CN110815231A - Robot control method and device - Google Patents
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- CN110815231A CN110815231A CN201911178133.7A CN201911178133A CN110815231A CN 110815231 A CN110815231 A CN 110815231A CN 201911178133 A CN201911178133 A CN 201911178133A CN 110815231 A CN110815231 A CN 110815231A
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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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 robot control method and a device, wherein the robot control method displays a preset program editing interface when receiving a function editing instruction input by a user based on an operation interface of a robot, according to the corresponding action function block, logic function block and condition function block selected by the user based on the object to be controlled, the control logic and the control condition, the method comprises the steps of correspondingly generating a to-be-controlled object subcode, a control logic subcode and a control condition subcode, combining the to-be-controlled object subcode, the control logic subcode and the control condition subcode into a control code for controlling the robot to execute a preset action according to a preset combination rule, carrying out logic judgment, controlling the robot to execute the preset action by an executing mechanism in the robot according to the control code, and realizing autonomous programming by a user so as to meet the requirements of different groups on different behavior modes of robot control.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot control method and device.
Background
An intelligent robot is often used in the production industry, the construction industry or in high-risk work, and has a machine device for automatically executing work. It can run programs that are pre-programmed by an engineer, but it is not possible to add more other programs on the pre-programmed programs and it is difficult for non-professionals to autonomously add modified programs. Although most of the pre-programmed programs of the robot are rich, the requirements of different groups of people for executing different behavior patterns when the robot faces different scenes cannot be met.
Disclosure of Invention
The invention mainly aims to provide a robot control method, aiming at realizing the autonomous programming of a user so as to meet the requirements of different groups on different behavior modes of robot control.
In order to achieve the above object, the present invention provides a robot control method comprising:
when a function editing instruction input by a user based on an operation interface of the robot is received, displaying a preset program editing interface, wherein the interface comprises an action function block, a logic function block and a condition function block;
correspondingly generating a to-be-controlled object subcode, a control logic subcode and a control condition subcode according to a corresponding action function block, a logic function block and a condition function block selected by a user based on the to-be-controlled object, the control logic and the control condition;
and combining the object subcodes to be controlled, the control logic subcodes and the control condition subcodes into control codes for controlling the robot to execute preset actions according to preset combination rules, performing logic judgment, and outputting the control codes to a controller to control the robot to execute the preset actions.
Preferably, before the step of receiving a function editing instruction input by a user based on an operation interface of the robot, the method further comprises:
and editing and generating an action function block, a logic function block and a condition function block corresponding to a control command for controlling the robot to execute the action.
Preferably, the editing and generating an action function block, a logic function block, and a condition function block corresponding to a control instruction for controlling the robot to execute an action specifically includes:
editing a code database of an object to be controlled, a control logic code database and a control condition code database, and storing the code databases in an xml format respectively;
and correspondingly establishing a plurality of action function blocks, logic function blocks and condition function blocks according to the object code database to be controlled, the control logic code database and the control condition code database, and establishing logic reference rules of a plurality of action function blocks, logic function blocks and condition function blocks and a plurality of corresponding subcodes in the object code database, the control logic code database and the control condition code database.
Preferably, the step of correspondingly generating a control code for controlling the robot to operate by the combined functional blocks, and outputting after performing program logic judgment specifically includes:
and correspondingly providing the object subcodes to be controlled, the control logic subcodes and the control condition subcodes in the xml format from the object code database to be controlled, the control logic code database and the control condition code database according to the corresponding action function block, logic function block and condition function block selected by the user based on the object to be controlled, the control logic and the control condition.
Preferably, the motion function block includes an arbitrary direction travel motion function block, a rotation motion function block, and/or a turning motion function block.
The present invention also provides a robot control device, including:
the operation interface is used for receiving a function editing instruction, a selection instruction and a trigger instruction input by a user;
the code generating unit is used for correspondingly generating a sub-code of the object to be controlled, a control logic sub-code and a control condition sub-code according to the corresponding action function block, logic function block and condition function block selected by a user based on the object to be controlled, the control logic and the control condition;
the flow and logic processing unit is used for combining the object subcodes to be controlled, the control logic subcodes and the control condition subcodes into control codes for controlling the robot to execute preset actions according to preset combination rules, carrying out logic judgment and then outputting the control codes;
and the controller is used for controlling the robot to execute a preset action according to the logically judged control code.
Preferably, the robot control apparatus further includes:
and the function block generating unit is used for editing and generating an action function block, a logic function block and a condition function block corresponding to a control command for controlling the robot to execute the action.
Preferably, the function block generating unit is specifically configured to:
editing a code database of an object to be controlled, a control logic code database and a control condition code database, and storing the code databases in an xml format respectively;
and correspondingly establishing a plurality of action function blocks, logic function blocks and condition function blocks according to the object code database to be controlled, the control logic code database and the control condition code database, and establishing logic reference rules of a plurality of action function blocks, logic function blocks and condition function blocks and a plurality of corresponding subcodes in the object code database, the control logic code database and the control condition code database.
Preferably, the code generating unit is specifically configured to correspondingly propose the target subcode to be controlled, the control logic subcode, and the control condition subcode in the xml format from the target code database to be controlled, the control logic code database, and the control condition code database according to the corresponding action function block, logic function block, and condition function block selected by the user based on the target to be controlled, the control logic, and the control condition.
Preferably, the motion function block includes an arbitrary direction travel motion function block, a rotation motion function block, and/or a turning motion function block.
According to the technical scheme, when a function editing instruction input by a user based on an operation interface of the robot is received, a preset program editing interface is displayed, a to-be-controlled object subcode, a control logic subcode and a control condition subcode are correspondingly generated according to a corresponding action function block, a logic function block and a condition function block selected by the user based on the to-be-controlled object, the control logic and the control condition, the to-be-controlled object subcode, the control logic subcode and the control condition subcode are combined into a control code for controlling the robot to execute a preset action according to a preset combination rule and are subjected to logic judgment, an executing mechanism in the robot controls the robot to execute the preset action according to the control code, and the user can realize autonomous programming, so that the requirements of different groups on different behavior modes controlled by the robot 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, 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 the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic flow chart illustrating a robot control method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an interface of a functional block in the robot control method of the present invention;
FIG. 3 is a schematic flow chart illustrating a robot control method according to another embodiment of the present invention;
fig. 4 is a flowchart illustrating a step S40 in the robot control method according to the present invention;
FIG. 5 is a block diagram of a robot controller according to an embodiment of the present invention;
fig. 6 is a block diagram of another embodiment of the robot controller according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the descriptions relating to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout is: the method comprises three parallel schemes, wherein the scheme is taken as an A/B (A/B) as an example, the scheme comprises the scheme A, the scheme B or the scheme A and the scheme B simultaneously satisfy, in addition, the technical schemes between the various embodiments can be combined with each other, but the technical schemes must be based on the realization of the technical schemes by a person skilled in the art, and when the technical schemes are mutually contradictory or can not be realized, the combination of the technical schemes is not considered to exist, and the protection scope of the invention is not within the protection scope of the invention.
The invention provides a robot control method.
As shown in fig. 1, in the present embodiment, the robot control method includes:
step S10, when receiving a function editing instruction input by a user based on the operation interface 10 of the robot, displaying a preset program editing interface, wherein the interface comprises an action function block, a logic function block and a condition function block;
step S20, correspondingly generating object subcodes to be controlled, control logic subcodes and control condition subcodes according to corresponding action function blocks, logic function blocks and condition function blocks selected by a user based on the object to be controlled, the control logic and the control conditions;
and step S30, combining the object subcodes to be controlled, the control logic subcodes and the control condition subcodes into control codes for controlling the robot to execute preset actions according to preset combination rules, and outputting the control codes to the controller 40 after logic judgment so as to control the robot to execute the preset actions.
In this embodiment, the robot is provided with an operation interface 10, a user may directly input a corresponding instruction through the operation interface 10, and input a function editing instruction, a selection instruction, or a trigger instruction through the operation interface 10, the operation interface 10 includes a display unit, the operation interface 10 may be a touch screen, or a set of a display screen, a keyboard, and a mouse, when the user needs to perform an autonomous programming, a preset editing interface of the operation interface 10 may be opened by inputting the function editing instruction, the preset editing interface correspondingly displays corresponding action function blocks, logic function blocks, and condition function blocks, the user may query or directly drag out the corresponding function blocks by inputting the corresponding function instructions, wherein the function blocks may be named and grouped according to functions, such as action function block groups, logic function block groups, and condition function block groups, each function block group may be set in a different display areas of the same sub-operation interface 10 or the same operation interface 10, as shown in fig. 2, a user can directly transfer different action function blocks, logic function blocks and condition function blocks from different function block groups to a preset frame through an operation interface 10 according to an object to be controlled, a control logic and a control condition, different function blocks are combined according to a preset rule, similar to building block combination, to form a new function block combination, for example, a motor action function block in an action function block group, a confirmation obstacle function block in a logic function block group and an advance distance function block in a condition function block are transferred, each function block is combined according to a preset rule to form a new function block group, after confirming a current function block group, the user can input a confirmation instruction, the new function block converts to generate a corresponding control code, and after the control code is logically judged, the control code is converted to a control instruction for controlling a robot to execute an action, as exemplified above, the motor action function block, the obstacle confirming function block and the advancing distance function block are converted into control codes and then run, and logic judgment is carried out simultaneously to determine the execution branch and direction of the next running of the program, for example, the control code corresponding to the obstacle confirming function block has two flow directions, namely, when an obstacle is detected and no obstacle is detected, and the control code corresponding to the action function block has multiple execution branches and directions when an obstacle is detected, for example, a steering control code or a backward control code is executed, when an obstacle is not detected, the control code corresponding to the straight distance function block is executed, when the combined control code is determined to be correct through logic judgment, a user can confirm again to output the control code, the control code runs in the controller 40 and is converted into a control instruction to control the robot to run corresponding work, so that the user can realize autonomous programming, thereby meeting the requirements of different groups on different behavior modes of robot control.
According to the technical scheme, when a function editing instruction input by a user based on an operation interface 10 of the robot is received, a preset program editing interface is displayed, a to-be-controlled object subcode, a control logic subcode and a control condition subcode are correspondingly generated according to a corresponding action function block, a logic function block and a condition function block selected by the user based on the to-be-controlled object, the control logic and the control condition, the to-be-controlled object subcode, the control logic subcode and the control condition subcode are combined into a control code for controlling the robot to execute a preset action according to a preset combination rule and are subjected to logic judgment, an executing mechanism in the robot controls the robot to execute the preset action according to the control code, and the user can realize autonomous programming, so that the requirements of different groups on different behavior modes controlled by the robot are met.
As shown in fig. 3, before the step of receiving a function editing instruction input by the user based on the robot operation interface 10, the method further includes:
and step S40, editing and generating an action function block, a logic function block and a condition function block corresponding to a control command for controlling the robot to execute an action.
In this embodiment, the robot may edit a program of a function block before factory shipment or in a later debugging process, generate a function block with various functions and uses according to different functions and uses, and store different action function blocks, logic function blocks, and condition function blocks in a memory in an partitioned manner, where the function block may edit the program on the operation interface 10 or burn the program through the program debugging interface, and the specific manner is not limited.
As shown in fig. 4, in an embodiment, the editing and generating an action function block, a logic function block, and a condition function block corresponding to a control command for controlling the robot to execute an action includes:
step S41, editing the code database of the object to be controlled, the control logic code database and the control condition code database, and storing the code databases in an xml format respectively;
step S42, creating a plurality of action function blocks, logic function blocks and condition function blocks according to the object code database to be controlled, the control logic code database and the control condition code database, and creating logic reference rules of the plurality of action function blocks, logic function blocks and condition function blocks and a plurality of corresponding subcodes in the object code database, the control logic code database and the control condition code database.
In this embodiment, the debugger operation interface 10 edits a plurality of subcodes through a C language, a PLC or other programming languages according to different functions and uses, and stores the subcodes in the memory in an xml format, and groups the subcodes according to the same type to form a corresponding object code database to be controlled, a control logic code database and a control condition code database, after editing the databases, correspondingly and newly creating a plurality of function blocks one by one according to the type of the databases, and establishing a logic reference rule for the databases and the function blocks, so that the robot can automatically export the corresponding subcodes after a user selects the corresponding function blocks.
Preferably, the step of correspondingly generating the object to be controlled subcode, the control logic subcode and the control condition subcode according to the corresponding action function block, the logic function block and the condition function block selected by the user based on the object to be controlled, the control logic and the control condition specifically comprises:
and correspondingly providing the object subcodes to be controlled, the control logic subcodes and the control condition subcodes in the xml format from the object code database to be controlled, the control logic code database and the control condition code database according to the corresponding action function block, logic function block and condition function block selected by the user based on the object to be controlled, the control logic and the control condition.
Specifically, after the user determines the corresponding action function block, logic function block and condition function block according to the object to be controlled, the control logic and the control condition, the corresponding sub-codes of the object to be controlled, the control logic sub-codes and the control condition sub-codes in the xml format can be called from each database, a user can check the corresponding sub-code combination through an input interface, namely the control codes for controlling the robot to execute the preset action, and can run the control code and check the running state and position of the control code after inputting the trigger instruction, when the control code runs normally and accords with the logic judgment and the user requirement, the control codes can be output to the controller 40 for operation and converted into corresponding control instructions to control the robot to execute preset actions, and further, the combined function blocks and the control codes can be stored according to user selection instructions to be directly selected and called in subsequent control.
In one embodiment, the motion function blocks include an arbitrary direction travel motion function block, a rotation motion function block, and/or a turning motion function block.
In this embodiment, after selecting the corresponding action function block, the user may control the robot to perform the corresponding work, such as turning, moving forward, and the like.
The present invention also provides a robot control device, including:
an operation interface 10, configured to receive a function editing instruction, a selection instruction, and a trigger instruction input by a user;
a code generating unit 20, configured to correspondingly generate a to-be-controlled object subcode, a control logic subcode, and a control condition subcode according to a corresponding action function block, a logic function block, and a condition function block selected by a user based on the to-be-controlled object, the control logic, and the control condition;
the flow and logic processing unit 30 is configured to combine the to-be-controlled object subcodes, the control logic subcodes and the control condition subcodes into a control code for controlling the robot to execute a preset action according to a preset combination rule, perform logic judgment, and output the control code;
and the controller 40 is used for controlling the robot to execute preset actions according to the logically judged control codes.
In this embodiment, the robot is provided with an operation interface 10, a user may directly input a corresponding instruction through the operation interface 10, and input a function editing instruction, a selection instruction, or a trigger instruction through the operation interface 10, the operation interface 10 includes a display unit, the operation interface 10 may be a touch screen, or a set of a display screen, a keyboard, and a mouse, when the user needs to perform an autonomous programming, a preset editing interface of the operation interface 10 may be opened by inputting the function editing instruction, the preset editing interface correspondingly displays corresponding action function blocks, logic function blocks, and condition function blocks, the user may query or directly drag out the corresponding function blocks by inputting the corresponding function instructions, wherein the function blocks may be named and grouped according to functions, such as action function block groups, logic function block groups, and condition function block groups, each function block group may be set in a different display areas of the same sub-operation interface 10 or the same operation interface 10, as shown in fig. 2, a user can directly transfer different action function blocks, logic function blocks and condition function blocks from different function block groups to a preset frame through an operation interface 10 according to an object to be controlled, a control logic and a control condition, different function blocks are combined according to a preset rule, similar to building block combination, to form a new function block combination, for example, a motor action function block in an action function block group, a confirmation obstacle function block in a logic function block group and an advance distance function block in a condition function block are transferred, each function block is combined according to a preset rule to form a new function block group, after confirming a current function block group, the user can input a confirmation instruction, the new function block is converted by a code generating unit 20 to generate a corresponding control code, and after the control code is logically judged by a flow and logic processing unit 30, the control code is converted into a control instruction for controlling a robot to execute an action, taking the above as an example, the motor action function block, the obstacle confirming function block and the forward distance function block are converted into control codes and then run, and at the same time, the flow and logic processing unit 30 performs logic judgment to determine the execution branch and direction of the next run of the program, for example, the control code corresponding to the obstacle confirming function block has two flow directions, that is, when an obstacle is detected and no obstacle is detected, and the control code corresponding to the action function block has multiple execution branches and directions when an obstacle is detected, for example, a steering control code or a backward control code is executed, when an obstacle is not detected, the control code corresponding to the linear distance function block is executed, when the combined control code is determined to be correct through logic judgment, the user can confirm again to output the control code, the control code runs in the controller 40 and is converted into a control instruction to control the robot to run corresponding work, therefore, the user can realize autonomous programming, and the requirements of different groups on different behavior modes of robot control are met.
Preferably, the robot control apparatus further includes:
and a function block generating unit 50 for editing and generating an action function block, a logic function block and a condition function block corresponding to a control command for controlling the robot to execute an action.
In this embodiment, the robot may edit the program of the function block in the function block generating unit 50 before or after factory shipment, generate function blocks with different functions and applications according to different functions and applications, and store different action function blocks, logic function blocks, and condition function blocks in the memory in an partitioned manner, where the function blocks may edit the program in the operation interface 10 or burn the program through the program debugging interface, and the specific manner is not limited.
Preferably, the functional block generating unit 50 is specifically configured to:
editing a code database of an object to be controlled, a control logic code database and a control condition code database, and storing the code databases in an xml format respectively;
and correspondingly establishing a plurality of action function blocks, logic function blocks and condition function blocks according to the object code database to be controlled, the control logic code database and the control condition code database, and establishing logic reference rules of a plurality of action function blocks, logic function blocks and condition function blocks and a plurality of corresponding subcodes in the object code database, the control logic code database and the control condition code database.
In this embodiment, a debugger edits a plurality of subcodes through a C language, a PLC or other programming languages according to different functions and purposes through the operation interface 10 or the terminal, and stores the subcodes in the memory in an xml format, and performs grouping according to the same type to form a corresponding object code database to be controlled, a control logic code database and a control condition code database, after editing the databases, after receiving a new instruction input by the operation interface 10, the functional block generating unit 50 creates a plurality of functional blocks one by one according to the new instruction and the type of the databases, and establishes a logic reference rule for the databases and the functional blocks, so that the robot can automatically derive the corresponding subcodes after a user selects the corresponding functional blocks.
Preferably, the code generating unit 20 is specifically configured to correspondingly propose the target subcode to be controlled, the control logic subcode and the control condition subcode in an xml format from the target code database to be controlled, the control logic code database and the control condition code database according to the corresponding action function block, logic function block and condition function block selected by the user based on the target to be controlled, the control logic and the control condition.
Specifically, after the user determines the corresponding action function block, logic function block and condition function block according to the object to be controlled, the control logic and the control condition, the code generating unit 20 can call the corresponding sub-code of the object to be controlled, the control logic sub-code and the control condition sub-code in the xml format from each database of the memory, the user can check the corresponding sub-code combination, namely the control code for controlling the robot to execute the preset action through the input interface, and can run the control code and check the running state and position of the control code after inputting the trigger instruction, when the control code runs normally and accords with the logic judgment and the user requirement, the control codes can be output to the controller 40 for operation and converted into corresponding control instructions to control the robot to execute preset actions, and further, the combined function blocks and the control codes can be stored according to user selection instructions to be directly selected and called in subsequent control.
Further, the code generating unit 20, the flow and logic processing unit 30, and the function block generating unit 50 may be respectively a single chip, or may be integrated to be set to be the same chip structure, and in the case of an integrated chip, the integrated chip is connected to the controller 40 and the operation interface 10, and generates corresponding control codes according to various instructions input by the operation interface 10, and inputs the control codes to the controller 40, so as to control the robot to perform corresponding work.
Preferably, the motion function block includes an arbitrary direction travel motion function block, a rotation motion function block, and/or a turning motion function block.
In this embodiment, after selecting the corresponding action function block, the user may control the robot to perform the corresponding work, such as turning, moving forward, and the like.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A robot control method, comprising:
when a function editing instruction input by a user based on an operation interface of the robot is received, displaying a preset program editing interface, wherein the interface comprises an action function block, a logic function block and a condition function block;
correspondingly generating a to-be-controlled object subcode, a control logic subcode and a control condition subcode according to a corresponding action function block, a logic function block and a condition function block selected by a user based on the to-be-controlled object, the control logic and the control condition;
and combining the object subcodes to be controlled, the control logic subcodes and the control condition subcodes into control codes for controlling the robot to execute preset actions according to preset combination rules, and outputting the control codes to a controller after logic judgment so as to control the robot to execute the preset actions.
2. The robot control method according to claim 1, wherein the step of receiving a function edit instruction input by a user based on an operation interface of the robot further comprises:
and editing and generating an action function block, a logic function block and a condition function block corresponding to a control command for controlling the robot to execute the action.
3. The robot control method according to claim 2, wherein the editing and generating of the action function block, the logic function block, and the condition function block corresponding to the control command for controlling the robot to execute the action specifically includes:
editing a code database of an object to be controlled, a control logic code database and a control condition code database, and storing the code databases in an xml format respectively;
and correspondingly establishing a plurality of action function blocks, logic function blocks and condition function blocks according to the object code database to be controlled, the control logic code database and the control condition code database, and establishing logic reference rules of a plurality of action function blocks, logic function blocks and condition function blocks and a plurality of corresponding subcodes in the object code database, the control logic code database and the control condition code database.
4. The robot control method according to claim 3, wherein the step of generating the object to be controlled subcode, the control logic subcode, and the control condition subcode in correspondence with the corresponding action function block, the logic function block, and the condition function block selected by the user based on the object to be controlled, the control logic, and the control condition specifically comprises:
and correspondingly providing the object subcodes to be controlled, the control logic subcodes and the control condition subcodes in the xml format from the object code database to be controlled, the control logic code database and the control condition code database according to the corresponding action function block, logic function block and condition function block selected by the user based on the object to be controlled, the control logic and the control condition.
5. The robot control method according to claim 3, wherein the action function block includes an arbitrary direction travel action function block, a rotation action function block, and/or a turning action function block.
6. A robot control apparatus, comprising:
the operation interface is used for receiving a function editing instruction, a selection instruction and a trigger instruction input by a user;
the code generating unit is used for correspondingly generating a sub-code of the object to be controlled, a control logic sub-code and a control condition sub-code according to the corresponding action function block, logic function block and condition function block selected by a user based on the object to be controlled, the control logic and the control condition;
the flow and logic processing unit is used for combining the object subcodes to be controlled, the control logic subcodes and the control condition subcodes into control codes for controlling the robot to execute preset actions according to preset combination rules, carrying out logic judgment and then outputting the control codes;
and the controller is used for controlling the robot to execute a preset action according to the logically judged control code.
7. The robot control apparatus of claim 6, further comprising:
and the function block generating unit is used for editing and generating an action function block, a logic function block and a condition function block corresponding to a control command for controlling the robot to execute the action.
8. The robot control apparatus according to claim 7, wherein the function block generation unit is specifically configured to:
editing a code database of an object to be controlled, a control logic code database and a control condition code database, and storing the code databases in an xml format respectively;
and correspondingly establishing a plurality of action function blocks, logic function blocks and condition function blocks according to the object code database to be controlled, the control logic code database and the control condition code database, and establishing logic reference rules of a plurality of action function blocks, logic function blocks and condition function blocks and a plurality of corresponding subcodes in the object code database, the control logic code database and the control condition code database.
9. The robot controller according to claim 6, wherein the code generation unit is configured to correspondingly present the object to be controlled subcode, the control logic subcode, and the control condition subcode in an xml format from the object to be controlled code database, the control logic code database, and the control condition code database according to the corresponding action function block, the logic function block, and the condition function block selected by the user based on the object to be controlled, the control logic, and the control condition.
10. The robot controller according to claim 9, wherein the motion function block includes an arbitrary direction travel motion function block, a rotation motion function block, and/or a turning motion function block.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911178133.7A CN110815231A (en) | 2019-11-25 | 2019-11-25 | Robot control method and device |
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