WO2019047218A1 - 一种图形化编程方法、装置、计算机存储介质及视觉系统 - Google Patents

一种图形化编程方法、装置、计算机存储介质及视觉系统 Download PDF

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Publication number
WO2019047218A1
WO2019047218A1 PCT/CN2017/101252 CN2017101252W WO2019047218A1 WO 2019047218 A1 WO2019047218 A1 WO 2019047218A1 CN 2017101252 W CN2017101252 W CN 2017101252W WO 2019047218 A1 WO2019047218 A1 WO 2019047218A1
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Prior art keywords
function
displaying
logical
graphical
graphic element
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PCT/CN2017/101252
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English (en)
French (fr)
Inventor
阳光
宋智文
Original Assignee
深圳配天智能技术研究院有限公司
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Application filed by 深圳配天智能技术研究院有限公司 filed Critical 深圳配天智能技术研究院有限公司
Priority to CN201780036109.2A priority Critical patent/CN109690473B/zh
Priority to PCT/CN2017/101252 priority patent/WO2019047218A1/zh
Publication of WO2019047218A1 publication Critical patent/WO2019047218A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F8/00—Arrangements for software engineering
    • G06F8/30—Creation or generation of source code
    • G06F8/34—Graphical or visual programming
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/44—Arrangements for executing specific programs

Definitions

  • the present invention relates to the field of industrial robot technology, and in particular, to a graphical programming method, apparatus, computer storage medium, and vision system.
  • the interactive interface of process design is generally implemented by means of graphical operations, spreadsheets, design execution sequences or programming.
  • the graphical operation mode is the simplest, but currently graphical in the visual field.
  • the operation can not solve many common operation problems very conveniently; the spreadsheet is more complicated to use in more complicated programming; the design execution sequence is simple, but it is not easy to be used for complex programming, especially in robots and vision, basically can not be used.
  • the programming method is more complicated and difficult to promote.
  • the object of the present invention is to provide a graphical programming method, device, computer storage medium and vision system for the problem that the interactive interface of the industrial visual process design in the prior art is not convenient to operate and the clear operation visualization cannot be realized.
  • the technical solution adopted by the present invention to solve the above technical problem is to provide a graphical programming method, the method comprising: displaying a first graphic element on a programming interface, wherein the first graphic element corresponds to a first function; Displaying a tabular graphical element on the programming interface and displaying a connection relationship between the tabular graphical element and the first graphical element, wherein the tabular graphical element corresponds to the first function a second function that parses the result; parses the running result of the first function by using the second function, and displays the parsing result on the tabular graphic element; displaying the second on the programming interface a graphic element, and displaying a connection relationship between the analysis result and the second graphic element, wherein the second graphic element corresponds to a third function; and the third function is controlled to perform a corresponding function by using the analysis result .
  • the device comprises a memory and a processor, wherein: the memory is for storing configured to be configured by the processor Executed program instructions; the processor executing the program instructions to implement a graphical programming method as described above.
  • Another technical solution adopted by the present invention to solve the above technical problems is to provide a computer storage medium in which computer instructions executable by a processor for executing the graphical programming method as described above are stored.
  • Another technical solution adopted by the present invention to solve the above technical problems is to provide a vision system, wherein the system includes a graphical programming device as described above.
  • the beneficial effects of the present invention are: parsing the running result of the first function corresponding to the first graphic element by using the second function corresponding to the tabular graphic element, and displaying the parsing result on the tabular graphic element, so that the programmer can understand the input.
  • the operation, and then the connection relationship between the second graphic element and the parsing result is implemented, and then the third function corresponding to the second graphic element can be controlled to perform the corresponding function, thereby realizing clear, intuitive and concise operation visualization.
  • FIG. 1 is a flow chart of an embodiment of a graphical programming method of the present invention
  • FIG. 2 is a schematic diagram of a first embodiment of a list type graphic element in the above embodiment of the present invention
  • Figure 3 is a schematic view showing a second embodiment of a list type graphic element in the above embodiment of the present invention.
  • FIG. 4 is a schematic diagram of execution information of a certain third graphic element in the above embodiment of the present invention.
  • FIG. 5 is a schematic diagram of a specific application scenario of a method for implementing the foregoing embodiment of the present invention.
  • FIG. 6 is a schematic diagram of another specific application scenario of the method for implementing the foregoing embodiment of the present invention.
  • Figure 7 is a block diagram showing an embodiment of a graphical programming device of the present invention.
  • FIG. 1 it is a flowchart of an embodiment of the graphical programming method of the present invention, which can be applied to industrial visual design to realize operation visualization.
  • the method can also be used in other aspects of design, for example, The management operation interface of a certain management system is not limited by those skilled in the art.
  • the method includes the following steps:
  • Step S102 Display a first graphic element on the programming interface, wherein the first graphic element corresponds to the first function.
  • the programming interface can be an industrial vision system or other visual control system.
  • the first graphic element is preset by a programmer, and its shape may be an ellipse. Of course, in other embodiments, the shape may be a square, which may be disposed in a toolbar of the programming interface, which corresponds to the first function, first
  • the function is also pre-set by the system programmer to obtain the information needed for programming, such as external information from an external input/output device. For another example, when the industrial vision system controls the robot, when the first graphic element is displayed on the programming interface, the first function is called in the system, and the running result of the first function is output, thereby obtaining corresponding external information from the robot. For subsequent programming.
  • Step S104 Display a tabular graphic element on the programming interface, and display a connection relationship between the tabular graphic element and the first graphic element, where the tabular graphic element corresponds to the first method for parsing the running result of the first function Two functions.
  • the second function corresponding to the tabular graphic element is used for parsing the running result of the first function, and is also preset by the system programmer, and the parsing rule may be consistent with the development rule for setting the running result of the first function, for example,
  • the running result of the first function indicates that a certain component action is controlled, and then the parsing result of the running is the relevant parameter for controlling the action of a certain component.
  • a connection relationship between the tabular graphic element and the first graphical element can be represented by a straight line on the programming interface. The connection relationship between the tabular graphic element and the first graphic element indicates that the running result of the first function is input into the tabular graphic element as the input amount of the second function.
  • Step S106 Parsing the running result of the first function by using the second function, and displaying the parsing result on the tabular graphic element.
  • the second function parses the running result of the first function.
  • the second function is called in the system, that is, the first
  • the result of a function is parsed, and when the parsing is completed, the parsing result is displayed on the tabular graphic element.
  • Step S108 Display a second graphic element on the programming interface, and display a connection relationship between the analysis result and the second graphic element, wherein the second graphic element corresponds to the third function.
  • the third function corresponding to the second graphic element is preset by the system programmer, and a plurality of third functions may be preset in the system for subsequent different execution commands.
  • the analysis result is displayed on the tabular graphic element, and the connection relationship between the parsing result and the second graphic element is displayed, that is, a connection relationship is established between the tabular graphic element and the second graphic element.
  • the established connection relationship between the second graphic element and the tabular graphic element can also be represented by a straight line on the programming interface.
  • the analysis result on the tabular graphic element controls the corresponding second graphic element to perform the corresponding function.
  • Step S110 Control the third function to perform the corresponding function by using the analysis result on the tabular graphic element.
  • the third function when establishing a connection relationship between the second graphic element and the tabular graphic element, the third function is controlled to perform a corresponding function, for example, in the industrial vision system, when the second graphic element is displayed on the programming interface, the system calls The third function performs the corresponding function, for example, turning on the camera, selecting the corresponding program, and the like.
  • first graphic element, the tabular graphic element and the second graphic element are all pre-settable, and the shapes are different or partially identical, and can be set on the toolbar of the programming interface, and need to be used.
  • you drag it directly to the programming interface and display it at the same time, when you operate it on the programming interface, such as clicking or double-clicking, you can display the parameters of its corresponding function on the programming interface, if the user needs Modify the parameters of the function, which can be performed on the programming interface, which is convenient and concise.
  • the second function corresponding to the tabular graphic element parses the running result of the first function corresponding to the first graphic element, and displays the parsing result on the tabular graphic element, so that the programmer can understand
  • the input operation controls the third function corresponding to the second graphic element to perform a corresponding function when the second graphic element establishes a connection relationship with the analysis result, thereby realizing clear operation visualization.
  • the information required for the programming acquired by the first function includes a logical variable
  • the logical variable correspondingly indicates whether the information required for programming includes a corresponding information item, so that the subsequent programming process is expressed by the logical variable, so that the programming interface Intuitive and concise, where the logical variable can be represented by a Boolean value, for example, 1 means that the information required for the acquired programming contains the corresponding information item, and 0 means that the information required for the acquired programming does not contain the corresponding information.
  • the item, that is, there is no corresponding information item of course, the logical variable can also be represented by other, such as a multi-bit binary number.
  • the information required for the programming acquired by the first function may further include other expression variables, such as an alphabet variable, that is, a letter to indicate whether the information required for programming includes a corresponding information item.
  • the above step S106 includes: parsing the logical variables in the running result of the first function by using the second function, and displaying the logical variables on the tabular graphic elements.
  • the logic variables are displayed on the tabular graphic elements, so that the information items required in the graphical programming after the tabular graphic elements can be intuitively understood on the tabular graphic elements.
  • the first function is used to acquire external information from the robot or an external input/output device, that is, the running result of the first function is the acquired external information.
  • the second function is used to parse the logical variables in the running result of the first function, and the logical variables are displayed on the tabular graphic elements, including: using the second function to parse the logical variables in the external information, and the logical variables Displayed on a tabular graphic element.
  • the second function parses the logical variable in the running result of the first function, and displays the logical variable on the tabular graphic element, including: selecting the user-specified logical variable from the plurality of logical variables according to the user's designation, and the user The specified logical variable is displayed on a tabular graphic element. In this way, when the user is programming, the logic variable can be displayed on the list graphic element according to his own selection, and the operation is convenient.
  • the tabular graphical element is a logical list
  • the logical list may include one or more logical variables, each logical variable corresponding to one column bit, that is, a column of the logical list, each column bit includes One or more fields.
  • the second function is used to parse the logical variable in the running result of the first function, and the logical variable is displayed on the tabular graphic element, including: the logical variable in the running result of the first function by using the second function Parse and display the logical variables in the corresponding fields of the logical list.
  • step S108 includes: displaying a connection relationship between the second graphic element and the corresponding field.
  • the method further includes: setting the number of fields in the tabular graphic element according to the user's designation.
  • the user can customize the number of fields of the tabular graphic elements according to their own programming habits. For example, if the user specifies that the tabular graphic elements contain 3 fields, the number is 3, as shown in FIG. 2, where the first column The bit represents the Boolean value of the information item, that is, it is used to display the logical variable.
  • displaying the logical variable into the corresponding field of the logical list includes: displaying the logical variable in the corresponding first field according to the user's designation.
  • the second field represents a first graphic element from which the logical variable of the first field is derived
  • the third field represents a custom description of the first graphic element from which the user is derived from the logical variable.
  • the logical variable is Displaying into the corresponding field of the logical list includes: displaying the first graphic element from which the logical variable is derived in the corresponding second field according to the user's designation and/or displaying the user's customized description in the corresponding third field .
  • the tabular graphic element includes 4 fields, the number thereof is 4, as shown in FIG. 3, and the fourth field indicates the value of the operation of different logical variables.
  • the logical variable is displayed. Further corresponding to the logical list includes: calculating different logical variables in the logical list according to the user's designation, and displaying the operation result to the corresponding fourth field.
  • the corresponding information is displayed in the corresponding field according to the user's designation.
  • the user can write it in the logic list and display it, for example, in the second field.
  • it can also be automatically written by the system when the second function is run, for example, in the first field.
  • step S108 the analysis result and the second graphic element are displayed.
  • the connection relationship includes: displaying a connection relationship between the fourth field and the second graphic element.
  • step S110 includes: controlling the third function to perform a corresponding function by using the operation result.
  • step S110 includes: controlling the third function to perform a corresponding control function or logic operation by using the logic variable. For example, if the logical variable of an information item is 1, it means that the camera is turned on. At this time, the third function directly turns on the camera control function; if the logical variables of two information items need to be 1, the subsequent processing is performed. At this time, the third function performs logical operations on the logical variables of the two information items, for example, logical AND operations, and further, when the logical variables of the two information items are all 1, the subsequent processing is performed.
  • step S110 includes: controlling the third function to perform the corresponding control function, logic operation, and/or according to the logic variable. Logical judgment. If the logical variable of an information item is 1, it indicates that the program is selected. At this time, the third function performs a logical judgment. If the result of the logical judgment is 0, then a certain program is selected to be executed. If the result of the logical judgment is 1, the selection is made. Execute another program. Controlling the third function to perform the corresponding control functions and logic operations has been described above and will not be described again.
  • the same tabular graphic element connects at least two first graphical elements, wherein the first function corresponding to at least two of the first graphical elements is different.
  • the first function corresponding to at least two of the first graphical elements is different.
  • the two first graphical elements are connected to a list of graphical elements.
  • displaying the logical variable on the tabular graphic element includes: parsing the first function corresponding to the at least two first graphic elements The resulting logical variables are also displayed on the tabular graphic elements.
  • the method further includes: displaying a third graphical element on the programming interface, and displaying a connection relationship between the third graphical element and the second graphical element, wherein the third graphical element corresponds to a fourth function, wherein the fourth function
  • the program required for programming for example, in the industrial vision system, when the external information of the robot needs to be acquired, the external information of the robot is programmed corresponding to a certain program to be selected, and the program is set on the programming interface. For a toolbox, when the toolbox is called, the program corresponding to the toolbox is executed.
  • the method includes: displaying a dialog box on the programming interface in response to the user's operation on the third graphical element, and displaying the execution information corresponding to the fourth function in the dialog box.
  • the user's operation on the third graphical element includes clicking the third graphical element, acquiring the focus, etc., but is not limited thereto.
  • the user's operation on the third graphical element includes double clicking on the third graphic. Elements and so on.
  • the execution information includes at least one or a combination of a setting parameter, an intermediate data, and an execution result of the fourth function, wherein the presentation form of the execution information includes any one or a combination of a text, a graphic, and a list.
  • FIG. 4 it is a schematic diagram of a dialog box in which execution information is distributed in a vertical direction, wherein Ture/False represents an execution result, Data represents intermediate data, ROI and Para respectively represent setting parameters, and ROI represents a function of a fourth function. Area, Para represents specific related parameters.
  • the dialog box can also be other layouts within the understanding of those skilled in the art.
  • the above third graphic element can also be set on the toolbar of the programming interface, and when it is needed, it can be directly dragged onto the programming interface, and when it is operated on the programming interface, for example, click Or double-click, you can display the parameters of the corresponding function on the programming interface. If the user needs to modify the parameters of the function, it can be performed on the programming interface, which is convenient and concise.
  • the method further includes: selecting the execution information specified by the user among the plurality of execution information according to the user's designation, closing the dialog box, and displaying the execution information specified by the user around the corresponding third graphic element. . It is further convenient for the user to view the execution result. For example, as shown in FIG. 5, intermediate data is displayed around the third graphical element.
  • FIG. 5 it is a first application scenario.
  • two first graphic elements are displayed on a programming interface, wherein a first function corresponding to the first graphic element message acquires external information of the robot, and the graphical graphic element I/
  • the first function corresponding to O acquires the external information of the external input/output device, displays the tabular graphic element, and displays the connection relationship between the first graphic element and the tabular graphic element, that is, the first graphic element is respectively adopted by the straight line
  • a different first function is run, and then the tabular graphical element displays a different first function
  • the result of the run including the logical variables, the first graphical element from which the logical variable originated, and the user-defined description.
  • the second graphical element is displayed according to the logical variable, for example, according to the displayed custom description in the logical list as a control Camera, displaying the second graphic element open camera; for example, according to the displayed custom description in the logical list is program Select, displays the corresponding second graphic element, that is, the logical judgment part select in the figure, which includes a straight line 0, a straight line 1 and a black dot connected to both the straight line 0 and the straight line 1, and then displays the respective fields of the tabular graphic element.
  • the logical variable for example, according to the displayed custom description in the logical list as a control Camera, displaying the second graphic element open camera; for example, according to the displayed custom description in the logical list is program Select, displays the corresponding second graphic element, that is, the logical judgment part select in the figure, which includes a straight line 0, a straight line 1 and a black dot connected to both the straight line 0 and the straight line 1, and then displays the respective fields of the tabular graphic element.
  • connection relationship with the second graphic element for example, using a straight line display to describe the customization as a control
  • the connection relationship between the camera field and the second graphic element open camera, and, for example, the two lines are respectively displayed to describe the customization as a program
  • different third functions corresponding to different second graphic elements are executed, as shown in FIG. 5, that is, the camera is turned on and the logic is executed.
  • a third graphical element is displayed, for example, a third graphical element pattern and blob, which is a program required for programming information, ie, program The program pointed to by select, and then, the connection relationship between the third graphic element and the second graphic element is displayed.
  • the straight line 0 is directed to the third graphic element pattern
  • the straight line 1 is directed to the third graphic element.
  • Blob at this time, the fourth function corresponding to the third graphic element is executed.
  • the execution information corresponding to the fourth function is displayed, the dialog box is closed, and the execution information specified by the user is displayed around the corresponding third graphic element.
  • FIG. 6 it is a second application scenario, and the difference from the first application scenario is that, in the programming process, the running results of different logical variables are displayed in the tabular graphic elements, that is, in the logical list.
  • the customized description displayed is program
  • the operation result of the logical AND operation of the two logical variables corresponding to the select is displayed in the fourth field of the list type graphic element, and further, the third control position is displayed when the connection relationship between the fourth field and the second graphic element is displayed.
  • the function performs the corresponding logical judgment.
  • the graphical programming device 700 can be applied to industrial visual design, including a memory 710, a processor 720, and a bus 730.
  • Memory 710 is used to store computer instructions that are configured to be executed by processor 720 and data that needs to be saved or cached during operation of processor 720.
  • the processor 720 is configured to execute by calling a computer instruction stored in the memory 710:
  • processor 720 can be used to perform the steps in the foregoing method embodiments. For details, refer to the description of the foregoing method embodiments.
  • the above processor 720 can also be called a CPU (Central Processing) Unit, central processing unit).
  • Memory 710 can include read only memory and random access memory and provides instructions and data to processor 720.
  • a portion of the memory 710 may also include non-volatile random access memory (NVRAM).
  • NVRAM non-volatile random access memory
  • the above components of the mobile terminal are coupled together by a bus 730.
  • the bus 730 may include a power bus, a control bus, a status signal bus, and the like in addition to the data bus. However, for clarity of description, various buses are labeled as bus 730 in the figure.
  • Processor 720 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method may be completed by an integrated logic circuit of hardware in the processor 720 or an instruction in a form of software.
  • the processor 720 described above may be a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, or discrete hardware. Component.
  • DSP digital signal processor
  • ASIC application specific integrated circuit
  • FPGA off-the-shelf programmable gate array
  • the methods, steps, and logical block diagrams disclosed in the embodiments of the present invention may be implemented or carried out.
  • the general purpose processor may be a microprocessor or the processor or any conventional processor or the like.
  • the steps of the method disclosed in the embodiments of the present invention may be directly implemented by the hardware decoding processor, or may be performed by a combination of hardware and software modules in the decoding processor.
  • the software module can be located in a conventional storage medium such as random access memory, flash memory, read only memory, programmable read only memory or electrically erasable programmable memory, registers, and the like.
  • the storage medium is located in the memory 710, and the processor 720 reads the information in the memory 710 and completes the steps of the above method in combination with its hardware.
  • the present invention also provides a computer readable storage medium, which is specifically usable as a memory 710 as shown in FIG. 7, which stores computer instructions executable on the processor 720, in particular,
  • computer instructions can be executed to implement the graphical programming method in the above embodiments.
  • the computer readable storage medium storing computer instructions executable on the processor 730 corresponds to the steps in the above method embodiments.
  • the second function corresponding to the tabular graphic element parses the running result of the first function corresponding to the first graphic element, and displays the parsing result on the tabular graphic element, so that the programmer can understand
  • the input operation controls the third function corresponding to the second graphic element to perform a corresponding function when the second graphic element establishes a connection relationship with the analysis result, thereby realizing clear operation visualization.
  • the present invention can also provide a vision system that can be applied to industrial visual design, including the graphical programming device described in the above embodiments, to achieve operational visualization.
  • the system further includes an image capture device and an image processing device, wherein the image capture device and the image processing device respectively perform related information collection and processing on the robot in the industrial visual design.

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Abstract

一种图形化编程方法，包括：在编程界面上显示第一图形元素(S102)；在所述编程界面上显示列表式图形元素，并显示所述列表式图形元素与所述第一图形元素之间的连接关系(S104)；利用所述第二函数对所述第一函数的运行结果进行解析，并将解析结果显示在所述列表式图形元素上(S106)；在所述编程界面上显示第二图形元素，并显示所述列表式图形元素与所述第二图形元素之间的连接关系，其中所述第二图形元素对应于第三函数(S108)；利用所述列表式图形元素上的所述解析结果控制所述第三函数执行相应的功能(S110)。还包括与上述方法对应的装置、计算机存储介质及视觉系统，来实现操作可视化，清晰、直观且简洁。

Description

一种图形化编程方法、装置、计算机存储介质及视觉系统
【技术领域】
本发明涉及工业机器人技术领域，尤其涉及一种图形化编程方法、装置、计算机存储介质及视觉系统。
【背景技术】
当前工业视觉设计中，流程设计的交互界面一般以图形化操作、电子表格、设计执行序列或编程等方式来实现，其中，图形化操作方式中，操作最简单，但是目前在视觉领域中图形化操作还不能非常方便地解决很多常用操作问题；电子表格在较为复杂的程序设计时，使用较为复杂；设计执行序列比较简单，但是不易用于复杂编程，尤其在机器人及视觉上，基本上不能使用；编程方式比较复杂，难以推广。
因而，目前工业视觉流程设计的外部输入的操作不便捷，整体的简洁性差，并且交互界面表达不直观，执行依赖关系不清晰，进而无法实现清晰的操作可视化。
【发明内容】
本发明的目的在于，针对现有技术中的工业视觉流程设计的交互界面操作不便捷，无法实现清晰的操作可视化的问题，提供一种图形化编程方法、装置、计算机存储介质及视觉系统。
本发明解决上述技术问题所采用的技术方案是提供了一种图形化编程方法，所述方法包括：在编程界面上显示第一图形元素，其中所述第一图形元素对应于第一函数；在所述编程界面上显示列表式图形元素，并显示所述列表式图形元素与所述第一图形元素之间的连接关系，其中所述列表式图形元素对应于用于对所述第一函数的运行结果进行解析的第二函数；利用所述第二函数对所述第一函数的运行结果进行解析，并将解析结果显示在所述列表式图形元素上；在所述编程界面上显示第二图形元素，并显示所述解析结果与所述第二图形元素之间的连接关系，其中所述第二图形元素对应于第三函数；利用所述解析结果控制所述第三函数执行相应的功能。
本发明解决上述技术问题所采用的另一技术方案是提供了一种图形化编程装置，其中，所述装置包括存储器和处理器，其中：所述存储器用于存储被配置为被所述处理器执行的程序指令；所述处理器执行所述程序指令以实现如上所述的图形化编程方法。
本发明解决上述技术问题所采用的另一技术方案是提供了一种计算机存储介质，其中，存储有处理器可运行的计算机指令，所述计算机指令用于执行如上所述的图形化编程方法。
本发明解决上述技术问题所采用的另一技术方案是提供了一种视觉系统，其中，所述系统包括如上所述的图形化编程装置。
本发明的有益效果有：通过列表式图形元素对应的第二函数对第一图形元素对应的第一函数的运行结果进行解析，将解析结果显示在列表式图形元素上，方便编程人员了解输入的操作，接着实现第二图形元素与解析结果之间的连接关系，进而可以控制第二图形元素对应的第三函数执行相应的功能，从而实现操作可视化的清晰，直观且简洁。
【附图说明】
下面将结合附图及实施方式对本发明作进一步说明，附图中：
图1是本发明的图形化编程方法一实施例的流程图；
图2是本发明上述实施例中的列表式图形元素第一实施例的示意图；
图3是本发明上述实施例中的列表式图形元素第二实施例的示意图；
图4是本发明上述实施例中某一第三图形元素的执行信息的示意图；
图5是实行本发明上述实施例的方法的一个具体应用场景的示意图；
图6是实行本发明上述实施例的方法的另一个具体应用场景的示意图；
图7是本发明的图形化编程装置一实施例的结构示意图。
【具体实施方式】
为使本领域的技术人员更好地理解本发明的技术方案，下面结合附图和具体实施方式对本发明的技术方案做进一步详细描述。
如图1所示，是本发明的图形化编程方法一实施例的流程图，该方法可应用于工业视觉设计中，实现操作可视化，当然，该方法也可用于其他方面的设计中，例如，某管理系统的管理操作界面，在本领域技术人员的理解范围之内，不作限定。该方法包括以下步骤：
步骤S102：在编程界面上显示第一图形元素，其中第一图形元素对应于第一函数。
编程界面可以是工业视觉系统的，也可以是其他可视化控制系统的。第一图形元素预先由编程人员设置，其形状可为一椭圆，当然，在其他实施例中，其形状可为方形，可设置于编程界面的工具栏中，其对应于第一函数，第一函数也由系统编程人员预先设置，用于获取编程所需要的信息，例如来自外部输入/输出设备的外部信息。又例如，工业视觉系统对机器人进行控制时，在编程界面上显示第一图形元素时，系统内相应地调用了第一函数，输出第一函数的运行结果，进而获取相应的来自机器人的外部信息，以进行后续编程处理。
步骤S104：在编程界面上显示列表式图形元素，并显示列表式图形元素与第一图形元素之间的连接关系，其中列表式图形元素对应于用于对第一函数的运行结果进行解析的第二函数。
列表式图形元素对应的第二函数，用于对第一函数的运行结果进行解析，也由系统编程人员预先设置，解析的规则可与设置第一函数的运行结果的开发规则相一致，例如，开发规则中，第一函数的运行结果表示控制某个组件动作，则解析运行结果之后即是控制某个组件动作的相关参数。在编程界面上可通过一直线来表示列表式图形元素与第一图形元素之间已经建立的连接关系。列表式图形元素与第一图形元素之间的连接关系，表示第一函数的运行结果输入到列表式图形元素中，作为第二函数的输入量。
步骤S106：利用第二函数对第一函数的运行结果进行解析，并将解析结果显示在列表式图形元素上。
例如，在显示列表式图形元素与第一图形元素之间的连接关系时，第二函数对第一函数的运行结果进行解析，例如，工业视觉系统中，系统内调用第二函数，即对第一函数的运行结果进行解析，进而在解析完成时，将解析结果显示到列表式图形元素上。
步骤S108：在编程界面上显示第二图形元素，并显示解析结果与第二图形元素之间的连接关系，其中第二图形元素对应于第三函数。
第二图形元素对应的第三函数，由系统编程人员预先设置，系统内可预先设置多个第三函数，以用于后续不同的执行命令。解析结果显示在列表式图形元素上，显示解析结果与第二图形元素之间的连接关系，即是在列表式图形元素与第二图形元素之间建立连接关系。在编程界面上也可通过一直线来表示第二图形元素与列表式图形元素之间已经建立的连接关系。在第二图形元素与列表式图形元素之间的连接关系建立后，表示列表式图形元素上的解析结果控制相应的第二图形元素，以使其执行相应的功能。
步骤S110：利用列表式图形元素上的解析结果控制第三函数执行相应的功能。
例如，在建立第二图形元素与列表式图形元素之间的连接关系时，控制第三函数执行相应的功能，例如，工业视觉系统中，在编程界面上显示第二图形元素时，系统内调用第三函数，执行相应的功能，例如，开启摄像机、选择相应的程序等。
值得注意的是，上述第一图形元素、列表式图形元素以及第二图形元素均是可以预先设置的，其形状各不相同或者部分相同，均可设置于编程界面的工具栏上，在需要使用时，直接将其拖拉到编程界面上，并进行显示，同时，在编程界面上对其进行操作时，例如单击或者双击，即可在编程界面上显示其对应的函数的参数，若用户需要对函数的参数进行修改，在编程界面上即可进行，方便简洁。
本实施例中，在编程界面上，列表式图形元素对应的第二函数对第一图形元素对应的第一函数的运行结果进行解析，将解析结果显示在列表式图形元素上，方便编程人员了解输入的操作，进而，在第二图形元素与解析结果建立连接关系时，控制第二图形元素对应的第三函数执行相应的功能，实现清晰的操作可视化。
进一步地，第一函数获取到的编程所需要的信息中包含逻辑变量，逻辑变量对应地表示编程所需要的信息中是否包含相应的信息项，这样通过逻辑变量来表达后续编程处理，使得编程界面直观且简洁，其中，逻辑变量可以用布尔值来表示，例如，1表示获取到的编程所需要的信息中包含相应的信息项，0表示获取到的编程所需要的信息中不包含相应的信息项，即无相应的信息项，当然逻辑变量还可以用其他来表示，比如多位二进制数。当然，在其他实施例中，第一函数获取到的编程所需要的信息中还可以包含其他表述变量，例如字母变量，即用字母来表示编程所需要的信息中是否包含相应的信息项。进而，上述步骤S106包括：利用第二函数对第一函数的运行结果中的逻辑变量进行解析，并将逻辑变量显示在列表式图形元素上。本实施例中，将逻辑变量显示到列表式图形元素上，这样，在列表式图形元素上可直观了解到列表式图形元素之后的图形化编程中所需要的信息项。
具体地，在一个实施例中，在工业视觉系统中，第一函数用于获取来自机器人或外部输入/输出设备的外部信息，即第一函数的运行结果是获取到的外部信息，此时，利用第二函数对第一函数的运行结果中的逻辑变量进行解析，并将逻辑变量显示在列表式图形元素上，包括：利用第二函数对外部信息中的逻辑变量进行解析，并将逻辑变量显示在列表式图形元素上。
具体地，若第一函数获取到的编程所需要的信息中包含多个逻辑变量，此时，逻辑变量为多个，每个逻辑变量对应于一个后续所要处理的信息项，此时，利用第二函数对第一函数的运行结果中的逻辑变量进行解析，并将逻辑变量显示在列表式图形元素上，包括：根据用户的指定从多个逻辑变量中选择用户指定的逻辑变量，并将用户指定的逻辑变量显示在列表式图形元素上。这样，用户在编程时，可根据自身的选择将逻辑变量显示到列表式图形元素上，操作便捷。
具体地，在一个实施例中，列表式图形元素为逻辑列表，该逻辑列表可以包含一个或者多个逻辑变量，每个逻辑变量对应于一个列位，即逻辑列表的列，每个列位包含一个或者多个栏位。此时，利用第二函数对第一函数的运行结果中的逻辑变量进行解析，并将逻辑变量显示在列表式图形元素上，包括：利用第二函数对第一函数的运行结果中的逻辑变量进行解析，并将逻辑变量显示到逻辑列表的对应栏位内。
进一步地，在将逻辑变量显示到逻辑列表的对应栏位之后，上述步骤S108包括：显示第二图形元素与对应的栏位之间的连接关系。
进一步地，在列表式图形元素为逻辑列表的基础上，在上述步骤S106之前，还包括：根据用户的指定设置列表式图形元素中的栏位数量。用户可根据自己的编程习惯自定义列表式图形元素的栏位数量，例如，若用户指定列表式图形元素包含3个栏位，则其数量为3，如图2所示，其中，第一栏位表示信息项的布尔值，即用于显示逻辑变量，此时，将逻辑变量显示到逻辑列表的对应栏位内包括：根据用户的指定在对应的第一栏位内显示逻辑变量。进一步地，第二栏位表示第一栏位的逻辑变量所来源的第一图形元素，第三栏位表示用户针对逻辑变量所来源的第一图形元素的自定义描述，此时，将逻辑变量显示到逻辑列表的对应栏位内包括：根据用户的指定在对应的第二栏位内显示逻辑变量所来源的第一图形元素和/或在对应的第三栏位内显示用户的自定义描述。
进一步地，若用户指定列表式图形元素包含4个栏位，则其数量为4，如图3所示，第四栏位表示不同的逻辑变量进行运算后的值，此时，将逻辑变量显示到逻辑列表的对应栏位内进一步包括：根据用户的指定对逻辑列表中的不同的逻辑变量进行运算，并将运算结果显示到对应的第四栏位。
值得注意的是，根据用户的指定来在对应的栏位内显示相应的信息，在编程过程中，可由用户自行在逻辑列表中自行写入，并进行显示，例如，第二栏位内所显示的逻辑变量所来源的第一图形元素，或者，第三栏位内所显示的用户自定义描述，当然，也可在运行第二函数时，由系统自动写入，例如，第一栏位内所显示的逻辑变量。
如图3所示，在对逻辑列表中的不同的逻辑变量进行运算，并将运算结果显示到对应的第四栏位的基础上，步骤S108中，显示解析结果与第二图形元素之间的连接关系包括：显示第四栏位与第二图形元素之间的连接关系。相应地，步骤S110包括：利用运算结果控制第三函数执行相应的功能。
具体地，在一个实施例中，在第一函数获取到的编程所需要的信息中包含一个逻辑变量，此时，步骤S110包括：利用逻辑变量控制第三函数执行相应的控制功能或逻辑运算。例如，若某个信息项的逻辑变量为1，表示开启摄像机，此时，第三函数直接开启摄像机这一控制功能；若某两个信息项的逻辑变量需要均为1时，方进行后续处理，此时，第三函数将该两个信息项的逻辑变量进行逻辑运算，例如，逻辑与运算，进而，在该两个信息项的逻辑变量均为1时，方进行后续处理。
在其他实施例中，在第一函数获取到的编程所需要的信息中包含多个逻辑变量，此时，步骤S110包括：根据逻辑变量控制第三函数执行相应的控制功能、逻辑运算和/或逻辑判断。若某个信息项的逻辑变量为1，表示程序选择，此时，第三函数执行逻辑判断，若逻辑判断的结果是0，则选择执行某一个程序，若逻辑判断的结果是1，则选择执行另一个程序。控制第三函数执行相应的控制功能和逻辑运算，已在上面进行说明，不再赘述。
具体地，在一个实施例中，同一列表式图形元素连接至少两个第一图形元素，其中至少两个第一图形元素所对应的第一函数不同。例如，在工业视觉系统中，需要同时获取机器人的外部信息和外部输入/输出设备的外部信息，此时，需要使用两个第一图形元素分别获取机器人的外部信息和外部输入/输出设备的外部信息，进而，此两个第一图形元素与一个列表式图形元素连接。进而，在利用第二函数对第一函数的运行结果中的逻辑变量进行解析之后，将逻辑变量显示在列表式图形元素上包括：将对至少两个第一图形元素所对应的第一函数解析出的逻辑变量同时显示在列表式图形元素上。
进一步地，该方法进一步包括：在编程界面上显示第三图形元素，并显示第三图形元素与第二图形元素之间的连接关系，其中第三图形元素对应于第四函数，其中第四函数对应于编程所需要的程序，例如，在工业视觉系统中，需要获取机器人的外部信息时，对机器人的外部信息进行编程所对应需要选择的某个程序，该某个程序在编程界面上设定为某个工具箱，调用该工具箱时，即执行该工具箱所对应的程序。进一步地，本实施例中，该方法包括：响应用户对第三图形元素的操作，在编程界面上显示一对话框，并在对话框中显示第四函数所对应的执行信息。这样，使得图形化编程更加直观简洁，方便用户查看执行结果。在一个实施例中，用户对第三图形元素的操作包括单击第三图形元素、获取焦点等，但不限于此，在其他实施例中，用户对第三图形元素的操作包括双击第三图形元素等。本实施例中，执行信息包括第四函数的设置参数、中间数据以及执行结果中的至少一种或组合，其中，执行信息的呈现形式包括文字、图形以及列表中的任意一种或组合。如图4所示，是一种对话框的示意图，执行信息按照纵向分布，其中，Ture/False表示执行结果，Data表示中间数据，ROI和Para分别表示设置参数，ROI表示第四函数所作用的区域，Para表示具体的相关参数。当然，在本领域技术人员的理解范围之内，该对话框还可以为其他布局。值得注意的是，上述第三图形元素也可设置于编程界面的工具栏上，在需要使用时，直接将其拖拉到编程界面上，同时，在编程界面上对其进行操作时，例如单击或者双击，即可在编程界面上显示其对应的函数的参数，若用户需要对函数的参数进行修改，在编程界面上即可进行，方便简洁。
若执行信息为多个；该方法进一步包括：根据用户的指定在多个执行信息中选择用户指定的执行信息，关闭对话框，并将用户指定的执行信息显示于对应的第三图形元素的周围。进一步方便用户查看执行结果。例如，如图5所示，将中间数据显示在第三图形元素的周围。
下面结合多个具体应用场景对实行上述方法所得到的图形化编程的过程进行详细说明。
首先，以工业视觉系统为例，对采用上述方法进行编程的输入量进行说明，假设，需要同时获取机器人的外部信息和外部输入/输出设备的外部信息，即输入量有2个，其中，列表式图形元素为逻辑列表。
如图5所示，是第一应用场景，首先，在编程界面上显示两个第一图形元素，其中，第一图形元素message对应的第一函数获取机器人的外部信息，列表式图形元素I/O对应的第一函数获取外部输入/输出设备的外部信息，在显示列表式图形元素，并显示第一图形元素与列表式图形元素之间的连接关系，即分别采用一直线将第一图形元素message与列表式图形元素之间，以及第一图形元素I/O与列表式图形元素之间进行连接，此时，运行不同的第一函数，随后，列表式图形元素上显示不同第一函数的运行结果，包括逻辑变量、逻辑变量所来源的第一图形元素以及用户自定义的描述。随后，根据逻辑变量显示第二图形元素，例如，根据逻辑列表中的所显示的自定义描述为control camera，显示第二图形元素open camera；又例如，根据逻辑列表中的所显示的自定义描述为program select，显示相应的第二图形元素，即图中逻辑判断部分select，其包含直线0、直线1以及与直线0和直线1均连接的黑色圆点，接着，显示列表式图形元素的各个栏位与第二图形元素之间的连接关系，例如，采用一直线显示将自定义描述为control camera的栏位与第二图形元素open camera之间的连接关系，又例如，采用两直线分别显示将自定义描述为program select的栏位与逻辑判断部分select中的黑色圆点之间的连接关系，此时，执行不同第二图形元素对应的不同第三函数，如图5所示，即是打开摄像机、执行逻辑判断。最后，显示第三图形元素，例如，第三图形元素pattern和blob，其为编程信息所需要的程序，即program select所指向的程序，随后，显示第三图形元素与第二图形元素之间的连接关系，例如，如图5所示，将直线0指向第三图形元素pattern，将直线1指向第三图形元素blob，此时，执行第三图形元素对应的第四函数。同时如图4所示，在点击第三图形元素blob时，显示第四函数所对应的执行信息，关闭对话框，将用户指定的执行信息显示于对应的第三图形元素的周围。
如图6所示，是第二应用场景，与第一应用场景的区别在于，在编程过程中，列表式图形元素中显示了不同的逻辑变量进行运算后的运行结果，即逻辑列表中的所显示的自定义描述均为program select所对应的两个逻辑变量进行逻辑与运算后的运算结果显示到列表式图形元素的第四栏位内，进而，显示第四栏位与第二图形元素之间的连接关系时控制第三函数执行相应的逻辑判断。
从图5和图6中编程界面上的图形化编程可以看出，使用的直线比较少，并且可直观了解到编程所执行的处理，实现操作可视化，表达直观，相互之间不存在连接关系的交叉，执行依赖关系清晰，而相对于图5中的图形化，图6中的图形化所使用的连接线更少，进而说明，使用逻辑列表可以简化执行关系，进一步使得编程界面表达直观，实现清晰的操作可视化。
如图7所示，是本发明的图形化编程装置一实施例的结构示意图，该图形化编程装置700可应用于工业视觉设计中，包括存储器710、处理器720和总线730。
存储器710用于存储被配置为被处理器720执行的计算机指令以及在处理器720工作过程中所需保存或缓存的数据。
在本实施例中，处理器720通过调用存储器710存储的计算机指令，用于执行：
在编程界面上显示第一图形元素，其中第一图形元素对应于第一函数；
在编程界面上显示列表式图形元素，并显示列表式图形元素与第一图形元素之间的连接关系，其中列表式图形元素对应于用于对第一函数的运行结果进行解析的第二函数；
利用第二函数对第一函数的运行结果进行解析，并将解析结果显示在列表式图形元素上；
在编程界面上显示第二图形元素，并显示解析结果与第二图形元素之间的连接关系，其中第二图形元素对应于第三函数。
需要说明的是，上述处理器720可对应用于执行上述方法实施例中的各个步骤，具体说明请参阅上述方法实施例的描述。
上述处理器720还可以称为CPU（Central Processing Unit，中央处理单元）。存储器710可以包括只读存储器和随机存取存储器，并向处理器720提供指令和数据。存储器710的一部分还可以包括非易失性随机存取存储器（NVRAM）。具体的应用中，移动终端的上述各个组件通过总线730耦合在一起，其中总线730除包括数据总线之外，还可以包括电源总线、控制总线和状态信号总线等。但是为了清楚说明起见，在图中将各种总线都标为总线730。
上述本发明实施例揭示的方法可以应用于处理器720中，或者由处理器720实现。处理器720可能是一种集成电路芯片，具有信号的处理能力。在实现过程中，上述方法的各步骤可以通过处理器720中的硬件的集成逻辑电路或者软件形式的指令完成。上述的处理器720可以是通用处理器、数字信号处理器（DSP）、专用集成电路（ASIC）、现成可编程门阵列（FPGA）或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。可以实现或者执行本发明实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合本发明实施例所公开的方法的步骤可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器710，处理器720读取存储器710中的信息，结合其硬件完成上述方法的步骤。
为此，本发明还提供了计算机可读存储介质，该计算机可读存储介质具体可用作如图7所示的存储器710，其存储有可在处理器720上运行的计算机指令，具体地，在本实施例中，计算机指令能够被执行以实现上述实施例中的图形化编程方法。
需要注意的是，计算机可读存储介质存储有可在处理器730上运行的计算机指令对应于上述方法实施例中的步骤。
本实施例中，在编程界面上，列表式图形元素对应的第二函数对第一图形元素对应的第一函数的运行结果进行解析，将解析结果显示在列表式图形元素上，方便编程人员了解输入的操作，进而，在第二图形元素与解析结果建立连接关系时，控制第二图形元素对应的第三函数执行相应的功能，实现清晰的操作可视化。
另外，本发明还可以提供了一种视觉系统，该系统可以应用于工业视觉设计中，包括上述实施例所述的图形化编程装置，实现操作可视化。当然，在其他实施例中，该系统还包括图像采集装置和图像处理装置，其中，图像采集装置和图像处理装置分别对工业视觉设计中的机器人进行相关信息采集和处理。
以上仅为本发明的实施方式，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (20)

  1. 一种图形化编程方法，其中，所述方法包括：
    在编程界面上显示第一图形元素，其中所述第一图形元素对应于第一函数；
    在所述编程界面上显示列表式图形元素，并显示所述列表式图形元素与所述第一图形元素之间的连接关系，其中所述列表式图形元素对应于用于对所述第一函数的运行结果进行解析的第二函数；
    利用所述第二函数对所述第一函数的运行结果进行解析，并将解析结果显示在所述列表式图形元素上；
    在所述编程界面上显示第二图形元素，并显示所述列表式图形元素与所述第二图形元素之间的连接关系，其中所述第二图形元素对应于第三函数；
    利用所述列表式图形元素上的所述解析结果控制所述第三函数执行相应的功能。
  2. 根据权利要求1中所述的方法，其中，所述利用所述第二函数对所述第一函数的运行结果进行解析，并将解析结果显示在所述列表式图形元素上包括：
    利用所述第二函数对所述第一函数的运行结果中的逻辑变量进行解析，并将所述逻辑变量显示在所述列表式图形元素上。
  3. 根据权利要求2中所述的方法，其中，所述第一函数用于获取来自机器人或外部输入/输出设备的外部信息；
    所述利用所述第二函数对所述第一函数的运行结果中的逻辑变量进行解析，并将所述逻辑变量添加于所述第二图形元素上包括：
    利用所述第二函数对所述外部信息中的逻辑变量进行解析，并将所述逻辑变量添加于所述第二图形元素上。
  4. 根据权利要求2中所述的方法，其中，所述逻辑变量为多个；
    所述利用所述第二函数对所述第一函数的运行结果中的逻辑变量进行解析，并将所述逻辑变量显示在所述列表式图形元素上包括：
    根据用户的指定从所述多个逻辑变量中选择用户指定的逻辑变量，并将用户指定的逻辑变量显示在所述列表式图形元素上。
  5. 根据权利要求2中所述的方法，其中，所述列表式图形元素为逻辑列表，所述利用所述第二函数对所述第一函数的运行结果中的逻辑变量进行解析，并将所述逻辑变量显示在所述列表式图形元素上包括：
    利用所述第二函数对所述第一函数的运行结果中的逻辑变量进行解析，并将所述逻辑变量显示到所述逻辑列表的对应栏位内。
  6. 根据权利要求5中所述的方法，其中，所述在所述编程界面上显示第二图形元素，并显示所述解析结果与所述第二图形元素之间的连接关系包括：
    在所述编程界面上显示第二图形元素，并显示所述第二图形元素与对应的栏位之间的连接关系。
  7. 根据权利要求5中所述的方法，其中，在所述在所述编程界面上显示列表式图形元素之前，还包括：
    根据用户的指定设置所述列表式图形元素中的栏位数量。
  8. 根据权利要求5中所述的方法，其中，所述将所述逻辑变量显示到所述逻辑列表的对应栏位内包括：
    根据用户的指定在对应的第一栏位内显示所述逻辑变量。
  9. 根据权利要求8中所述的方法，其中，所述将所述逻辑变量显示到所述逻辑列表的对应栏位内进一步包括：
    根据用户的指定在对应的第二栏位内显示所述逻辑变量所来源的所述第一图形元素和/或在对应的第三栏位内显示用户的自定义描述。
  10. 根据权利要求8中所述的方法，其中，所述将所述逻辑变量显示到所述逻辑列表的对应栏位内进一步包括：
    根据用户的指定对所述逻辑列表中的不同的逻辑变量进行运算，并将运算结果显示到对应的第四栏位。
  11. 根据权利要求10中所述的方法，其中，所述显示所述解析结果与所述第二图形元素之间的连接关系包括：
    显示所述第四栏位与所述第二图形元素之间的连接关系；
    所述利用所述列表式图形元素上的所述解析结果控制所述第三函数执行相应的功能包括：
    利用所述运算结果控制所述第三函数执行相应的功能。
  12. 根据权利要求2中所述的方法，其中，所述利用所述列表式图形元素上的所述解析结果控制所述第三函数执行相应的功能包括：
    利用所述逻辑变量控制所述第三函数执行相应的控制功能或逻辑运算。
  13. 根据权利要求2中所述的方法，其中，同一所述列表式图形元素连接至少两个所述第一图形元素，其中所述至少两个第一图形元素所对应的第一函数不同；
    所述将所述逻辑变量显示在所述列表式图形元素上包括：
    将对所述至少两个第一图形元素所对应的所述第一函数解析出的所述逻辑变量同时显示在所述列表式图形元素上。
  14. 根据权利要求2中所述的方法，其中，所述利用所述解析结果控制所述第三函数执行相应的功能包括：
    根据所述逻辑变量控制所述第三函数执行相应的控制功能、逻辑运算和/或逻辑判断。
  15. 根据权利要求3中所述的方法，其中，所述方法进一步包括：
    在所述编程界面上显示第三图形元素，并显示所述第三图形元素与所述第二图形元素之间的连接关系，其中所述第三图形元素对应于第四函数。
  16. 根据权利要求15中所述的方法，其中，所述方法进一步包括：
    响应用户对所述第三图形元素的操作，在所述编程界面上显示一对话框，并在所述对话框中显示所述第四函数所对应的执行信息；
    其中：所述执行信息包括所述第四函数的设置参数、中间数据以及执行结果中的至少一种或组合；
    所述执行信息的呈现形式包括文字、图形以及列表中的任意一种或组合。
  17. 根据权利要求16中所述的方法，其中，所述执行信息为多个；
    所述方法进一步包括：
    根据用户的指定在所述多个执行信息中选择用户指定的执行信息，关闭所述对话框，并将用户指定的执行信息显示于所述对应的第三图形元素的周围。
  18. 一种图形化编程装置，其中，所述装置包括存储器和处理器，其中：
    所述存储器用于存储被配置为被所述处理器执行的程序指令；
    所述处理器执行所述程序指令以实现如权利要求1-17中任一项所述的图形化编程方法。
  19. 一种计算机存储介质，其中，存储有处理器可运行的计算机指令，所述计算机指令用于执行如权利要求1至17任一项所述的图形化编程方法。
  20. 一种视觉系统，其中，所述系统包括如权利要求18所述的图形化编程装置。
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