CN116909205A - Visual programming method and system for robot - Google Patents
Visual programming method and system for robot Download PDFInfo
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- CN116909205A CN116909205A CN202311065094.6A CN202311065094A CN116909205A CN 116909205 A CN116909205 A CN 116909205A CN 202311065094 A CN202311065094 A CN 202311065094A CN 116909205 A CN116909205 A CN 116909205A
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- 230000000007 visual effect Effects 0.000 title claims abstract description 72
- 238000000034 method Methods 0.000 title claims abstract description 40
- 238000012795 verification Methods 0.000 claims abstract description 43
- 238000004891 communication Methods 0.000 claims description 20
- 230000006870 function Effects 0.000 claims description 7
- 230000008672 reprogramming Effects 0.000 claims description 6
- 230000004382 visual function Effects 0.000 claims description 4
- 238000012800 visualization Methods 0.000 claims description 4
- 230000009191 jumping Effects 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000018109 developmental process Effects 0.000 description 7
- 238000011161 development Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000004870 electrical engineering Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000007711 solidification Methods 0.000 description 1
- 230000008023 solidification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/056—Programming the PLC
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/13—Plc programming
- G05B2219/13004—Programming the plc
Abstract
A visual programming method and system for robot includes step S102, writing logic flow of lower computer in robot in client software by visual programming method; s103, starting single-step execution verification according to the written logic flow; s104, sending the logic flow data to a lower computer system to perform single-step verification of the program; s105, returning to the ready after the single step verification of the program is completed, returning to the step S103, and executing the next single step execution verification until all the steps are verified; s106, solidifying the lower computer system; and S107, starting continuous execution according to the written logic flow, and verifying the execution condition. The application has the beneficial effects that: the robot programming process and the debugging process are visual, convenient and easy to understand, the programming threshold is low, the efficiency is high, and the cost is low.
Description
Technical Field
The application relates to the technical field of automation, in particular to a visual programming method and system for a robot.
Background
The application scenes of the robot are various and continuously changed, and the robot has no standard application scene, and meanwhile, almost all application scenes are required to be developed rapidly. The current programmable logic controller (Programmable Logic Controller, abbreviated as PLC) is all logically programmed by a ladder diagram, which belongs to the application development category of electrical engineering, and the programmable logic controller must be compiled by special development software to generate a file which can be identified and interpreted by PLC hardware. Ladder programming of a PLC requires logic solutions for soft relays, power flows, buses, and ladder, while also requiring various instructions to coordinate programming. The programming process is complex, difficult to understand and low in debugging efficiency, and needs professional engineers to finish the programming process, so that the cost is high.
The embedded singlechip programming development is more complex and difficult to control. Most embedded single-chip microcomputer programming development uses C and C++, and few are also programmed by assembly language, and programming, compiling and Debug are performed in an integrated development environment without visual programming. The programming process is complex and difficult to understand, the debugging efficiency is low, the programming threshold is high, the programming process can be completed only by upper computer software personnel, the development cost is high, and the risk is high.
In this regard, development of a visual programming method for a robot, which is visual, convenient and easy to understand, low in programming threshold, high in efficiency and low in cost, is needed.
Content of the application
The present application aims to solve at least to some extent one of the above technical problems.
Therefore, the first object of the present application is to provide a visual programming method for a robot, which has the advantages of visual programming process and debugging process, convenience, easy understanding, low programming threshold, high efficiency and low cost.
A second object of the present application is to propose a visual programming system for a robot.
To achieve the above objective, an embodiment of the present application discloses a visual programming method for a robot, including: visual programming steps in customer service software: s101, running client software; s102, programming a logic flow of a lower computer in the robot by using visual programming in client software; s103, starting single-step execution verification according to the written logic flow; s104, the logic flow data is sent to a lower computer system to perform single-step verification of a program; s105, returning to the ready after the single step verification of the program is completed, returning to the step S103, and executing the next single step execution verification until all the steps are verified; s106, solidifying the lower computer system; s107, starting continuous execution according to the written logic flow, and verifying the execution condition; s108, if the continuous execution verification is correct, ending the programming of the lower computer system, and storing a programming file of the logic flow; the visual programming implementation steps of the robot are as follows: s201, the communication module receives a single-step operation instruction from the client software; s202, analyzing protocol data of an operation instruction to obtain a programming instruction; s203, assigning a value to the programming instruction, and reprogramming to obtain a single-step running program; s204, writing the single-step running program into a system; s205, verifying the single-step running program in the system; s206, jumping to the step S201 until all the single-step operation instructions are verified; s207, solidifying the lower computer system; s208, reading out firmware, and continuously executing verification on complete operation instructions; s209, storing firmware.
In addition, the robot-oriented visual programming method according to the technical scheme of the application can also have the following additional technical characteristics:
optionally, the logic flow of the visual programming in step S102 comprises representing the logic actions executed by the lower computer with different graphs and parameters, and defining corresponding steps according to the different graphs and parameters; the conditions, jumps, branches, returns and loops used in the program flow are represented by corresponding graphs, and the number of steps executed for the corresponding graph labels is used; each step corresponds to one communication protocol, and communication protocol data is sent to a lower computer; program execution flow is set to continuous operation, single-step operation or breakpoint.
Optionally, the graph in step S102 includes input/output, wait, simulate, interrupt, condition, next step, branch, jump, return, loop, and motion.
Optionally, the developer first develops various standardized modules, standard program interfaces and various independent software components for realizing the corresponding functions of the robot; then, various embedded visual function modules are packaged into images, marks, connecting wires or interfaces in user client software; the user realizes the positioning, the motion path planning and the operation procedure of the robot by adding, deleting, changing the parameters and changing the connecting lines between the modules. And simultaneously, the corresponding execution module is solidified in the lower computer and is used for realizing the specific operation of the visualization module in the client.
In order to achieve the above object, a visual programming system of a robot according to a second aspect of the present application includes a host computer, a communication module connected to the host computer, an analysis module connected to the communication module, an instruction assignment module connected to the analysis module, a programming module connected to the instruction assignment module, a storage module connected to the programming module, a verification module connected to the storage module, a firmware generation module connected to the verification module, an application execution module connected to the firmware generation module, and a hardware driving module connected to the application execution module; the upper computer is used for executing the visual programming step in customer service software according to the embodiment of the first aspect; the communication module is used for receiving a single-step operation instruction from customer service software of the upper computer or transmitting verification or operation conditions of the lower computer to the upper computer; the analysis module is used for analyzing the protocol data of the operation instruction to obtain a programming instruction; the instruction assignment module is used for assigning the programming instruction; the programming module is used for reprogramming after the programming instruction is assigned to obtain a single-step running program; the storage module is used for writing the single-step running program into a system or storing firmware; the verification module is used for verifying the single-step running program in the system, or continuously executing the verification on the complete running instruction, or verifying the firmware; the firmware generation module is used for solidifying the lower computer system; the application execution module is used for reading out firmware; the hardware driving module is used for driving the robot to execute the program of the firmware.
The application has the beneficial effects that: the robot programming process and the debugging process are visual, convenient and easy to understand, the programming threshold is low, the efficiency is high, and the cost is low.
Drawings
Fig. 1 is a flowchart of a visual programming step in customer service software of a visual programming method for a robot according to an embodiment of the present application;
FIG. 2 is a flow chart of the steps performed in the visual programming of a robot for a visual programming method for a robot according to an embodiment of the present application;
FIG. 3 is a component schematic diagram of a robot-oriented visual programming system provided in accordance with one embodiment of the present application;
fig. 4 is a schematic programming diagram of a robot according to a visual programming method for a robot according to an embodiment.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or components/elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.
The following describes a visual programming method and a visual programming system for a robot according to an embodiment of the present application with reference to the accompanying drawings.
Fig. 1 is a flow chart of visual programming steps in customer service software of a visual programming method for a robot according to an embodiment of the present application, and fig. 2 is a flow chart of visual programming implementation steps of a robot of a visual programming method for a robot according to an embodiment of the present application. As shown in fig. 1-2, the visual programming method of the robot comprises the visual programming steps in customer service software: s101, running client software; s102, programming a logic flow of a lower computer in the robot by using visual programming in client software; s103, starting single-step execution verification according to the written logic flow; s104, sending the logic flow data to a lower computer system to perform single-step verification of the program; s105, returning to the ready after the single step verification of the program is completed, returning to the step S103, and executing the next single step execution verification until all the steps are verified; s106, solidifying the lower computer system; s107, starting continuous execution according to the written logic flow, and verifying the execution condition; s108, if the continuous execution verification is correct, ending the programming of the lower computer system, and storing a programming file of the logic flow; the visual programming implementation steps of the robot are as follows: s201, the communication module receives a single-step operation instruction from the client software; s202, analyzing protocol data of an operation instruction to obtain a programming instruction; s203, assigning a programming instruction, and reprogramming to obtain a single-step running program; s204, writing the single-step running program into a system; s205, verifying the single-step running program in the system; s206, jumping to the step S201 until all the single-step operation instructions are verified; s207, solidifying the lower computer system; s208, reading out firmware, and continuously executing verification on complete operation instructions; s209, storing firmware.
Specifically, the visual programming method for the robot is divided into two mutually corresponding parts, namely a client software programming step of programming in an upper computer, and a step of mapping the visual programming instruction to the robot according to the visual programming instruction of the client software programming step, and a step of compiling and implementing specific programming program instructions. The visual programming is to write the logic flow of the lower computer because the robot action is controlled by the lower computer in the system. After the programming is completed, a single-step operation instruction in the graphical logic flow is sent to the robot system for verification, and the robot system receives the single-step operation instruction through the communication module. Then analyzing protocol data of the single-step operation instruction through an analysis module, assigning values through an instruction assignment module, and programming the initial graphical single-step operation instruction into a single-step operation program through a programming module. Then, the single-step operation program is written into a storage module in the robot system, and then verification of the single-step operation instruction program is started through a verification module. Steps S103-S104 are performed in a loop in the software and steps S201-S205 are performed in a loop in the robotic system until the robotic system receives, stores and verifies all single step run instructions. And after the program verification of all the single-step operation instruction is finished, the lower computer system is solidified through the solidification generating module to form firmware. Then, the robot system reads out the firmware through the application execution module, and performs continuous execution verification on the complete running instruction of the visual programming in combination with the verification module, and then stores the firmware information in the storage module.
It should be noted that, the communication module receives the single-step operation instruction and sends the verification or firmware operation condition in the robot system to the upper computer, so that the programmer can obtain the feedback of the operation condition of the programming program in the hardware at any time, so as to find out the problem and adjust in time.
According to the visual programming method facing the robot, the lower computer of the peripheral robot equipment can be subjected to field visual programming, the programming process and the debugging process of the visual programming are visual and visual, the visual programming method is convenient and easy to understand, the programming threshold is low, the efficiency is high, and the cost is low.
The logic flow of the visual programming in step S102 comprises the steps of representing the logic actions executed by the lower computer by different graphs and parameters and defining corresponding steps according to the different graphs and parameters; the conditions, jumps, branches, returns and loops used in the program flow are represented by corresponding graphs, and the number of steps executed for the corresponding graph labels is used; each step corresponds to one communication protocol, and communication protocol data is sent to a lower computer; program execution flow is set to continuous operation, single-step operation or breakpoint.
Specifically, by writing and setting graphics and parameters at the client, the graphics and parameters can be transmitted to a programming module in the robot system to be compiled into specific program sentences, so that the visual programming effect is achieved. The set pattern may be a pattern of a program flow chart such as a condition, a jump, a branch, a return, a loop, etc.
The graph in step S102 includes input/output, wait, simulate, interrupt, condition, next step, branch, jump, return, loop, and motion according to one embodiment of the application.
Specifically, the graph written at the client may be a graph of various programming flowcharts, where an analog graph represents an analog-to-digital conversion function, for example, a level value is input to a certain node, analog-to-digital conversion is performed in the robot system, and the level is simulated; the "motion" pattern represents controlling the robot to perform a motion.
According to one embodiment of the application, a developer firstly develops various standardized modules, standard program interfaces and various independent software components for realizing the corresponding functions of the robot; then, various embedded visual function modules are packaged into images, marks, connecting wires or interfaces in user client software; the user realizes the positioning, the motion path planning and the operation procedure of the robot by adding, deleting, changing the parameters and changing the connecting lines between the modules. And simultaneously, the corresponding execution module is solidified in the lower computer and is used for realizing the specific operation of the visualization module in the client.
Specifically, a developer firstly designs and develops a standardized module, a standard program interface, various independent software components and the like according to functions required to be realized in a robot system; then, various embedded visual function modules support independent packaging functions of third party personnel, and developers upload the modules into a module library and package the modules into popular and easy-to-use graphic programming modules such as images, marks, connecting wires, interfaces and the like; after that, the user does not need to have a programming foundation, and can rapidly realize the operations of positioning, motion path planning, operation rules and the like of the robot only by the operations of adding, deleting, changing parameters, changing connecting lines among modules and the like. Meanwhile, through the programming and curing steps described in the above embodiments, the corresponding execution module may be cured in the lower computer, so as to implement the specific operation of the visualization module in the client. In this way, a visual programming of the robot is achieved.
Fig. 4 is a schematic programming diagram of a robot according to an embodiment of the present application, where the representative parameters in the dark modules can be modified by double clicking, as shown in fig. 4. The name of the module is bolded. The upper right corner light block is the module interface. The modules are connected in a constraint manner through connecting wires, and the connecting wires can also increase parameters and agree on a connecting mode.
Based on the above embodiment, the embodiment of the present application further provides a visual programming system of a robot, and fig. 3 is a component schematic diagram of the visual programming system of a robot provided by the embodiment of the present application, as shown in fig. 3, where the visual programming system of a robot includes a host computer, a communication module connected to the host computer, an analysis module connected to the communication module, an instruction assignment module connected to the analysis module, a programming module connected to the instruction assignment module, a storage module connected to the programming module, a verification module connected to the storage module, a firmware generation module connected to the verification module, an application execution module connected to the firmware generation module, and a hardware driving module connected to the application execution module; the upper computer is used for executing the visual programming steps in customer service software according to the claims 1-4; the communication module is used for receiving a single-step operation instruction from customer service software of the upper computer or transmitting verification or operation conditions of the lower computer to the upper computer; the analysis module is used for analyzing the protocol data of the operation instruction to obtain a programming instruction; the instruction assignment module is used for assigning the programming instruction; the programming module is used for reprogramming after the programming instruction is assigned to obtain a single-step running program; the storage module is used for writing the single-step running program into the system or storing the firmware; the verification module is used for verifying a single-step running program in the system, or continuously executing verification on a complete running instruction, or verifying firmware; the firmware generation module is used for solidifying the lower computer system; the application execution module is used for reading out the firmware; the hardware driving module is used for driving the robot to execute the program of the firmware.
Specifically, most of the modules in the visual programming system of the robot are described above, and will not be described here. The hardware driving module is connected with the application execution module and drives hardware to act according to the firmware information, so that the robot moves; in addition, the hardware driving module is also connected with a central processor, the central processor can be an embedded single-chip microcomputer, an operating system is operated in the embedded single-chip microcomputer, and the operating system is responsible for scheduling tasks, scheduling the operation of equipment according to a specific equipment list, managing memory and the like.
According to the visual programming system of the robot, the lower computer of the peripheral robot equipment can be subjected to field visual programming, the programming process and the debugging process of the visual programming are visual and visual, the visual programming system is convenient and easy to understand, the programming threshold is low, the efficiency is high, and the cost is low.
The above embodiments are preferred embodiments of the present application, and besides, the present application may be implemented in other ways, and any obvious substitution is within the scope of the present application without departing from the concept of the present application.
Claims (5)
1. A visual programming method for a robot, comprising: visual programming steps in customer service software:
s101, running client software;
s102, programming a logic flow of a lower computer in the robot by using visual programming in client software;
s103, starting single-step execution verification according to the written logic flow;
s104, the logic flow data is sent to a lower computer system to perform single-step verification of a program;
s105, returning to the ready after the single step verification of the program is completed, returning to the step S103, and executing the next single step execution verification until all the steps are verified;
s106, solidifying the lower computer system;
s107, starting continuous execution according to the written logic flow, and verifying the execution condition;
s108, if the continuous execution verification is correct, ending the programming of the lower computer system, and storing a programming file of the logic flow;
the visual programming implementation steps of the robot are as follows:
s201, the communication module receives a single-step operation instruction from the client software;
s202, analyzing protocol data of an operation instruction to obtain a programming instruction;
s203, assigning a value to the programming instruction, and reprogramming to obtain a single-step running program;
s204, writing the single-step running program into a system;
s205, verifying the single-step running program in the system;
s206, jumping to the step S201 until all the single-step operation instructions are verified;
s207, solidifying the lower computer system;
s208, reading out firmware, and continuously executing verification on complete operation instructions;
s209, storing firmware.
2. The method for visual programming of a robot of claim 1, wherein: the logic flow of the visual programming in the step S102 comprises the steps of representing the logic actions executed by the lower computer by different graphs and parameters and defining corresponding steps according to the different graphs and parameters; the conditions, jumps, branches, returns and loops used in the program flow are represented by corresponding graphs, and the number of steps executed for the corresponding graph labels is used; each step corresponds to one communication protocol, and communication protocol data is sent to a lower computer; program execution flow is set to continuous operation, single-step operation or breakpoint.
3. The method for visual programming of a robot of claim 2, wherein: the graph in step S102 includes input/output, wait, simulate, interrupt, condition, next step, branch, jump, return, loop, and motion.
4. The method for visual programming of a robot of claim 1, wherein: the developer firstly develops various standardized modules, standard program interfaces and various independent software components for realizing the corresponding functions of the robot; then, various embedded visual function modules are packaged into images, marks, connecting wires or interfaces in user client software; the user realizes the positioning, the motion path planning and the operation procedure of the robot by adding, deleting, changing the parameters and changing the connecting lines between the modules. And simultaneously, the corresponding execution module is solidified in the lower computer and is used for realizing the specific operation of the visualization module in the client.
5. A visual programming system facing to a robot is characterized in that: comprising the following steps: the system comprises an upper computer, a communication module connected with the upper computer, an analysis module connected with the communication module, an instruction assignment module connected with the analysis module, a programming module connected with the instruction assignment module, a storage module connected with the programming module, a verification module connected with the storage module, a firmware generation module connected with the verification module, an application execution module connected with the firmware generation module and a hardware driving module connected with the application execution module;
the upper computer is used for executing the visual programming steps in customer service software according to the claims 1-4; the communication module is used for receiving a single-step operation instruction from customer service software of the upper computer or transmitting verification or operation conditions of the lower computer to the upper computer;
the analysis module is used for analyzing the protocol data of the operation instruction to obtain a programming instruction;
the instruction assignment module is used for assigning the programming instruction;
the programming module is used for reprogramming after the programming instruction is assigned to obtain a single-step running program;
the storage module is used for writing the single-step running program into a system or storing firmware;
the verification module is used for verifying the single-step running program in the system, or continuously executing the verification on the complete running instruction, or verifying the firmware;
the firmware generation module is used for solidifying the lower computer system;
the application execution module is used for reading out firmware;
the hardware driving module is used for driving the robot to execute the program of the firmware.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311065094.6A CN116909205A (en) | 2023-08-23 | 2023-08-23 | Visual programming method and system for robot |
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| CN202311065094.6A CN116909205A (en) | 2023-08-23 | 2023-08-23 | Visual programming method and system for robot |
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