CN108897585B - The configuration method and equipment of the post processing program of robot - Google Patents
The configuration method and equipment of the post processing program of robot Download PDFInfo
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- CN108897585B CN108897585B CN201810714633.7A CN201810714633A CN108897585B CN 108897585 B CN108897585 B CN 108897585B CN 201810714633 A CN201810714633 A CN 201810714633A CN 108897585 B CN108897585 B CN 108897585B
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- 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
- G06F9/445—Program loading or initiating
- G06F9/44505—Configuring for program initiating, e.g. using registry, configuration files
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
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Abstract
The invention discloses a kind of configuration method of the post processing program of robot and equipment.Wherein, this method comprises: obtaining the postposition format of target robot, wherein postposition format is used to indicate the type of post processing program；According to postposition format, the target type node on default conceptional tree is selected, wherein include multiple type nodes on default conceptional tree, there are multiple child nodes under each type node；Target child node under target type node is moved in target post tree, wherein each tree node of target post tree corresponds to multiple postposition subprograms；According to target post tree, the post processing program of target robot is configured.The present invention solves in the related technology since the post processing program compatibility of robot is lower, wastes plenty of time, the technical problem for causing robot control efficiency low.
Description
Technical field
The present invention relates to technical field of robot control, in particular to a kind of post processing program of robot
Configuration method and equipment.
Background technique
In relevant robot application, brand is varied, such as ABB, KUKA, Yaskawa etc..Wherein, currently
Every kind of brand robot, since the production independence of enterprise is all according to itself when the post processing program of robot is arranged
What the software or programming content of exploitation determined, the post processing program between enterprise and enterprise is entirely different, will lead to machine in this way
Device people has gathered a variety of post processing programs, higher to the compliance of the post processing program of robot.Due to current machine
There are different types for the postposition content of device people, format, even KUKA is then for example, same movement instruction, ABB change into MoveJ
Need to be converted into PTP, the postpositive disposal that will lead to robot in this way is complex.And manufacturer are generated due to robot more
Sample, along with the otherness and complexity of different industrial trades, requirement of the same brand robot to postposition is also had nothing in common with each other,
If desired enable robot utonomous working, it is necessary to a plurality of types of post processing programs are integrated, so that robot is each
Unit coordinates work, still, there is no this compatibility postpositive disposal journeys for adapting to robot polymorphic type model for current robot
Sequence, the postposition compatibility that will lead to robot in this way is lower, needs to waste all parts that a large amount of time carrys out coordinating robot,
Cause control efficiency low, influences user experience.
For above-mentioned in the related technology since the post processing program compatibility of robot is lower, the plenty of time is wasted,
The technical problem for causing robot control efficiency low, currently no effective solution has been proposed.
Summary of the invention
The embodiment of the invention provides a kind of configuration method of the post processing program of robot and equipment, at least to solve
In the related technology since the post processing program compatibility of robot is lower, the plenty of time is wasted, robot control efficiency is caused
Low technical problem.
According to an aspect of an embodiment of the present invention, a kind of configuration method of the post processing program of robot is provided,
It include: the postposition format for obtaining target robot, wherein the postposition format is used to indicate the type of post processing program；Root
According to the postposition format, the target type node on default conceptional tree is selected, wherein include multiple classes on the default conceptional tree
Type node has multiple child nodes under each type node；Target child node under the target type node is moved to
In target post tree, wherein each tree node of the target post tree corresponds to multiple postposition subprograms；After the target
Tree is set, the post processing program of the target robot is configured.
Further, the multiple type nodes preset on conceptional tree include at least one following: vertex type node, coordinate system
The types of variables of type node, tool types node, the types of variables node of association transmission control TCP variable, association point variable
Node, input and output I/O event type node.
Further, the postposition format for obtaining target robot includes: multiple taught points according to the target robot,
Determine teaching parameter；According to the teaching parameter, the postposition format is determined.
Further, according to the target post tree, the post processing program for configuring the target robot includes: basis
The target post tree determines initial postposition program；Compare the initial postposition program and whether target post program is identical；If
It is not identical, child node adjustment is carried out to the target post tree, the target post tree after being adjusted；According to adjusted described
Target post tree configures the post processing program of the target robot.
Further, the initial postposition program and target post program it is whether identical include: obtain it is described initial
The global postposition program of the file header of postposition program and initial postposition program；Compare the global postposition journey of the initial postposition program
Whether sequence is identical as target post program.
Further, the target child node under the target type node is moved in target post tree includes: to obtain
The first location information and the second target to be added of first object child node to be moved under the target type node
Second location information of the node in the target post tree, wherein the first object child node to be moved is to move
Onto the position of the second target child node；It, will be described to be moved according to the first location information and second location information
First object child node be moved in the target post tree.
Further, according to the first location information and second location information, by first object to be moved
Node motion includes: to judge institute according to the first location information and the second location information into the target post tree
State whether first object child node can be moved on the corresponding position of the second location information；If the first object child node
It can be moved on the corresponding position of the second location information, according to the second location information, by the first object section
Point is moved on the corresponding target position of the second location information, wherein the target position is one of the following: described second
Before the corresponding position of location information, after the corresponding position of the second location information and the son of the second target child node
Node location；If the first object child node is not able to move on the corresponding position of the second location information, prompt is issued
Information, wherein the prompt information is for prompting the first object child node that can not be moved to second target position.
Further, it is moved on the corresponding target position of the second location information by the first object child node
Later, comprising: according to mobile location information, update the target tree node of the target post tree.
According to another aspect of an embodiment of the present invention, it additionally provides and installs a kind of matching for the post processing program of robot
It is standby, comprising: acquiring unit, for obtaining the postposition format of target robot, wherein the postposition format is used to indicate at postposition
Manage the type of program；Selecting unit, for selecting the target type node on default conceptional tree according to the postposition format,
In, include multiple type nodes on the default conceptional tree, there are multiple child nodes under each type node；Mobile unit,
For the target child node under the target type node to be moved in target post tree, wherein the target post tree
Each tree node corresponds to multiple postposition subprograms；Configuration unit, for configuring the target machine according to the target post tree
The post processing program of people.
Further, the multiple type nodes preset on conceptional tree include at least one following: vertex type node, coordinate system
The types of variables of type node, tool types node, the types of variables node of association transmission control TCP variable, association point variable
Node, input and output I/O event type node.
Further, the acquiring unit includes: the first determining module, for being shown according to the multiple of the target robot
Point is taught, determines teaching parameter；Second determining module, for determining the postposition format according to the teaching parameter.
Further, the configuration unit includes: third determining module, for determining just according to the target post tree
Beginning postposition program；Whether comparison module is identical for the initial postposition program and target post program；Module is adjusted,
If carrying out child node adjustment to the target post tree, the target post tree after being adjusted for not identical；Configuration module,
For configuring the post processing program of the target robot according to the target post tree adjusted.
Further, the comparison module includes: acquisition submodule, for obtaining the file header of the initial postposition program
With the global postposition program of initial postposition program；Comparative sub-module, the global postposition journey for the initial postposition program
Whether sequence is identical as target post program.
Further, the mobile unit includes: acquisition module, for obtaining first object child node to be moved in institute
State of the first location information and the second target child node to be added under target type node in the target post tree
Two location informations, wherein the first object child node to be moved is to be moved to the position of the second target child node
On；Mobile module is used for according to the first location information and second location information, by the first object section to be moved
Point is moved in the target post tree.
Further, the mobile module includes: judging submodule, for according to the first location information and described the
Two location informations, judge whether the first object child node can be moved on the corresponding position of the second location information；It moves
Mover module, if the corresponding position of the second location information can be moved to for the first object child node, according to institute
Second location information is stated, the first object child node is moved on the corresponding target position of the second location information,
In, the target position is one of the following: before the corresponding position of the second location information, the second location information it is corresponding
Position after and the second target child node child node position；Submodule is issued, if being used for the first object section
Point is not able to move on the corresponding position of the second location information, issues prompt information, wherein the prompt information is for mentioning
Show that the first object child node can not be moved on second target position.
Further, the equipment further include: updating unit, for the first object child node is moved to it is described
After on the corresponding target position of second location information, according to mobile location information, the target of the target post tree is updated
Tree node.
According to another aspect of an embodiment of the present invention, a kind of terminal is additionally provided, comprising: memory, with the memory
The processor of coupling, the memory and the processor are communicated by bus system；The memory is used to store program,
Wherein, equipment where described program controls the memory when being executed by processor executes machine described in above-mentioned any one
The configuration method of the post processing program of people, the processor is for running program, wherein described program executes above-mentioned when running
The configuration method of the post processing program of robot described in any one.
In embodiments of the present invention, the postposition format of target robot can first be obtained, wherein postposition format is used to indicate
The type of post processing program selects the target type node on default conceptional tree according to postposition format, wherein default concept
Include multiple type nodes on tree, there are multiple child nodes under each type node, by the target child node under target type node
It is moved in target post tree, wherein each tree node of target post tree corresponds to multiple postposition subprograms, finally can basis
Target post tree configures the post processing program of target robot.In this embodiment it is possible to by selecting on default conceptional tree
Type node, the detailed child node of the type is had under each node, and desired child node is moved to target post tree,
It to construct target post tree, is configuring, desired post processing program can automatically generated, thus right according to the postposition tree
The type of different types of post processing program can voluntarily configure desired program, compatible simultaneously without debugging one by one
Various types of robots, to solve in the related technology since the post processing program compatibility of robot is lower, waste is big
Measure time, the technical problem for causing robot control efficiency low.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the flow chart of the configuration method of the post processing program of robot according to an embodiment of the present invention；
Fig. 2 is a kind of schematic diagram of the configuration interface of the post processing program of robot according to an embodiment of the present invention；
Fig. 3 is the schematic diagram of the configuration method of the post processing program of another robot according to an embodiment of the present invention；
Fig. 4 is a kind of schematic diagram of the configuration equipment of the post processing program of robot according to an embodiment of the present invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
The following embodiments of the present invention can be applied in various robots, including industrial robot, business machine people etc., when
So, in the application for the concrete model of robot and type without limitation.For every kind of robot, postpositive disposal journey
Sequence can not be identical, in this way in the postposition program of configuration of robotic, it may be desirable to various postposition templates, due to company or everyone
The programming language or processing routine used is different, and the postposition template used will not be identical, relates in the following embodiments of the present invention
And to postposition format or postposition template include but is not limited to: ABB, ADT, GSK, KEBA, KUKA, STEP, UR, YASKAWA,
EPSON etc..Optionally, these templates can be is entered into the server or memory on backstage in advance, as long as user clicks
Corresponding template, so that it may which the template for calling out corresponding post processing program is adding corresponding control language or program is
It can.
Optionally, in the following embodiments, user can be according to the type or model of different robots, and it is right therewith to select
The template for the post processing program answered, including but not limited to above-mentioned template, if the mould being not intended in above-mentioned template
Plate then can voluntarily configure oneself desired template by following modes, can pass through the class of each tree of selection postposition tree
Type, and the child node of each tree is configured, the sequencing of each node of tree is adjusted, to reach oneself desired postpositive disposal journey
Sequence.I.e. in the embodiment of the present invention, can voluntarily configuration of robotic post processing program.Below with reference to each embodiment to this hair
It is bright to be illustrated.
Embodiment one
According to embodiments of the present invention, a kind of embodiment of the method for the configuration of the post processing program of robot is provided, is needed
It is noted that step shown in the flowchart of the accompanying drawings can be in the computer system of such as a group of computer-executable instructions
Middle execution, although also, logical order is shown in flow charts, and it in some cases, can be to be different from herein
Sequence executes shown or described step.
Fig. 1 is the flow chart of the configuration method of the post processing program of robot according to an embodiment of the present invention, such as Fig. 1 institute
Show, this method comprises the following steps:
Step S102 obtains the postposition format of target robot, wherein postposition format is used to indicate post processing program
Type.
Wherein, above-mentioned postposition format, can be for the post processing program of different robots, each
Post processing program, postposition format may be all different.The concrete type of postposition format is not limited in the embodiment of the present invention.
Optionally, the postposition format for obtaining target robot includes: multiple taught points according to target robot, and determination is shown
Teach parameter；According to teaching parameter, postposition format is determined.Wherein, the taught point can refer to what the autonomous control of robot was portrayed
Point, by known taught point, the postposition format of available robot needs.
Step S104 selects the target type node on default conceptional tree according to postposition format, wherein default conceptional tree
Upper includes multiple type nodes, has multiple child nodes under each type node.
Wherein, the default conceptional tree can refer to each type including known robot, and corresponding conceptional tree should
Default conceptional tree is integrated with all robot settings, such as each point of robot, optionally, presets on conceptional tree
Multiple type nodes include at least one following: vertex type node, coordinate system type node, tool types node, association pass
The types of variables node of defeated control TCP variable, the types of variables node for being associated with point variable, input and output I/O event type node.
It may include different type nodes for each position of different robots, when being portrayed such as robot, vertex type
Node can also include following types of child node: iterator, point coordinate-X, point coordinate-Y, the point coordinate-Z, point coordinate-of point
A, coordinate-B, point coordinate-C, arc transition, tracing point serial number, global point serial number, point instruction, transfer point moveL etc. are put, for
The point of different robot settings, can be there are many vertex type child node.And for other coordinate system nodes, it can refer to machine
The node of coordinate system indicated by the mechanical arm and scale needle of device people.Certainly, the application does not limit above-mentioned default concept
The type node of tree, the different parts or different type that can be for robot are illustrated, such as to the method for robot
The corresponding type node of the settings such as orchid, mechanical arm.
Target child node under target type node is moved in target post tree, wherein target post by step S106
Each tree node of tree corresponds to multiple postposition subprograms.
Step S108 configures the post processing program of target robot according to target post tree.
Through the above steps, the postposition format of target robot can first be obtained, wherein postposition format is used to indicate postposition
The type of processing routine selects the target type node on default conceptional tree according to postposition format, wherein on default conceptional tree
Including multiple type nodes, there are multiple child nodes under each type node, the target child node under target type node is mobile
Into target post tree, wherein each tree node of target post tree corresponds to multiple postposition subprograms, finally can be according to target
Postposition tree configures the post processing program of target robot.In this embodiment it is possible to by selecting the class on default conceptional tree
Type node has the detailed child node of the type under each node, and desired child node is moved to target post tree, with structure
Target post tree is made, is being configured, desired post processing program can be automatically generated, thus to difference according to the postposition tree
The type of the post processing program of type can voluntarily configure desired program, and without debugging one by one, while compatibility is various
The robot of type, to solve in the related technology since the post processing program compatibility of robot is lower, when wasting a large amount of
Between, the technical problem that causes robot control efficiency low.
For above-described embodiment, according to target post tree, the post processing program for configuring target robot includes: according to mesh
Postposition tree is marked, determines initial postposition program；Compare initial postposition program and whether target post program is identical；It is right if not identical
Target post tree carries out child node adjustment, the target post tree after being adjusted；According to target post tree adjusted, mesh is configured
The post processing program of scalar robot.
Wherein, above-mentioned target post program, can refer to post processing program expected from user.And target post tree,
It can be after finger is configured with each tree node and each child node, form postposition tree, in a target post tree, wrap
It includes: file (comprising file header), the iterator (iterator comprising track) of trajectory set and end-of-file etc..
A kind of optional embodiment, more initial postposition program and target post program it is whether identical include: obtain just
The global postposition program of the file header of beginning postposition program and initial postposition program；Compare the global postposition program of initial postposition program
It is whether identical as target post program.
Optionally, the target child node under target type node is moved in target post tree includes: that acquisition is to be moved
First location information and to be added second target child node of the first object child node under target type node in target
Second location information in postposition tree, wherein first object child node to be moved will be moved to the second target child node
On position；According to first location information and second location information, first object child node to be moved is moved to target post
In tree.
An alternative embodiment, according to first location information and second location information, by first object to be moved
It includes: to judge first object section according to first location information and second location information that child node, which is moved in target post tree,
Whether point can be moved on the corresponding position of second location information；If first object child node can be moved to second location information pair
On the position answered, according to second location information, first object child node is moved to the corresponding target position of second location information
On, wherein target position is one of the following: before the corresponding position of second location information, the corresponding position of second location information
Later with the child node position of the second target child node；If it is corresponding that first object child node is not able to move to second location information
On position, prompt information is issued, wherein prompt information is for prompting first object child node that can not be moved to the second target position
On.
For the embodiment of the present invention, first object child node is being moved on the corresponding target position of second location information
Later, comprising: according to mobile location information, update the target tree node of target post tree.It can be to each of postposition tree
Node is updated, and the postposition tree that user wants is obtained, to obtain post processing program.
Fig. 2 is a kind of schematic diagram of the configuration interface of the post processing program of robot according to an embodiment of the present invention, such as
Shown in Fig. 2, which may include: selection formwork module 21, general view module 22, child node module 23, postposition tree module
24, initial preview module 25, global previewing module 26, wherein selection formwork module 21 can be to each known postposition lattice
Formula carries out ABB, ADT, GSK, KEBA, KUKA in stencil-chosen, such as selection Fig. 2, and general view module 21 may include each class
Type node, such as in Fig. 2: point data, coordinate system, tool data, I/O event, and in child node module 23, it can be to choosing
The type node selected carries out listing for detailed child node, and user can choose each thin child node, and for postposition tree mould
Block 24 can be the target post tree for showing user configuration, may include: the iterator and file of file header, trajectory set
Tail.Optionally, for initial preview module 25, it can be and the content in postposition tree module 24 is displayed the details of, and complete
Office's previewing module 26, can show configured specific post processing program.
Fig. 3 is the schematic diagram of the configuration method of the post processing program of another robot according to an embodiment of the present invention,
As shown in figure 3, the configuration method be to configuration postposition tree in whether can be illustrated in a manner of mobile node, as shown in figure 3,
This method comprises:
Step S301 is obtained and is pulled node (having corresponded to above-mentioned first object child node to be moved) and destination node
(having corresponded to above-mentioned the second target child node to be added).I.e. judgement needs the node of movement and the position of goal tree.
Step S302 judges to pull node and whether destination node is the same node.
If so, step S311 is executed, if it is not, executing step S303.
Step S303 judges to pull node and destination node whether on the same node tree.
If so, step S304 is executed, if it is not, executing step S305.
Step S304 judges whether destination node is the father node for selecting node.Wherein, which can be feeling the pulse with the finger-tip
The selection node in postposition tree is marked, needs to judge the relationship between node herein.
If so, step 306 is executed, if it is not, executing step S305.
Step S305 obtains the position for pulling node and destination node.
Step S306 is prompted immovable.
Step S307 judges whether to move according to shift position.
If so, step S308 is executed, if it is not, executing step S309.
Step S308 will pull node motion to target position according to shift position.Wherein, which can refer to
Show the front-rear position of destination node or the child node of the destination node.
Step S309 prompts current location immovable.
Step S310 updates postposition tree.
Step S311, end operation.
By above-mentioned configuration method, can determine whether move on the dragging node to target position of selection,
To realize the integrated of postposition tree, to obtain post processing program.
Embodiment two
The following embodiments of the present invention provide configuration equipment, which can correspond at the postposition of above-mentioned robot
Manage the configuration method of program.
Fig. 4 is a kind of schematic diagram of the configuration equipment of the post processing program of robot according to an embodiment of the present invention, such as
Shown in Fig. 4, which includes: acquiring unit 41, for obtaining the postposition format of target robot, wherein postposition format is used for
Indicate the type of post processing program；Selecting unit 43, for selecting the target type on default conceptional tree according to postposition format
Node, wherein include multiple type nodes on default conceptional tree, have multiple child nodes under each type node；Mobile unit 45,
For the target child node under target type node to be moved in target post tree, wherein each burl of target post tree
The corresponding multiple postposition subprograms of point；Configuration unit 47, for configuring the postpositive disposal journey of target robot according to target post tree
Sequence.
By above-mentioned configuration equipment, the postposition format that acquiring unit 41 first obtains target robot can use, wherein
Postposition format is used to indicate the type of post processing program, and selects default concept according to postposition format using selecting unit 43
Target type node on tree, wherein include multiple type nodes on default conceptional tree, have multiple sub- sections under each type node
Then point can use mobile unit 45 and the target child node under target type node be moved in target post tree, wherein
Each tree node of target post tree corresponds to multiple postposition subprograms, finally can be by configuration unit 47 according to target post
Tree, configures the post processing program of target robot.In this embodiment it is possible to by selecting the type section on default conceptional tree
Point has the detailed child node of the type under each node, and desired child node is moved to target post tree, to construct mesh
Postposition tree is marked, is configuring, desired post processing program can automatically generated, thus to different type according to the postposition tree
Post processing program type, desired program can be voluntarily configured, without debugging one by one, while compatible various types
Robot, thus solve in the related technology since the post processing program compatibility of robot is lower, waste the plenty of time, lead
The technical problem for causing robot control efficiency low.
Optionally, the multiple type nodes preset on conceptional tree include at least one following: vertex type node, coordinate system class
Type node, tool types node, association transmission control the types of variables node of TCP variable, are associated with the types of variables section of point variable
Point, input and output I/O event type node.
Another optional embodiment, acquiring unit includes: the first determining module, for according to the more of target robot
A taught point determines teaching parameter；Second determining module, for determining postposition format according to teaching parameter.
It should be noted that above-mentioned configuration unit may include: third determining module, for according to target post tree,
Determine initial postposition program；Whether comparison module is identical for comparing initial postposition program and target post program；Adjust mould
Block, if carrying out child node adjustment to target post tree, the target post tree after being adjusted for not identical；Configuration module is used
According to target post tree adjusted, the post processing program of target robot is configured.
Preferably, above-mentioned comparison module includes: acquisition submodule, for obtain initial postposition program file header and just
The global postposition program of beginning postposition program；Comparative sub-module, for comparing the global postposition program and target of initial postposition program
Whether postposition program is identical.
For the embodiment of the present invention, mobile unit includes: acquisition module, for obtaining first object child node to be moved
In the second of first location information and the second target child node to be added in target post tree under target type node
Confidence breath, wherein first object child node to be moved is moved on the position of the second target child node；Mobile module,
For according to first location information and second location information, first object child node to be moved to be moved to target post tree
In.
Optionally, mobile module includes: judging submodule, for sentencing according to first location information and second location information
Whether disconnected first object child node can be moved on the corresponding position of second location information；Mobile submodule, if being used for the first mesh
Mark child node can be moved on the corresponding position of second location information, and according to second location information, first object child node is moved
It moves on the corresponding target position of second location information, wherein target position is one of the following: the corresponding position of second location information
Before setting, after the corresponding position of the second location information and child node position of the second target child node；Submodule is issued, is used for
If first object child node is not able to move on the corresponding position of second location information, prompt information is issued, wherein prompt information
For prompting first object child node that can not be moved to the second target position.
In addition, equipment further include: updating unit, for first object child node to be moved to second location information correspondence
Target position on after, according to mobile location information, update the target tree node of target post tree.
Embodiment three
According to another aspect of an embodiment of the present invention, a kind of terminal is additionally provided, comprising: memory is coupled with memory
Processor, memory and processor are communicated by bus system；Memory is for storing program, wherein program is being located
Equipment where control memory executes the configuration method of the post processing program of the robot of above-mentioned any one when reason device executes,
Processor is for running program, wherein program executes matching for the post processing program of the robot of above-mentioned any one when running
Set method.
Optionally, above-mentioned processor is when executing program, the postposition format of available target robot, wherein after
Set the type that format is used to indicate post processing program；According to postposition format, the target type node on default conceptional tree is selected,
Wherein, presetting includes multiple type nodes on conceptional tree, has multiple child nodes under each type node；It will be under target type node
Target child node be moved in target post tree, wherein each tree node of target post tree corresponds to multiple postposition subprograms；
According to target post tree, the post processing program of target robot is configured.
Optionally, the multiple type nodes preset on conceptional tree include at least one following: vertex type node, coordinate system class
Type node, tool types node, association transmission control the types of variables node of TCP variable, are associated with the types of variables section of point variable
Point, input and output I/O event type node.
Optionally, above-mentioned processor, can be according to multiple taught points of target robot when executing program, and determination is shown
Teach parameter；According to teaching parameter, postposition format is determined.
Optionally, above-mentioned processor can determine initial postposition program according to target post tree when executing program；
Compare initial postposition program and whether target post program is identical；If not identical, child node adjustment is carried out to target post tree, is obtained
To target post tree adjusted；According to target post tree adjusted, the post processing program of target robot is configured.
Optionally, above-mentioned processor is when executing program, the file header of available initial postposition program and it is initial after
Set the global postposition program of program；Whether global postposition program and the target post program for comparing initial postposition program are identical.
Optionally, for above-mentioned processor when executing program, available first object child node to be moved is in target
The second confidence of first location information and the second target child node to be added in target post tree under type node
Breath, wherein first object child node to be moved is moved on the position of the second target child node；Believed according to first position
Breath and second location information, first object child node to be moved is moved in target post tree.
Optionally, above-mentioned processor can be sentenced when executing program according to first location information and second location information
Whether disconnected first object child node can be moved on the corresponding position of second location information；If first object child node can be moved to
On the corresponding position of second location information, according to second location information, first object child node is moved to second location information
On corresponding target position, wherein target position is one of the following: before the corresponding position of second location information, the second position
After the corresponding position of the information and child node position of the second target child node；If first object child node is not able to move to second
On the corresponding position of location information, prompt information is issued, wherein prompt information is for prompting first object child node that can not move
Onto the second target position.
Optionally, first object child node can be moved to the second position when executing program by above-mentioned processor
After on the corresponding target position of information, according to mobile location information, the target tree node of target post tree is updated.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
In the above embodiment of the invention, it all emphasizes particularly on different fields to the description of each embodiment, does not have in some embodiment
The part of detailed description, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, such as the division of the unit, Ke Yiwei
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of unit or module
It connects, can be electrical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
On unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can for personal computer, server or network equipment etc.) execute each embodiment the method for the present invention whole or
Part steps.And storage medium above-mentioned includes: that USB flash disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic or disk etc. be various to can store program code
Medium.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of configuration method of the post processing program of robot characterized by comprising
Obtain the postposition format of target robot, wherein the postposition format is used to indicate the type of post processing program；
According to the postposition format, the target type node on default conceptional tree is selected, wherein include on the default conceptional tree
Multiple type nodes have multiple child nodes under each type node；
Target child node under the target type node is moved in target post tree, wherein the target post tree
Each tree node corresponds to multiple postposition subprograms；
According to the target post tree, the post processing program of the target robot is configured.
2. the method according to claim 1, wherein multiple type nodes on default conceptional tree include it is following extremely
It is one of few:
Vertex type node, coordinate system type node, tool types node, association transmission control TCP variable types of variables node,
It is associated with types of variables node, the input and output I/O event type node of point variable.
3. the method according to claim 1, wherein the postposition format for obtaining target robot includes:
According to multiple taught points of the target robot, teaching parameter is determined；
According to the teaching parameter, the postposition format is determined.
4. the method according to claim 1, wherein configuring the target machine according to the target post tree
The post processing program of people includes:
According to the target post tree, initial postposition program is determined；
Compare the initial postposition program and whether target post program is identical；
If not identical, child node adjustment is carried out to the target post tree, the target post tree after being adjusted；
According to the target post tree adjusted, the post processing program of the target robot is configured.
5. according to the method described in claim 4, it is characterized in that, the initial postposition program and target post program are
It is no identical to include:
Obtain the file header of the initial postposition program and the global postposition program of initial postposition program；
Whether global postposition program and the target post program for comparing the initial postposition program are identical.
6. the method according to claim 1, wherein the target child node under the target type node is mobile
Include: into target post tree
Obtain the first location information and to be added of first object child node to be moved under the target type node
Second location information of the two target child nodes in the target post tree, wherein the first object child node to be moved
It is to be moved on the position of the second target child node；
According to the first location information and second location information, the first object child node to be moved is moved to described
In target post tree.
7. according to the method described in claim 6, it is characterized in that, according to the first location information and second location information,
The first object child node to be moved is moved in the target post tree and includes:
According to the first location information and the second location information, judge whether the first object child node can be moved to
On the corresponding position of the second location information；
If the first object child node can be moved on the corresponding position of the second location information, according to the second position
The first object child node is moved on the corresponding target position of the second location information, wherein the target by information
Position is one of the following: before the corresponding position of the second location information, after the corresponding position of the second location information
With the child node position of the second target child node；
If the first object child node is not able to move on the corresponding position of the second location information, prompt information is issued,
Wherein, the prompt information is for prompting the first object child node that can not be moved to the corresponding mesh of the second location information
In cursor position.
8. the method according to the description of claim 7 is characterized in that the first object child node is moved to described second
After on the corresponding target position of location information, comprising:
According to mobile location information, the target tree node of the target post tree is updated.
9. a kind of configuration equipment of the post processing program of robot characterized by comprising
Acquiring unit, for obtaining the postposition format of target robot, wherein the postposition format is used to indicate postpositive disposal journey
The type of sequence；
Selecting unit, for selecting the target type node on default conceptional tree, wherein described pre- according to the postposition format
If on conceptional tree including multiple type nodes, there are multiple child nodes under each type node；
Mobile unit, for the target child node under the target type node to be moved in target post tree, wherein described
Each tree node of target post tree corresponds to multiple postposition subprograms；
Configuration unit, for configuring the post processing program of the target robot according to the target post tree.
10. a kind of terminal characterized by comprising
Memory, the processor coupled with the memory, the memory and the processor are communicated by bus system；
The memory is for storing program, wherein described program is set where controlling the memory when being executed by processor
The configuration method of the post processing program of robot described in any one of standby perform claim requirement 1 to 8,
The processor is for running program, wherein perform claim requires described in any one of 1 to 8 when described program is run
Robot post processing program configuration method.
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| CN201810714633.7A CN108897585B (en) | 2018-06-29 | 2018-06-29 | The configuration method and equipment of the post processing program of robot |
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| CN107797794A (en) * | 2017-10-17 | 2018-03-13 | 北京华航唯实机器人科技股份有限公司 | Edit methods, device, storage medium, processor and the terminal of program code |
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