CN108621151A - Graphical programming control method for machine control system - Google Patents

Abstract

The present invention discloses an icon-based programming control method for a mechanical control system. The mechanical control system includes an electronic device, a mechanical device, and an image capture device. The icon-based programming control method includes: starting a programming control interface displayed on a display of the electronic device through the electronic device; moving at least one function icon in a function icon list area to a ready-to-execute operation area on the display; starting an execution operation icon on the display to enable a control module to execute a predetermined operation program corresponding to at least one function icon moved to the ready-to-execute operation area. Thus, the present invention can control one of the mechanical device and the image capture device to execute a predetermined operation action corresponding to at least one function icon through the execution of the predetermined operation program.

Description

Graphical programming control method for machine control system

technical field

The invention relates to an icon-based programming control method, in particular to an icon-based programming control method for a mechanical control system.

Background technique

Robots and robotic arms are widely used in the automated production industry. Their main function is to simulate human hands to perform high-precision and repetitive tasks, which can effectively increase production capacity, increase product yield and save labor costs.

Industrial robots or mechanical arms are mainly composed of body, motor, mechanical arm, front-end components, programmable logic controller (PLC), user control interface and other parts. Among them, the front-end components are installed on the front of the robot arm, which can be processing devices such as suction cups, welding torches, grippers, spray guns, etc. The programmable logic controller can control the robot arm by receiving and sending digital or analog signals.

With the development of science and technology, the application of robotic arms in industry has become normal. However, in the prior art, the setting and manipulation of the robotic arm involves complex program writing and integration, so the operator of the robotic arm often needs to be familiar with the programming language and receive specific operation training in advance, thus increasing the labor cost. In addition, installing a camera on the robot arm to monitor the operation of the robot arm is a common requirement in the automatic industry. However, if you want to remotely control the camera to perform automatic photography or video recording, you must write complex program codes, which increases time and labor costs. Therefore, there is still room for improvement in existing industrial robots and manipulator operating systems.

Contents of the invention

The technical problem to be solved by the present invention is to provide an icon-based programming control method for a mechanical control system, which can simplify the programming control method of the mechanical control system.

In order to solve the above technical problems, one of the technical solutions adopted by the present invention provides an icon-based programming control method for a mechanical control system. The mechanical control system includes an electronic device, a mechanical device, and an image capture device. Wherein, the icon-based programming control method includes: starting a programming control interface through the electronic device, wherein the programming control interface is displayed on a display of the electronic device, and the programming control interface has a list of function icons area and a pre-execution operation area, the function icon list area displays a plurality of different function icons, and each of the function icons corresponds to a predetermined operation program stored in a control module of the electronic device , and the predetermined operation program corresponds to a predetermined operation action of one of the mechanical device and the image capture device; display at least one of the function icons in the function icon list area on the display moving to the pre-execution operation area; starting an execution operation icon on the display, so that the control module executes the predetermined function icon corresponding to at least one of the function icons moved to the pre-execution operation area; An operating program, and enabling one of the mechanical device and the image capture device to execute the predetermined operation action corresponding to at least one of the function icons according to the instruction of the predetermined operation program.

Furthermore, the mechanical device includes at least one mechanical arm, and the image capture device includes at least one industrial camera set on the mechanical arm, wherein the predetermined operation action of the mechanical device is the An arm operation action of the arm, and the predetermined operation action of the image capture device is an image capture action of at least one industrial lens.

Furthermore, the abutting member includes a first abutting surface and a second abutting surface opposite to the first abutting surface, wherein, when the first carrying module is moved from the first intermediate position In the process of moving to the first end position, the first abutting portion of the driving rod can abut against the first abutting surface of the abutting member, and on the first During the process of the carrying module moving from the second intermediate position to the first starting position, the second abutting portion of the driving rod can abut against the second abutting portion of the abutting member face.

Furthermore, the icon-style programming control method further includes: starting an icon-style mechanical control interface displayed on the display through the electronic device, wherein the icon-style mechanical control interface includes a mobile control sub-interface And at least one rotation control sub-interface, the movement control sub-interface includes a continuous movement icon, at least one movement target position input area, at least one continuous movement execution icon, at least one movement unit icon and at least one discontinuous unidirectional movement execution icon , and the rotation control sub-interface includes a continuous rotation icon, a rotation target position input area, a continuous rotation execution icon, at least one rotation unit icon, and at least one discontinuous unidirectional rotation execution icon.

Furthermore, the icon-based programming control method further includes: starting an icon-based configuration interface displayed on the display through the electronic device, wherein the icon-based configuration interface includes a device configuration sub-interface and a A task definition sub-interface, the device configuration sub-interface corresponds to a device configuration icon of the icon-based configuration interface, and the task definition sub-interface corresponds to a task definition icon of the icon-based configuration interface, wherein the The device configuration sub-interface includes at least one input definition list and at least one output definition list, at least one input definition list includes a plurality of preset input action options corresponding to the mechanical device, and at least one output definition list includes multiple A default output action option corresponding to the mechanical device, wherein the task definition sub-interface includes a new task icon, a task definition area and an application task icon; click the device configuration icon on the display , to start the device configuration sub-interface; select at least one of the plurality of preset input action options in the input definition list on the display to define as an input action, and select at least one of the One of the multiple preset output action options in the output definition list is defined as an output action; click on the task definition icon on the display to start the task definition sub-interface; on the display Click the new task icon to start a task editing area corresponding to a predetermined task; move the input action to the task editing area on the display to define a task trigger input signal; selecting the output action in the task editing area to define a task instruction corresponding to the task trigger input signal; and clicking the application task icon on the display to start the configuration of the predetermined task, wherein the The predetermined task corresponds to a task icon in the function icon list area.

In order to solve the above-mentioned technical problems, another technical solution adopted by the present invention is to provide an icon-based programming control method for a mechanical control system. The mechanical control system includes an electronic device, a mechanical device and an image capture system. device, wherein the icon-based programming control method includes: starting a programming control interface through the electronic device, wherein the programming control interface is displayed on a display of the electronic device, and the programming control interface has a A function icon list area and a pre-execution operation area, where a plurality of different function icons are displayed in the function icon list area, and each of the function icons corresponds to a stored in a control module of the electronic device A predetermined operation program, and the predetermined operation program corresponds to a predetermined operation action of one of the mechanical device and the image capture device; at least two of the function icon list areas are displayed on the display The function icons are sequentially moved to the pre-execution operation area; and an execution operation icon is activated on the display, so that the control module executes at least two of the pre-execution operation areas moved to the pre-execution operation area. At least two predetermined operating procedures corresponding to the functional icons, and at least one of the mechanical device and the image capture device is executed according to the instructions of the predetermined operating procedures corresponding to at least one of the functional icons The predetermined operation action.

Furthermore, the mechanical device includes at least one mechanical arm, and the image capture device includes at least one industrial camera set on the mechanical arm, wherein the predetermined operation action of the mechanical device is at least one The arm operation action of the robotic arm, and the predetermined operation action of the image capture device is an image capture action of at least one industrial lens.

Furthermore, after the step of sequentially moving at least two of the function icons in the function icon list area to the pre-execution operation area on the display, an operation sequence instruction editing step is further included: Editing the operation sequence of the at least two function icons moved to the ready-to-execute operation area on the display to define an operation sequence instruction.

Furthermore, the control module sequentially executes at least two predetermined operation programs corresponding to the at least two function icons moved to the pre-execution operation area according to the operation sequence instruction.

Furthermore, the icon-style programming control method further includes: starting an icon-style mechanical control interface displayed on the display through the electronic device, wherein the icon-style mechanical control interface includes a mobile control sub-interface And at least one rotation control sub-interface, the movement control sub-interface includes a continuous movement icon, a movement target position input area, a continuous movement execution icon, at least one movement unit icon and at least one discontinuous unidirectional movement execution icon, and The rotation control sub-interface includes a continuous rotation icon, a rotation target position input area, a continuous rotation execution icon, at least one rotation unit icon, and at least one discontinuous unidirectional rotation execution icon.

Furthermore, the icon-based programming control method further includes: starting an icon-based configuration interface displayed on the display through the electronic device, wherein the icon-based configuration interface includes a device configuration sub-interface and a A task definition sub-interface, the device configuration sub-interface corresponds to a device configuration icon of the icon-based configuration interface, and the task definition sub-interface corresponds to a task definition icon of the icon-based configuration interface, wherein the The device configuration sub-interface includes at least one input definition list and at least one output definition list, at least one input definition list includes a plurality of preset input action options corresponding to the mechanical device, and at least one output definition list includes corresponding In the default output action option of the mechanical device, wherein the task definition sub-interface includes a new task icon, a task definition area and an application task icon; click the device configuration icon on the display to start The device configuration sub-interface; select at least one of the plurality of preset input action options in the input definition list on the display to define as a first input action, and select at least one output One of the plurality of preset output action options in the definition list is defined as a first output action; click the task definition icon on the display to start the task definition sub-interface; Click on the new task icon to start a new task editing area corresponding to a predetermined task; move the first input action to the task editing area on the display to define a task trigger input signal; select the first output action in the task editing area to be defined as a task instruction corresponding to the task trigger input signal; and click the application task icon on the display to start the predetermined task configuration, wherein the predetermined task corresponds to a task icon in the function icon list area.

The beneficial effect of the present invention is that, the icon-style programming control method provided by the technical solution of the present invention can "move at least one of the function icons in the function icon list area on the display to the pre-execution operation area." " and the technical means of "starting an execution operation icon on the display, so that the control module executes the predetermined operation program corresponding to at least one of the function icons moved to the pre-execution operation area" , so that the present invention can control one of the mechanical device and the image capture device to execute the predetermined operation action corresponding to at least one of the function icons through the execution of the predetermined operation program. Therefore, the predetermined operation action of the mechanical control system can be easily programmed and controlled in the pre-execution operation area by moving the function icon on the display to the pre-execution operation area, thereby In order to simplify the programming control method of the mechanical control system. Moreover, the present invention adopts "the mechanical control system includes an electronic device, a mechanical device and an image capture device" and "each function icon corresponds to a predetermined operation program stored in a control module of the electronic device, and The predetermined operation program corresponds to a predetermined operation action of one of the mechanical device and the image capture device" and integrates the camera system into the robot system.

In order to further understand the features and technical content of the present invention, please refer to the following detailed description and accompanying drawings of the present invention. However, the provided drawings are provided for reference and illustration only, and are not intended to limit the present invention.

Description of drawings

FIG. 1 is a flowchart of an icon-based programming control method according to a first embodiment of the present invention.

FIG. 2 is a schematic diagram of a programming control interface according to a first embodiment of the present invention.

FIG. 3 is a flowchart of an icon-based programming control method according to a second embodiment of the present invention.

FIG. 4 is a schematic diagram of a mobile control sub-interface according to a second embodiment of the present invention.

FIG. 5 is a schematic diagram of a rotation control sub-interface according to a second embodiment of the present invention.

FIG. 6 is a flowchart of an icon-based programming control method according to a third embodiment of the present invention.

FIG. 7 is a schematic diagram of a device configuration sub-interface according to a third embodiment of the present invention.

FIG. 8 is a schematic diagram of a task definition sub-interface according to a third embodiment of the present invention.

FIG. 9 is a flow chart of a graphical programming control method according to a fourth embodiment of the present invention.

FIG. 10 is a schematic diagram of a programming control interface according to a fourth embodiment of the present invention.

Fig. 11 is a functional block diagram of the icon programming control method of the present invention.

Detailed ways

The following is a specific example to illustrate the implementation of the "equal distance adjustment device" disclosed in the present invention. Those skilled in the art can understand the advantages and effects of the present invention from the content disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and various modifications and changes can be made to the details in this specification based on different viewpoints and applications without departing from the spirit of the present invention. In addition, the accompanying drawings of the present invention are only for simple illustration, and are not drawn according to the actual size, and shall be declared. The following embodiments will further describe the relevant technical content of the present invention in detail, but the disclosed content is not intended to limit the technical scope of the present invention.

Please refer to FIG. 1 and FIG. 2, the first embodiment of the present invention provides a graphical programming control method for a mechanical control system S, the mechanical control system S includes an electronic device E, a mechanical device M and an image capture Take the device V, wherein the icon-style programming control method includes a step S100: start a programming control interface 1 through the electronic device E, wherein the programming control interface 1 is displayed on a display D of the electronic device E, and the programming control interface 1 has a Function icon list area 11 and a ready-to-execute operation area 12, a plurality of different function icons 111 are displayed in the function icon list area 11, and each function icon 111 corresponds to a function icon stored in a control module C of the electronic device E A predetermined operation program, and the predetermined operation program corresponds to a predetermined operation action of the mechanical device M or the image capture device V. For example, the function icon list area 11 may include function icons corresponding to multiple predetermined operation actions of the mechanical device M, such as grippers, spray guns, vacuum suction cups, the robot arm going to the target position, and the robot arm returning to the starting position, etc. 111 , and functional icons 111 respectively representing a plurality of predetermined operation actions corresponding to the image capturing device V, such as photographing processed workpieces, photographing unprocessed workpieces, etc. A plurality of predetermined operation actions of the mechanical device M and the image capture device V are performed by the control module C executing each corresponding predetermined operation program.

Next, the icon-based programming control method according to the first embodiment of the present invention further includes a step S102: moving at least one function icon 111 in the function icon list area 11 to the ready-to-execute operation area 12 on the display D. Specifically, in this embodiment, the method of moving at least one function icon 111 in the function icon list area 11 to the ready-to-execute operation area 12 is to select and drag at least one function icon 111 in the function icon list area 11 to the ready-to-run area 12. Execute operation area 12.

Further, the icon-based programming control method according to the first embodiment of the present invention also includes a step S104: start an execution operation icon 13 on the display D, so that the control module C executes at least A predetermined operation program corresponding to a function icon 111, and make one of the mechanical device M and the image capture device V execute the operation corresponding to at least one of the function icons 111 according to the instruction of the predetermined operation program The predetermined operation action. Specifically, if a user executes step S102 to move a function icon 111 corresponding to a predetermined operation action of the mechanical device M to the ready-to-execute operation area 12, the control module C executes a function icon corresponding to the above-mentioned mechanical device M. A predetermined operation procedure of a predetermined operation action; if a user executes step S102 and moves a function icon 111 corresponding to a predetermined operation action of the image capture device V to the ready-to-execute operation area 12, the control module C executes a A predetermined operation program corresponding to the above predetermined operation actions of the image capture device V.

In this way, the icon-based programming control method of the present invention enables the user to control the mechanical device M and the image capture device V by selecting and dragging at least one function icon 111 on the programming control interface 1, and activating an execution operation icon 13 One of them executes a predetermined operation without compiling complex program codes to operate the mechanical device, which simplifies the programming control method of the mechanical device.

Further, the mechanical device M includes at least one robotic arm R, and the image capture device V includes at least one industrial camera set on the robotic arm R. The predetermined operation action of the mechanical device M is the arm operation action of at least one robot arm R, and the predetermined operation action of the image capture device V is the image capture action of at least one industrial lens. In detail, the arm operation action of the robotic arm R can be the movement or rotation of the robotic arm R, or the grasping, welding, suction, etc. Action: The image capture action can be the camera taking pictures of the workpiece, the camera performing the video recording function to record the operation actions of the front-end component F, viewing the captured photos, and so on. By means of the above technical means, the present invention can integrate the static or dynamic image capture function into the robot system. In other words, when the graphical programming control method of the present invention is applied to the mechanical control system S, the mechanical device M and the image capture device V can be operated in the same system (ie, the mechanical control system S).

Please refer to Figure 3 to Figure 5. 3 to 5 illustrate the icon-based programming control method according to the second embodiment of the present invention, which may further include a step S200: start an icon-based mechanical control interface 2 displayed on the display D through the electronic device E, wherein the icon The mechanical control interface 2 includes a movement control subinterface 21 and at least one rotation control subinterface 22, the movement control subinterface 21 includes a continuous movement icon 211, at least one movement target position input area 212, at least one continuous movement execution icon 213, At least one movement unit icon 214 and at least one discontinuous unidirectional movement execution icon 215, and the rotation control sub-interface 22 includes a continuous rotation icon 221, a rotation target position input area 222, a continuous rotation execution icon 223, at least one rotation unit The icon 224 and at least one discontinuous unidirectional rotation execution icon 225 .

Through the icon-style mechanical control interface 2, the operator of the mechanical control system S can manually operate the mechanical device M, wherein, when the movement control sub-interface 21 is activated, the user can choose to input the target in the movement target position input area 212 After positioning, click the continuous movement execution icon 213 to control the mechanical arm R of the mechanical device M to move continuously, or click the movement unit icon 214 to select a single movement unit, then click the discontinuous unidirectional movement execution icon 215 to control the mechanical device M The robotic arm R performs discontinuous movement.

The functions and operation modes of the rotation control sub-interface 22 and the movement control sub-interface 21 are similar, the only difference is that the rotation control sub-interface 22 is used to control the rotation of the robot arm R, while the movement control sub-interface 21 is used to control the movement of the robot arm R. In addition, in this embodiment, there are six rotation control sub-interfaces 22, and each rotation control sub-interface 22 corresponds to the six axes of the six-axis robotic arm R. In this embodiment, the rotation axis 1 corresponding to the mechanical arm R Take the control sub-interface 22 as an example. However, the present invention is not limited thereto. In other embodiments, the number of rotation control sub-interfaces 22 may depend on the number of rotation axes of the robot arm R. As shown in FIG.

Please refer to FIG. 6 to FIG. 8 , and FIG. 6 to FIG. 8 illustrate an icon-based programming control method according to a third embodiment of the present invention. The icon-style programming control method of the present invention may further include a step S300: start an icon-style configuration interface 3 displayed on the display D through the electronic device E, wherein the icon-style configuration interface 3 includes a device configuration sub-interface 31 and a The task definition sub-interface 32, the device configuration sub-interface 31 corresponds to a device configuration icon 310 of the icon-type configuration interface 3, and the task definition sub-interface 32 corresponds to a task definition icon 320 of the icon-type configuration interface 3, wherein the device configuration sub-interface The interface 31 includes at least one input definition list 311 and at least one output definition list 312, at least one input definition list 311 includes a plurality of preset input action options corresponding to the mechanical device M, and at least one output definition list 312 includes a plurality of corresponding to The default output action options of the mechanical device M (not shown in the figure), wherein the task definition sub-interface 32 includes a new task icon 321, a task definition area 322 and an application task icon 323; a step S302: on the display D Click on the device configuration icon 310 to start the device configuration sub-interface 31 . Please refer to Figure 5. The icon-based configuration interface 3 can be applied to configure any front-end element F of the robot arm R. In this embodiment, the gripper is taken as an example to illustrate the method of configuring the gripper in the mechanical control system S by using the device configuration sub-interface 31 of the icon configuration interface 3 . As shown in FIG. 7 , in the present embodiment, the operation of the front-end element F can use digital input and output signals or analog input and output signals in two ways. However, the present invention is not limited thereto.

Then, after step S302, a step S304 is also included: select at least one of a plurality of preset input action options (not shown in the figure) in the input definition list 311 on the display D to be defined as an input action, and select at least One of a plurality of preset output action options (not shown) in an output definition list 312 is defined as an output action. In detail, the input action and the output action can be the operation action of the front-end element F of the installed robot arm R. For example, in this embodiment, the input action can be to activate or close the gripper, and the output action can be the gripping of the gripper. Take or release.

Then, after step S304, the present invention also includes a step S306: click on the task definition icon 320 on the display D to start the task definition sub-interface 32; Step S308: click on the new task icon 321 on the display D to start the corresponding In a task editing area 322 of a predetermined task; Step S310 : Move the input action on the display D to the task editing area 322 to define a task triggering input signal. As shown in FIG. 8 , in this embodiment, when an input 1 and an input 2 are true are selected as task trigger input signals. Next, a step S312 is further included after the step S310 : select an output action in the task editing area 322 to define a task command corresponding to the task trigger input signal. As shown in FIG. 8 , the task instruction may be to trigger or not trigger the first output, or to trigger or not trigger the second output. Finally, a step S314 is also included after step S312: click the application task icon 323 on the display D to start the configuration of the scheduled task, wherein the scheduled task corresponds to a task icon 111 a in the function icon list area 11 .

The above description is an embodiment in which the icon-based configuration interface 3 is applied to the configuration of the front-end component F of the robot arm R, however, the present invention is not limited thereto. Please refer to FIG. 9 , the icon configuration interface 3 of the present invention can also be applied to the configuration of other components of the mechanical device M, such as LEDs, light bulbs, motors, switches, sensors and so on.

Please refer to Figure 9 and Figure 11. The fourth embodiment of the present invention provides a graphical programming control method for a mechanical control system S. The mechanical control system S includes an electronic device E, a mechanical device M, and an image capture device V, wherein the graphical programming control The method includes a step S400: start a programming control interface 1 through the electronic device E, wherein the programming control interface 1 is displayed on a display D of the electronic device E, and the programming control interface 1 has a function icon list area 11 and a pre-execution operation Area 12, the function icon list area 11 displays a plurality of different function icons 111, each function icon 111 corresponds to a predetermined operation program stored in a control module C of the electronic device E, and the predetermined operation program corresponds to A predetermined operation on the mechanical device M or the image capture device V; step S402: on the display D, at least two function icons 111 in the function icon list area 11 are sequentially moved to the ready-to-execute operation area 12; step S404: Start an execution operation icon 13 on the display D, so that the control module C executes at least two predetermined operation procedures corresponding to at least two function icons 111 moved to the ready-to-execute operation area, and makes the mechanical device and all At least one of the image capturing devices executes the predetermined operation action corresponding to at least one of the function icons according to the instruction of the predetermined operation program.

The icon-based programming control method of this embodiment is substantially the same as the icon-based programming control method of the first embodiment, and the only difference is that in this embodiment, at least two function icons 111 are sequentially moved to the ready-to-execute operation area 12.

Further, the icon-based editing control method of this embodiment also includes a step S403 after step S402: edit the operation sequence of at least two function icons 111 moved to the pre-execution operation area 12 on the display D to define Issue an operation sequence instruction. Please refer to FIG. 10 , in this embodiment, the operation sequence instruction is: the robot arm moves to the working position, the camera detects, the gripper operates, and the robot arm returns to the initial position. Specifically, the control module C executes each predetermined operation program corresponding to each function icon 111 in the operation sequence instruction according to the above operation sequence instruction.

Beneficial effects of the embodiment

The beneficial effects of the present invention are that the icon-style programming control method provided by the technical solution of the present invention can be achieved by "moving at least one function icon 111 in the function icon list area 11 to the ready-to-execute operation area 12 on the display D" and "on Start an execution operation icon 13 on the display D, so that the control module C executes the predetermined operation program corresponding to at least one function icon 111 that is moved to the ready-to-execute operation area 12", so that the present invention can pass the predetermined operation program to control the mechanical device M to execute a predetermined operation action corresponding to at least one function icon 111 . Therefore, the predetermined operation action of the mechanical control system S can be simply programmed and controlled in the preparatory execution operation area 12 by moving the function icon 111 on the display D to the preparatory execution operation area 12, thereby simplifying the operation of the mechanical control system S. programming control method. Moreover, the present invention adopts "the mechanical control system includes an electronic device, a mechanical device and an image capture device" and "each function icon corresponds to a predetermined operation program stored in a control module of the electronic device, and The predetermined operation program corresponds to a predetermined operation action of one of the mechanical device and the image capture device" and integrates the camera system into the robot system.

In addition, the icon-based control method of the present invention integrates the image capture device V and the robotic arm R, so that the image capture device V, which is one of the components of the mechanical device M, can also be applied to the mechanical device through simple icon operations. The operation of the arm R solves the complicated program integration involved in simultaneously operating the robotic arm R and the image capture device V in the prior art.

The content disclosed above is only a preferred feasible embodiment of the present invention, and does not therefore limit the protection scope of the claims of the present invention. Therefore, all equivalent technical changes made by using the description of the present invention and the contents of the accompanying drawings are included in this document. within the protection scope of the claims of the invention.

Claims (10)

1. a kind of icon formula programmable control method for Machinery Control System, the Machinery Control System is filled including an electronics It sets, a mechanical device and an image capture unit, which is characterized in that the icon formula programmable control method includes：

Start a programming Control interface by the electronic device, wherein the programming Control interface display is filled in the electronics On the display set, there is an icon list area and a preparation to execute operating area, institute at the programming Control interface It states and shows multiple and different icons in icon list area, each described icon is stored in institute corresponding to one The predetermined operation programs in a control module of electronic device are stated, and the predetermined operation programs correspond to the mechanical device And the predetermined operation action of one of described image capture unit；

At least one icon in the icon list area preparation is moved on the display to hold Row operating area；And

Start one on the display and execute handle icon, so that control module execution is moved to the preparation and executes behaviour Make the predetermined operation programs corresponding at least one icon in region, and makes the mechanical device and the shadow As one of capture device executes corresponding at least one icon according to the instruction of the predetermined operation programs The predetermined operation action.

2. icon formula programmable control method according to claim 1, which is characterized in that the mechanical device includes at least one Mechanical arm, the image capture unit include at least one industrial lens being arranged on the mechanical arm, wherein described The predetermined operation action of mechanical device is an arm operational motion of the mechanical arm, and the image capture unit The predetermined operation action is the image capture action of at least one industrial lens.

3. icon formula programmable control method according to claim 1, which is characterized in that the icon formula programmable control method It still further comprises：

Start an icon formula Mechanical course interface being shown on the display by the electronic device, wherein the figure Mark formula Mechanical course interface controls sub-interface including a movement and at least one rotation control sub-interface, the movement control sub- boundary Face includes a continuous moving icon, at least a moving target position input area, at least continuous moving execution icon, at least one shifting Dynamic unit icon and at least one discontinuous one direction, which move, executes icon, and rotation control sub-interface includes one continuous turn Cardon mark, a rotating object position input area, a continuous rotation execute icon, at least one rotation unit icon and at least one not Continuous one direction rotation executes icon.

4. icon formula programmable control method according to claim 1, which is characterized in that the icon formula programmable control method It still further comprises：

Start an icon formula configuration interface being shown on the display by the electronic device, wherein the icon formula Configuration interface includes device configuration sub-interface and a task definition sub-interface, and described device configures sub-interface corresponding to described One device of icon formula configuration interface configures icon, and the task definition sub-interface corresponds to the icon formula configuration interface One task definition icon, wherein it includes that at least one input definition list and at least one output are fixed that described device, which configures sub-interface, Adopted list, it includes multiple default input action options corresponding to the mechanical device that at least one input, which defines list, and It includes multiple default output action options corresponding to the mechanical device that at least one output, which defines list, wherein described Task definition sub-interface includes a newly-increased task icons, a task definition region and an application task icon；

Described device is clicked on the display and configures icon, and sub-interface is configured to start described device；

At least one input is chosen on the display defines multiple default input action options of list wherein One of to be defined as an input action, and choose multiple default output actions choosings that at least one output defines list One of item is to be defined as an output action；

The task definition icon is clicked on the display, to start the task definition sub-interface；

The newly-increased task icons are clicked on the display, to start the task editing area corresponding to a preplanned mission Domain；

The input action is moved into the task editing area on the display to be defined as task triggering input letter Number；

The output action is chosen in the task editing area to be defined to correspond to the one of the task triggering input signal Assignment instructions；And

The application task icon is clicked on the display, to start the configuration of the preplanned mission, wherein described predetermined Task corresponds to a task icons of the icon list area.

5. a kind of icon formula programmable control method for Machinery Control System, the Machinery Control System is filled including an electronics It sets, a mechanical device and an image capture unit, which is characterized in that the icon formula programmable control method includes：

Start a programming Control interface by the electronic device, wherein the programming Control interface display is filled in the electronics On the display set, there is an icon list area and a preparation to execute operating area, institute at the programming Control interface It states and shows multiple and different icons in icon list area, each described icon is stored in institute corresponding to one The predetermined operation programs in a control module of electronic device are stated, and the predetermined operation programs correspond to the mechanical device And the predetermined operation action of one of described image capture unit；

At least two icons in the icon list area are sequentially moved on the display described Preparation executes operating area；And

Start one on the display and execute handle icon, so that control module execution is moved to the preparation and executes behaviour Make at least two predetermined operation programs corresponding at least two icons in region, and makes the mechanical device And at least one of the image capture unit executed according to the instruction of the predetermined operation programs it is corresponding at least The predetermined operation of one icon acts.

6. icon formula programmable control method according to claim 5, which is characterized in that the mechanical device includes at least one Mechanical arm, the image capture unit include at least one industrial lens being arranged on the mechanical arm, wherein described The predetermined operation action of mechanical device is the arm operational motion of at least one mechanical arm, and the image capture fills The predetermined operation action set is the image capture action of at least one industrial lens.

7. icon formula programmable control method according to claim 5, which is characterized in that on the display by the work( At least two icons in energy icon list area were sequentially moved to after the step of preparation executes operating area, Further include that an operation order instructs edit step：Editor is moved into the preparation and executes operation on the display The operation order of at least two icons in region, to define operation order instruction.

8. icon formula programmable control method according to claim 7, which is characterized in that the control module is according to the behaviour Make sequential instructions sequentially to execute corresponding at least two icons being moved into the preparation execution operating area At least two predetermined operation programs.

9. icon formula programmable control method according to claim 5, which is characterized in that the icon formula programmable control method It still further comprises：

Start an icon formula Mechanical course interface being shown on the display by the electronic device, wherein the figure Mark formula Mechanical course interface controls sub-interface including a movement and at least one rotation control sub-interface, the movement control sub- boundary Face includes a continuous moving icon, a moving target position input area, a continuous moving execution icon, at least a Moving Unit figure Be marked with and the movement of at least one discontinuous one direction execute icon, and rotation control sub-interface including a continuous rotation icon, It is discontinuous single that one rotating object position input area, a continuous rotation execute icon, at least one rotation unit icon and at least one Direction rotation executes icon.

10. icon formula programmable control method according to claim 5, which is characterized in that icon formula programming Control side Method still further comprises：

Start an icon formula configuration interface being shown on the display by the electronic device, wherein the icon formula Configuration interface includes device configuration sub-interface and a task definition sub-interface, and described device configures sub-interface corresponding to described One device of icon formula configuration interface configures icon, and the task definition sub-interface corresponds to the icon formula configuration interface One task definition icon, wherein it includes that at least one input definition list and at least one output are fixed that described device, which configures sub-interface, Adopted list, it includes multiple default input action options corresponding to the mechanical device that at least one input, which defines list, and It includes multiple default output action options corresponding to the mechanical device that at least one output, which defines list, wherein described Task definition sub-interface includes a newly-increased task icons, a task definition region and an application task icon；

Described device configuration diagram is clicked on the display and is marked with starts described device configuration sub-interface；

At least one input is chosen on the display defines multiple default input action options of list wherein One of to be defined as one first input action, and choose at least one output define list multiple default outputs it is dynamic Make one of option to be defined as one first output action；

The task definition icon is clicked on the display, to start the task definition sub-interface；

The newly-increased task icons are clicked on the display, to start the new task editor corresponding to a preplanned mission Region；

It is defeated to be defined as task triggering that first input action is moved to the task editing area on the display Enter signal；

First output action, which is chosen, in the task editing area triggers input signal to be defined to correspond to the task An assignment instructions；And

The application task icon is clicked on the display, to start the configuration of the preplanned mission, wherein described predetermined Task corresponds to a task icons of the icon list area.