KR101103787B1 - Robot programming system based graphic - Google Patents

Abstract

The present invention relates to a graphic-based robot programming system and a computer-readable recording medium, the graphic-based robot programming system according to one aspect, the block storage unit for storing a plurality of instruction blocks for instructing the operation of the robot and the user's instructions According to the present invention, a graphic interface unit for arranging a selected command block among a plurality of command blocks and connecting the selected and arranged command blocks by a link to program a robot's work is included.

Robot Programming, Graphical

Description

Robot programming system based graphic

The present invention relates to a graphical robot programming system and a computer readable recording medium.

Techniques have been developed to simulate the work of robots. One of them is to program and simulate the robot's work graphically.

However, conventionally, the robot's work is programmed and simulated using a complex text-based programming language. Therefore, users unfamiliar with programming languages have had many difficulties in programming and simulating robot tasks.

In order to solve the problems described above, the present invention enables to intuitively perform the programming and simulation of the robot's work in a simple structure in the form of blocks based on the graphic, and even a person who does not have electronics-related knowledge with a little learning Use the built-in authoring tools to organize the robot's work.

The object of the present invention is not limited to the above-mentioned object, and other objects that are not mentioned will be clearly understood by those skilled in the art from the following description.

In accordance with an aspect of the present invention, there is provided a graphic-based robot programming system including a block storage unit for storing a plurality of command blocks for instructing a robot's work and a user's command to select a block storage unit. And a graphic interface unit for arranging a command block and connecting the selected and arranged command blocks by a link to program a task of the robot.

The graphic-based robot programming system may further include a translator for sequentially translating the instruction blocks connected by the link and an executor for executing the robot according to the translation result. Here, the graphical interface displays the execution result to the user.

The translator may also translate the two or more instruction blocks multiplely when branched to two or more instruction blocks by the link.

The launcher may execute the robot using a 3D based simulator.

The graphic interface unit may include an object view displaying the plurality of command blocks as an icon and an icon of a command block selected from the object view according to a user's click and drag, and each of the arranged command blocks. And a task view indicating that the link is made.

Here, the task view is to delete or modify the command block and link selected, arranged and connected according to the user's command.

In addition, the graphical robot programming system may further include an error check unit for verifying whether the selection and placement is correctly connected by the instruction block and the link.

Meanwhile, the plurality of command blocks may include a start block and an end block for starting and ending a program, an end block for performing an AND operation between two command blocks, and a delay. A delay block for setting the posture, a posture block for setting the posture of the robot of the robot, a gesture block for setting the gesture of the robot, a condition (if) block for the condition determination function, a program At least one of a write block for writing a value to a variable, a speech block for reading a text written by a user by voice, a task block for loading an existing robot program, and a wave block for loading a voice file do.

According to another aspect of the present invention for achieving the above object is a computer-readable recording medium storing a graphics-based robot programmable software, the graphics-based robot programmable software, according to the user's instructions, a plurality of instruction blocks Arranging a selected instruction block and connecting the selected and arranged instruction blocks by a link to program a task of the robot, sequentially translating the instruction blocks connected by the link, and executing the robot according to the translation result. To perform the steps.

Specific details of other embodiments are included in the detailed description and the drawings.

According to the present invention, it is possible to perform the programming and simulation of the robot's work in the form of a block based on the graphic base, and even a person who has no knowledge of electronic engineering with a little learning can use the robot's work using the graphic-based production tool. Ensure that it is configured.

Advantages and features of the present invention and methods for achieving them will be apparent with reference to the embodiments described below in detail with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in various different forms, only the embodiments are to make the disclosure of the present invention complete, and the general knowledge in the art to which the present invention belongs It is provided to fully convey the scope of the invention to those skilled in the art, and the present invention is defined only by the scope of the claims. It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. As used herein, “comprises” and / or “comprising” refers to the presence of one or more other components, steps, operations and / or elements. Or does not exclude additions.

1 to 14, a graphic-based robot programming system and a computer-readable recording medium according to an embodiment of the present invention will be described. 1 is a block diagram showing a graphical robot programming system according to an embodiment of the present invention, Figures 2 to 11 is an exemplary view for explaining the graphical interface of Figure 1, Figure 12 is an exemplary view for explaining a command block. 13 and 14 are exemplary diagrams for describing the graphic interface unit and the executor of FIG. 1.

Referring to FIG. 1, a graphic-based robot programming system 100 according to an embodiment of the present invention includes a graphic interface unit 110, a block storage unit 120, a translator 130, and an executor 140. do.

The block storage unit 120 stores a plurality of command blocks for instructing a robot's work, and the graphic interface unit 110, in accordance with a user's command as shown in FIG. At least one of the plurality of instruction blocks may be selected to place and link with each other.

The translator 130 translates each command block selected, arranged and connected by the user's command, and the executor 140 executes each command based on the translated result. The translator 130 may translate the two or more instruction blocks multiplely when branched to two or more instruction blocks by a link. In addition, the executor 140 may execute the robot using a 3D-based simulator.

In response to the execution of the executor 140, the graphic interface unit 110 may display the work of the robot to the user graphically as a processing result. That is, the robot works according to the order selected, arranged and connected by the user, and the processing result is displayed through the graphic interface 110. The executor 140 may execute an instruction block that meets the token by incrementing the token along a link connecting each instruction block. When a series of command blocks (files) exist, multiple files can be executed simultaneously using multiple tokens.

On the other hand, it may further include an error check unit 150 for verifying whether the command block and the link connected and selected and arranged is correctly connected. The error checker 150 may check and verify whether the translator 130 and the executor 140 are correctly programmed through a connection relationship between an attribute of each instruction block and a link before operating each function. . The check result may be displayed to the user through the graphic interface 110.

Hereinafter, each module will be described in more detail.

First, as illustrated in FIG. 2, the graphical interface 110 may include, for example, menus and toolbars, a tree view, a task view, and a property view. ) And an output view.

Menus and toolbars can save, load, and create files created by the programming system 100. Through the TaskFile View, WaveFile View, PostureFile View, and GestureFile View, you can view previously programmed task files, previously saved voices, and more. The position of each of the wave file, the gesture file related to the previously set defibrillation, and the gesture file regarding the previously set gesture can be designated and used as shown in FIG. 3. You can also specify the size of the TaskFile View in the configuration window.

The tree view displays an object view, a task file view, a wave file view, a posture file view, and a gesture file view.

The object view allows the user to select the instruction block of the robot as shown in FIG. 4. When the command block is double-clicked in the object view, the command block is generated as shown in FIG. 5 in the task file view.

The task file view, as shown in FIG. 6, shows the previously created task files. Double-clicking a task file in the task file view creates a task command block.

The wave file view shows a previously created wave file as shown in FIG. Double-clicking a wave file in the Wavefile view creates a wave command block.

The posture file view shows gesture files previously created as shown in FIG. 8. Double-clicking a posture file in the posture file view creates a posture command block.

The gesture file view shows gesture files previously created as shown in FIG. 9. Double-clicking on a gesture file in the gesture file view creates a gesture command block.

The task view is a main view of the graphical programming system 100. According to a user's command, a task view block can be selected and arranged in a tree view, and a link connecting the selected and arranged instruction blocks can be inserted. It allows you to modify and delete command blocks and links.

Mouse and keyboard events for the instruction block of the task view may be, for example, as follows. The user can specify the location of the command block created by left clicking the mouse and select and move (place) a plurality of command blocks by dragging the mouse. In addition, the user can delete the selected command block with the Delete key, and specify files by double-clicking the posture command block, the gesture command block, the wave command block, and the task command block.

You can also create links that link each block of instructions in the task view. For example, as shown in FIG. 10, the left arrow of the command block represents an input and the right arrow represents the output of the command block. Thus, the user connects the input and output to the link in the order of generated instructions. For example, when clicking and dragging an output arrow of an instruction block, a link is created, and when the input link is inserted into an input of another instruction block to be connected, the link of two blocks is generated as shown in FIG. Links can also be deleted by selecting them with the command block and pressing the Delete key.

The property view can set an attribute of an instruction block by a user. When you click the command block created in the task view, the corresponding property is displayed in the property view.

The output view displays the program's error in saving the file and whether the save was successful.

Hereinafter, the instruction block will be described.

The command block shown in FIG. 12A is a start block indicating the start of a program. The start block does not have an input port and has one output port. All programs created with Task Composer are started from the Start block. In addition, more than one Start block exists in one program.

The instruction block illustrated in FIG. 12B is an end block. End block is a block indicating the end of the program. The end block does not have an output port, but has one input port. One or more such end blocks exist in one program.

The command block illustrated in (c) of FIG. 12 is a delay block. A delay block is a block that delays a program by a given time. This delay block has one input port and one output port. You can set the delay time in the property view. For example, the delay time may be set in ms units.

The instruction block shown in (d) of FIG. 12 is an And block. And blocks are blocks that wait until all the blocks coming in as input complete their given roles. And blocks can have multiple inputs, and one output port.

The instruction block illustrated in FIG. 12E is a write block. The write block assigns a value to the name of the variable. If the variable doesn't exist, create it and assign it a value. You can set the Name and Value of a variable in the property view. Value is set to an integer. Write block is a block that has one input and one output port.

The instruction block shown in FIG. 12F is an If block. The If block is a block that checks the value of a variable with the operator specified below. You can set the Name, Operator, and Value of a variable in the Property View. Value is set to an integer.

There are six types of operators:

1. the value stored in the variable <Value (LESS_THAN);

2. the value stored in the variable <= Value (LESS_EQUAL);

3. the value stored in the variable> Value (GREATER_THAN);

4. The value stored in the variable> = Value (GREATER_EQUAL);

5. The value stored in the variable == Value (EQUAL);

6. The value stored in the variable! = Value (NOT_EQUAL);

If the value obtained by the above operation is true, the next program is executed with True port among the output ports. If false, the next program connected with False port is executed.

The instruction shown in (g) of FIG. 12 is a TTS block. The TTS block is a block that can output a given text as a voice. You can set the pitch, speed, and volume of the text and voice in the Properties view. Tone, Fast, and Loudness can have default values. The TTS block is a block that has one input and one output port.

The command block illustrated in (h) of FIG. 12 is a task block. Task blocks can load previously written programs into Task Composer to allow the robot to perform specific tasks. The task block plays a role from the Start block to the End block in the previously created program. In the property view, you can specify an existing task file. Task block is a block that has one input and one output port.

The instruction block illustrated in (i) of FIG. 12 is a wave block. Wave block is a block that loads and executes existing wave file. In the property view, you can specify an existing wave file. The Wave block has one input and one output port.

The command block illustrated in (j) of FIG. 12 is a posture block. Posture blocks are blocks that load and execute existing posture files (txt files), so that the robot takes a certain posture.

In the properties view, you can specify a post file created earlier. Posture blocks have one input and one output port.

The instruction block shown in (k) of FIG. 12 is a Gesture block. A Gesture block is a block that loads and executes a previously created gesture file (txt file) so that the robot can take a specific gesture. Gesture blocks can specify a gesture file that has been created in the property view. This Gesture block has one input and one output port.

The instruction block illustrated in (l) of FIG. 12 is a WayPoint block. WayPoint blocks serve to interconnect other instruction blocks. The WayPoint block is a block that has one input and one output port.

Next, the operation of the executor 140 and the graphic interface unit 110 will be described in more detail with reference to FIG. 13.

When each instruction block is executed through the executor 140, as illustrated in FIG. 13, the graphical interface 110 includes a scenario view, a task view, a robot view, Display the Output View.

In the scenario view, you can see the files created by Task Composer in the preset file path. If you select a file in the scenario view, you can see the program written in Task Composer in the task view. If you select a file in the scenario view, the Start button is activated and you can see that the robot operates according to the program you created.

The task view displays the files selected in the scenario view. In addition, as shown in FIG. 14, the instruction block currently executed when the robot operates according to a program can be checked.

The output view displays the simulation operation information, such as execution time and instruction block name.

In the robot view, you can check the simulation by using OpenGL to execute the program operation on the existing robot.

Meanwhile, the graphic-based robot programmable software described above may be stored in a computer-readable recording medium.

Those skilled in the art will appreciate that the present invention can be embodied in other specific forms without changing the technical spirit or essential features of the present invention. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. The scope of the present invention is shown by the following claims rather than the detailed description, and all changes or modifications derived from the claims and their equivalents should be construed as being included in the scope of the present invention.

1 is a block diagram showing a graphics-based robot programming system in an embodiment of the present invention.

2 to 11 are exemplary diagrams for describing the graphic interface unit of FIG. 1.

12 is an exemplary diagram for describing an instruction block, and FIGS. 13 and 14 are exemplary diagrams for describing the graphic interface unit and the executor of FIG. 1.

Claims (9)

In order to command the robot's work, it stores the start block and the end block to start and end the program, and the end block and delay to perform the AND operation between the two command blocks. Delay block for setting the posture, Posture block for setting the posture of the robot, Gesture block for setting the gesture of the robot, Condition (if) block for the condition determination function, write values to program variables A block for storing at least one of a write block that can be written, a speech block that reads text written by a user by voice, a task block that loads an existing robot program, and a wave block that loads a voice file Storage unit; A graphic interface unit including an object view displaying the plurality of command blocks as an icon, and a task view displaying an arrangement of command blocks selected from the object view according to a click and drag command and a link connection of each arranged command block; A translator for sequentially translating the blocks of instructions connected by the link; And And an executor for executing the robot using a 3D based simulator according to the translation result. The graphic interface unit may further include a robot view displaying a simulation of the operation of the robot when the executor is executed, and the command block corresponding to the current operation of the robot displayed through the robot view among the linked command blocks. To highlight and display through the task view. The method of claim 1, And wherein the translator translates the two or more instruction blocks multiplely when branched to two or more instruction blocks by the link. The method of claim 1, And the task view deletes or modifies the instruction blocks and links that are selected, arranged, and linked according to the user's instructions. The method of claim 1, An error check unit for verifying whether the selected and arranged instruction blocks are correctly connected by the link; The graphics-based robot programming system further comprising. delete delete delete delete delete

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