TWI585559B - No waiting robot control program method for multiplexing synchronization - Google Patents

Description

Multiplex synchronous no-waiting robot control program control method

The invention relates to a robot control system and a control method thereof, in particular to a multiplexed synchronous waitless robot control program system and a control method thereof, which are simplified and can facilitate the operator to control the decompilation system program of the robot and make the robot move smoothly.

A typical robot performs motion by running a motor at the joint, and the robot usually has a plurality of joints, so that a plurality of motors are required to drive them separately. Multiple motors operate at different times and at different operating angles, and computer programs are required for motion control. Computer programs can be divided into two categories: one for the operating system and the other for the application control program. The more common one is the mixed design of the two. The robot control program described below will not distinguish between a separately designed system or a mixed design. system.

Other controllable devices of the robot such as shadow capture, sound capture, sound playback, and network data search have the characteristics of slow processing. For example, the owner of the robot releases his life in a spoken language, and the control program captures sound or image. If necessary, you can search the Internet for information, and then respond to the owner's needs in various forms of action, voice, light or display. The common robot control program design is carried out in stages, and you must wait for the message to be completely processed before you can see the relevant response. It is therefore common to see robot movements pause.

As explained in the previous paragraph, the conventional robot control program can only perform a single motor operation, and it is necessary to wait for the position to be in control before the other motor can be controlled, in addition to waiting time, and the entire robot movement is not smooth. At present, the robot control program is to make a plurality of motors run at the same time, or to simultaneously perform robot audio and video processing to make the robot move smoothly, and the control program needs to be controlled by adding a plurality of conditional judgments, which not only makes the robot control program too complicated, And can only adapt to the same action. Once the action needs to be changed, all relevant parameters in the robot control program must be changed to limit the robot development space. Therefore, in view of the problems existing in the above-mentioned robot control program, how to develop an innovative operating system that is more ideal and practical, the consumer is eagerly awaited, and the relevant industry must strive to develop the breakthrough goal and direction.

The invention relates to a multiplex synchronous no-waiting robot control program system and a control method thereof, and the robot program control system is divided into two parts: a decompilation system program and a user application control program, and the user only needs to use the application control program. A simple high-level control command is issued, and the decompilation system program automatically processes a plurality of conditional judgments and time waits implicitly in the robot application control program to achieve more convenient operation of the robot.

In order to achieve the above object, the present invention provides a multiplexed synchronous standby robot control program system including: a robot portion, a computer control portion, and a program replacement unit. The robot part has a plurality of structures, a plurality of driving devices and a plurality of signal devices, wherein the driving device respectively connects the two structures, and one of the structures can perform a rotational displacement movement of a predetermined angle, and the The signal device can perform one of the predetermined actuation signals.

The computer control unit is in telecommunication connection with the robot part, and can control the operation of the robot part. The computer control part further comprises: a program memory unit, a decompilation execution unit and a control Communication interface. The program memory unit provides a user input application control program in addition to the decompilation system program, and the application control program provides an angle signal and signal time for controlling the rotational displacement motion of the motor, an operation signal and an operation time of the other signal devices, and the above The order of the signal and time. The decompilation execution unit is in telecommunication connection with the program memory unit, and can receive the application control program, and the decompilation execution unit processes the application control code into a control instruction. The control communication interface is connected to a plurality of the driving device and the plurality of signal devices to receive the control command of the decompilation execution unit, and the plurality of driving devices and the plurality of signal devices are provided according to the application control program The angle signal and signal time of the rotational displacement motion, the actuation signal and actuation time of the signal device, and the sequence of the signal and time are actuated, and the signal sent back by the robotic unit is transmitted back to the decompilation execution unit to understand The operating state of the robot unit.

In order to achieve the above object, the present invention provides a multiplexed synchronous waitless robot program control method, and a hidden condition determining method, comprising the steps of: providing a robot portion and a computer control portion, wherein the robot portion can perform one of predetermined actions The computer control unit is in telecommunication connection with the robot unit. The computer control unit has a first main program, a second main program, a sub program, and a signal input state.

The first main program of the computer control unit is executed, and when the first main program has the signal input status check function, it is determined whether the signal input status executes a program command.

If the signal input state is the input of the execution instruction, the subroutine is executed; if the signal input state is not the input of the execution instruction, the subsequent second main program is executed.

The execution of the second main program ends.

The computer control unit controls the operation mode of the robot unit.

In order to achieve the above object, the present invention provides a multiplexed synchronous waitless robot program control method, which eliminates the redundant waiting method, and includes the following steps: providing a robot portion and a computer control portion, which can perform one of the predetermined steps Actuation mode, the computer control unit is in telecommunication connection with the robot part, the computer control unit has a first main program, a second main program, a first sub program, a second sub program, a first signal status, and A second signal state.

Executing the first main program of the computer control unit.

The first main program is in the first signal state, and the first subprogram is executed.

The first subroutine is located in the second signal state, and determines whether the second signal state is a time consuming instruction.

If the second signal state is the time-consuming instruction, the second main program and the time-consuming instruction are simultaneously executed, and when the time-consuming instruction is executed, the second sub-program is executed; if the second signal is When the state is not the time-consuming instruction, the second subroutine of the connection is executed.

The execution of the second main program ends.

The computer control unit controls the operation mode of the robot unit.

1‧‧‧ Robotics Department

11, 11a‧‧‧ structure

12‧‧‧ drive

13‧‧‧Signal device

2‧‧‧Computer Control Department

21‧‧‧Program memory unit

210‧‧‧Application Control Program

22‧‧‧Uncompile execution unit

220‧‧‧Control instructions

23‧‧‧Control communication interface

3‧‧‧Program replacement unit

31‧‧‧Reward instructions

4‧‧‧Network

51‧‧‧First main program

52‧‧‧Second main program

53‧‧‧Subprogram

54‧‧‧Signal input status

61‧‧‧ Provide a robot department and a computer control department

62‧‧‧Executing the first main program of the computer control department

63‧‧‧Determining whether the signal input status executes a program command

64‧‧‧Executing the subprogram

65‧‧‧Execution of the second main program

66‧‧‧The second main program execution ends

67‧‧‧Controlling the robotic part by computer control

71‧‧‧First main program

72‧‧‧Second main program

73‧‧‧First subprogram

74‧‧‧Second subprogram

75‧‧‧First signal status

76‧‧‧Second signal status

81‧‧‧ Provide a robot department and a computer control department

82‧‧‧Executing the first main program of the computer control department

83‧‧‧The first subroutine is executed in the first signal state

84‧‧‧ Located in the second signal state, determining whether the second signal status is a time-consuming instruction

85‧‧‧ Simultaneous execution of the second main program and time-consuming instructions

851‧‧‧Time-consuming instruction execution ends

852‧‧‧Executing the second subprogram

86‧‧‧Execution of the second subprogram

87‧‧‧The second main program execution ends

88‧‧‧Control the operation of the robot department with the computer control department

91‧‧‧Rotational displacement motion

Θ‧‧‧ angle

1 is a schematic diagram showing the system architecture of a preferred embodiment of a multiplexed synchronous waitless robot control program system of the present invention.

2 is a front elevational view showing the preferred embodiment of the robot portion of the present invention.

FIG. 3A is a schematic diagram showing the program architecture of the first preferred embodiment of the multiplexed synchronous waitless robot program control method of the present invention.

FIG. 3B is a block diagram showing the flow of the first preferred embodiment of the multiplexed synchronous waitless robot program control method of the present invention.

4A is a schematic diagram showing the architecture of a second preferred embodiment of the multiplexed synchronous waitless robot program control method of the present invention.

4B is a block diagram showing the flow of a second preferred embodiment of the multiplexed synchronous waitless robot program control method of the present invention.

In order to achieve the above objects and effects, the technical means and the structure of the present invention will be described in detail with reference to the preferred embodiments of the present invention.

Please refer to FIG. 1 and FIG. 2 , which are schematic diagrams of a system architecture of a preferred embodiment of the multiplexed synchronous waitless robot control program system of the present invention, and a front view of a preferred embodiment of the robot unit. The multiplexed synchronous standby robot control program system of the present invention comprises: a robot unit 1, a computer control unit 2, and a program replacement unit 3. Referring to FIG. 2 , the robot unit 1 further includes a plurality of structures 11 , a plurality of driving devices 12 , and a plurality of signal devices 13 . In the preferred embodiment of the present invention, the structure 11 has a rigid structure. The body and the limbs of the robot unit 1 are configured. The driving device 12 is respectively connected to the structural bodies 11, 11a, preferably a servo motor, so that one of the structural bodies 11, 11a connected to the structural body 11 can be connected to another structural body. 11a is an axis, and a rotational displacement motion 91 of one of predetermined angles θ is performed. The signal device 13 is located in the eye or mouth of the robot unit 1. Therefore, the signal device 13 can be a signal input device, and the signal input device is open. Off device, one button device, one touch device, one image capturing device, one sound capturing device, one taste detecting device, one pressure device, one temperature and humidity detecting device, one moving speed state detecting device, and one distance At least one of the measuring devices. The signal device 13 can also be a signal output device, which is a lighting device, an audio device, a vibration device, an odor device, a text message display device, an environmental state adjustment device, and a position motion device. At least one of the signals, the signal device 13 can perform a predetermined one of the action signals, and the action signal can be a flashing light, playing a sound, recording an image, recording a sound, or displaying a text pattern message. The combination of the plurality of driving devices 12 and the plurality of signal devices 13 respectively, such as the angle signal and the signal time of the rotational displacement motion 91, the actuation signal and the actuation time of the signal device 13, and the sequence of cooperation of the signals and time The different combinations are formed such that the robot portion 1 exhibits a predetermined manner of action, such as dancing, walking, taking or talking.

The computer control unit 2 is connected to the robot unit 1 to control the operation mode of the robot unit 1. The computer control unit 2 further includes: a program memory unit 21, a decompilation execution unit 22, and a control communication. Interface 23. The program memory unit 21 provides an input application control program 210 that controls the operation mode of the robot unit 1. The decompilation execution unit 22 is in telecommunication connection with the program memory unit 21, and can receive the application control program 210 and process the application control program 210 into a control instruction 220. The control communication interface 23 is in telecommunication connection with the robot unit 1. In the preferred embodiment, the control communication interface 23 is electrically connected to a plurality of the driving devices 12 and the plurality of signal devices 13. The control communication interface 23 receives the control instruction 220 of the decompilation execution unit 22, and causes the robot unit 1 to perform the actuation mode, and the feedback instruction 31 returned to the robot unit 1 is transmitted back to the decompilation execution unit 22 to learn the robot. The operating state of the unit 1.

The program replaces the unit 3 with a network 4 and is connected to the control communication interface 23. The program replaces the unit 3 to store the data that the application control program 210 wants to search for, or an external computer control unit can remotely control the local robot or An external robot that can be controlled. In the computer control unit 2, the program memory unit 21 provides the control command 220 processed by the decompilation execution unit 22 when the application control program 210 is input, and is transmitted to the program replacement unit via the control communication interface 23 via the network 4. 3. The program replacement unit 3 stores a plurality of feedback instructions 31 corresponding to the plurality of control commands 220, respectively. These feedback instructions 31 will be passed back to the decompilation execution unit 22 via the communication control interface 23.

Please refer to FIG. 3A and FIG. 3B simultaneously, which are schematic diagrams of a program architecture and a flow block of a first preferred embodiment of the multiplexed synchronous waitless robot program control method according to the present invention. The multiplexed synchronous no-waiting robot program control method of the present invention can hide the condition judgment method, and includes the following steps:

Step 61: Providing a robot unit 1 and a computer control unit 2, wherein the robot unit 1 can perform a predetermined operation mode, and the computer control unit 2 is electrically connected to the robot unit 1, and the computer control unit has a first The main program 51, a second main program 52, a subroutine 53 and a signal input state 54.

Step 62: Execute the first main program 51 of the computer control unit.

Step 63: When the first main program 51 has the signal input state check function, it is determined whether the signal input state 54 executes a subroutine 53 command.

Step 64: If the signal input state 54 is the input of the execution instruction, the subroutine 53 is executed.

Step 65: If the signal input state 54 is not inputting the execution instruction, the subsequent second main program 52 is executed.

Step 66: The second main program 52 ends execution.

Step 67: The computer control unit 2 controls the operation mode of the robot unit 1.

Please refer to FIG. 4A and FIG. 4B simultaneously, which are schematic diagrams of a program architecture and a flow block of a second preferred embodiment of the multiplexed synchronous waitless robot program control method according to the present invention. The multiplexed synchronous no-waiting robot program control method of the present invention eliminates the redundant waiting method, and includes the following steps:

Step 81: Providing a robot unit 1 and a computer control unit 2, wherein the robot unit can perform a predetermined one of the actuation modes, the computer control unit 2 is in telecommunication connection with the robot unit 1, and the computer control unit 2 has a first The main program 71, a second main program 72, a first sub-program 73, a second sub-program 74, a first signal state 75 and a second signal state 76.

Step 82: Execute the first main program 71 of the computer control unit 2.

Step 83: The first main program 71 is located in the first signal state 75, and the first subroutine 73 is executed.

Step 84: The first sub-program 73 is located in the second signal state 76, and determines whether the second signal state 76 is a time-consuming instruction.

Step 85: If the second signal state 76 is the time-consuming instruction, execute the second main program 72 and the time-consuming instruction simultaneously, step 851: when the time-consuming instruction execution ends, step 852: execute the first The second subprogram 74.

Step 86: If the second signal state 76 is not the time-consuming instruction, then the succeeding second sub-program 74 is executed.

Step 87: The execution of the second main program 72 ends.

Step 88: The computer control unit 2 controls the operation mode of the robot unit 1.

However, the above description is only for the preferred embodiment of the present invention, and thus the scope of the present invention is not limited thereto, so that the simple modification and equivalent structural changes that are made by using the specification and the contents of the present invention should be the same. It is included in the scope of the patent of the present invention and is combined with Chen Ming.

1‧‧‧ Robotics Department

2‧‧‧Computer Control Department

21‧‧‧Program memory unit

210‧‧‧Application Control Program

22‧‧‧Uncompile execution unit

220‧‧‧Control instructions

23‧‧‧Control communication interface

3‧‧‧Program replacement unit

31‧‧‧Reward instructions

4‧‧‧Network

Claims (2)

A multiplexed synchronous waitless robot program control method includes the following steps: providing a robot portion and a computer control portion, wherein the robot portion can perform a predetermined one of the actuation modes, and the computer control portion is electrically connected to the robot portion The computer control unit has a first main program, a second main program, a subprogram, and a signal input state; the first main program executing the computer control unit, when the first main program has the signal input status check a function of determining whether the signal input state executes a program command; if the signal input state is inputting the execution command, executing the subroutine; if the signal input state is not inputting the execution command, performing the connection a second main program; the second main program execution ends; and the computer control unit controls the operation mode of the robot unit. A multiplexed synchronous waitless robot program control method includes the following steps: providing a robot portion and a computer control portion, wherein the robot portion can perform a predetermined one of the actuation modes, and the computer control portion is electrically connected to the robot portion The computer control unit has a first main program, a second main program, a first sub-program, a second sub-program, a first signal status, and a second signal status; executing the first of the computer control unit a first program; the first main program is in the first signal state, and the first subprogram is executed; the first subprogram is located in the second signal state, and determining whether the second signal state is a time-consuming instruction; When the second signal state is the time-consuming instruction, the second main program and the time-consuming instruction are simultaneously executed, and when the time-consuming instruction is executed, the second sub-program is executed; if the second signal status is not In the case of the time-consuming instruction, the second sub-program is executed; the second main program execution ends; and the computer control unit controls the action of the robot unit formula.