according to the post tree, and the nodes output under the specific condition do not need to be independently processed, so that the configuration efficiency of the post processing program is greatly improved.
Further, selecting the dependent node of the target child node and the value of the dependent node includes: acquiring all nodes in the current target post tree; selecting a node in the current target post-tree as a dependent node of a current target child node; and selecting a value in the node values of the dependent nodes of the current target child node as the dependent node value of the current target child node. Specifically, when a dependent node and a value of the dependent node which needs to be selected and is currently moved to a target child node in a target post-tree are received, all nodes in the target post-tree are obtained and displayed for a user to select from, and after a selection instruction of the user is received, a corresponding node is selected from the nodes in the target post-tree as the dependent node of the current target child node according to the selection instruction; and then displaying values in the node values of the dependent nodes of the current target child node for a user to select from, and after receiving a selection instruction of the user, selecting corresponding values from the node values of the dependent nodes of the current target child node according to the selection instruction to serve as the dependent node values of the current target child node.
Further, the embodiment of the application further includes configuring a dependent node attribute and a dependent node value attribute for each node in the target posttree. Therefore, when the user selects, the dependent node and the dependent node value can be configured through the configuration of the attribute of the node. As shown in fig. 2, for an attribute interface diagram corresponding to a node after a dependent node and a dependent node value have been configured, fig. 2 shows that a current node can be output only when an output corresponding to an iteration sequence number is 1; as shown in fig. 3, the attribute interface diagram corresponding to another node after the dependent node and the dependent node value have been configured is also shown, and fig. 3 shows that the current node can be output only when the output corresponding to the link guide is FALSE. It should be noted that only some attributes are shown in fig. 2 and fig. 3, and other attributes are also included in practical applications.
Further, in step S103, moving the target child node under the target type node to the target post-tree includes: acquiring first position information of a first target child node to be moved under a target type node and second position information of a second target child node to be added in a target post-tree, wherein the first target child node to be moved is to be moved to the position of the second target child node; and moving the first target child node to be moved to the target post-tree according to the first position information and the second position information.
In another alternative embodiment, moving the first target child node to be moved to the target posttree according to the first location information and the second location information includes: judging whether the first target child node can move to a position corresponding to the second position information or not according to the first position information and the second position information; if the first target child node can move to the position corresponding to the second position information, the first target child node is moved to the target position corresponding to the second position information according to the second position information, wherein the target position is one of the following positions: before the position corresponding to the second position information, after the position corresponding to the second position information and the child node position of the second target child node; and if the first target child node cannot move to the position corresponding to the second position information, sending prompt information, wherein the prompt information is used for prompting that the first target child node cannot move to the second target position.
For the embodiment of the present application, after moving the first target child node to the target location corresponding to the second location information, the method includes: and updating the target tree node of the target post tree according to the moved position information. That is, each node of the post tree can be updated to obtain the post tree desired by the user, thereby obtaining the post handler.
In addition, a method for configuring whether a mobile node is available in a post tree is described, the method includes:
Further, according to an embodiment of the present application, there is also provided a configuration apparatus 200 for a post-processing procedure of a robot implementing the method of fig. 1, as shown in fig. 4, the apparatus includes: an acquisition unit 21 configured to acquire a post format of the target robot, where the post format is used to indicate a type of a post processing program; the first selecting unit 22 is configured to select a target type node on a preset concept tree according to a postfix format, where the preset concept tree includes a plurality of type nodes, and each type node has a plurality of child nodes below it; a moving unit 23, configured to move a target child node under a target type node into a target post-tree, where each tree node of the target post-tree corresponds to multiple post-subroutines; a second selecting unit 24, configured to select a dependent node and a dependent node value of the target child node; a first configuration unit 25, configured to configure the post-processing program of the target robot according to the target post-tree.
With the above configuration means, the post format of the target robot can be acquired first by the acquisition unit 21, where the post format is used to indicate the type of post processing program; selecting a target type node on a preset concept tree by using a first selection unit 22 according to a post format, wherein the preset concept tree comprises a plurality of type nodes, and each type node is provided with a plurality of sub-nodes; then, the moving unit 23 may be utilized to move the target child node under the target type node into the target post-tree, wherein each tree node of the target post-tree corresponds to a plurality of post-subroutines; then, dependent nodes and dependent node values of the target child nodes are selected according to the second selection unit 24; the post processing program of the target robot can be configured by the configuration unit 25 according to the target post tree. In the embodiment, by selecting the type nodes on the preset concept tree, each node has a detailed child node of the type, and then moving the desired child node to the target post-tree to construct the target post-tree, in addition, after moving to the target post-tree, the nodes on which the child nodes need to depend and the values of the dependent nodes can be selected, so that the nodes output under the specific condition can be output under the specific condition in a configuration-dependent manner. After the configuration of the embodiment, the post processing program is automatically generated according to the post tree, and the nodes output under the specific condition do not need to be independently processed, so that the configuration efficiency of the post processing program is greatly improved.
Further, as shown in fig. 5, the second selecting unit 24 includes: a first obtaining module 241, configured to obtain all nodes in the current target posttree; a first selecting module 242, configured to select a node in the current target post-tree as a dependent node of a current target child node; a second selecting module 243, configured to select a value in the node values of the dependent nodes of the current target child node as the dependent node value of the current target child node.
Further, the plurality of type nodes on the preset concept tree include at least one of: the method comprises the following steps of point type nodes, coordinate system type nodes, tool type nodes, variable type nodes related to transmission control TCP variables, variable type nodes related to point variables and input/output IO event type nodes.
Further, as shown in fig. 5, the method further includes: and a second configuration unit 26, configured to configure a dependent node attribute and a dependent node value attribute for each node in the target posttree.
Further, as shown in fig. 5, the first configuration unit 25 includes: a determining module 251, configured to determine an initial post program according to the target post tree; a comparison module 252, configured to compare whether the initial post program and the target post program are the same; an adjusting module 253, configured to perform child node adjustment on the target post-tree if the target post-tree is different from the target post-tree, so as to obtain an adjusted target post-tree; and a configuration module 254, configured to configure a post-processing program of the target robot according to the adjusted target post-tree.
Further, as shown in fig. 5, the moving unit 23 includes: a second obtaining module 231, configured to obtain first location information of a first target child node to be moved in the target type node and second location information of a second target child node to be added in the target post-tree, where the first target child node to be moved is to be moved to a location of the second target child node; a moving module 232, configured to move the first target child node to be moved to the target post-tree according to the first location information and the second location information.
Further, as shown in fig. 5, the moving module 232 is configured to: judging whether the first target child node can move to a position corresponding to the second position information or not according to the first position information and the second position information; if the first target child node can move to the position corresponding to the second position information, moving the first target child node to the target position corresponding to the second position information according to the second position information, wherein the target position is one of the following positions: before the position corresponding to the second position information, after the position corresponding to the second position information and the child node position of the second target child node; and if the first target child node cannot move to the position corresponding to the second position information, sending a prompt message, wherein the prompt message is used for prompting that the first target child node cannot move to the second target position.
Specifically, the specific process of implementing the functions of each unit and module in the device in the embodiment of the present application may refer to the related description in the method embodiment, and is not described herein again.
According to an embodiment of the present application, there is further provided a computer-readable storage medium, where the computer-readable storage medium stores computer instructions for causing the computer to execute the method for configuring the post-processing program of the robot in the foregoing method embodiment.
According to an embodiment of the present application, there is also provided an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to cause the at least one processor to perform the method of configuring a post-processing program of a robot in the above method embodiments.
It will be apparent to those skilled in the art that the modules or steps of the present application described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and they may alternatively be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, or fabricated separately as individual integrated circuit modules, or fabricated as a single integrated circuit module from multiple modules or steps. Thus, the present application is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A method for configuring a post-processing program of a robot, comprising:
acquiring a post format of a target robot, wherein the post format is used for indicating the type of a post processing program;
selecting a target type node on a preset concept tree according to the post format, wherein the preset concept tree comprises a plurality of type nodes, and each type node is provided with a plurality of sub-nodes;
moving target child nodes under the target type nodes to a target post-tree, wherein each tree node of the target post-tree corresponds to a plurality of post-subprograms;
selecting a dependent node and a dependent node value of the target child node;
and configuring a post-processing program of the target robot according to the target post-tree.
2. The method of claim 1, wherein selecting the dependent node and the value of the dependent node of the target child node comprises:
acquiring all nodes in the current target post tree;
selecting a node in the current target post-tree as a dependent node of a current target child node;
and selecting a value in the node value of the dependent node of the current target child node as the dependent node value of the current target child node.
3. The method of claim 1, wherein the plurality of type nodes on the pre-defined concept tree comprises at least one of:
the system comprises point type nodes, coordinate system type nodes, tool type nodes, variable type nodes related to transmission control TCP variables, variable type nodes related to point variables and input/output IO event type nodes.
4. The method of claim 1, further comprising:
and configuring a dependent node attribute and a dependent node value attribute for each node in the target post-tree.
5. The method of claim 1, wherein configuring the post handler of the target robot based on the target post tree comprises:
determining an initial post program according to the target post tree;
comparing whether the initial post program and the target post program are the same;
if not, performing child node adjustment on the target post tree to obtain an adjusted target post tree;
and configuring a post-processing program of the target robot according to the adjusted target post-tree.
6. The method of claim 1, wherein moving the target child node under the target type node into the target post-tree comprises:
acquiring first position information of a first target child node to be moved under the target type node and second position information of a second target child node to be added in the target post-tree, wherein the first target child node to be moved is to be moved to the position of the second target child node;
and moving the first target child node to be moved to the target post-tree according to the first position information and the second position information.
7. The method of claim 6, wherein moving the first target child node to be moved to the target post-tree according to the first and second location information comprises:
judging whether the first target child node can move to a position corresponding to the second position information or not according to the first position information and the second position information;
if the first target child node can move to the position corresponding to the second position information, moving the first target child node to the target position corresponding to the second position information according to the second position information, wherein the target position is one of the following positions: before the position corresponding to the second position information, after the position corresponding to the second position information and the child node position of the second target child node;
and if the first target child node cannot move to the position corresponding to the second position information, sending a prompt message, wherein the prompt message is used for prompting that the first target child node cannot move to the second target position.
8. An apparatus for configuring a post-processing program of a robot, comprising:
an acquisition unit configured to acquire a post format of a target robot, wherein the post format is used to indicate a type of a post processing program;
the first selection unit is used for selecting a target type node on a preset concept tree according to the post format, wherein the preset concept tree comprises a plurality of type nodes, and each type node is provided with a plurality of child nodes;
a moving unit, configured to move a target child node under the target type node into a target post-tree, where each tree node of the target post-tree corresponds to multiple post-subroutines;
a second selecting unit, configured to select a dependent node and a dependent node value of the target child node;
and the first configuration unit is used for configuring the post-processing program of the target robot according to the target post-tree.
9. A computer-readable storage medium characterized in that it stores computer instructions for causing the computer to execute a method of configuring a post-processing program of a robot according to any one of claims 1 to 7.
10. An electronic device, comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to cause the at least one processor to perform the method of configuring a post-processing program of a robot according to any one of claims 1 to 7.
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