CN113687832B - Robot program storage and compiling method - Google Patents
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Abstract
The invention adopts the pre-program expressed by XML and the user setting to be stored together to form a primary program, the primary program contains all information displayed for the user, and the program is expressed in a user habit mode; acquiring the primary program through a middle-level analyzer, eliminating information only used for display according to the XML tag rule and the user preference setting, screening the information only used for analysis, generating a middle-level program expressed by BAS and storing the middle-level program; the high-level resolver analyzes the middle-level program and generates a high-level control instruction to the robot, the middle-level program is simplified by deleting information only used for displaying, the high-level resolver does not receive useless information, and efficiency is improved. The invention utilizes the structural characteristics of XML and the freedom characteristics of user preference setting to meet the requirements of the primary program instruction on structural, expandability, universality and user customized expression, and forms a BAS intermediate-level program through screening information to meet the high efficiency of subsequent analysis and execution.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot program storage and compiling method.
Background
In order to enable the robot to complete various complicated production and operation requirements, various program instructions are generated, including logic instructions, motion instructions, control instructions and the like, and each program instruction is expanded with a plurality of additional parameters for the purposes of optimizing motion, accurately controlling and the like.
As the application of the robot becomes more extensive, the application background becomes complex, which requires that the program instructions of the robot must be easy for the user to understand and operate and easy to expand. Thus, the program instructions are made up of more and more parts, each of which in turn provides multiple options, and the relationships between the instructions are tighter.
If a robot is controlled by program instructions, the instructions need to be translated into a language recognizable by the machine, and this process is program parsing. The process is mainly divided into two steps, wherein the first step is to acquire a program instruction file, and the second step is to convert the program instruction file into a machine language. For the first step, the method adopted at present mainly stores the main body and the additional parameters of the program instruction in a text file, and in the process of executing the second step, the main body and the additional parameters of the command are obtained by searching the file and then are converted into the machine instruction by processing.
Because the program instructions are complex and changeable, the general text file cannot store the structures and the relations of the instructions, and the instructions are not stored in a unified and general way, the program parser needs to execute different processing ways for each different structure and storage, and meanwhile, if the structures of the program instructions are changed, the parser needs to develop a corresponding scheme, so that the parser has low working efficiency and high maintenance cost.
Meanwhile, the current common display and execution programs are consistent, which causes a problem that information in the programs stores information unnecessary for the execution layers in order to meet the integrity of the display layers or the requirements of customization. Therefore, how to satisfy the customization requirement of the user on the display layer and simultaneously give necessary information to the execution layer is a current problem.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a robot program storage and compiling method, which clearly expresses the nesting relation among all levels of labels by using the structuralization of extensible markup language (XML).
In order to achieve the above object, the present invention provides a robot program storage and compiling method, including:
step S01: receiving a user program instruction input in a text form and user setting information related to the user program instruction;
step S02: respectively disassembling the instruction information of the user program and the setting information of the user according to XML label rules, and forming a pre-program and user setting expressed by XML, wherein the pre-program and the user setting are stored together to form a primary program, and the pre-program comprises a plurality of first sub-labels only used for displaying information, a plurality of second sub-labels only used for analyzing information and a plurality of third sub-labels simultaneously used for displaying information and analyzing information; the pre-program comprises a plurality of interference information blocks, each pre-information block comprises one or more groups of primary control instruction combinations, and the pre-program is provided with an access interface for accessing each pre-information block; each set of the primary control instructions has a corresponding XML tag;
step S03: the middle-level parser acquires the primary program, rejects the information which is contained in the first sub-tags and the third sub-tags and is only used for displaying according to the XML tag rule, screens out the information which is contained in the second sub-tags and the third sub-tags and is only used for parsing, standardizes or simplifies the information which is only used for parsing, generates a middle-level program and stores the middle-level program; when the default standard based on all or part of the parameters in the program instructions is not consistent with the selected standard in the user preference configuration, unifying the contents of the parameters into the contents expressed by the default standard; the simplification processing is to delete the selected standard in the user preference configuration after the parameter with default standard is processed by the standardization;
step S04: and the high-level analyzer analyzes the middle-level program and generates a high-level control instruction to the robot.
Preferably, the first sub-tag, the second sub-tag and the third sub-tag each include m corresponding n-level sub-tags, and m and n are integers greater than or equal to 1; and each n-level sub-label has a corresponding n-level sub-label name, and the corresponding first sub-label and the corresponding primary control instruction and/or the second sub-label and the corresponding primary control instruction and/or the third sub-label and the corresponding primary control instruction are extracted through the access interface according to each n-level sub-label name.
Preferably, each n-level sub-label also has a corresponding n-level sub-label attribute and n-level sub-label content, and the n-level sub-label attribute includes one or two combinations of a type attribute and a unit attribute; after extracting the corresponding first sub-label and the corresponding primary control instruction or the second sub-label and the corresponding primary control instruction or the third sub-label and the corresponding primary control instruction according to the n-level sub-label attribute through the access interface, editing the n-level sub-label content of the n-level sub-label to edit the corresponding primary control instruction, wherein the editing comprises one or more combinations of adding, deleting and modifying.
Preferably, the primary control instruction includes a logic instruction, the logic instruction has 1 corresponding level-1 logic tag, the level-1 logic tag has a corresponding logic tag attribute, the logic tag attribute includes a logic judgment type, the level-1 logic tag is nested with m level-2 logic tags, each level-2 logic tag has a corresponding level-2 logic tag content, and m level-3 logic tags which are parallel or nested are filled in each level-2 logic tag content.
Preferably, the 2-level logic tag comprises one or two combinations of a logic condition tag and a logic subject tag; the 3-level logic tag is an element tag, the element tag has corresponding element attributes and element contents, the element contents are used for editing the corresponding logic instructions, and the element attributes comprise one or two combinations of element types and element units.
Preferably, the primary control instruction comprises a value instruction having a corresponding 1 level 1 value tag; m 2-level assignment tags are nested in the 1-level assignment tag, and the 2-level assignment tags comprise a left value tag and a right value tag; the 2-level assignment tags have corresponding 2-level assignment tag contents, and each 2-level assignment tag content is filled with assignment value data or m nested 3-level assignment tags.
Preferably, the primary control instruction comprises a general instruction having a corresponding 1 level 1 general tag; the level 1 generic tag has a level 1 generic tag attribute and is nested with m level 2 generic tags, the level 2 generic tags including an entry tag.
Preferably, the item tag has corresponding item attributes and item content to represent additional parameters of the general instruction; the item content is used for editing the corresponding general instruction, and the item attribute comprises one or two combinations of item types and item units.
Preferably, the format of the primary program instruction is in an xml format, and the format of the intermediate program instruction is in a bas format.
Preferably, the content of the parameter comprises a parameter value plus a unit.
According to the technical scheme, the nested relation among all levels of labels can be clearly expressed by using the structuralization of extensible markup language (XML), so that the requirements of the primary program instruction on the structure, the expandability and the universality are met.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart illustrating a program compiling method of a robot according to an embodiment of the present invention.
Detailed Description
In order to make the contents of the present invention more clearly understood, the contents of the present invention will be further described with reference to the accompanying drawings. The invention is of course not limited to this particular embodiment, and general alternatives known to those skilled in the art are also covered by the scope of the invention.
The embodiments of the present invention will be described in detail with reference to the accompanying drawings and examples, so that how to implement the technical means for solving the technical problems and achieving the technical effects of the present invention can be fully understood and implemented. Referring to fig. 1, fig. 1 is a flowchart illustrating a program compiling method for a robot according to an embodiment of the invention. As shown in fig. 1, the robot program compiling method of the present invention includes 4 steps:
first, step S01: user program instructions entered in textual form and user setting information associated with the user program instructions are received.
User settings are configured in XML, configuration XML for short, according to user preferences such as display language, usage units, display numerical precision, etc. The pre-program is compiled and stored through extensible markup language (XML), the XML is a general markup language, uniform grammar and format are provided, and users can express data in a semantic way.
Next, step S02: respectively disassembling the instruction information of the user program and the setting information of the user according to XML label rules, and forming a pre-program and user setting expressed by XML, wherein the pre-program and the user setting are stored together to form a primary program, and the pre-program comprises a plurality of first sub-labels only used for displaying information, a plurality of second sub-labels only used for analyzing information and a plurality of third sub-labels simultaneously used for displaying information and analyzing information; the pre-program comprises a plurality of interference information blocks, each pre-information block comprises one or more groups of primary control instruction combinations, and the pre-program is provided with an access interface for accessing each pre-information block; each set of the primary control instructions has a corresponding XML tag.
The pre-program comprises a plurality of intervention information blocks, each pre-information block comprises one or more groups of primary control instruction combinations, and the pre-program is provided with an access interface for accessing each pre-information block; each set of the primary control instructions has a corresponding tag. The tags comprise a first sub-tag and a second sub-tag, according to the XML tag rule, the first sub-tag corresponds to each information only used for display, and the second sub-tag corresponds to each information only used for analysis.
Specifically, the first sub-label is only used by the display layer, and the main purpose of the first sub-label is to satisfy the complete storage of user information. In an embodiment, the annotation of the point location has the first sub-tag for use only by the display layer or the user, and the execution layer or parser need not be aware of such information.
The second sub-label is only used by the execution layer, and is mainly used for data standardization processing. The standard unit of the speed is provided with the second sub tag, when the subsequent middle-level resolver resolves the speed, the unit configured by the user and the standard unit are read, and the unit configured by the user is unified into a numerical value under the standard unit, so that the data standardization processing is realized.
In this embodiment, the tag further includes a third sub-tag, where the third sub-tag is applicable to the display layer and the execution layer, and corresponds to the plurality of information only used for display and the plurality of information only used for analysis. And the third sub-label bears the data required by the display layer and the execution layer. In one embodiment, the primary control instruction comprises a logic instruction having the third sub-tag, indicating that both the display layer and the execution layer need to read the logic instruction, i.e. the user needs to read, and the pre-parser needs to read.
The first sub-tag, the second sub-tag and the third sub-tag comprise m corresponding n-level sub-tags, and m and n are integers greater than or equal to 1; and each n-level sub-label has a corresponding n-level sub-label name, and the corresponding first sub-label and the corresponding primary control instruction and/or the second sub-label and the corresponding primary control instruction and/or the third sub-label and the corresponding primary control instruction are extracted through the access interface according to each n-level sub-label name.
In order to distinguish which type of sub-label each label belongs to, sub-label category identification can be added to each label, and there are two ways of sub-label category identification, one way is to nest m same-level or nested n-level sub-labels, for example, a plurality of 1-level word labels are nested in 1 first sub-label, 1 second sub-label or 1 third sub-label at the same level, or a plurality of 2-level sub-labels are nested in 1 said 1-level sub-label at the same level; it is also possible to add 1 n-level sub-label attribute to the corresponding n-level sub-label.
The user-defined sub-tag category identification is used for corresponding processing of a subsequent middle-level parser, and if the sub-tag category identification is the first sub-tag, the middle-level parser skips the part when parsing the XML file; if the XML file is the third sub-tag, the display layer skips the XML file content when reading the XML file content, and the XML file content is not displayed on the interface, namely is invisible to the user; if it is the second sub-tag, the element is considered for display, and the middle level parser also needs the element to generate the BAS. The difference between the two is that the application range is wide, the range of the self-defined sub-label category identification is wider, all labels at the same level or at the next level with the sub-label category identification belong to the same sub-label, and the n-level sub-label attribute only aims at the corresponding n-level label, namely only the n-level label using the attribute is set, and the influence on the same level or the next level label is avoided.
In this embodiment, the primary control instruction includes an assignment instruction and a general instruction. In another embodiment, the primary control instruction includes one or more combinations of the above logic instructions, assignment instructions, and general instructions. The primary program written by the extensible language is used for displaying by a user and analyzing by an analyzer on one hand, and can be used for the user and the analyzer together on the other hand. For example, the user configures the primary program with the n-level sub-tag, options to change speed units, whether to display Chinese in the primary control instruction, and the like.
Each n-level sub-label also has corresponding n-level sub-label attributes and n-level sub-label contents, and the n-level sub-label attributes comprise one or two combinations of type attributes and unit attributes; after extracting the corresponding first sub-label and the corresponding primary control instruction or the second sub-label and the corresponding primary control instruction or the third sub-label and the corresponding primary control instruction according to the n-level sub-label attribute through the access interface, editing the n-level sub-label content of the n-level sub-label to edit the corresponding primary control instruction, wherein the editing comprises one or more combinations of adding, deleting and modifying.
Specifically, the logic instruction has 1 corresponding level-1 logic tag, and the level-1 logic tag has a corresponding logic tag attribute, where the logic tag attribute includes a logic judgment type; m 2-level logic tags are nested in the 1-level logic tag, and the 2-level logic tag comprises one or two combinations of a logic condition tag and a logic main body tag; each 2-level logic label has corresponding 2-level logic label content, and m 3-level logic labels which are parallel or nested are filled in each 2-level logic label content.
The assignment instruction has corresponding 1 level-1 assignment tag; m 2-level assignment tags are nested in the 1-level assignment tag, and the 2-level assignment tags comprise a left value tag and a right value tag; the 2-level assignment tags have corresponding 2-level assignment tag contents, and each 2-level assignment tag content is filled with assignment value data or m nested 3-level assignment tags. In another embodiment, the level 2 assignment tags further comprise operator tags.
The general instruction has a corresponding 1 level 1 general tag; the level 1 generic tag has a level 1 generic tag attribute and is nested with m level 2 generic tags, the level 2 generic tags including an entry tag. The item tag has corresponding item attributes and item contents to represent additional parameters of the general instruction; the entry element content is populated or edited to edit the corresponding general instruction, the entry attributes including one or a combination of entry type and entry unit. For example, for a motion instruction in a general instruction, if a speed additional parameter is added, it is only necessary to write a corresponding speed unit in a corresponding 2-level general instruction, that is, an entry unit of an entry tag; if the corresponding speed is a number, the corresponding entry type is filled with the number.
The primary program has an access interface that is accessible independent of the platform through which a user may conveniently edit the primary program.
Specifically, each n-level sub-label name is adopted to extract a corresponding n-level sub-label, and a corresponding primary control instruction is linked, so that a user can conveniently and visually search the primary control instruction; meanwhile, after the n-level sub-tags are extracted, the corresponding 1-level tags and/or 2-level tags and/or 3-level tags are edited, wherein the editing comprises one or more combinations of adding, deleting and modifying, so that the editing of the content andor/structure andor/attribute of the corresponding primary control instruction is realized, and the editing efficiency is improved.
In this embodiment, the 3-level logical tag is an element tag, the element tag has a corresponding element attribute and an element content, the element content is filled or edited to edit the corresponding logical instruction, and the element attribute includes one or a combination of two of an element type and an element unit. The element labels support a nesting mode to be filled in the corresponding 2-level logic labels, such as high/low level, logic operators, numbers, character strings and the like, and the expandability of user instructions is improved and the maintenance cost is reduced by adjusting the element attributes and the element contents of the element labels.
Specifically, taking a logic instruction as an example, the execution body corresponding to the logic body tag is a register R [1], and the type of the 3-level tag of the logic body tag, that is, the corresponding element tag is R, which indicates that the type of the element tag is a register; the element tag is then embedded with an element tag of the type number and having a value of 1 to indicate that the first register is used. By nesting the n levels of sub-labels, the 2-level labels corresponding to the 1-level label packages and the 3-level labels corresponding to the 2-level label packages are realized, and by analogy, the one-level nesting is realized, and the nesting relation and the hierarchical structure among the labels at all levels can be clearly expressed by using the structuralization of the extensible markup language, so that the requirements of the primary program instruction on the structure, the expandability and the universality are met.
Subsequently, step S03: the middle-level parser acquires the primary program, rejects the information which is contained in the first sub-tags and the third sub-tags and is only used for displaying according to the XML tag rule, screens out the information which is contained in the second sub-tags and the third sub-tags and is only used for parsing, standardizes or simplifies the information which is only used for parsing, generates a middle-level program and stores the middle-level program; when the default standard based on all or part of the parameters in the program instructions is not consistent with the selected standard in the user preference configuration, unifying the contents of the parameters into the contents expressed by the default standard; the simplification process is to delete the selected criteria in the user preference profile after the normalization process described above for the parameters having the default criteria.
In order to be compatible with the use habits of users in different application contexts, a plurality of additional parameters and attributes are added to the primary program instruction, and the content of the parameters comprises parameter values and units, so that the reading speed of subsequent high-level control instructions is improved by adopting a standardized and overlapped parameter function of a middle-level analyzer and through unified standardization and simplified processing. The middle-level parser simplifies the additional parameters and attributes of the primary program instructions in the primary program in the xml format. And analyzing the primary control instruction through a Visual Basic program, wherein the Visual Basic is a high-level program language which is simple and easy to use and has strong functions, generating a bas-format middle-level control instruction and storing the bas-format middle-level control instruction to form a middle-level program.
And extracting the content, structure and attribute of the corresponding primary control instruction based on each level 1 tag, level 2 tag and level 3 tag, and standardizing each content, structure and attribute to simplify the primary control instruction.
Specifically, taking the motion command included in the general command as an example, the structure of the motion command at least includes a motion speed, the motion speed has speed units, the speed units include% and mm/s, the middle-level resolver unifies the speed units through standardization, the speed units are all standardized by mm/s, the default speed unit is mm/s, selectable speed units in user preference setting include but are not limited to mm/s, cm/s and m/s, the middle-level resolver unifies the speed units through standardization, the speed units are all standardized by the default speed unit mm/s, and corrects the speed value to generate a corrected speed, and finally only the corrected speed needs to be stored, so that the speed units are standardized by the middle-level resolver to be mm/s, thereby achieving the purpose of standardizing the motion command, and then, through simplification processing, the default speed unit is removed, and finally, only the correction speed needs to be stored.
Specifically, for example, a command to wait for a certain time included in a general command includes at least time, the time has a time unit, the default time unit is s, selectable time units in user preference setting include, but are not limited to, s and min, the middle-level parser unifies the time units through standardization, the default time unit s is used as a standard, and corrects a time value to generate a correction time, and then the default time unit is removed through simplification processing, and finally the correction time only needs to be stored.
Specifically, for example, a distance instruction included in a general instruction is configured to at least include a distance, the distance has a length unit, the default length unit is mm, selectable length units in user preference setting include, but are not limited to, mm and cm, the middle-level parser unifies the length units through standardization, the default length unit mm is used as a standard, and corrects a distance value to generate a corrected distance, and then simplifies processing to remove the default length unit, and finally only needs to store the corrected distance.
Finally, step S04: and the high-level analyzer analyzes the middle-level program and generates a high-level control instruction to the robot.
The primary program in xml format is generated firstly based on the extensible markup language, then the primary control quality is standardized by the middle-level parser, and the middle-level program in bas format is generated, so that the high-level control instruction has high extensibility and maintainability, and the working efficiency is further improved; meanwhile, the extensible markup language conveniently and intuitively displays the primary program to a user, and the user can directly change the primary program by configuring each control tag.
Firstly, by defining a user program instruction, user preference setting of instruction parameter attribute and an XML tag rule, respectively disassembling the user program instruction and the user preference setting according to the XML tag rule, and forming a pre-program and user preference setting expressed by XML, wherein the pre-program and the user preference setting are stored together to form a primary program. The method allows the primary program to contain all the information displayed to the user, while the addition of user preference settings allows the program to be expressed in a manner that is customary to the user.
And secondly, acquiring the primary program through a middle-level parser, eliminating information only used for display according to the XML tag rule and the user preference setting, screening the information only used for parsing to generate a middle-level program expressed by BAS and storing the middle-level program, and the high-level parser parsing the middle-level program and generating a high-level control instruction to the robot. Compared with the primary program, the intermediate program generated by the method is simplified due to the fact that the information only used for displaying is deleted, so that the subsequent high-level resolver cannot receive useless information, and efficiency is improved.
Finally, the invention uses the program storage and compiling method combining the XML primary program and the BAS middle-level program, and utilizes the structural characteristic of the XML and the freedom characteristic of the user preference setting to store enough information for display, thereby meeting the requirements of the primary program instruction on the structural characteristic, the expandability, the universality and the user customized expression, and forming the BAS middle-level program by screening the information, thereby meeting the high efficiency of the subsequent analysis and execution, not only considering the richness of the display layer, but also considering the high efficiency execution of the analysis layer.
The above description is only for the preferred embodiment of the present invention, and the embodiment is not intended to limit the scope of the present invention, so that all the equivalent structural changes made by using the contents of the description and the drawings of the present invention should be included in the scope of the present invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A robot program storage and compiling method is characterized by comprising the following steps:
step S01: receiving a user program instruction input in a text form and user setting information related to the user program instruction;
step S02: respectively disassembling the user program instruction and the user setting information according to an XML label rule, and forming a pre-program and user setting expressed by XML, wherein the pre-program and the user setting are stored together to form a primary program, and the pre-program comprises a plurality of first sub-labels only used for displaying information, a plurality of second sub-labels only used for analyzing the information and a plurality of third sub-labels simultaneously used for displaying the information and analyzing the information; the pre-program comprises a plurality of interference information blocks, each pre-information block comprises one or more groups of primary control instruction combinations, and the pre-program is provided with an access interface for accessing each pre-information block; each set of the primary control instructions has a corresponding XML tag;
step S03: the middle-level parser acquires the primary program, rejects the information which is contained in the first sub-tags and is only used for display and the information which is contained in the third sub-tags and is only used for display according to the XML tag rule, screens out the information which is contained in the second sub-tags and is only used for parsing and the information which is contained in the third sub-tags and is only used for parsing, standardizes or simplifies the information which is only used for parsing, generates a middle-level program and stores the middle-level program; when the default standard based on all or part of the parameters in the program instructions is not consistent with the selected standard in the user preference configuration, unifying the contents of the parameters into the contents expressed by the default standard; the simplification processing is to delete the selected standard in the user preference configuration after the parameter with default standard is processed by the standardization;
step S04: and the high-level analyzer analyzes the middle-level program and generates a high-level control instruction to the robot.
2. A robot program storage and compiling method according to claim 1, wherein the first sub tag, the second sub tag, and the third sub tag each include m n-level sub tags, m and n being integers greater than or equal to 1; and each n-level sub-label has a corresponding n-level sub-label name, and the corresponding first sub-label and the corresponding primary control instruction and/or the second sub-label and the corresponding primary control instruction and/or the third sub-label and the corresponding primary control instruction are extracted through the access interface according to each n-level sub-label name.
3. A method for storing and compiling a robot program according to claim 2, wherein each of the n-level sub-tags further has a corresponding n-level sub-tag attribute and n-level sub-tag content, and the n-level sub-tag attribute includes one or a combination of a type attribute and a unit attribute; after extracting the corresponding first sub-label and the corresponding primary control instruction or the second sub-label and the corresponding primary control instruction or the third sub-label and the corresponding primary control instruction according to the n-level sub-label attribute through the access interface, editing the n-level sub-label content of the n-level sub-label to edit the corresponding primary control instruction, wherein the editing comprises one or more combinations of adding, deleting and modifying.
4. A method for storing and compiling a robot program according to claim 3, wherein the primary control instruction comprises a logic instruction, the logic instruction has corresponding 1 level 1 logic tags, the 1 level logic tags have corresponding logic tag attributes, the logic tag attributes include a logic judgment type, the 1 level logic tags are nested with m 2 level logic tags, each of the 2 level logic tags has corresponding 2 level logic tag contents, and each of the 2 level logic tag contents is filled with m 3 level logic tags which are juxtaposed or nested.
5. A robot program storage and compilation method according to claim 4, wherein the 2-level logic tag includes one or a combination of a logic condition tag and a logic subject tag; the 3-level logic tag is an element tag, the element tag has corresponding element attributes and element contents, the element contents are used for editing the corresponding logic instructions, and the element attributes comprise one or two combinations of element types and element units.
6. A method of storing and compiling a robot program according to claim 5 wherein the primary control instructions include assignment instructions having corresponding 1 level 1 assignment tags; m 2-level assignment tags are nested in the 1-level assignment tag, and the 2-level assignment tags comprise a left value tag and a right value tag; the 2-level assignment tags have corresponding 2-level assignment tag contents, and each 2-level assignment tag content is filled with assignment value data or m nested 3-level assignment tags.
7. A method of storing and compiling a robot program according to claim 6, wherein the primary control instructions include general instructions having corresponding 1 level 1 general tags; the level 1 generic tag has a level 1 generic tag attribute and is nested with m level 2 generic tags, the level 2 generic tags including an entry tag.
8. A method of storing and compiling a robot program according to claim 7, wherein the item tag has corresponding item attributes and item contents to represent additional parameters of the general instruction; the item content is used for editing the corresponding general instruction, and the item attribute comprises one or two combinations of item types and item units.
9. A method for storing and compiling a robot program according to claim 1, wherein the primary program instructions are in an xml format, and the intermediate program instructions are in a bas format.
10. A robot program storage and compiling method according to claim 1, wherein the contents of the parameter include a parameter value plus a unit.
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