CN115674255A - Robot system and color control method thereof - Google Patents

Abstract

Disclosed are a robot system and a color control method thereof. The robot system includes at least two robots connected to a communication network and a server. The server is configured to: running the integrated development environment and displaying a graphical user interface of the integrated development environment to provide a VPL tool; selecting a first initial VPL block and a second initial VPL block corresponding to the first robot and the second robot respectively by using a VPL tool; acquiring first color information indicating a first color and second color information indicating a second color from a first initial VPL block and a second initial VPL block, respectively; and respectively sending the first color information and the second color information to the first robot and the second robot. The first robot controls the plurality of light emitting devices thereof to display the first color in response to the received first color information, and the second robot controls the plurality of light emitting devices thereof to display the second color in response to the received second color information. Thereby, the respective robots can be recognized more efficiently and intuitively.

Description

Robot system and color control method thereof

Technical Field

The present invention relates generally to an articulated robot, and more particularly, to a robot system including a plurality of articulated robots and a color control method thereof.

Background

An articulated robot is a robot having a rotary joint, and is also called an articulated robot arm or a multi-articulated robot. Articulated robots can range from simple two-joint structures to systems with more than ten interacting joints. The articulated robot is one of the most common forms of industrial robots in the industrial field at present, and is suitable for mechanical automation operation in various industrial fields.

With the increasing structural complexity of articulated robots, and the increasing difficulty of tasks to be performed, integrated Development Environments (IDEs) have been used to program articulated robots in order to facilitate task planning of articulated robots. The IDE is application software for assisting a program developer in developing software, and source code texts can be written in an assisting mode and compiled and packaged into a usable program in a developing tool. An IDE typically includes a programming language editor, an automation build tool, and a debugger. The IDE may incorporate common developer tools into a single Graphical User Interface (GUI), so that the developer can perform operations without switching applications.

An IDE supporting visual programming may allow developers to create new applications by directly moving building blocks or code nodes of the programming to create flow diagrams and structure diagrams, and then compiling or interpreting the created flow diagrams and structure diagrams. These flow diagrams and structure diagrams are typically based on a unified modeling language. The GUI of such an IDE provides a Visual Programming Language (Language) environment. The VPL, also known as a graphical programming language, is a programming language that allows users to create programs by manipulating program elements graphically, rather than through textual specification. The VPL allows programming using a spatial arrangement of visual expressions, text, and graphical symbols. For example, many VPLs are based on the concept of "blocks and arrows" where blocks or other screen objects are treated as entities connected by arrows, straight line segments, or arcs representing relationships.

Disclosure of Invention

One aspect of the invention relates to a robotic system. The robot system includes at least two joint robots, each joint robot having a robot controller, a plurality of revolute joints, and a plurality of light emitting devices, each light emitting device being disposed at a respective one of the plurality of revolute joints. The robot system further includes a server including a controller, a storage unit, and a display unit. The storage unit stores a plurality of instructions executable by the controller and stores a visual programming language library including a plurality of visual programming language blocks.

The at least two articulated robots and the server are connected to a communication network. The at least two articulated robots include a first articulated robot and a second articulated robot.

The server is configured to execute instructions from the storage unit using the controller to run an integrated development environment and to display a graphical user interface of the integrated development environment using the display unit, the graphical user interface configured to provide a visual programming language tool.

The server is configured to select a first initial visualization programming language chunk corresponding to the first articulated robot and a second initial visualization programming language chunk corresponding to the second articulated robot from the visualization programming language library using the visualization programming language tool, the server establishing a first connection based on the integrated development environment with the first articulated robot over the communication network after selecting the first initial visualization programming language chunk, and the server establishing a second connection based on the integrated development environment with the second articulated robot over the communication network after selecting the second initial visualization programming language chunk.

The server is configured to obtain first color information indicating a first color from the first initial visualization programming language block and obtain second color information indicating a second color from the second initial visualization programming language block, the second color being different from the first color. The server is configured to transmit the acquired first color information and the second color information to the first joint robot and the second joint robot via the established first connection and second connection, respectively.

The robot controller of the first joint robot is configured to generate a first color instruction to control a plurality of light emitting devices of the first joint robot to display the first color in response to the received first color information. The robot controller of the second joint robot is configured to generate a second color instruction to control the plurality of light emitting devices of the second joint robot to display the second color in response to the received second color information;

in the robot system according to the above-described aspect, each of the at least two joint robots has a unique identifier, the server is configured to create the first initial visualization programming language block based on the unique identifier of the first joint robot in association with the first color information, create the second initial visualization programming language block based on the unique identifier of the second joint robot in association with the second color information, and add the created first initial visualization programming language block and the created second initial visualization programming language block to the visualization programming language library stored in the storage unit, using the visualization programming language tool.

In particular, the unique identifier of each of the at least two articulated robots is selected from an internet protocol address of the articulated robot or a serial number of the articulated robot.

In the robot system according to the above-described aspect, the server is configured to edit the first initial visualization programming language block or the second initial visualization programming language block using the visualization programming language tool to modify the first color information or the second color information contained in the first initial visualization programming language block or the second initial visualization programming language block, the modified first color information or second color information indicating a color different from the first color or the second color.

In the robot system according to the above-described aspect, the robot controller of each joint robot is configured to control the plurality of light emitting devices of the joint robot to display a predetermined color or a color indicated by color information received by the joint robot last time when the joint robot does not establish a connection based on the integrated development environment with the server.

In the robot system according to the above aspect, the server is configured to: selecting, using the visualization programming language tool, a first plurality of task visualization programming language chunks from the visualization programming language library, the first plurality of task visualization programming language chunks corresponding to the first articulated robot, and a second plurality of task visualization programming language chunks corresponding to the second articulated robot; displaying the first initial visualization programming language chunk and each of the plurality of first task visualization programming language chunks in association with the first color, and displaying the second initial visualization programming language chunk and each of the plurality of second task visualization programming language chunks in association with the second color. The first initial visualization programming language chunk and the first plurality of task visualization programming language chunks constitute a sequence of tasks to be performed by the first articulated robot, and the second initial visualization programming language chunk and the second plurality of task visualization programming language chunks constitute a sequence of tasks to be performed by the second articulated robot.

In particular, at least a portion of each of the first initial visualization programming language chunk and the plurality of first task visualization programming language chunks presents the first color and at least a portion of each of the second initial visualization programming language chunk and the plurality of second task visualization programming language chunks presents the second color.

More particularly, the first initial visualization programming language chunk and each of the plurality of first task visualization programming language chunks are outlined by the first color, and the second initial visualization programming language chunk and each of the plurality of second task visualization programming language chunks are outlined by the second color.

Optionally, the first color is literally noted in the first initial visualization programming language chunk and each of the plurality of first task visualization programming language chunks, and the second color is literally noted in the second initial visualization programming language chunk and each of the plurality of second task visualization programming language chunks.

Another aspect of the invention relates to a color control method of a robotic system. The robot system includes a server and at least two joint robots, each joint robot having a robot controller, a plurality of rotary joints, and a plurality of light emitting devices, each light emitting device being arranged at a corresponding one of the plurality of rotary joints, the at least two joint robots and the server being connected to a communication network, the at least two joint robots including a first joint robot and a second joint robot. The server includes a storage unit in which a visualization programming language library including a plurality of visualization programming language blocks is stored.

The color control method includes: running an integrated development environment through the server and displaying a graphical user interface of the integrated development environment, the graphical user interface configured to provide a visual programming language tool; selecting, by the server, a first initial visualization programming language chunk and a second initial visualization programming language chunk from the visualization programming language library using the visualization programming language tool, the first initial visualization programming language chunk corresponding to the first articulated robot, the second initial visualization programming language chunk corresponding to the second articulated robot; the server establishing a first connection based on the integrated development environment with the first articulated robot over the communication network in response to the selection of the first initial visualization programming language chunk, and establishing a second connection based on the integrated development environment with the second articulated robot over the communication network in response to the selection of the second initial visualization programming language chunk; obtaining, by the server, first color information indicating a first color from the first initial visualization programming language block and second color information indicating a second color from the second initial visualization programming language block, wherein the second color is different from the first color; transmitting, by the server, the acquired first color information and the acquired second color information to the first joint robot and the second joint robot via the established first connection and second connection, respectively; generating, by the first joint robot, a first color instruction to control a plurality of light emitting devices of the first joint robot to display the first color in response to the received first color information; and in response to receiving the second color information, generating, by the second articulated robot, a second color instruction to control a plurality of light emitting devices of the second articulated robot to display the second color.

In the color control method according to the above aspect, each of the at least two joint robots has a unique identifier. The color control method further includes: creating, by the server, the first initial visualization programming language block based on the unique identifier of the first joint robot in association with the first color information, the second initial visualization programming language block based on the unique identifier of the second joint robot in association with the second color information, and adding the created first initial visualization programming language block and the created second initial visualization programming language block to the visualization programming language library stored in the storage unit, using the visualization programming language tool.

In particular, the unique identifier of each of the at least two articulated robots is selected from an internet protocol address of the articulated robot or a serial number of the articulated robot.

In the color control method according to the above aspect, the color control method further includes: editing, by the server, the first initial visualization programming language block or the second initial visualization programming language block using the visualization programming language tool to modify the first color information or the second color information contained in the first initial visualization programming language block or the second initial visualization programming language block, the modified first color information or second color information indicating a color different from the first color or the second color.

In the color control method according to the above aspect, the color control method further includes: when any one of the at least two joint robots does not establish a connection with the server based on the integrated development environment, controlling, by the joint robot, a plurality of light emitting devices of the joint robot to display a color set in advance or a color indicated by color information received by the joint robot last time.

In the color control method according to the above aspect, the color control method further includes: selecting, by the server, a plurality of first task visualization programming language chunks and a plurality of second task visualization programming language chunks from the visualization programming language library using the visualization programming language tool, the plurality of first task visualization programming language chunks corresponding to the first articulated robot, the plurality of second task visualization programming language chunks corresponding to the second articulated robot; displaying the first initial visualization programming language chunk and each of the plurality of first task visualization programming language chunks in association with the first color, and displaying the second initial visualization programming language chunk and each of the plurality of second task visualization programming language chunks in association with the second color. The first initial visualization programming language chunk and the first plurality of task visualization programming language chunks constitute a sequence of tasks to be performed by the first articulated robot, and the second initial visualization programming language chunk and the second plurality of task visualization programming language chunks constitute a sequence of tasks to be performed by the second articulated robot.

In particular, at least a portion of each of the first initial visualization programming language chunk and the plurality of first task visualization programming language chunks exhibits the first color, and at least a portion of each of the second initial visualization programming language chunk and the plurality of second task visualization programming language chunks exhibits the second color.

More particularly, the first initial visualization programming language block and each of the plurality of first task visualization programming language blocks are delineated by the first color and the second initial visualization programming language block and each of the plurality of second task visualization programming language blocks are delineated by the second color.

Optionally, the first color is literally marked in each of the first initial visualization programming language block and the plurality of first task visualization programming language blocks, and the second color is literally marked in each of the second initial visualization programming language block and the plurality of second task visualization programming language blocks.

Drawings

In order to more clearly explain technical solutions in embodiments of the present invention, drawings used in the description of the embodiments will be briefly described below. The drawings in the following description are merely exemplary embodiments of the invention. It is also possible for a person skilled in the art to derive other figures based on these figures without any inventive work.

Fig. 1 shows a block diagram of an articulated robot applied in an embodiment of the present invention.

Figure 2 shows an isometric view of a portion of an articulated robot useful in an embodiment of the present invention.

Fig. 3 shows a block diagram of a control system of a joint robot applied in an embodiment of the present invention.

Fig. 4 shows a block diagram of a server applied in an embodiment of the invention.

FIG. 5 shows a schematic view of a robotic system according to an embodiment of the invention.

Fig. 6 shows a schematic diagram of a task sequence for creating a robot with a VPL tool according to an embodiment of the invention.

Fig. 7 shows the task sequence shown in fig. 6 with VPL blocks outlined by the respective colors.

Fig. 8 shows a flow chart of a color control method for the robotic system described in fig. 5.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms than those specifically described herein, and it will be apparent to those skilled in the art that many more modifications are possible without departing from the spirit and scope of the invention.

Fig. 1 shows an exemplary articulated robot 100, hereinafter simply referred to as a robot, applied in an embodiment of the present invention. The robot 100 may be an industrial robot or any other type of robot, e.g. a humanoid robot. The robot 100 may include a plurality of links 110 (also referred to as arms), a light emitting device 130, and an actuator (not shown). It will be appreciated that in the exemplary robot shown in fig. 1, the actuator is located within the linkage 110 and the light emitting device 130, and thus the actuator is not visible. The link 110 may rotate along a single axis (i.e., one-dimensional), along two axes (i.e., two-dimensional), or may have freedom to move arbitrarily in three-dimensional space.

Two adjacent links 110 may form a pitch joint or a roll joint. Referring to fig. 2, a portion of an articulated robot is shown. In fig. 2, link 110a and link 110B may collectively form a pitch joint 141, pitch joint 141 may rotate about its axis a, link 110B and link 110c may collectively form a roll joint 142, and roll joint 142 may rotate about its axis B. In either case, the light emitting device 130 can be positioned between two links 110 (e.g., between link 110a and link 110b, or between link 110b and link 110 c) and adjacent to the actuator. It is understood that two adjacent links 110 may form other types of revolute joints.

The light emitting device 130 may be any type of device capable of generating visible light, for example, an LED or a multicolor LED. The light emitting device 130 is disposed at a rotational joint, for example, a pitch joint 141 or a roll joint 142. In some embodiments, one light emitting device 130 is disposed at each rotational joint. In some embodiments, each light-emitting device 130 may correspond to an actuator, and may be disposed about the respective actuator. For example, the light emitting devices 130 may have an annular configuration extending around the entire circumference of the respective actuator. In such embodiments, the operator of the robot 100 may view the light emitting device 130 at any location relative to the robot 100. Such a light emitting device 130 located at and around the revolute joint is hereinafter referred to as a joint ring light.

Further, it is understood that in some embodiments, the light emitting devices 130 may not extend over the entire circumference of the respective actuators. It is also understood that the light emitting device 130 may take any shape, such as a circle, octagon, decagon, wave, etc. The light emitting devices 130 are exposed on the outer surface of the robot 100 so that the operator of the robot 100 can easily observe the lighting of the light emitting devices 130.

As described above, in some embodiments, the light emitting device 130 may be located between two adjacent links 110. For example, when two adjacent links 110 are connected together by an actuator, a gap (not shown) may exist between the two links 110, and the light emitting device 130 may be located in the gap. In other embodiments, the light emitting devices 130 may be located near the respective actuators, rather than in the gaps described above. For example, the light emitting device 130 corresponding to the actuator may be located on an outer surface of any one of two adjacent links 110 connected by the actuator.

The light emitting device 130 is capable of displaying various colors and is configured to display corresponding colors according to the received color instructions.

Fig. 3 shows a block diagram of a control system of the articulated robot 100 applied in an embodiment of the present invention. The control system has a controller 310, a storage unit 320, a communication unit 330, and an output unit 340. The control system may be configured to control the color displayed by the light emitting device 130.

The controller 310 includes one or more processors. Each processor may be a general-purpose processor, or a special-purpose processor dedicated to a particular process, but is not limited to such. The storage unit 320 includes one or more memories. Each memory may be, but is not limited to, a semiconductor memory, a magnetic surface memory, or an optical memory. The storage unit 320 stores any information for the operation of the robot 100.

The communication unit 330 has one or more communication modules. The communication module may communicate with an external device such as a server by wireless communication or wired communication. In some embodiments, the robot 100 may establish a communication connection with an external server through a cable via the communication unit 330. In other embodiments, the robot 100 may be connected to a network where a server is located via the communication unit 330. The robot 100 performs data interaction with the server using the communication unit 330.

The output unit 340 has one or more signal interfaces. Each signal interface is connected to the light emitting device 130 through a signal transmission line. The output unit 340 is configured to transmit the color instruction generated by the controller 310 to the light emitting device 130.

Fig. 4 shows the configuration of a server 400 applied in an embodiment of the present invention. The server 400 has a controller 410, a storage unit 420, a communication unit 430, an input unit 440, and a display unit 450. The server 10 may be one computer or may be comprised of more than two computers that may communicate with each other.

The controller 410 includes one or more processors. Each processor is a general-purpose processor, or a special-purpose processor dedicated to a particular process, but is not limited to such. The controller 410 controls the operation of the server 410 according to control and processing programs stored in the storage unit 420.

The storage unit 420 includes one or more memories. Each memory may be, but is not limited to, a semiconductor memory, a magnetic surface memory, or an optical memory. Each memory may serve as a primary, secondary, or cache storage for server 400. The storage unit 420 stores a plurality of instructions executable by the controller 410, particularly, stores programs for operation, control, and processing of the server 400, and stores various databases, and any other information. More particularly, storage unit 420 stores IDEs adapted to be run by server 400 and VPL libraries including VPL blocks created and edited by the IDEs.

The communication unit 430 has one or more communication modules. The communication module can communicate with a terminal device such as an articulated robot by means of wireless communication or wired communication. In some embodiments, the server 400 may establish a communication connection with the terminal device through a cable via the communication unit 430. In other embodiments, the server 400 may be connected to a network in which the terminal device is located via the communication unit 430. The server 400 performs data interaction with the terminal device using the communication unit 430.

The input unit 440 is configured to receive a user input. The input unit 440 may include various combinations of a mouse, a keyboard, a remote controller, a joystick, and the like, which allow for receiving user input. In addition, the input unit 440 may include a touch screen data converter overlaid on the display unit 450 capable of sensing touch and interacting with the display unit 450.

The display unit 450 may be any electronic video display such as an LCD display, LED display, and similar display types. In some embodiments, the display unit 450 may be a touch screen, for example, a capacitive touch screen, a resistive touch screen, a surface acoustic wave touch screen, or the like. The touch screen may provide both an input interface and an output interface for a user. In this case, the input unit 440 and the display unit 450 are integrated. The display unit 450 may present a Graphical User Interface (GUI), particularly, a GUI of the IDE, having various user-selectable icons, menus, check boxes, dialog boxes, graphic boxes, and other components and elements selectable by a user to set an operating state or condition of the robot 100.

FIG. 5 shows a schematic view of a robotic system according to an embodiment of the invention. Two robots, i.e., a first robot 100a and a second robot 100b, are arranged on the work table. The first robot 100a has a plurality of first joint ring lights 130a, and the second robot 100b has a plurality of second joint ring lights 130b. The first joint ring light 130a and the second joint ring light 130b are both the light emitting device 130 described above, and will not be described in detail herein. Only one first joint ring light 130a and one second joint ring light 130b are identified in the first robot 100a and the second robot 100b shown in fig. 5, respectively. It is understood that there are other pluralities of first and second joint ring lights 130a and 130b, not identified, in the first and second robots 100a and 100b, respectively, shown in fig. 5.

In the present embodiment, a workstation with two robots is shown only by way of example. It will be appreciated that the workstation may have only one robot, or more than three robots. As described above, each robot is capable of data interaction with the server 400 via a wired or wireless connection. The server 400 sets an operation state or condition for each robot to control the operation of the robot. In the embodiment shown in fig. 5, the first robot 100a, the second robot 100b and the server 400 are all connected to a communication network based on a communication protocol such as TCP/IP protocol. The first robot 100a, the second robot 100b, and the server 400 constitute a Distributed Data system using a Data Distributed Service (DDS).

In the case of multiple robots on a work table, in order to facilitate the distinction of the individual robots, it is necessary to provide these robots with visually distinctive markings. In particular, during the programming of these robots, it is extremely advantageous to visually identify the robot being programmed from among these robots. Conventionally, it is necessary to add additional accessories to these robots, such as printed signs, digital displays, or indicator lights, etc., which display identification information unique to each robot. This increases the amount of work and leads to an increase in cost. In this embodiment, by controlling the light emitting devices of the respective robots to display different colors, the respective robots can be identified more efficiently and intuitively. For example, the first joint ring light 130a of the first robot 100a is controlled to display blue, and the second joint ring light 130b of the second robot 100b is controlled to display green. Thus, the two robots can be distinguished by merely distinguishing the color displayed by the joint ring light. A process of controlling the color of the joint ring light of the robot will be described in detail below.

In conjunction with fig. 5, and with reference to fig. 6. The first robot 100a, the second robot 100b and the server 400 are all connected to a communication network. In order for the first robot 100a and the second robot 100b to perform respective intended operations, the user runs the IDE on the server 400 to program the first robot 100a and the second robot 100b. The controller 410 of the server 400 executes an instruction from the storage unit 420 to execute the IDE, and the GUI of the IDE is displayed on the display unit 450 of the server 400. The GUI provides a VPL tool for the user, who can program the first robot 100a and the second robot 100b with the VPL tool.

Fig. 6 shows a schematic diagram of a task sequence for a creation robot with a VPL tool according to an embodiment of the invention. As shown in fig. 6, the VPL tool 610 includes interactive elements, such as buttons, shown in the GUI of the IDE that allow a user to operate to create a sequence of tasks to be performed by the robot. The user operates the VPL tool 610 through the input unit 440 of the server 400 to create task sequences for the first robot 100a and the second robot 100b, respectively, in the task area 620. In fig. 6, the task sequence of the first robot 100a is composed of a first initial VPL block 631a and a plurality of first VPL task blocks 632a, and the task sequence of the second robot 100b is composed of a second initial VPL block 631b and a plurality of second VPL task blocks 632 b.

Creating a task sequence for a robot may include: selecting an initial VPL-block from the VPL-library corresponding to the robot, i.e., the block shown as "start" in fig. 6, and placing the initial VPL-block in task area 620; selecting task blocks from the VPL library corresponding to the robot, i.e., the blocks shown in fig. 6 as "task 1", "task 2", "task 3", and "end"; the blocks are connected by lines representing the order of execution, e.g. arrowed lines, to form a sequence of tasks which are executed sequentially. Each task may include movements of movement, rotation, etc. effected by any one or more of the plurality of links and plurality of revolute joints of the robot. Such as a movement of a particular distance, a rotation of a particular angle, a rotation of a particular direction, and so forth. The VPL block can be converted into movement commands for the robot.

It will be appreciated that the GUI of the IDE is simplified in FIG. 6 for ease of illustration, and the creation of a task sequence for the robot is also simplified. In a particular implementation, the GUI may have richer interactive elements, and the creation of a sequence of tasks may be more complex. The IDE compiles and packages the task sequence formed by the VPL blocks into a program executable by the robot and transfers the program to the robot. The robot performs a desired operation by executing the program.

In this embodiment, the user uses VPL tool 610 to select a first initial VPL block 631a from the VPL-pool that corresponds to first robot 100a, and a second initial VPL block 631b from the VPL-pool that corresponds to second robot 100b. When the initial VPL block corresponding to the robot does not exist in the VPL library, the user needs to create the initial VPL block and add the initial VPL block to the VPL library. The user may create an initial VPL block based on the unique identifier of the robot through the VPL tool in the IDE. The unique identifier includes an internet protocol address of the robot, a serial number of the robot, or other information capable of uniquely identifying the robot. By obtaining the unique identifier from the initial VPL block, the server is able to identify the robot to be programmed.

An initial VPL block for a robot is selected from the VPL library and placed in task area 620 indicating that programming for the robot is to begin. At this point, the IDE learns that the robot to be programmed is added and the server 400 can establish an IDE based connection with the robot over the communication network. Alternatively, the server can establish an IDE-based connection with the bot when compiling or debugging a VPL block using an IDE. The IDE-based connection means that the IDE running on the server is able to receive data from the robot and send data generated by the IDE to the robot. The IDE based connection may be a communication connection using DDS protocol on top of TCP/IP.

In this embodiment, server 400 establishes a first IDE-based connection with first robot 100a over the communication network after selecting first initial VPL block 631a, and server 400 establishes a second IDE-based connection with second robot 100b over the communication network after selecting second initial VPL block 631b.

As described above, in the case where a plurality of robots are present on a table, in order to distinguish the robots from each other, the conventional technique requires additional easily distinguishable parts to be added to the robots. This leads to an increase in cost and an increase in workload. Furthermore, the conventional techniques do not facilitate distinguishing the robot on the table on the GUI interface at the time of programming. For example, a visible textual description may need to be added to the VPL block to account for which robot is being programmed. For example, referring to fig. 5, a textual description of "robot located to the left as viewed from the front of the workbench" may be added to the VPL block corresponding to the first robot 100a, and a textual description of "robot located to the right as viewed from the front of the workbench" may be added to the VPL block corresponding to the second robot 100b. These textual descriptions are not intuitive and affect the legibility of the VPL block.

Thus, the present invention proposes to assign different colors to different robots in programming a plurality of robots. For example, blue is assigned to the first robot 100a so that the first joint ring light 130a of the first robot 100a displays blue, and green is assigned to the second robot 100a so that the second joint ring light 130b of the second robot 100b is controlled to display green.

To achieve the above, in this implementation, in creating the initial VPL block using VPL tool 610, the initial VPL block is created in association with the color assigned to the robot. For example, a first initial VPL block 631a is created in association with first color information indicating a first color (i.e., blue) assigned to the first robot 100a, and a second initial VPL block 631b is created in association with second color information indicating a second color (i.e., green) assigned to the second robot 100b. In this way, color information indicating the assigned color is saved in the initial VPL block.

Alternatively, the user may modify the color information to indicate different colors by editing the initial VPL block stored in the VPL library. For example, the user may edit the first initial VPL block 631a using the VPL tool to modify the first color information contained in the first initial VPL block 631a such that the modified first color information indicates a color different from the first color, e.g., purple. Similarly, the user may also edit the second initial VPL block 631b such that the modified second color information indicates a different color than the second color.

In this embodiment, the server 400 may acquire first color information indicating a first color from the first initial VPL block 631a, acquire second color information indicating a second color from the second initial VPL block 631b, and transmit the acquired first color information and second color information to the first robot 100a and the second robot 100b via the established first connection and second connection, respectively.

The controller 310 of the first robot 100a may generate a first color instruction in response to the received first color information to control the first joint ring lights 130a of the first robot 100a to each display a first color, i.e., blue. The controller 310 of the second robot 100b may generate a second color instruction in response to the received second color information to control the second joint ring lights 130b of the second robot 100b to each display a second color, i.e., green. In this way, the first robot 100a and the second robot 100b can be easily and intuitively distinguished by recognizing the color of the first joint ring light 130a of the first robot 100a and the second joint ring light 130b of the second robot 100b.

It can be appreciated that in the case where first robot 100a and second robot 100b are connected to the communication network in which server 400 is located, first robot 100a or second robot 100b will not establish an IDE-based connection with server 400 if the initial VPL block of first robot 100a or second robot 100b is not present in the VPL library or the user has not selected the initial VPL block of first robot 100a or second robot 100b. When the first robot 100a or the second robot 100b does not establish the IDE-based connection with the server 400, the first robot 100a or the second robot 100b does not receive the color information from the server 400. In this case, the first robot 100a or the second robot 100b may control the first joint ring light 130a or the second joint ring light 130b to display a predetermined color. The predetermined color is stored in the storage unit 320 of the first robot 100a or the second robot 100b. Alternatively, the first robot 100a or the second robot 100b may control the first joint ring light 130a or the second joint ring light 130b to display a color indicated by color information that the first robot 100a or the second robot 100b received last time. The color information received last time represents color information received from the server when the robot previously established an IDE-based connection with the server. The server may be the server 400 or may be another server.

In the present embodiment, a robot system having two robots is discussed. The case of a robot system having three robots will be briefly described below. The skilled person can, on the basis of this, envisage a situation in which the robot system has more than three robots, which will not be described in detail here.

The user may assign a third color (e.g., purple) to the third robot that is different from the first and second colors. For the third robot, the user creates, using the VPL tool, a third initial VPL-block based on the unique identifier of the third robot in association with third color information indicating a third color, and stores the third initial VPL-block in the VPL repository.

When a third robot present in the robotic system needs to be programmed, the user uses the VPL tool to select a third VL initial VPL block from the VPL library that corresponds to the third robot. After selecting the third initial VPL block, the server establishes a third IDE-based connection with the third robot over the communication network. The server obtains third color information indicating a third color from the third initial VPL block, and sends the obtained third color information to the third robot via the established third connection. The robot controller of the third robot generates third color instructions in response to the received third color information to control joint ring lights of the third robot to each display a third color.

With continued reference to fig. 6, the user may select a number of first task VPL blocks 632a from the VPL library corresponding to first robot 100a to form, along with first initial VPL block 631a, a sequence of tasks to be performed by first robot 100 a. Also, the user may select a plurality of second task VPL blocks 632b from the VPL library corresponding to the second robot 100b to form a sequence of tasks to be performed by the second robot 100b together with the second initial VPL block 631b. The task VPL block can be created similarly to the initial VPL block and stored in the VPL library.

In one embodiment of the invention, to facilitate distinguishing between multiple robots being programmed on the GUI interface, the VPL blocks corresponding to each robot are displayed in association with the color assigned to that robot. For example, for the first robot 100a, the first initial VPL block 631a and the plurality of first task VPL blocks 632a are each displayed in association with a first color, while for the second robot 100b, the second initial VPL block 631b and the plurality of second task VPL blocks 632b are each displayed in association with a second color. For example, at least a portion of each of the first initial VPL block 631a and the plurality of first task VPL blocks 632a is caused to render a first color, and at least a portion of each of the second initial VPL block 631b and the plurality of second task VPL blocks 632b is caused to render the second color.

Fig. 7 shows one of the ways that the VPL block is displayed in association with a color. In the embodiment shown in fig. 7, both the first initial VPL block 631a and the first task VPL block 632a are each outlined by blue (i.e., a first color), and both the second initial VPL block 631b and the second task VPL block 632b are each outlined by green (i.e., a second color). In fig. 7, "blue" and "green" are purposely marked with words to represent that the VPL block is outlined by "blue" or "green". It is to be understood that this is for illustrative purposes only and that in practice there are no such written marks. Since both the first initial VPL block 631a and the first task VPL block 632a are outlined in blue, the outlines of both the first initial VPL block 631a and the first task VPL block 632a are blue. Also, since both the second initial VPL block 631b and the second task VPL block 632b are outlined by green, the contours of the second initial VPL block 631b and the second task VPL block 632b are both green. Thus, by identifying the color blue or green, it is possible to distinguish which set of VPL blocks corresponds to the first robot 100a and which set of VPL blocks corresponds to the second robot 100b. For example, when a task sequence of the first robot 100a displaying blue color (i.e., the first articulated ring light 130a displaying blue color) needs to be modified, the user can quickly find a set of VPL blocks outlined in blue color in the task area 620 of the displayed GUI, edit at least one VPL block in the set, or add or subtract at least one VPL block from the set.

It is understood that the VPL blocks may be displayed in association with colors in other manners. For example, some or all of the underlying color of each VPL-block corresponding to the first robot 100a is rendered a first color, and some or all of the underlying color of each VPL-block corresponding to the second robot 100b is rendered a second color.

Alternatively, the first color may be literally noted in each VPL-block corresponding to the first robot 100a, and the second color may be literally noted in each VPL-block corresponding to the second robot 100b.

The above embodiments describe the robot system according to the present invention. In the robot system according to the present invention, the user can recognize each robot more efficiently and intuitively by controlling each light emitting device of each robot to display different colors. Further, by displaying a set of VPL blocks corresponding to each robot in the GUI in association with the color assigned to that robot, the user can easily identify the VPL block corresponding to each robot.

A color control method applied to a robot system according to the present invention will be described below.

Fig. 8 shows a flow chart of a color control method for the robotic system described in fig. 5. It will be appreciated by those skilled in the art that the method may also be used with any other suitable robotic system. An example robot system includes a server and at least two joint robots, each joint robot having a robot controller, a plurality of revolute joints, and a plurality of light emitting devices, each light emitting device disposed at a respective one of the plurality of revolute joints, the at least two joint robots and the server being connected to a communication network.

Referring to fig. 5, in the present embodiment, the robot system includes a first robot 100a, a second robot 100b, and a server 400. The first robot 100a has a plurality of first joint ring lights 130a, and the second robot 100b has a plurality of second joint ring lights 130b. The first robot 100a, the second robot 100b, and the server 400 are all connected to a communication network based on a communication protocol such as TCP/IP protocol. The first robot 100a, the second robot 100b, and the server 400 constitute a distributed data system using a DDS. For the configuration of the robot and the server, reference is made to the above description, which is not repeated herein.

In step S1, the server 400 runs the IDE and displays a GUI of the IDE on the display unit 450. The GUI provides a VPL tool for the user, who can program the first robot 100a and the second robot 100b with the VPL tool. Referring to fig. 6, the vpl tool 610 includes interactive elements such as buttons shown in the GUI of the IDE that allow a user to operate to create a sequence of tasks to be performed by the robot. The user operates the VPL tool 610 through the input unit 440 of the server 400 to create task sequences for the first robot 100a and the second robot 100b, respectively, in the task area 620.

In step S2, the user uses VPL tool 610 to select a first initial VPL block 631a from the VPL-store that corresponds to first robot 100a and a first initial VPL block 631b from the VPL-store that corresponds to first robot 100b. The first initial VPL block 631a has first color information indicating a first color (e.g., blue). The second initial VPL block 631b has second color information indicating a second color (e.g., green).

In step S3, server 400 establishes a first IDE-based connection with first robot 100a over the communication network after selecting first initial VPL block 631a, and server 400 establishes a second IDE-based connection with second robot 100b over the communication network after selecting second initial VPL block 631b. The IDE-based connection means that the IDE running on the server is able to receive data from the robot and send data generated by the IDE to the robot. The IDE based connection may be a communication connection using DDS protocol on top of TCP/IP.

In step S4, the server 400 may obtain first color information indicating a first color from the first initial VPL block 631a and second color information indicating a second color from the second initial VPL block 631b.

In step S5, the server 400 transmits the acquired first color information and second color information to the first robot 100a and the second robot 100b via the established first connection and second connection, respectively.

In step S6, the controller 310 of the first robot 100a generates a first color instruction in response to the received first color information to control the first joint ring lights 130a of the first robot 100a to each display a first color, i.e., blue.

In step S7, the controller 310 of the second robot 100b generates a second color instruction in response to the received second color information to control the second joint ring lights 130b of the second robot 100b to each display a second color, i.e., green.

In this embodiment, each robot has a unique identifier. The unique identifier includes an internet protocol address of the robot, a serial number of the robot, or other information capable of uniquely identifying the robot. The color control method further includes: with server 400, using VPL tool 610, first initial VPL block 631a is created based on the unique identifier of first robot 100a in association with the first color information, second initial VPL block 631b is created based on the unique identifier of second robot 100b in association with the second color information, and first initial VPL block 631a and second initial VPL block 631b are added to the VPL store stored in storage unit 420 of server 400.

The color control method further includes: the initial VPL block stored in the VPL library is edited by the server 400 using the VPL tool 610 to modify the color information to indicate different colors. For example, the user may edit the first initial VPL block 631a using the VPL tool to modify the first color information contained in the first initial VPL block 631a such that the modified first color information indicates a color other than the first color, e.g., purple. Similarly, the user may also edit the second initial VPL block 631b such that the modified second color information indicates a different color than the second color.

In the case where the first robot 100a and the second robot 100b are connected to the communication network in which the server 400 is located, if the initial VPL block of the first robot 100a or the second robot 100b does not exist in the VPL library or the user does not select the initial VPL block of the first robot 100a or the second robot 100b, the first robot 100a or the second robot 100b does not establish an IDE-based connection with the server 400. When the first robot 100a or the second robot 100b does not establish the IDE-based connection with the server 400, the first robot 100a or the second robot 100b does not receive the color information from the server 400. In this case, the color control method further includes: the first robot 100a or the second robot 100b controls the first joint ring light 130a or the second joint ring light 130b to display a predetermined color. The predetermined color is stored in the storage unit 320 of the first robot 100a or the second robot 100b. Alternatively, the color control method further comprises: the first robot 100a or the second robot 100b controls the first joint ring light 130a or the second joint ring light 130b to display the color indicated by the color information that the first robot 100a or the second robot 100b received last time. The color information received last time represents color information received from the server when the robot previously established an IDE-based connection with the server. The server may be the server 400 or may be another server.

In other embodiments, the robotic system may include more than three robots. The case of a robot system having three robots will be briefly described below. The person skilled in the art can on this basis envisage the case of a robot system with more than three robots. The user may assign a third color (e.g., purple) different from the first color and the second color to the third robot. For the third robot, the user creates a third initial VPL block using the VPL tool based on the unique identifier of the third robot in association with third color information indicating a third color, and stores the third initial VPL block in the VPL repository.

The color control method further includes: selecting, by the server 400, a third initial VPL-block from the VPL-store corresponding to the third robot using the VPL tool 610; responsive to the selection of the third initial VPL block, server 400 establishes a third IDE-based connection with the third robot over the communication network; the server obtains third color information indicating a third color from the third initial VPL block, and sends the obtained third color information to the third robot via the established third connection; the robot controller of the third robot generates a third color instruction in response to the received third color information to control the joint ring lights of the third robot to each display a third color.

Refer to fig. 6 for a schematic diagram of a task sequence for a robot created with a VPL tool. To facilitate distinguishing the multiple robots being programmed on the GUI interface, VPL blocks corresponding to each robot can be displayed in association with the color assigned to that robot. The color control method further includes: displaying a first initial VPL block 631a and a plurality of first task VPL blocks 632a corresponding to the first robot 100a each in association with a first color; the second initial VPL block 631b and the plurality of second task VPL blocks 632b corresponding to the second robot 100b are each displayed in association with a second color. For example, at least a portion of each of the first initial VPL-block 631a and the plurality of first task VPL-blocks 632a is caused to render a first color, and at least a portion of each of the second initial VPL-block 631b and the plurality of second task VPL-blocks 632b is caused to render the second color.

As shown in fig. 7, in one embodiment, both the first initial VPL block 631a and the first task VPL block 632a are delineated by blue (i.e., a first color), and both the second initial VPL block 631b and the second task VPL block 632b are delineated by green (i.e., a second color). Since both the first initial VPL block 631a and the first task VPL block 632a are outlined in blue, the outlines of both the first initial VPL block 631a and the first task VPL block 632a are blue. Also, since both the second initial VPL block 631b and the second task VPL block 632b are outlined by green, the contours of the second initial VPL block 631b and the second task VPL block 632b are both green. Thus, by identifying the color blue or green, it is possible to distinguish which set of VPL blocks corresponds to the first robot 100a and which set of VPL blocks corresponds to the second robot 100b.

As described above, the VPL blocks can be displayed in association with colors in other manners. For example, some or all of the underlying color of each VPL-block corresponding to the first robot 100a is rendered a first color, and some or all of the underlying color of each VPL-block corresponding to the second robot 100b is rendered a second color. Alternatively, the first color may be noted in text in each VPL-block corresponding to the first robot 100a, and the second color may be noted in text in each VPL-block corresponding to the second robot 100b.

Those skilled in the art will appreciate that the methods and programs disclosed herein can be implemented using one or more computer programs or components. These components may be provided as a series of computer instructions on any conventional computer-readable or machine-readable medium, including volatile and non-volatile memory such as RAM, ROM, flash memory, magnetic or optical disks, optical storage, or other storage media. These instructions may be provided as software or firmware and may be implemented in whole or in part in hardware components such as ASICs, FPGAs, DSPs, or any other similar devices. The instructions may be configured to be executed by one or more processors, which when executed by the processors, perform or facilitate the implementation of all or portions of the disclosed methods and programs.

It will be appreciated by those of skill in the art that while the foregoing method embodiments have been described for simplicity of illustration, they are described as a series of acts or combination of acts, and that the present invention is not limited by the order of acts described, as some steps may, in accordance with the present invention, occur in other orders and concurrently. Further, those of skill in the art will also appreciate that the embodiments described in the specification are exemplary of alternative embodiments and that the acts involved are not necessarily required of the invention.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (20)

1. Robot system, including two at least joint robot and server, its characterized in that:

each of the at least two joint robots has a robot controller, a plurality of revolute joints, and a plurality of light emitting devices, each light emitting device being arranged at a respective one of the plurality of revolute joints; and

the server comprises a controller, a storage unit and a display unit, wherein the storage unit stores a plurality of instructions executable by the controller and stores a visual programming language library comprising a plurality of visual programming language blocks;

wherein:

the at least two articulated robots and the server are connected to a communication network;

the at least two articulated robots include a first articulated robot and a second articulated robot;

the server is configured to execute instructions from the storage unit using the controller to run an integrated development environment and to display a graphical user interface of the integrated development environment using the display unit, the graphical user interface configured to provide a visual programming language tool;

the server is configured to select a first initial visualization programming language chunk and a second initial visualization programming language chunk from the visualization programming language library using the visualization programming language tool, the first initial visualization programming language chunk corresponding to the first articulated robot, the second initial visualization programming language chunk corresponding to the second articulated robot, the server establishing a first connection based on the integrated development environment with the first articulated robot over the communication network after selecting the first initial visualization programming language chunk, and the server establishing a second connection based on the integrated development environment with the second articulated robot over the communication network after selecting the second initial visualization programming language chunk;

the server is configured to obtain first color information indicating a first color from the first initial visualization programming language chunk, and obtain second color information indicating a second color from the second initial visualization programming language chunk, the second color being different from the first color;

the server is configured to transmit the acquired first color information and the acquired second color information to the first joint robot and the second joint robot via the established first connection and second connection, respectively;

the robot controller of the first joint robot is configured to generate a first color instruction to control a plurality of light emitting devices of the first joint robot to display the first color in response to the received first color information; and is

The robot controller of the second joint robot is configured to generate a second color instruction to control the plurality of light emitting devices of the second joint robot to display the second color in response to the received second color information.

2. The robotic system of claim 1, wherein each of the at least two joint robots has a unique identifier, the server is configured to create the first initial visual programming language block using the visual programming language tool based on the unique identifier of the first joint robot in association with the first color information, create the second initial visual programming language block based on the unique identifier of the second joint robot in association with the second color information, and add the created first and second initial visual programming language blocks to the visual programming language library stored in the storage unit.

3. The robotic system as claimed in claim 2, wherein the unique identifier of each of the at least two articulated robots is selected from an internet protocol address of the articulated robot or a serial number of the articulated robot.

4. The robotic system of claim 1, wherein the server is configured to edit the first initial visualization programming language block or the second initial visualization programming language block using the visualization programming language tool to modify the first color information or the second color information contained in the first initial visualization programming language block or the second initial visualization programming language block, the modified first color information or second color information indicating a color different from the first color or the second color.

5. The robot system according to claim 1, wherein the robot controller of each joint robot is configured to control the plurality of light emitting devices of the joint robot to display a predetermined color when the joint robot does not establish a connection based on the integrated development environment with the server.

6. The robot system according to claim 1, wherein the robot controller of each joint robot is configured to control the plurality of light emitting devices of the joint robot to display a color indicated by color information that the joint robot received last time when the joint robot does not establish a connection based on the integrated development environment with the server.

7. The robotic system as claimed in claim 1, wherein the server is configured to:

selecting, using the visualization programming language tool, a first plurality of task visualization programming language blocks and a second plurality of task visualization programming language blocks from the visualization programming language library, the first plurality of task visualization programming language blocks corresponding to the first articulated robot and the second plurality of task visualization programming language blocks corresponding to the second articulated robot;

displaying the first initial visualization programming language chunk and each of the plurality of first task visualization programming language chunks in association with the first color and the second initial visualization programming language chunk and each of the plurality of second task visualization programming language chunks in association with the second color;

wherein the first initial visualization programming language block and the first plurality of task visualization programming language blocks constitute a sequence of tasks to be performed by the first articulated robot, and the second initial visualization programming language block and the second plurality of task visualization programming language blocks constitute a sequence of tasks to be performed by the second articulated robot.

8. The robotic system as claimed in claim 7, wherein at least a portion of each of the first initial visualization programming language block and the plurality of first task visualization programming language blocks presents the first color and at least a portion of each of the second initial visualization programming language block and the plurality of second task visualization programming language blocks presents the second color.

9. The robotic system as claimed in claim 8, wherein each of the first initial visualization programming language block and the plurality of first task visualization programming language blocks is outlined by the first color, and each of the second initial visualization programming language block and the plurality of second task visualization programming language blocks is outlined by the second color.

10. The robotic system as claimed in claim 7, wherein the first color is noted literally in the first initial visualization programming language block and each of the plurality of first task visualization programming language blocks, and the second color is noted literally in the second initial visualization programming language block and each of the plurality of second task visualization programming language blocks.

11. A color control method of a robot system, the robot system including a server and at least two joint robots, each joint robot having a robot controller, a plurality of rotary joints, and a plurality of light emitting devices, each light emitting device being arranged at a corresponding one of the plurality of rotary joints, the at least two joint robots and the server being connected to a communication network, the at least two joint robots including a first joint robot and a second joint robot, the server including a storage unit in which a visual programming language library including a plurality of visual programming language blocks is stored, the color control method comprising:

running an integrated development environment through the server and displaying a graphical user interface of the integrated development environment, the graphical user interface configured to provide a visual programming language tool;

selecting, by the server, a first initial visualization programming language chunk and a second initial visualization programming language chunk from the visualization programming language library using the visualization programming language tool, the first initial visualization programming language chunk corresponding to the first articulated robot, the second initial visualization programming language chunk corresponding to the second articulated robot;

the server establishing a first connection based on the integrated development environment with the first articulated robot over the communication network in response to the selection of the first initial visualization programming language chunk, and establishing a second connection based on the integrated development environment with the second articulated robot over the communication network in response to the selection of the second initial visualization programming language chunk;

obtaining, by the server, first color information indicating a first color from the first initial visualization programming language block, and second color information indicating a second color from the second initial visualization programming language block, wherein the second color is different from the first color;

transmitting, by the server, the acquired first color information and the acquired second color information to the first joint robot and the second joint robot via the established first connection and second connection, respectively;

generating, by the first joint robot, a first color instruction to control a plurality of light emitting devices of the first joint robot to display the first color in response to the received first color information; and is

Generating, by the second articulated robot, a second color instruction to control a plurality of light emitting devices of the second articulated robot to display the second color in response to the received second color information.

12. The color control method according to claim 11, wherein each of the at least two articulated robots has a unique identifier, the color control method further comprising:

creating, by the server, the first initial visualization programming language block based on the unique identifier of the first joint robot in association with the first color information, the second initial visualization programming language block based on the unique identifier of the second joint robot in association with the second color information, and adding the created first initial visualization programming language block and the created second initial visualization programming language block to the visualization programming language library stored in the storage unit, using the visualization programming language tool.

13. The color control method according to claim 12, wherein the unique identifier of each of the at least two joint robots is selected from an internet protocol address of the joint robot or a serial number of the joint robot.

14. The color control method according to claim 11, characterized in that the color control method further comprises:

editing, by the server, the first initial visualization programming language block or the second initial visualization programming language block using the visualization programming language tool to modify the first color information or the second color information contained in the first initial visualization programming language block or the second initial visualization programming language block, the modified first color information or second color information indicating a color different from the first color or the second color.

15. The color control method according to claim 11, characterized in that the color control method further comprises:

when any one of the at least two joint robots does not establish a connection with the server based on the integrated development environment, controlling a plurality of light emitting devices of the joint robot to display a preset color through the joint robot.

16. The color control method according to claim 11, characterized in that the color control method further comprises:

when any one of the at least two joint robots does not establish a connection with the server based on the integrated development environment, displaying, by the plurality of light emitting devices of which the joint robot is controlled, a color indicated by color information that the joint robot has received last time.

17. The color control method according to claim 10, characterized in that the color control method further comprises:

selecting, by the server, a plurality of first task visualization programming language tiles and a plurality of second task visualization programming language tiles from the visualization programming language library using the visualization programming language tool, the plurality of first task visualization programming language tiles corresponding to the first articulated robot and the plurality of second task visualization programming language tiles corresponding to the second articulated robot;

displaying the first initial visualization programming language chunk and each of the plurality of first task visualization programming language chunks in association with the first color and the second initial visualization programming language chunk and each of the plurality of second task visualization programming language chunks in association with the second color;

wherein the first initial visualization programming language block and the first plurality of task visualization programming language blocks constitute a sequence of tasks to be performed by the first articulated robot, and the second initial visualization programming language block and the second plurality of task visualization programming language blocks constitute a sequence of tasks to be performed by the second articulated robot.

18. The color control method of claim 17 wherein at least a portion of each of the first initial visualization programming language block and the plurality of first task visualization programming language blocks renders the first color and at least a portion of each of the second initial visualization programming language block and the plurality of second task visualization programming language blocks renders the second color.

19. The color control method of claim 18 wherein the first initial visualization programming language block and each of the plurality of first task visualization programming language blocks are delineated by the first color and the second initial visualization programming language block and each of the plurality of second task visualization programming language blocks are delineated by the second color.

20. The color control method according to claim 18, wherein the first color is noted textually in the first initial visualization programming language chunk and each of the plurality of first task visualization programming language chunks, and the second color is noted textually in the second initial visualization programming language chunk and each of the plurality of second task visualization programming language chunks.

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