CN106528172A - Method for realizing image programming - Google Patents
Method for realizing image programming Download PDFInfo
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- CN106528172A CN106528172A CN201611051928.8A CN201611051928A CN106528172A CN 106528172 A CN106528172 A CN 106528172A CN 201611051928 A CN201611051928 A CN 201611051928A CN 106528172 A CN106528172 A CN 106528172A
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- 238000000034 method Methods 0.000 title claims abstract description 51
- 230000009471 action Effects 0.000 claims abstract description 241
- 239000000178 monomer Substances 0.000 claims description 140
- 230000004044 response Effects 0.000 claims description 110
- 230000000875 corresponding effect Effects 0.000 claims description 25
- 238000006243 chemical reaction Methods 0.000 claims description 18
- 230000003993 interaction Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000004069 differentiation Effects 0.000 description 2
- 230000001052 transient effect Effects 0.000 description 2
- 210000000746 body region Anatomy 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F8/00—Arrangements for software engineering
- G06F8/30—Creation or generation of source code
- G06F8/34—Graphical or visual programming
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Abstract
The invention provides a method for realizing image programming. The method comprises a control device, the control device comprises a display module that can display a user interface, and the method comprises the following steps: displaying a program editing area (120) on the user interface, wherein the program editing area comprises a judgment condition display area (123) and an execution action display area (127); responding to a selection operation of a user, displaying a module selection area (130) on the user interface, wherein the module selection area (130) is displayed as containing a plurality of condition modules (136); and responding to the selection operation of the user, displaying a condition module icon (137) and/or a condition module name corresponding to one condition module (136) in the selected judgment condition display area (123). By adoption of the method provided by the invention, image programming can be realized, and the use interests of the user are improved.
Description
Technical field
The present invention relates to a kind of machine readable media of storage image Program Appliance program, one kind realizes that image conversion is programmed
Method, it is a kind of realize image conversion programming control device.
Background technology
In prior art, the programming of robot is carried out by the way of very professional, mostly by the way of code is write
Carry out, but this mode is excessively professional, be not suitable for domestic consumer's use, cause domestic consumer to be difficult to programming Control machine people.
The content of the invention
The technical problem to be solved is to provide a kind of machine readable of storage image Program Appliance program and is situated between
Matter, a kind of method for realizing image conversion programming, a kind of control device for realizing image conversion programming.By the invention it is possible to solve
Programming tool of the prior art cannot allow domestic consumer programming Control machine people, lack the technical problem of man-machine interaction enjoyment.
The present invention provides a kind of machine readable media of storage image Program Appliance program, and one kind realizes that image conversion is programmed
Method, it is a kind of realize image conversion programming control device.
A kind of method for realizing image conversion programming, including control device, the control device includes showing user circle
The display module in face, the method comprising the steps of：
Program editing region is shown on a user interface, and described program editing area is used for showing and editor control program,
Described program editor control region includes Rule of judgment viewing area and execution action viewing area, the Rule of judgment viewing area
Domain includes several Rule of judgment monomer regions, and the execution action viewing area includes several execution action monomer regions；
When user selects one of them described Rule of judgment monomer region, in response to the selection operation of user, described
Display module selection region in user interface, the module selection area now illustratively comprise several condition modules, or work as
When user selects one of them described execution action monomer region, in response to the selection operation of user, in the user interface
Display module selection region, the module selection area now illustratively comprise several action modules；
When user selects one of them described condition module, in response to the selection operation of user, it is selected this
Individual Rule of judgment monomer region shows the corresponding condition module icon and/or condition module of selected this condition module
Title, or when user selects one of them described action module, in response to the selection operation of user, it is selected this
Individual execution action monomer region shows the corresponding action module icon of selected this action module and/or action module
Title.
Preferably, methods described is further comprising the steps of, while showing program editing region on a user interface, with
Display control pane on the interface of family, the control pane include starting module.
Preferably, when user selects the starting module, in response to the selection operation of user, the control device is completed
Editing to the control program.
Preferably, starting module is selected in response to user, show dialog box in the user interface, point out user program to compile
Collect work to have completed.
Preferably, it is when user selects the starting module, in response to the selection operation of user, aobvious in the user interface
Show dialog box, the dialogue inframe shows the button selected for user.
Preferably, while the dialog box is ejected, other in addition to the dialog box of the user interface
The dispaly state in region, described in when not ejecting than the dialog box, the dispaly state in other regions is darker, and than the dialogue
The dispaly state of frame itself is darker.
Preferably, the control pane also includes stopping modular and/or preserving module and/or removes module；In response to
Family selects the stopping modular, the control device control robot to stop performing all control programs；Select in response to user
The preserving module, the control device by all compiled Rule of judgment and the execution action preserve to specify
Storage medium in；The removing module is selected in response to user, the control device is by all compiled control programs
Remove.
Preferably, while showing program editing region on a user interface, horizontal stroke is shown in described program editing area
To separator bar and longitudinal subdivision line, by the laterally separated line and the longitudinal subdivision line, the Rule of judgment viewing area
It is divided into several Rule of judgment monomer regions and execution action monomer region respectively with the execution action viewing area.
Preferably, one of them described Rule of judgment monomer region, the selected Rule of judgment are selected in response to user
Monomer region is highlighted；One of them described execution action monomer region, the selected execution are selected in response to user
Action monomer region is highlighted；One of condition module, the selected condition module is selected to be dashed forward in response to user
Go out to show；One of action module is selected in response to user, the selected action module is highlighted.
Preferably, it is described to highlight as being highlighted and/or flickering display.
Preferably, described program editing area includes Rule of judgment region and performs operating space, the Rule of judgment area
Domain includes Rule of judgment pane and the Rule of judgment viewing area for being easy to user's identification to distinguish, the Rule of judgment viewing area bag
Include several Rule of judgment monomer regions；The operating space that performs includes the execution action pane for being easy to user's identification to distinguish and holds
Viewing area is made in action, and the execution action viewing area includes several execution action monomer regions；The module selection area
Pane and module region are selected including the module for being easy to user's identification to distinguish.
Preferably, the described condition module illustratively comprises condition module title and/or condition module icon；Described this is moved
Action module title and/or action module icon are illustratively comprised as module.
Preferably, user realizes selection operation by touching the display module, can be the moment touched as user i.e.
Complete selection operation；Selection operation is completed just when can be and the time of user's touch reach preset duration；Can connect as user
Selection operation is completed just during continuous repeatedly touch；Can complete selection operation when user's touch pressure obtains certain threshold value.
Preferably, methods described is further comprising the steps of, selects starting module, the control device to complete in response to user
Editing to the control program, the control device send the compiled control program for completing to robot.
Preferably, the control device is mobile phone, and while user realizes selection operation, the mobile phone produces vibration.
A kind of machine readable media of storage image Program Appliance program, described image Program Appliance program include using
In the instruction set of following operation：
Program editing region is shown on a user interface, and described program editing area is used for showing and editor control program,
Described program editor control region includes Rule of judgment viewing area and execution action viewing area, the Rule of judgment viewing area
Domain includes several Rule of judgment monomer regions, and the execution action viewing area includes several execution action monomer regions；
When user selects one of them described Rule of judgment monomer region, in response to the selection operation of user, described
Display module selection region in user interface, the module selection area now illustratively comprise several condition modules, or work as
When user selects one of them described execution action monomer region, in response to the selection operation of user, in the user interface
Display module selection region, the module selection area now illustratively comprise several action modules；
When user selects one of them described condition module, in response to the selection operation of user, it is selected this
Individual Rule of judgment monomer region shows the corresponding condition module icon and/or condition module of selected this condition module
Title, or when user selects one of them described action module, in response to the selection operation of user, it is selected this
Individual execution action monomer region shows the corresponding action module icon of selected this action module and/or action module
Title.
Preferably, the machine readable media also includes following instruction set, shows program editing region on a user interface
While, display control pane on a user interface, the control pane include starting module.
Preferably, the machine readable media also includes following instruction set, when user selects the starting module, response
In the selection operation of user, the control device completes the editing to the control program.
Preferably, the machine readable media also includes following instruction set, selects starting module in response to user, described
User interface shows dialog box, points out user program editing to complete.
Preferably, the machine readable media also includes following instruction set, when user selects the starting module, response
In the selection operation of user, dialog box is shown in the user interface, the dialogue inframe shows the button selected for user.
Preferably, the machine readable media also includes following instruction set, while the dialog box is ejected, the use
The dispaly state in other regions in addition to the dialog box at family interface, described in when not ejecting than the dialog box other
The dispaly state in region is darker, and more darker than the dispaly state of the dialog box itself.
Preferably, the machine readable media also include following instruction set, the control pane also include stopping modular and/
Or preserving module and/or removing module；The stopping modular, the control device control robot is selected to stop in response to user
Perform all control programs；Select the preserving module in response to user, the control device by it is all it is compiled described in
Rule of judgment and the execution action are preserved into specified storage medium；The removing module is selected in response to user, it is described
All compiled control programs are removed by control device.
Preferably, the machine readable media also includes following instruction set, shows program editing region on a user interface
While, laterally separated line and longitudinal subdivision line is shown in described program editing area, by the laterally separated line and institute
Longitudinal subdivision line is stated, the Rule of judgment viewing area and the execution action viewing area are divided into several judgement bars respectively
Part monomer region and execution action monomer region.
Preferably, the machine readable media also includes following instruction set, selects to sentence described in one of them in response to user
Broken strip part monomer region, the selected Rule of judgment monomer region are highlighted；One of institute is selected in response to user
Execution action monomer region is stated, the selected execution action monomer region is highlighted；Wherein one is selected in response to user
Individual condition module, the selected condition module are highlighted；One of action module is selected in response to user, this is selected
The action module selected is highlighted.
Preferably, it is described to highlight as being highlighted and/or flickering display.
Preferably, described program editing area includes Rule of judgment region and performs operating space, the Rule of judgment area
Domain includes Rule of judgment pane and the Rule of judgment viewing area for being easy to user's identification to distinguish, the Rule of judgment viewing area bag
Include several Rule of judgment monomer regions；The operating space that performs includes the execution action pane for being easy to user's identification to distinguish and holds
Viewing area is made in action, and the execution action viewing area includes several execution action monomer regions；The module selection area
Pane and module region are selected including the module for being easy to user's identification to distinguish.
Preferably, the described condition module illustratively comprises condition module title and/or condition module icon；Described this is moved
Action module title and/or action module icon are illustratively comprised as module.
Preferably, user realizes selection operation by touching the display module, can be the moment touched as user i.e.
Complete selection operation；Selection operation is completed just when can be and the time of user's touch reach preset duration；Can connect as user
Selection operation is completed just during continuous repeatedly touch；Can complete selection operation when user's touch pressure obtains certain threshold value.
Preferably, the machine readable media also includes following instruction set, selects starting module, the control in response to user
Control equipment completes the editing to the control program, the control device by the compiled control program for completing send to
Robot.
Preferably, the control device is mobile phone, and while user realizes selection operation, the mobile phone produces vibration.
A kind of control device for realizing image conversion programming, the control device include the display mould that can show user interface
Block,
Program editing region is shown in the user interface, and described program editing area is used for showing and editor control journey
Sequence, described program editor control region include Rule of judgment viewing area and execution action viewing area, and the Rule of judgment shows
Show that region includes several Rule of judgment monomer regions, the execution action viewing area includes several execution action monomer regions；
When user selects one of them described Rule of judgment monomer region, in response to the selection operation of user, the use
Display module selection region on the interface of family, the module selection area now illustratively comprise several condition modules, or ought use
When family selects one of them described execution action monomer region, in response to the selection operation of user, show in the user interface
Module selection area, the module selection area now illustratively comprise several action modules；
When user selects one of them described condition module, in response to the selection operation of user, it is selected this
Rule of judgment monomer region shows the corresponding condition module icon of selected this condition module and/or condition module name
Claim, or when user selects one of them described action module, in response to the selection operation of user, selected this is held
Corresponding action module icon and/or the action module name that monomer region shows selected this action module is made in action
Claim.
Preferably, while showing program editing region in user interface, display control pane in user interface, the control
Pane processed includes starting module.
Preferably, when user selects the starting module, in response to the selection operation of user, the control device completes right
The editing of the control program.
Preferably, select starting module, the user interface to show dialog box in response to user, point out user program editor
Work has been completed.
Preferably, when user selects the starting module, in response to the selection operation of user, the user interface shows right
Words frame, the dialogue inframe show the button selected for user.
Preferably, while the dialog box is ejected, other areas in addition to the dialog box of the user interface
The dispaly state in domain, described in when not ejecting than the dialog box, the dispaly state in other regions is darker, and than the dialog box
The dispaly state of itself is darker.
Preferably, the control pane also includes stopping modular and/or preserving module and/or removes module；In response to
Family selects the stopping modular, the control device control robot to stop performing all control programs；Select in response to user
The preserving module, the control device by all compiled Rule of judgment and the execution action preserve to specify
Storage medium in；The removing module is selected in response to user, the control device is by all compiled control programs
Remove.
Preferably, while showing program editing region in user interface, show in described program editing area and laterally divide
Every line and longitudinal subdivision line, by the laterally separated line and the longitudinal subdivision line, the Rule of judgment viewing area and institute
State execution action viewing area and be divided into several Rule of judgment monomer regions and execution action monomer region respectively.
Preferably, one of them described Rule of judgment monomer region, the selected Rule of judgment are selected in response to user
Monomer region is highlighted；One of them described execution action monomer region, the selected execution are selected in response to user
Action monomer region is highlighted；One of condition module, the selected condition module is selected to be dashed forward in response to user
Go out to show；One of action module is selected in response to user, the selected action module is highlighted.
Preferably, it is described to highlight as being highlighted and/or flickering display.
Preferably, described program editing area includes Rule of judgment region and performs operating space, the Rule of judgment area
Domain includes Rule of judgment pane and the Rule of judgment viewing area for being easy to user's identification to distinguish, the Rule of judgment viewing area bag
Include several Rule of judgment monomer regions；The operating space that performs includes the execution action pane for being easy to user's identification to distinguish and holds
Viewing area is made in action, and the execution action viewing area includes several execution action monomer regions；The module selection area
Pane and module region are selected including the module for being easy to user's identification to distinguish.
Preferably, the described condition module illustratively comprises condition module title and/or condition module icon；Described this is moved
Action module title and/or action module icon are illustratively comprised as module.
Preferably, user realizes selection operation by touching the display module, can be the moment touched as user i.e.
Complete selection operation；Selection operation is completed just when can be and the time of user's touch reach preset duration；Can connect as user
Selection operation is completed just during continuous repeatedly touch；Can complete selection operation when user's touch pressure obtains certain threshold value.
Preferably, starting module, the control device is selected to complete the editor's work to the control program in response to user
Make, the control device sends the compiled control program for completing to robot.
Preferably, the control device is mobile phone, and while user realizes selection operation, the mobile phone produces vibration.
By the present invention, solve programming tool of the prior art in prior art and cannot allow domestic consumer's programming Control
Robot, lacks the technical problem of man-machine interaction enjoyment, realizes domestic consumer's editor control program in the way of image conversion.
Description of the drawings
The display in the program editing region of Fig. 1 examples present invention.
The selection of the Rule of judgment monomer region of Fig. 2 examples present invention.
The selection of the condition module of Fig. 3 examples present invention.
The selection of the execution action monomer region of Fig. 4 examples present invention.
The selection of the action module of Fig. 5 examples present invention.
The selection of the starting module of Fig. 6 examples present invention.
The display of the dialog box of Fig. 7 examples present invention.
The selection of the Rule of judgment monomer region of the present invention of Fig. 8 examples present invention.
The selection of the condition module of Fig. 9 examples present invention.
The selection of the Rule of judgment monomer region of the present invention of Figure 10 examples present invention.
The selection of the condition module of Figure 11 examples present invention.
The selection of the execution action monomer region of Figure 12 examples present invention.
The selection of the action module of Figure 13 examples present invention.
The selection of the execution action monomer region of Figure 14 examples present invention.
The selection of the action module of Figure 15 examples present invention.
The selection of the starting module of Figure 16 examples present invention.
The display of the dialog box of Figure 17 examples present invention.
Specific embodiment
With reference to the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is described, is retouched
The embodiment stated a part of embodiment only of the invention, rather than the embodiment of whole.Based on the embodiment in the present invention,
Art technology those of ordinary skill belongs to this in the every other embodiment do not paid creative work and obtain
The scope of bright protection.
The present invention is intended to provide a kind of machine readable media of storage image Program Appliance program, one kind realizes image conversion
The method of programming, a kind of control device for realizing image conversion programming.
By the invention it is possible to realize that image conversion is programmed so that user intuitively can enter to the control program of robot
Row programming, increased man-machine interaction enjoyment of user when using robot.
Fig. 1-6 exemplarily illustrates some embodiments for aiding in user program with image conversion Program Appliance program, tool
Body ground, Fig. 1-7 operate image conversion Program Appliance program with needed for editor user with six different stage 101-106 example users
Control program GUI 100.As illustrated, Fig. 2 illustrates GUI 100 includes program editing region 120, module selection area
130 and control pane 140.
Program editing region 120 shows that user wishes the control program that robot is performed, and allows user to the control
Program enters edlin.Described program editing area 120 includes Rule of judgment region 121 and performs operating space 125.
The Rule of judgment region 121 includes that the Rule of judgment pane 122 for being easy to user's identification to distinguish and Rule of judgment are aobvious
Show region 123.The Rule of judgment pane 122 (as illustrated, now can show " Rule of judgment ") is intended to help user to know
The Rule of judgment which partly belongs to the control program is not distinguished, the Rule of judgment viewing area 123 is intended to inform user
Which Rule of judgment is the control program include；The Rule of judgment viewing area 123 includes several Rule of judgment monomer regions
124, each described Rule of judgment monomer region 124 represents a Rule of judgment, then user can be by observing the GUI
Several Rule of judgment monomer regions 124 in the 100 Rule of judgment viewing area 123, are carried out to each Rule of judgment
Rapid and intuitively judgement and differentiation.
The operating space 125 that performs includes that the execution action pane 126 for being easy to user's identification to distinguish and execution action show
Show region 127.The execution action pane 126 (as illustrated, can now show " execution action ") is intended to help user to know
The execution action which partly belongs to the control program is not distinguished, the execution action viewing area 127 is intended to inform user
Which execution action is the control program include；The execution action viewing area 127 includes several execution action monomer regions
128, each described execution action monomer region 128 represents an execution action, then user can be by observing the GUI
Several execution action monomer regions 128 in the 100 execution action viewing area 127, are carried out to each execution action
Rapid and intuitively judgement and differentiation.
The control program includes several rows program, and each line program includes Rule of judgment part and performs action part, when
During the Rule of judgment part of a certain line program of running status of robot or certain multirow program, then robot performs certain one stroke
The execution action part of sequence or certain multirow program.In order to distinguish each line program, described program editing area 120 includes laterally dividing
Every line 129A, using the laterally separated line 129A, user can clearly distinguish the Rule of judgment part that each line program includes
With execution action part.
Each line program includes Rule of judgment part and performs action part, and the Rule of judgment part includes several judgements
Condition, the execution action part include several execution actions.It is dynamic in order to distinguish each Rule of judgment and/or each execution
Make, described program editing area 120 includes longitudinal subdivision line 129B, and using longitudinal subdivision line 129B, user clearly can distinguish
Not each Rule of judgment and/or each execution action.
By the laterally separated line 129A and longitudinal subdivision line 129B, 123 He of Rule of judgment viewing area
The execution action viewing area 125 is divided into several Rule of judgment monomer regions 124 and execution action monomer region respectively
128。
Although it is emphasized that showing the laterally separated line 129A and described in all the drawings in the present invention
Longitudinal subdivision line 129B, but this is preferred scheme, even if not showing described laterally separated in described program editing area 120
The line 129A and longitudinal subdivision line 129B, as long as suitably align each Rule of judgment and/or each execution in layout
Action, user can clearly distinguish each Rule of judgment and/or each execution action, and user will not be hindered correctly to read
Read control program.
The set that the set or display action module that 130 display condition module of module selection area is selected is selected.These
What module was prestored in described image Program Appliance program, these modules can be renewal, the icon of display and
Title also can be to update and change, and accompanying drawing of the present invention is only the displaying of exemplary, does not limit the protection model of the present invention
Enclose.When user selects (for example, by touching) one of condition module or display module, described image Program Appliance
Program shows correspondingly icon on the correspondence position of described program editing area 120.The module selection area 130 is included just
The module distinguished in user's identification selects pane 131 and module region 135.The module selects pane 131 to be intended to help user
It is condition module 136 that the content that the module region 135 showing is distinguished in identification, or action module 138.
As shown in Fig. 2 the module selects pane 131 to be shown as " condition module selection ", then user clearly can know
The content that module region 135 described in road is showing is condition module 136；As shown in Fig. 2 the now display of module region 135
Condition module 136 has " distance is less than 5 centimetres ", " distance is less than 6 centimetres ", " distance is less than 7 centimetres " etc.；In some embodiments
In, in the position of adjacent each condition module 136, show a condition module icon 137, the condition module of difference in functionality
136 corresponding condition module icons 137 are also different.In certain embodiments, the condition module icon 137 is incorporated into the bar
In part module 136 and the condition module title of the adjacent condition module 136 and show.
As shown in figure 4, the module selects pane 131 to be shown as " action module selection ", then user clearly can know
The content that module region 135 described in road is showing is action module 138；As shown in figure 4, the now display of module region 135
Action module 138 has " forward ", " to the left ", " stopping " etc.；In certain embodiments, in adjacent each described action module 138
Position, show an action module icon 139, the 138 corresponding action module icon 139 of action module of difference in functionality is not yet
Together.
In certain embodiments, the action module icon 139 is incorporated in the action module 138 and the adjacent action
The action module title of module 138 and show.
The control pane 140 shows the function that user is currently in use, and as shown in drawings, shows " programmed logic ", so as to
He is being controlled the editor of program to inform user.Described image Program Appliance program can be with the GUI
Show in 100 and enable module 142 and stopping modular 143；When module 142 is enabled described in user's selection, robot starts and holds
The row control program；When user selects the stopping modular 143, robot stops performing the control program.
It should be noted that the black arrow in accompanying drawing of the present invention is used for illustrating the position that user is selecting that purpose to exist
In the technical scheme that preferably gets across, it is not intended to limit the present invention and necessarily shows this arrow in the gui.
If user carries out selection operation by way of touching on the GUI 100, can touch as user
Moment complete the time that selection operation, or user touch to reach certain time length be just to complete selection operation；Can be with
It is to complete selection operation when user's continuous several times touch certain；Can also be when user's touch pressure obtains certain threshold value, it is described
Image conversion Program Appliance program just thinks that user completes selection operation on the GUI 100.
In certain embodiments, user is when into described image Program Appliance program, described image Program Appliance
Program is shown as blank in described program editing area 120, does not show any content；In certain embodiments, user is entering
During described image Program Appliance program, 120 display control program of described program editing area, the control program is can in machine
Kept in reading medium in advance, described image Program Appliance program reads the machine readable media on startup and will store
Control program wherein is displayed in described program editing area 120.
In certain embodiments, user is when into described image Program Appliance program, described image Program Appliance
Program is shown as blank in the module selection area 130, does not show any content；In certain embodiments, user is entering
During described image Program Appliance program, the module selection area 130 shows the condition module or the action module.
In certain embodiments, when user's editor control program, if as shown in Fig. 2 user selects (for example, to pass through
Touch.As described above, the arrow in figure exemplarily only represents the position that user selects) one of Rule of judgment monomer area
Edlin is entered in domain 124 (exemplarily have selected a Rule of judgment monomer region 124 of the leftmost side in Fig. 2), that is, edit described
One of Rule of judgment of the wherein a line program in control program；Now in response to user in the Rule of judgment viewing area
A Rule of judgment monomer region 124 is have selected in domain 123, and described image Program Appliance program is in the module selection area
130 show corresponding content, and specially described module selects pane 131 to be shown as " condition module selection ", the module region
135 show the condition modules 136 such as " distance is less than 5 centimetres ", " distance is less than 6 centimetres ", " distance is less than 7 centimetres "；Preferably, exist
The position of adjacent each condition module 136, shows a condition module icon 137.
In certain embodiments, when user's editor control program, if as shown in figure 4, user selects (for example, to pass through
Touching) one of execution action monomer region 128 (exemplarily have selected an execution action monomer of the leftmost side in Fig. 4
Edlin is entered in region 128), that is, edit one of execution action of the wherein a line program in the control program；Now ring
An execution action monomer region 128 should be have selected in the execution action viewing area 125 in user, described imageization is compiled
Journey application program shows corresponding content in the module selection area 130, and specially described module selects pane 131 to be shown as
" action module selection ", the module region 135 shows the action modules 138 such as " forward ", " to the left ", " stopping "；Preferably, exist
The position of adjacent each action module 138, shows an action module icon 139.
In certain embodiments, when user selects a Rule of judgment monomer region 124 or described an execution to move
When making monomer region 128, described image Program Appliance program is by the selected Rule of judgment monomer region 124 or described
Execution action monomer region 128 is highlighted, for example, can be by the selected Rule of judgment monomer region 124 or described
Execution action monomer region 128 is highlighted, flickering display etc. all from it is not selected before display mode it is different, can quilt
User's identification highlights mode.
In certain embodiments, if user is using the mobile phone for being provided with described image Program Appliance program, hand-held meter
Calculation equipment is programmed operation, when user selects a Rule of judgment monomer region 124 or an execution action list
During body region 128, the mobile phone, handheld computing device will produce vibration, remind the user that.
In certain embodiments, as shown in Fig. 2 when the chosen one of Rule of judgment monomer region of user 124 is entered
Edlin, that is, edit one of Rule of judgment of the wherein a line program in the control program, the module selection area
During the 130 corresponding content of display, user can select one of condition module 136, as shown in Figure 3 (in Fig. 3, exemplarily
Have selected a uppermost condition module 136), now described image Program Appliance program is in selected this judgement
Condition monomer region 124 shows the corresponding condition module icon 137 of selected this condition module 136, or shows quilt
The condition module title of this condition module 136 is selected, or shows the content for being chosen this condition module 136, or it is aobvious
Show figure and/or word that user's identification can be allowed to go out, that selected this condition module 136 can be represented.
In certain embodiments, as shown in figure 4, when the chosen one of execution action monomer region of user 128 is entered
Edlin, that is, edit one of execution action of the wherein a line program in the control program, the module selection area
During the 130 corresponding content of display, user can select one of action module 138, as shown in Figure 5 (in Fig. 5, exemplarily
Have selected a uppermost action module 138), now described image Program Appliance program is in selected this execution
Action monomer region 128 shows the corresponding action module icon 139 of selected this action module 138, or shows quilt
The title of this action module 138 is selected, or shows the content for being chosen this action module 138, or shown and can allow
Figure and/or word that user's identification goes out, that selected this action module 138 can be represented.
In certain embodiments, as shown in fig. 6, working as what is shown during user selects (for example, by touching) described GUI 100
During starting module 142, described image Program Appliance program completes the editing to the control program, is provided with the figure
The control device (for example, mobile phone) of pictureization Program Appliance program sends the compiled control program for completing to robot.
In certain embodiments, as shown in fig. 6-7, show in user selects (for example, by touching) described GUI100
Starting module 142 when, described image Program Appliance program completes the editing to the control program, while the figure
Pictureization Program Appliance program points out user program editing to complete in 100 pop-up dialogue box 150 of the GUI.It is preferred that
Ground, while described image Program Appliance program is in GUI100 pop-up dialogue box 150, the GUI 100 except
The dispaly state in other regions of the dialog box 150, the display in other regions described in when not ejecting than the dialog box 150
State is darker, and more darker than the dispaly state of the dialog box 150 itself.It is available for it is highly preferred that showing in the dialog box 150
The button that user selects, for example, can be ACK button, and/or cancel button.
In certain embodiments, as shown in fig. 6, working as what is shown during user selects (for example, by touching) described GUI 100
During stopping modular 143, control device (for example, mobile phone) the control robot for being provided with described image Program Appliance program stops
Perform all programs.
In certain embodiments, removing module is shown in the GUI 100；When user selects the removing module, institute
State image conversion editor application program to remove all compiled Rule of judgment and the execution action.
In certain embodiments, preserving module is shown in the GUI 100；When user selects the preserving module, institute
State image conversion editor application program all compiled Rule of judgment and the execution action are preserved to specified and deposited
In storage media.
As shown in figs. 1-7, description is now included the exemplary operation of the image conversion Program Appliance program of GUI 100.
In the stage 101, described program is shown in the stage described image Program Appliance program in the GUI 100
Editing area 120 and control pane 140；Preferably, now, described image Program Appliance program is in described program editing area
The laterally separated line 129A and longitudinal subdivision line 129B is shown in 120.
(for example, user passes through finger for selection of 102 example user of stage to one of Rule of judgment monomer region 124
Touch the Rule of judgment monomer region 124).Image conversion Program Appliance program is in response to Rule of judgment monomer region 124
Select and the Rule of judgment monomer region 124 is highlighted into (for example, being highlighted shown in Fig. 1) and is selected in the module
Select region 130 and show corresponding content, specially described module selects pane 131 to be shown as " condition module selection ", the mould
Block region 135 shows the condition modules 136 such as " distance is less than 5 centimetres ", " distance is less than 6 centimetres ", " distance is less than 7 centimetres ",
The position of adjacent each condition module 136, shows a condition module icon 137 (it should be noted that in some enforcements
In example, 137) condition module 136 includes the condition module icon.
At the stage 103, user subsequently selects that (for example, user touches the condition module 135 and/or bar by finger
The condition module 136 that 137) part module icon is shown in the module region 135 is (at this point it is possible to the condition module 136 is projected
Show), (use in selected this Rule of judgment monomer region 124 as response described image Program Appliance program
124) the Rule of judgment monomer region that family was selected in the stage 101 shows the right of selected this condition module 136
The condition module icon 137 answered.
In 104 stages, user selects one of execution action monomer region 128, the response of image conversion Program Appliance program
The execution action monomer region 128 is highlighted and in the module in the selection to execution action monomer region 128
Selection region 130 shows corresponding content, and specially described module selects pane 131 to be shown as " action module selection ", described
Module region 135 shows the action modules 138 such as " forward ", " to the left ", " stopping ", in adjacent each action module 138
Position, shows that (it should be noted that in certain embodiments, the action module 138 includes an action module icon 139
The action module icon is 139).
At the stage 105, action module that user is shown in subsequently selecting the module region 135 138 (at this point it is possible to
The action module 138 is highlighted), perform in selected this as response described image Program Appliance program dynamic
Make monomer region 128 (the execution action monomer region 128 that i.e. user was selected in the stage 103) show it is selected this
The corresponding action module icon 139 of individual action module 138.
The starting module 142 that 106 example user of next stage is shown in selecting the GUI 100, now described image
Change Program Appliance program and complete the editing to the control program；Now, it is preferable that being provided with described imageization programming should
The compiled control program for completing is sent to robot with the control device (for example, mobile phone) of program.
The last stage 107 (this is the stage that some embodiments have, and this stage is non-essential) place, described image
Changing Program Appliance program and starting module 142 being have selected in response to user, now described image Program Appliance program is in the GUI
100 pop-up dialogue box 150, point out user program editing to complete.Preferably, as shown in fig. 7, compiling in described imageization
Journey application program while 100 pop-up dialogue box 150 of the GUI, the GUI 100 except the dialog box 150 its
The dispaly state in his region, described in when not ejecting than the dialog box 150, the dispaly state in other regions is darker.
Description, as shown in Fig. 8-17, is now included the exemplary operation of the image conversion Program Appliance program of GUI 100.
One of Rule of judgment of stage 201-202 the second line program of example editor, specifically with stage 102-103 class
Seemingly, will not be described here.Another Rule of judgment of stage 203-204 the second line program of example editor, specifically with stage 102-
103 are similar to, and will not be described here.
One of execution action of stage 205-206 the second line program of example editor, specifically with stage 104-105 class
Seemingly, will not be described here.One of execution action of stage 207-208 the second line program of example editor, specifically and the stage
104-105 is similar to, and will not be described here.
209 example selection starting module of stage, it is specifically similar with the stage 106, will not be described here.
The last stage 210 (this is the stage that some embodiments have, and this stage is non-essential) place, described image
Changing Program Appliance program and starting module 142 being have selected in response to user, now described image Program Appliance program is in the GUI
100 pop-up dialogue box 150, it is specifically similar with the stage 107, will not be described here.
Control device is provided with described image Program Appliance program, and user can be run on the control device should
Use program.The control device can send the control program that editor completes to robot, and robot performs the control journey
Sequence.
The present invention provides a kind of method for realizing image conversion programming, and including control device, the control device includes can
The display module of user interface is shown, be the method comprising the steps of：
Program editing region 120 is shown on a user interface, and described program editing area is used for showing and editor control journey
Sequence, described program editor control region include Rule of judgment viewing area 123 and execution action viewing area 127, the judgement
Condition viewing area 123 includes several Rule of judgment monomer regions 124, and the execution action viewing area 127 includes several holding
Monomer region 128 is made in action；
When user selects one of them described Rule of judgment monomer region 124, in response to the selection operation of user, in institute
Display module selection region 130 in user interface is stated, the module selection area 130 now illustratively comprises several condition modules
136, or when user selects one of them described execution action monomer region 128, in response to the selection operation of user, in institute
Display module selection region 130 in user interface is stated, the module selection area 130 now illustratively comprises several action modules
138；
When user selects one of them described condition module 136, in response to the selection operation of user, it is selected this
One Rule of judgment monomer region 124 shows the corresponding condition module icon 137 of selected this condition module 136
And/or condition module title, or when user selects one of them described action module 138, the selection in response to user is grasped
Make, the corresponding dynamic of selected this action module 138 is shown in selected this execution action monomer region 128
Make module icon 139 and/or action module title.
Preferably, methods described is further comprising the steps of, while showing program editing region on a user interface, with
Display control pane 140 on the interface of family, the control pane 140 include starting module 142.
Preferably, methods described is further comprising the steps of, when user selects the starting module 142, in response to user
Selection operation, the control device completes the editing to the control program.
Preferably, methods described is further comprising the steps of, selects starting module 142 in response to user, in user circle
Face shows dialog box 150, points out user program editing to complete.
Preferably, methods described is further comprising the steps of, when user selects the starting module 142, in response to user
Selection operation, the user interface show dialog box 150, it is described dialogue inframe shows for user selection button.
Preferably, methods described is further comprising the steps of, while the dialog box 150 is ejected, the user interface
Other regions in addition to the dialog box 150 dispaly state, described in when not ejecting than the dialog box 150 other
The dispaly state in region is darker, and more darker than the dispaly state of the dialog box 150 itself.
Preferably, methods described is further comprising the steps of, and the control pane 140 also includes stopping modular 143 and/or protects
Storing module and/or removing module；The stopping modular 143, the control device control robot is selected to stop in response to user
Perform all control programs；Select the preserving module in response to user, the control device by it is all it is compiled described in
Rule of judgment and the execution action are preserved into specified storage medium；The removing module is selected in response to user, it is described
All compiled control programs are removed by control device.
Preferably, methods described is further comprising the steps of, while showing program editing region on a user interface, in institute
State, by the laterally separated line 129A
With the longitudinal subdivision line 129B, the Rule of judgment viewing area 123 and the execution action viewing area 125 are divided respectively
It is cut into several Rule of judgment monomer regions 124 and execution action monomer region 128.
Preferably, methods described is further comprising the steps of, selects one of them described Rule of judgment monomer in response to user
Region 124, the selected Rule of judgment monomer region 124 are highlighted；Select to hold described in one of them in response to user
Monomer region 128 is made in action, and the selected execution action monomer region 128 is highlighted；Select wherein in response to user
One condition module 136, the selected condition module 136 are highlighted；One of action mould is selected in response to user
Block 138, the selected action module 138 are highlighted.
Preferably, it is described to highlight as being highlighted and/or flickering display.
Preferably, described program editing area 120 includes Rule of judgment region 121 and performs operating space 125, described to sentence
Disconnected criteria range 121 includes Rule of judgment pane 122 and the Rule of judgment viewing area 123 for being easy to user's identification to distinguish, described
Rule of judgment viewing area 123 includes several Rule of judgment monomer regions 124；The execution operating space 125 includes being easy to use
Execution action pane 126 and execution action viewing area 127 that family identification is distinguished, the execution action viewing area 127 includes
Several execution action monomer regions 128；The module selection area 130 includes that the module for being easy to user's identification to distinguish selects pane
131 and module region 135.
Preferably, the described condition module 136 illustratively comprises condition module title and/or condition module icon 137；Institute
State the action module 138 and illustratively comprise action module title and/or action module icon 139.
Preferably, user realizes selection operation by touching the display module, can be the moment touched as user i.e.
Complete selection operation；Selection operation is completed just when can be and the time of user's touch reach preset duration；Can connect as user
Selection operation is completed just during continuous repeatedly touch；Can complete selection operation when user's touch pressure obtains certain threshold value.
Preferably, methods described is further comprising the steps of, selects starting module 142, the control device in response to user
The editing to the control program is completed, the control device sends the compiled control program for completing to machine
People.
Preferably, the control device is mobile phone, and while user realizes selection operation, the mobile phone produces vibration.
The present invention provides a kind of machine readable media of storage image Program Appliance program, described image Program Appliance
Program includes the instruction set for following operation：
Program editing region 120 is shown on a user interface, and described program editing area is used for showing and editor control journey
Sequence, described program editor control region include Rule of judgment viewing area 123 and execution action viewing area 127, the judgement
Condition viewing area 123 includes several Rule of judgment monomer regions 124, and the execution action viewing area 127 includes several holding
Monomer region 128 is made in action；
When user selects one of them described Rule of judgment monomer region 124, in response to the selection operation of user, in institute
Display module selection region 130 in user interface is stated, the module selection area 130 now illustratively comprises several condition modules
136, or when user selects one of them described execution action monomer region 128, in response to the selection operation of user, in institute
Display module selection region 130 in user interface is stated, the module selection area 130 now illustratively comprises several action modules
138；
When user selects one of them described condition module 136, in response to the selection operation of user, it is selected this
One Rule of judgment monomer region 124 shows the corresponding condition module icon 137 of selected this condition module 136
And/or condition module title, or when user selects one of them described action module 138, the selection in response to user is grasped
Make, the corresponding dynamic of selected this action module 138 is shown in selected this execution action monomer region 128
Make module icon 139 and/or action module title.
Preferably, the machine readable media also includes following instruction set, shows program editing region on a user interface
While, display control pane 140 on a user interface, the control pane 140 include starting module 142.
Preferably, the machine readable media also includes following instruction set, when user selects the starting module 142,
In response to the selection operation of user, the control device completes the editing to the control program.
Preferably, the machine readable media also includes following instruction set, selects starting module 142 in response to user,
The user interface shows dialog box 150, points out user program editing to complete.
Preferably, the machine readable media also includes following instruction set, when user selects the starting module 142,
In response to the selection operation of user, dialog box 150 is shown in the user interface, the dialogue inframe shows what is selected for user
Button.
Preferably, the machine readable media also includes following instruction set, while the dialog box 150 is ejected, institute
The dispaly state in other regions in addition to the dialog box 150 of user interface is stated, when not ejecting than the dialog box 150
Other regions dispaly state it is darker and more darker than the dispaly state of the dialog box 150 itself.
Preferably, the machine readable media also includes following instruction set, and the control pane 140 also includes stopping modular
143 and/or preserving module and/or remove module；The stopping modular 143, the control device control are selected in response to user
Robot stops performing all control programs；Select the preserving module in response to user, the control device by it is all
The Rule of judgment and the execution action of editor is preserved into specified storage medium；The removing is selected in response to user
All compiled control programs are removed by module, the control device.
Preferably, the machine readable media also includes following instruction set, shows program editing region on a user interface
While, laterally separated line 129A and longitudinal subdivision line 129B is shown in described program editing area 120, by described horizontal
The separator bar 129A and longitudinal subdivision line 129B, the Rule of judgment viewing area 123 and the execution action viewing area
125 are divided into several Rule of judgment monomer regions 124 and execution action monomer region 128 respectively.
Preferably, the machine readable media also includes following instruction set, selects to sentence described in one of them in response to user
Broken strip part monomer region 124, the selected Rule of judgment monomer region 124 are highlighted；Select wherein in response to user
One execution action monomer region 128, the selected execution action monomer region 128 are highlighted；In response to
Family selects one of condition module 136, and the selected condition module 136 is highlighted；Select wherein in response to user
One action module 138, the selected action module 138 are highlighted.
Preferably, it is described to highlight as being highlighted and/or flickering display.
Preferably, described program editing area 120 includes Rule of judgment region 121 and performs operating space 125, described to sentence
Disconnected criteria range 121 includes Rule of judgment pane 122 and the Rule of judgment viewing area 123 for being easy to user's identification to distinguish, described
Rule of judgment viewing area 123 includes several Rule of judgment monomer regions 124；The execution operating space 125 includes being easy to use
Execution action pane 126 and execution action viewing area 127 that family identification is distinguished, the execution action viewing area 127 includes
Several execution action monomer regions 128；The module selection area 130 includes that the module for being easy to user's identification to distinguish selects pane
131 and module region 135.
Preferably, the described condition module 136 illustratively comprises condition module title and/or condition module icon 137；Institute
State the action module 138 and illustratively comprise action module title and/or action module icon 139.
Preferably, user realizes selection operation by touching the display module, can be the moment touched as user i.e.
Complete selection operation；Selection operation is completed just when can be and the time of user's touch reach preset duration；Can connect as user
Selection operation is completed just during continuous repeatedly touch；Can complete selection operation when user's touch pressure obtains certain threshold value.
Preferably, the machine readable media also includes following instruction set, selects starting module 142, institute in response to user
The editing that control device completes to the control program is stated, the compiled control program for completing is sent out by the control device
Deliver to robot.
Preferably, it is characterised in that the control device is mobile phone, while user realizes selection operation, the mobile phone
Produce vibration.
The present invention provides a kind of control device for realizing image conversion programming, and the control device includes showing user circle
The display module in face,
Program editing region 120 is shown in the user interface, and described program editing area is used for showing and editor control
Program, described program editor control region include Rule of judgment viewing area 123 and execution action viewing area 127, described to sentence
Broken strip part viewing area 123 includes several Rule of judgment monomer regions 124, and the execution action viewing area 127 includes several
Execution action monomer region 128；
It is when user selects one of them described Rule of judgment monomer region 124, in response to the selection operation of user, described
Display module selection region 130 in user interface, the module selection area 130 now illustratively comprises several condition modules
136, or when user selects one of them described execution action monomer region 128, it is in response to the selection operation of user, described
Display module selection region 130 in user interface, the module selection area 130 now illustratively comprises several action modules
138；
When user selects one of them described condition module 136, in response to the selection operation of user, it is selected this
Individual Rule of judgment monomer region 124 show the corresponding condition module icon 137 of selected this condition module 136 and/
Or condition module title, or when user selects one of them described action module 138, in response to the selection operation of user,
Selected this execution action monomer region 128 shows the corresponding action mould of selected this action module 138
Block icon 139 and/or action module title.
Preferably, while showing program editing region in user interface, display control pane 140 in user interface, institute
Stating control pane 140 includes starting module 142.
Preferably, when user selects the starting module 142, in response to the selection operation of user, the control device is complete
The editing of the control program in pairs.
Preferably, select starting module 142, the user interface to show dialog box 150 in response to user, point out user's journey
Sequence editing has been completed.
Preferably, when user selects the starting module 142, in response to the selection operation of user, the user interface shows
Show dialog box 150, the dialogue inframe shows the button selected for user.
Preferably, the dialog box 150 eject while, the user interface in addition to the dialog box 150
The dispaly state in other regions, described in when not ejecting than the dialog box 150, the dispaly state in other regions is darker, and compares institute
The dispaly state for stating dialog box 150 itself is darker.
Preferably, the control pane 140 also includes stopping modular 143 and/or preserving module and/or removes module；Ring
The stopping modular 143, the control device control robot should be selected to stop performing all control programs in user；In response to
User selects the preserving module, the control device to protect all compiled Rule of judgment and the execution action
Deposit into specified storage medium；The removing module is selected in response to user, the control device will be all compiled
Control program is removed.
Preferably, while showing program editing region in user interface, show in described program editing area 120 horizontal
Separator bar 129A and longitudinal subdivision line 129B, it is by the laterally separated line 129A and longitudinal subdivision line 129B, described to sentence
Broken strip part viewing area 123 and the execution action viewing area 125 are divided into several Rule of judgment monomer regions 124 respectively
With execution action monomer region 128.
Preferably, one of them described Rule of judgment monomer region 124 is selected in response to user, the selected judgement bar
Part monomer region 124 is highlighted；One of them described execution action monomer region 128 is selected in response to user, this is selected
The execution action monomer region 128 selected is highlighted；One of condition module 136 is selected in response to user, this is chosen
Condition module 136 it is highlighted；One of action module 138, the selected action module are selected in response to user
138 is highlighted.
Preferably, it is described to highlight as being highlighted and/or flickering display.
Preferably, described program editing area 120 includes Rule of judgment region 121 and performs operating space 125, described to sentence
Disconnected criteria range 121 includes Rule of judgment pane 122 and the Rule of judgment viewing area 123 for being easy to user's identification to distinguish, described
Rule of judgment viewing area 123 includes several Rule of judgment monomer regions 124；The execution operating space 125 includes being easy to use
Execution action pane 126 and execution action viewing area 127 that family identification is distinguished, the execution action viewing area 127 includes
Several execution action monomer regions 128；The module selection area 130 includes that the module for being easy to user's identification to distinguish selects pane
131 and module region 135.
Preferably, the described condition module 136 illustratively comprises condition module title and/or condition module icon 137；Institute
State the action module 138 and illustratively comprise action module title and/or action module icon 139.
Preferably, user realizes selection operation by touching the display module, can be the moment touched as user i.e.
Complete selection operation；Selection operation is completed just when can be and the time of user's touch reach preset duration；Can connect as user
Selection operation is completed just during continuous repeatedly touch；Can complete selection operation when user's touch pressure obtains certain threshold value.
Preferably, starting module 142, the control device is selected to complete the editor to the control program in response to user
Work, the control device send the compiled control program for completing to robot.
Preferably, the control device is mobile phone, and while user realizes selection operation, the mobile phone produces vibration.
The machine readable media can be transient state or non-transient.
Claims (16)
1. it is a kind of realize image conversion programming method, including control device, the control device includes showing user interface
Display module, the method comprising the steps of：
Program editing region (120) is shown on a user interface, and described program editing area is used for showing and editor control program,
Described program editor control region includes Rule of judgment viewing area (123) and execution action viewing area (127), the judgement
Condition viewing area (123) includes several Rule of judgment monomer region (124), and execution action viewing area (127) include
Several execution action monomer region (128)；
When user selects one of them described Rule of judgment monomer region (124), in response to the selection operation of user, described
Display module selection region (130) on all regions of user interface or subregion, module selection area (130) now
Several condition modules (136) are illustratively comprised, or when user selects one of them described execution action monomer region (128)
When, in response to the selection operation of user, display module selection region (130) in the user interface, the module select area
Domain (130) now illustratively comprises several action modules (138)；
When user selects one of them described condition module (136), in response to the selection operation of user, it is selected this
Individual Rule of judgment monomer region (124) show the corresponding condition module icon of selected this condition module (136)
(137) and/or condition module title, or when user selects one of them described action module (138), in response to user's
Selection operation, shows selected this action module (138) in selected this execution action monomer region (128)
Corresponding action module icon (139) and/or action module title.
2. method according to claim 1, it is characterised in that methods described is further comprising the steps of, on a user interface
While showing program editing region, display control pane (140) on a user interface, control pane (140) include opening
Dynamic model block (142).
3. method according to claim 2, it is characterised in that methods described is further comprising the steps of, when user selects institute
When stating starting module (142), in response to the selection operation of user, the control device completes the editor's work to the control program
Make.
4. method according to claim 3, it is characterised in that methods described is further comprising the steps of, selects in response to user
Starting module (142) is selected, dialog box (150) is shown in the user interface, point out user program editing to complete.
5. method according to claim 2, it is characterised in that methods described is further comprising the steps of, when user selects institute
When stating starting module (142), in response to the selection operation of user, dialog box (150), the dialogue is shown in the user interface
Inframe shows the button selected for user.
6. the method according to claim 4 or 5, it is characterised in that methods described is further comprising the steps of, when the dialogue
While frame (150) is ejected, the dispaly state in other regions in addition to the dialog box (150) of the user interface,
The dispaly state in other regions when not ejecting than the dialog box (150) is darker, and than the dialog box (150) itself
Dispaly state it is darker.
7. the method according to claim 2-5 any one, it is characterised in that methods described is further comprising the steps of, institute
Stating control pane (140) also includes stopping modular (143) and/or preserving module and/or removes module；Institute is selected in response to user
Stopping modular (143) is stated, the control device control robot stops performing all control programs；Select described in response to user
All compiled Rule of judgment and the execution action are preserved to specified and are deposited by preserving module, the control device
In storage media；The removing module, the control device is selected to remove all compiled control programs in response to user.
8. the method according to claim 1-5 any one, it is characterised in that methods described is further comprising the steps of,
While showing program editing region in user interface, laterally separated line is shown in described program editing area (120)
(129A) it is with longitudinal subdivision line (129B), by laterally separated line (129A) and the longitudinal subdivision line (129B), described
Rule of judgment viewing area (123) and the execution action viewing area (125) are divided into several Rule of judgment monomers respectively
Region (124) and execution action monomer region (128).
9. the method according to claim 1-5 any one, it is characterised in that methods described is further comprising the steps of, rings
One of them described Rule of judgment monomer region (124) should be selected in user, selected Rule of judgment monomer region (124)
It is highlighted；One of them described execution action monomer region (128) are selected in response to user, the selected execution action
Monomer region (128) is highlighted；One of condition module (136) are selected in response to user, the selected condition mould
Block (136) is highlighted；One of action module (138) are selected in response to user, selected action module (138)
It is highlighted.
10. method according to claim 9, it is characterised in that it is described highlight it is aobvious for being highlighted and/or flashing
Show.
11. methods according to claim 1-5 any one, it is characterised in that described program editing area (120) includes
Rule of judgment region (121) and execution operating space (125), described Rule of judgment region (121) include being easy to user's identification area
The Rule of judgment pane (122) for dividing and Rule of judgment viewing area (123), described Rule of judgment viewing area (123) include number
Individual Rule of judgment monomer region (124)；It is described to perform the execution action window that operating space (125) includes being easy to user's identification to distinguish
Lattice (126) and execution action viewing area (127), described execution action viewing area (127) include several execution action monomers
Region (128)；Described module selection area (130) include that the module for being easy to user's identification to distinguish selects pane (131) and module
Region (135).
12. methods according to claim 1-5 any one, it is characterised in that the condition module (136) are shown as
Including condition module title and/or condition module icon (137)；The action module (138) illustratively comprise action module
Title and/or action module icon (139).
13. methods according to claim 1-5 any one, it is characterised in that user is by touching the display module
Selection operation is realized, can be when the moment that user touches completes selection operation；Can be user touch time reach it is pre-
If just completing selection operation during duration；Can just complete selection operation when user's continuous several times are touched；Can work as user
Touch pressure obtains completing selection operation during certain threshold value.
14. according to the method in claim 2 or 3, it is characterised in that methods described is further comprising the steps of, in response to
Family selects starting module 142, the control device to complete the editing to the control program, and the control device is by
The control program that editor completes is sent to robot.
15. methods according to aforementioned any one claim, it is characterised in that the control device is mobile phone, user
While realizing selection operation, the mobile phone produces vibration.
16. methods according to aforementioned any one claim, it is characterised in that when show on a user interface program compile
While collecting region (120), the program for having editted is shown in program editing region (120) in described display.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611051928.8A CN106528172A (en) | 2016-11-24 | 2016-11-24 | Method for realizing image programming |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611051928.8A CN106528172A (en) | 2016-11-24 | 2016-11-24 | Method for realizing image programming |
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| CN106528172A true CN106528172A (en) | 2017-03-22 |
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| CN201611051928.8A Pending CN106528172A (en) | 2016-11-24 | 2016-11-24 | Method for realizing image programming |
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| CN106557324A (en) * | 2017-01-24 | 2017-04-05 | 广州途道信息科技有限公司 | A kind of machine readable media of storage image Program Appliance program |
| CN108459552A (en) * | 2018-01-31 | 2018-08-28 | 南京拓控信息科技股份有限公司 | A kind of programmable automation control method of intelligence object-oriented |
| CN108733273A (en) * | 2018-04-08 | 2018-11-02 | 深圳先搜科技有限公司 | A kind of icon edit methods, system and terminal device |
| CN110815231A (en) * | 2019-11-25 | 2020-02-21 | 深圳市天博智科技有限公司 | Robot control method and device |
| CN111752573A (en) * | 2020-07-03 | 2020-10-09 | 中山市恺特自动化科技有限公司 | Universal programming method and programmer for industrial robot |
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