CN103514148A - Training data editing system and program - Google Patents
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Abstract
Provided are a training data editing system and a program, reducing time needed by training data editing and preventing call commands from rewriting and omission. A training data editing device comprises a list creating portion (42), a command acceptance portion (43), an identifying information changing portion (44), a searching portion (45), and a command rewriting portion (46). The list creating portion (42) creates lists of file identifying information included in training data. The command acceptance portion (43) accepts changing commands used to change the file identifying information in the list created by the list creating portion (42). The identifying information changing portion (44) determines an object, that is, an object file which would change the identifying information according to the changing command, and changes the identifying information of the determined object file. The searching portion (45) searches a calling source file which has files of calling commands used to call object files in files of the training data, and the calling source file is a source of calling. The command rewriting portion (46) rewrites identifying information of the object file in the calling command of the object file in the searched calling source file.
Description
Technical field
The present invention relates to edit editing system and the program of the training data of industrial robot.
Background technology
The industrial robot of the welding robot welding etc. moves by giving training data (teaching data), carries out the operation (for example,, with reference to patent documentation 1,2) of setting by this training data.Training data is such as the program file and the set of having described the data file of the data such as various conditions that are configured to the action of describing the execution of Liao Shi robot.And, by combining these files ，Shi robot, carry out desired operation.At this, program file, data file (being called program etc. below) can be called to utilize mutually.
In the situation that append the operation that robot carries out, training data is edited, in training data, login the combination (collection) of new program etc.Now, in training data, append in addition the situation of new program etc.In addition, in the situation that change or revise the operation of the training data based on having existed, the content of each program etc. is changed, or in training data, append new program etc.
Patent documentation
Patent documentation 1:JP JP 2005-135095 communique
Patent documentation 2:JP JP 2008-250706 communique
Editor during training data, there is the situation of the identifying information (reference number of a document, filename etc.) altering the procedure etc.At this, in the situation that other program etc. of the program etc. that has changed identifying information is called in existence, need to rewrite the call instruction in this program of calling source etc., the identifying information of the program of the invocation target that change is described in this call instruction etc.
Summary of the invention
The object of the invention is to, in the editor of training data, when the identifying information altering the procedure etc., cut down for rewriting the time of the call instruction in the source of calling of calling this program etc., prevent the generation of omission of the rewriting of call instruction.
The present invention who reaches above-mentioned object realizes as such below editing system.This editing system is the editing system of the training data of editor robot, it is characterized in that, possesses: training data holding unit, and it is obtained the training data that comprises a plurality of files and is kept; List creating unit, its establishment is included in the list of the identifying information of the file in the training data that training data holding unit keeps; Unit is accepted in order, and it accepts the change order for changing being included in the identifying information of the file of the list being created by list creating unit; Identifying information changing unit, it is according to accepted the change order of accepting unit by order, and carrying out definite object that will change identifying information is obj ect file, changes the identifying information of determined this obj ect file; Retrieval unit, its retrieval in training data the conduct in contained file have the call instruction for obj ect file is called file, become the source of calling call source file; Rewrite unit with order, its identifying information by this obj ect file in the call instruction of calling the obj ect file of describing in source file being retrieved by retrieval unit is rewritten as based on change order and carries out identifying information after changing.
By such formation, by specifying definite file to indicate the change of identifying information, can change the identifying information of specified file, and can automatically rewrite for calling other the call instruction of file of specified file.
At this, in the situation that obj ect file is list file, order is rewritten unit before the identifying information of the obj ect file in the call instruction of this obj ect file of describing in calling source file is rewritten, preserve the independent variable (argument) of call instruction, after rewriting the identifying information of obj ect file, make the independent variable of this call instruction turn back to the value of preservation.
By such formation, calling in source file of call list file, the condition ground in the time of not changing call list file, the identifying information of the file in rewriting call instruction.
In addition, the present invention also realizes as such below editing system.This editing system is the editing system of the training data of editor's welding robot, it is characterized in that, possess: training data holding unit, it is obtained training data and is kept, wherein, training data at least can comprise the program file of the sequence of events of having described robot, the database file of the information relevant with the condition of operation of describing Liao Yu robot, and can comprise in order to switch with the parameter of the operation related setting of robot and the parameter switching list file of reference, with direction storehouse (arrow bank) file of pattern of describing the action of weld job Zhong robot, unit is accepted in order, and it accepts the change order for changing being included in the identifying information of the file of the training data that training data holding unit keeps, identifying information changing unit, it is according to accepted the change order of accepting unit by order, and carrying out definite object that will change identifying information is obj ect file, changes the identifying information of determined this obj ect file, retrieval unit, its retrieval in training data the conduct in contained file have the call instruction for obj ect file is called file, become the source of calling call source file, rewrite unit with order, it rewrites the call instruction of calling the obj ect file of describing in source file being retrieved by retrieval unit, in obj ect file, it is program file, in the situation of parameter switching list file or direction library file, order is rewritten unit the identifying information that calls this obj ect file in the call instruction of describing in source file is rewritten as based on change order and carries out identifying information after changing, in the situation that obj ect file is database file, order is rewritten unit and is preserved the independent variable that calls the call instruction of describing in source file, identifying information in this call instruction is rewritten as based on change order and carries out identifying information after changing, make this independent variable of having rewritten the call instruction of identifying information turn back to the value of preservation.
By such formation, in the editing operating of the training data of welding robot, by specifying determined file, indicate the change of identifying information, identifying information that can the specified file of change, and can automatically rewrite for calling other the call instruction of file of specified file.
And then, in addition, the present invention can also as control computing machine realize above-mentioned editing system each function program and realize.This program can be contained in disk, CD, semiconductor memory, other recording medium distributes, or distributes via network, provides thus.
The effect of invention
According to the present invention, by specifying definite file, indicate the change of identifying information, can change the identifying information of the file of appointment, and can automatically rewrite for calling other the call instruction of file of the file of appointment, therefore, the required time of editor of training data can be cut down, and the rewriting omission of call instruction can be prevented.
Accompanying drawing explanation
Fig. 1 means the figure that the summary of editing system that present embodiment is related and welding robot system forms.
Fig. 2 means the figure of hardware configuration example of the training data editing device of present embodiment.
Fig. 3 means the figure of function composing example of the training data editing device of present embodiment.
Fig. 4 means the process flow diagram of the flow process that the change of the file identification information of present embodiment is processed.
Fig. 5 means the process flow diagram of the flow process that the change of the file identification information of present embodiment is processed.
Fig. 6 means the process flow diagram of the flow process that the change of identifying information of the file of present embodiment is processed.
Fig. 7 means the process flow diagram of the flow process that the change of identifying information of the file of present embodiment is processed.
Fig. 8 means the process flow diagram of the flow process that the change of identifying information of the file of present embodiment is processed.
The explanation of symbol
40 training data editing devices
41 training data maintaining parts
42 list creating portions
Portion is accepted in 43 orders
44 identifying information changing units
45 search part
46 call instruction rewriting portions
Embodiment
Below, with reference to accompanying drawing, describe embodiments of the present invention in detail.
In the present embodiment, take the editing system of the training data in welding robot system describes as example.
[system formation]
Fig. 1 means the figure that the summary of editing system that present embodiment is related and welding robot system forms.
As shown in Figure 1, welding robot system possesses: the teaching apparatus 30 of the control device (controller) 20 of robot (mechanical arm) 10, control and input training data.In addition, editing system for example can consist of the training data editing device 40 of realizing by computer system.
Robot 10 possesses the arm in a plurality of joints (arm), carries out the various operations based on training data.The in the situation that of welding robot system, at the front end of arm, be provided with for carrying out the welding torch 11 of the weld job of object.Control device 20 possesses: store the memory storage (storer) of training data and read in training data and carry out the treating apparatus of the action of control 10 (CPU).Teaching apparatus 30 during for teaching operation in robot 10 operator input path of welding and weld job condition etc.Teaching apparatus 30 possesses: the display frame 31 and the load button 32 that liquid crystal display etc., consist of.
[hardware of training data editing device forms]
Fig. 2 means the figure of the hardware configuration example of training data editing device 40.
As shown in Figure 2, training data editing device 40 possesses: arithmetic element is CPU(Central Processing Unit) 101 and main memory unit be storer 102.In addition, as external unit, possess: the input equipment 106 of image indication mechanism (video card etc.) 103 and display device 104, disk set (221:Hard Disk Drive) 105, keyboard and mouse etc. etc.In addition, also possesses the driver 107 for storage medium 50 is read and write.Thus, training data editing device 40 can read in training data from storage medium 50.In addition, the hardware formation that realizes the situation of training data editing device 40 by computer system is only illustration, and training data editing device 40 is not limited to illustrated formation.
[function composing of training data editing device]
Fig. 3 means the figure of the function composing example of training data editing device 40.
As shown in Figure 3, training data editing device 40 possesses: portion 43, identifying information changing unit 44, search part 45 and call instruction rewriting portion 46 are accepted in training data maintaining part 41, list creating portion 42, order.The storage unit of the storer 102 during training data maintaining part 41 such as the hardware by shown in Fig. 2 forms or disk set 105 etc. realizes.Portion 43, identifying information changing unit 44, search part 45 and call instruction rewriting portion 46 are accepted in training data maintaining part 41, list creating portion 42, order, and for example, CPU101 in consisting of the hardware shown in Fig. 2 realizes.More specifically, the program of the function of the training data editing device 40 by computer realization present embodiment is contained in disk set 105, this program is launched at storer 102, by it being carried out by CPU101, realize above-mentioned training data maintaining part 41, list creating portion 42, order each function of accepting portion 43, identifying information changing unit 44, search part 45 and call instruction rewriting portion 46.
Training data maintaining part 41 keeps the training data of reading in from storage medium 50 via driver 107.The training data that remains on training data maintaining part 41 becomes the object that training data editing device 40 carries out editing and processing.Therefore, carrying out after editing and processing, the training data after editor is being remained in training data maintaining part 41.At this, training data is configured to the set of program file, data file.In the present embodiment, owing to take welding robot system as example, therefore, training data consists of program file, database file, parameter switching list file, these 4 kinds of files of direction library file.About each file in detail, narration in the back.
The training data of list creating portion 42 based on remaining in training data maintaining part 41, creates the list of the identifying information that is included in the file in this training data.This identifying information is in the situation that the file that calls other from certain file is determined the file (invoked file) of invocation target.As the identifying information of file, can use reference number of a document or filename.Below, in the present embodiment, take and use reference number of a document to describe as example as the situation that is recorded in the identifying information in list.The identifying information list (reference number of a document list) being created by list creating portion 42 is for example presented in display device 104 by the control of the image indication mechanism 103 shown in Fig. 2.
In the present embodiment, when creating reference number of a document list, extraction is included in the table of tree structure in training data and program or database and constructs relevant information, and it is launched on job memory.In addition, as the data structure of reference number of a document list, can adopt the formation of the table structure of the tree structure that reflected between program file or database file.In this case, can be deployed in information or the reference number of a document list on job memory by reference, judge whether certain program file or database file call other file.
It is the order (change order) of reference number of a document that order accepts that portion 43 accepts for the identifying information of change file.In the situation that carry out the change of reference number of a document, when display part 104 shows the reference number of a document list being created by list creating portion 42, operator specifies the reference number of a document of expectation with reference to the reference number of a document list that is shown in display device 104, input change order.The input of the change order of reference number of a document, for example, can be undertaken by the input equipment 106 shown in operator's application drawing 2.
The change order of identifying information changing unit 44 based on being accepted portion 43 by order and accepting, reads the file of the specified reference number of a document in the file that remains on the training data in training data maintaining part 41, according to change order, carrys out change file numbering.Then, the file that has changed reference number of a document is contained in training data maintaining part 41.When the reference number of a document of any file of training data is changed, list creating portion 42 reflection this document are compiled the alternation of signs, updating file numbered list.
The file (be below called call source file) of search part 45 retrieval to the source of calling of having been changed the file of reference number of a document by identifying information changing unit 44 and calling.In other words, the file of searching object is to have for calling the file of call instruction of other file, is that the file (being called invocation target file below) of its allocating object is for being identified the such file of file that information-change portion 44 has changed reference number of a document.The file that calls source file that can become the call instruction with the file that calls other as only program file and the database file in the file of above-mentioned 4 kinds.Narration in detail in the back about search method.
The reference number of a document of call instruction rewriting portion 46 based on being accepted change order that portion 43 accepts by order and be rewritten as in the invocation target file of describing in the call instruction of calling source file being retrieved by search part 45.That is, the change of the reference number of a document of the invocation target file self that cooperation identifying information changing unit 44 is carried out, rewrites the invocation target reference number of a document in call instruction.
In addition, in the present embodiment, be configured to training data editing device 40 and from the control device 20 of welding robot system, obtain training data via storage medium 50, but also can be configured to: by carrying out exchanges data via the connection control device 20 such as network and training data editing device 40, training data editing device 40 is obtained training data.
(becoming kind and the content of the file of processing object)
At this, illustrate that the processing object of formation present embodiment is kind and the content thereof of the file of training data.As described above, the training data of the welding robot system of present embodiment consists of the file of program file, database file, parameter switching list file, this 4 kind of direction library file.In addition, program file is necessary file, and other file is different according to training data, also has non-existent situation.
Program file is the file of the job position of describing robot 10, attitude, sequence of events etc.
Database file be by the login of program file reference the table of various operating conditions.In welding robot system, mainly login welding condition (parameter associated with weld job).
Parameter switching list file for example, in the situation that hope realizes specification in the operation of robot 10 (weld job with a plurality of settings, that the kind of welding wire is, the outstanding length of welding wire etc.) situation inferior, be for switching each and the table of the parameter set by these specifications.
Direction library file is the table of parameter of having logined the yaw action of weld job Zhong robot 10.
As described above, the call instruction that the program file in the file of these 4 kinds and database file have the file that calls other sometimes.That is, sometimes become other file call source file.On the other hand, parameter switching list file and direction library file can not become call other file call source file.
[content that identifying information change is processed]
Fig. 4～Fig. 8 means the process flow diagram of the flow process that the change of the file identification information of present embodiment is processed.
As original state, obtain in advance and process the training data of object and hold it in training data maintaining part 41, by list creating portion 42, create reference number of a document list and be presented at display device 104.Then, operator's operation input apparatus 106, specified file numbers to input change order.
First, order is accepted portion 43 based on reference number of a document list, come to determine be included in training data by the specified file of change order (Fig. 4, step 401).Then, determine whether it is the file (step 402) of energy change file numbering, judge whether numbering is after changing the numbering (step 403) that can use as reference number of a document.If the file by change order appointment is program file, database file, parameter switching list file, direction library file any one, is "Yes" in step 402.Then, if the reference number of a document after changing of giving by change order is the numbering that can use as the specification of training data, in step 403, be "Yes".In addition, that can use as reference number of a document is numbered 1～999, due in the situation that specify 1000 as numbering after changing, owing to being out of use numbering, therefore in step 403, becomes "No".In the situation that step 402 or step 403 are "No", owing to can not carrying out this change order, so end process.
In the situation that step 402,403 is all "Yes", next, search part 45 is taken out a file (below, be called the 1st obj ect file) (S404) from remain on the training data training data maintaining part 41.Whether the 1st obj ect file that then, judgement is taken out is program file (step 405).
In the situation that the 1st obj ect file is program file, next, search part 45 judges whether this program file is any one file calling (calling source file) (step 406) to program file, database file, parameter switching list file, direction library file.
In the situation that the 1st obj ect file is to call any one file of these files, next, search part 45 judges that whether invocation target file (being called the 2nd obj ect file below) is by the file (step 407) of change order specified (that is, change numbering).
In the situation that the 2nd obj ect file is the file by change order appointment, next, whether search part 45 judgements there is the 2nd obj ect file (step 408) of invocation target in training data.At this, for example, in the situation that by the specified reference number of a document mistake of change order or inferior in the situation of having deleted invocation target file by mistake, become "No" in step 408.
The in the situation that of there is the 2nd obj ect file in training data, next search part 45 is numbered the 1st obj ect file login in change list (step 409) in routine call.This routine call numbering change list is such as being contained in the storage unit of the storer 102 of the hardware shown in Fig. 2 in forming, disk set 105 etc.
If above-mentioned steps 405 is "No" to any one of step 408, in routine call numbering change list, do not login the 1st obj ect file.
Whether the 1st obj ect file that next, search part 45 judgements are taken out from training data in step 404 is database file (Fig. 5, step 410).In the situation that the 1st obj ect file is program file (step 405: be), step 410 becomes "No".In addition, in the situation that the 1st obj ect file is parameter switching list file or direction library file, in step 410, also become "No".
In the situation that the 1st obj ect file is database file, next, search part 45 judges whether this database file is the file (calling source file) (step 411) of call parameters switching table file or direction library file.
In the situation that the 1st obj ect file is to call any one of these files, next, search part 45 judges whether the 2nd obj ect file of invocation target is by the file (step 412) of change order specified (that is, change numbering).
In the situation that the 2nd obj ect file is by the specified file of change order, next, whether search part 45 judgements there is the 2nd obj ect file (step 413) of invocation target in training data.
The in the situation that of there is the 2nd obj ect file in training data, next, search part 45 is numbered the 1st obj ect file login in change list (step 414) at data base call.This data base call numbering change list is such as being contained in the storage unit of the storer 102 of the hardware shown in Fig. 2 in forming or disk set 105 etc.
If above-mentioned steps 410 is "No" to any one of step 413, the 1st obj ect file is not signed in in data base call numbering change list.
Below, obtain successively all files that is included in training data as processing object (the 1st obj ect file), perform step 404 and process (step 415) to each of step 414.
In addition, in above-mentioned action, which person is step 405 first carry out to a series of processing of step 409 and step 410 to a series of processing of step 414 all has no relations.
Next, search part 45 is taken out 1 program file (the 1st obj ect file) (Fig. 6, step 416) from the routine call numbering change list creating in step 409.Then, extract to describe the call instruction of the file in the 1st obj ect file of taking out, and logined in command list (CLIST) (step 417).At this, command list (CLIST) is such as being contained in the storage unit of storer 102 in forming of hardware shown in Fig. 2, disk set 105 etc.
Next, search part 45 is taken out 1 order (step 418) from command list (CLIST).Then, judge whether the order of taking out is the routine call order (step 419) of calling program file.In the situation that being routine call order, next, search part 45 judges the allocating object of this routine call order is whether invocation target file is by the file (step 420) of change order specified (that is, change numbering).
In the situation that the invocation target file of routine call order is by the specified file of change order, the reference number of a document (step 421) of being described the invocation target file in this routine call order is rewritten by call instruction rewriting portion 46 based on change order.
In the situation that any one of step 419 or step 420 is "No", do not carry out the rewriting of routine call order.
Next, search part 45 judges whether the order of taking out in step 418 is the data base call order (step 422) of calling data library file.In the situation that being data base call order, next, search part 45 judges the allocating object of this data base call order is whether invocation target file is by the specified file (step 423) of change order.
In the situation that the invocation target file of data base call order is by the specified file of change order, call instruction rewriting portion 46 temporarily remains on (step 424) in memory buffer by the independent variable of data base call order, based on change order, rewrites the reference number of a document (step 425) of describing the invocation target file in this data base call order.Then, except the reference number of a document of rewriting, make other independent variable return to the value of preserving in step 424.
In the situation that any one of step 422 or step 423 is "No", do not carry out the rewriting of data base call order.
Next, search part 45 judges whether the order of taking out in step 418 is the parameter switching table call instruction (Fig. 7, step 427) of call parameters switching table file.In the situation that being the call instruction of parameter switching table, next, search part 45 judges the allocating object of this parameter switching table call instruction is whether invocation target file is by the specified file (step 428) of change order.
In the situation that the invocation target file of parameter switching table call instruction is that the reference number of a document (step 429) of describing the invocation target file in this parameter switching table call instruction is rewritten based on change order by call instruction rewriting portion 46 by the specified file of change order.
In the situation that any one of step 427 or step 428 is "No", do not carry out the rewriting of parameter switching table call instruction.
Next, search part 45 judges whether the order of taking out in step 418 is the direction library call order (step 430) of call direction library file.In the situation that being the order of direction library call, next, search part 45 judges the allocating object of this direction library call order is whether invocation target file is by the specified file (step 431) of change order.
In the situation that the invocation target file of direction library call order is that the reference number of a document (step 432) of describing the invocation target file in this direction library call order is rewritten based on change order by call instruction rewriting portion 46 by the specified file of change order.
In the situation that any one of step 430 or step 431 is "No", the not rewriting of travel direction library call order.
Below, in step 417, obtain successively the whole order being registered in command list (CLIST), perform step 418 each processing (step 433) to step 432.
Then, obtain successively the 1st whole obj ect file being registered in routine call numbering change list, carry out the related processing (step 434) of rewriting of above-mentioned call instruction.
In addition, in above-mentioned action, step 419 is carried out all and is had no relations in what order to a series of processing of step 432 to a series of processing, the step 430 of step 429 to a series of processing, the step 427 of step 426 to a series of processing, the step 422 of step 421.
Next, search part 45, from the data base call numbering change list creating in step 414, is taken out 1 database file (the 1st obj ect file) (Fig. 8, step 435).Then, read in the content (step 436) of the 1st obj ect file of taking-up.
Next, search part 45 judges in the 1st obj ect file of reading in, whether there is the parameter switching table call instruction (step 437) of call parameters switching table file.In the situation that there is the call instruction of parameter switching table, next, search part 45 judges the allocating object of this parameter switching table call instruction is whether invocation target file is by the file (step 438) of change order specified (that is, change numbering).
In the situation that the invocation target file of parameter switching table call instruction is that the reference number of a document (step 439) of describing the invocation target file in this parameter switching table call instruction is rewritten based on change order by call instruction rewriting portion 46 by the specified file of change order.
In the situation that any one of step 437 or step 438 is "No", do not carry out the rewriting of parameter switching table call instruction.
Next, search part 45 judges in the 1st obj ect file of reading in, whether there is the direction library call order (step 440) of call direction library file.In the situation that there is the order of direction library call, next, search part 45 judges the allocating object of this direction library call order is whether invocation target file is by the file (step 441) of change order specified (will change numbering).
In the situation that the invocation target file of direction library call order is that the reference number of a document (step 442) of describing the invocation target file in this direction library call order is rewritten based on change order by call instruction rewriting portion 46 by the specified file of change order.
In the situation that any one of step 440 or step 441 is "No", do not carry out the rewriting of parameter switching table call instruction.
Above, the 1st whole obj ect file of logining in data base call numbering change list is carried out to step 435 to each processing (step 443) of step 442.
In addition, in above-mentioned action, which step 437 first carried out to a series of processing, the step 440 of step 439 to a series of processing of step 442 and all had no relations.
As described above, about thering is the file (calling source file) of the call instruction that the specified file of change order is called, after the reference number of a document of the invocation target file in rewriting this call instruction (by the reference number of a document of change order change), identifying information changing unit 44 changes the reference number of a document (step 444) by the specified file self of change order according to change order.
In the present embodiment, as described above, first the information inspection obtaining during the establishment based in reference number of a document list is included in the call relation between the file in training data, what be then identified for the file of the change object of reference number of a document to call calls source file (with reference to step 404～step 414), afterwards, resolving this definite file also rewrites and comprises order hereof.By such order, compare with the situation of call instruction of file of successively resolving all files be included in training data and detect the change object of reference number of a document, can, by reducing the scope in advance to cut down the file of analysis object, can seek the raising for the treatment of effeciency.
[configuration example of other of present embodiment]
In the above description, by computer implemented training data editing device 40, obtain the training data of welding robot system, carry out the editing and processing of the identifying information (in this case reference number of a document) for changing the file of expectation.The function of the training data editing device 40 that on the other hand, for example can also realize present embodiment by control device 20 and the teaching apparatus 30 of the welding robot system shown in Fig. 1.
In this case, control device 20 possesses CPU101, storer 102, the disk set 105 in the hardware configuration example shown in Fig. 2.In addition, by display frame 31 and the driving mechanism thereof of teaching apparatus 30, realize image indication mechanism 103 and display device 104, by the load button 32 of teaching apparatus 30, realize input equipment 106.In this case, the reference number of a document list being created by list creating portion 42 is shown in the display frame 31 of teaching apparatus 30.Then, the load button 32 that operator operates teaching apparatus 30 is inputted the change order of the reference number of a document of expectation file.Control device 20 is accepted the input operation at this teaching apparatus 30, rewrites the call instruction of calling source file for the specified file of change order is called, and change is by the reference number of a document of the specified file self of change order.
Claims (4)
1. the training data of the editing system ，Dui robot of a training data is edited, and it is characterized in that possessing:
Training data holding unit, it is obtained the described training data that comprises a plurality of files and is kept;
List creating unit, its establishment is included in the list of the identifying information of the described file in the described training data that described training data holding unit keeps;
Unit is accepted in order, and it accepts the change order for changing being included in the described identifying information of the described file of the described list being created by described list creating unit;
Identifying information changing unit, it is according to the described change order of being accepted unit by described order and accepting, and determines that the object that will change described identifying information is obj ect file, changes the identifying information of determined this obj ect file;
Retrieval unit, its retrieve conduct in described file contained in described training data have the call instruction for described obj ect file is called file, become the source of calling call source file; With
Unit is rewritten in order, and it is rewritten as the identifying information that calls this obj ect file in the call instruction of the described obj ect file of describing in source file described in being retrieved by described retrieval unit based on described change order and carries out identifying information after changing.
2. the editing system of training data according to claim 1, is characterized in that,
In the situation that described obj ect file is list file, described order is rewritten unit before the identifying information of this obj ect file in the call instruction of described this obj ect file of describing in calling source file is rewritten, preserve the independent variable of this call instruction, after rewriting the identifying information of this obj ect file, make the independent variable of this call instruction turn back to the value of preservation.
3. a welding robot system, is characterized in that, possesses:
Welding robot, it is for welding;
Control device, it controls this robot;
Teaching apparatus, it inputs the training data of described welding robot; With
The editing device of training data claimed in claim 1, it is edited described training data.
4. an editing system for training data, butt welding machine device people's training data is edited, and it is characterized in that, possesses:
Training data holding unit, it is obtained described training data and is kept, wherein, the database file of the information that the program file that described training data at least can comprise the sequence of events of having described robot is relevant with the condition of operation of describing Liao Yu robot, and can comprise in order to switch the parameter switching list file of the reference with the parameter of the operation related setting of robot and to describe the direction library file of pattern of the action of weld job Zhong robot;
Unit is accepted in order, and it accepts the change order for changing being included in the identifying information of the described file of the described training data that described training data holding unit keeps;
Identifying information changing unit, it is according to the described change order of being accepted unit by described order and accepting, and determines that the object that will change described identifying information is obj ect file, changes the identifying information of determined this obj ect file;
Retrieval unit, its retrieve conduct in described file contained in described training data have the call instruction for described obj ect file is called file, become the source of calling call source file; With
Unit is rewritten in order, its rewrite by described retrieval unit, retrieved described in call the described obj ect file of describing in source file call instruction,
In the situation that described obj ect file is program file, parameter switching list file or direction library file, described order is rewritten unit the described identifying information that calls this obj ect file in the described call instruction of describing in source file is rewritten as based on described change order and carries out identifying information after changing
In the situation that described obj ect file is database file, described in described order rewriting unit preservation, call the independent variable of the described call instruction of describing in source file, identifying information in this call instruction is rewritten as based on described change order and carries out identifying information after changing, make this independent variable of having rewritten the call instruction of identifying information turn back to the value of preservation.
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| JP2012-144682 | 2012-06-27 | ||
| JP2012144682A JP5865192B2 (en) | 2012-06-27 | 2012-06-27 | Teaching data editing system and program |
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| CN103514148A true CN103514148A (en) | 2014-01-15 |
| CN103514148B CN103514148B (en) | 2017-03-01 |
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| CN (1) | CN103514148B (en) |
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| JP7404717B2 (en) * | 2019-09-03 | 2023-12-26 | セイコーエプソン株式会社 | Program identification method and robot system |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP5865192B2 (en) | 2016-02-17 |
| CN103514148B (en) | 2017-03-01 |
| JP2014010501A (en) | 2014-01-20 |
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