CN111580806A - Collaborative robot graphical programming system - Google Patents

Abstract

The invention discloses a collaborative robot graphical programming system, which comprises a human-computer interface, an interpreter and a robot instruction set; human-computer interface is based on Linux operating system's QT development, and it is equipped with following module: the system comprises a menu bar module, a tool bar module, a graphical programming module, a graphical interface module, a logic module and a parameter editing module; the graphical programming module is used for carrying out graphical processing on the robot instruction set and comprises an instruction classification library and a component library corresponding to the instruction classification library; the graphical interface module is used for realizing primitive operation, triggering events and event processing; the logic module is used for stipulating the connection relation between each graphic element and the function interface and between each graphic element; and the parameter editing module is used for editing and modifying the information of the graphic primitive. The invention has the characteristics of simple programming, low use threshold, high programming efficiency and the like. The invention has high portability and can be used for different robot manufacturers.

Description

A Graphical Programming System for Collaborative Robots

technical field

The invention relates to a graphical programming system, in particular to a graphical programming system for a collaborative robot.

Background technique

At present, with the development of science and technology and the increase of labor costs, more and more companies choose to replace workers with collaborative robots. The core of the interaction between robots and humans is the programming system. At this stage, the robot language is a programming language that exchanges or records information between humans and machines. It is similar to traditional high-level languages. However, collaborative robots are more for non-computer professional users, and require flexible programming. The traditional robot language is relatively obscure and difficult to understand, and it is not conducive to understanding and mastering, so it cannot widely meet the programming needs of users.

Based on this background, it is very necessary to study an intuitive and simple programming system. To this end, the development of a robot graphical programming can greatly shorten the operator's learning time and lower the entry threshold for collaborative robot operation.

For example, the Chinese patent with the application publication number CN107972035A and the publication date of 2018.05.01 discloses an industrial robot instruction set and a graphical processing method thereof. It includes receiving an operation instruction, processing the operation instruction, and generating a graphic button, and the graphic button corresponds to the action. However, the graphical processing is relatively simple, the logical relationship between the graphical buttons is not clear enough, the point information in the movement is not clearly expressed, the graphical programming interface is not intuitive enough, the corresponding instruction set is not compiled and processed, and There is no program error checking function.

For example, the Chinese patent with the application publication number of CN105843630A and the publication date of 2016.08.10 discloses a method based on robot graphical programming development. Including the graphical programming module developed based on Visual Studio 2012, and the visual interactive simulation environment module to build a visual interactive simulation environment, but the graphical interface developed based on the windows system is not open source, and most of the current teaching devices are based on the open source linux It is developed under the system, so the versatility is relatively poor, and the cost of using the Windows system is relatively high.

SUMMARY OF THE INVENTION

The present invention provides an open-source and error-checkable graphical programming system for collaborative robots in order to solve the technical problems existing in the prior art.

The technical solution adopted by the present invention to solve the technical problems existing in the known technology is: a graphical programming system for a collaborative robot, including a human-machine interface, an interpreter and a robot instruction set; the human-machine interface is based on the QT of the Linux operating system. development, which is provided with the following modules: a menu bar module, a toolbar module, a graphical programming module, a graphical interface module, a logic module and a parameter editing module; the graphical programming module is used for graphical processing of the robot instruction set, It includes an instruction classification library and a component library corresponding to the instruction classification library; the graphical interface module is used to implement primitive operations, trigger events and event processing; The connection relationship between the primitives; the parameter editing module is used to edit and modify the information of the primitives.

Further, the instruction classification library includes a motion instruction library, a logic instruction library, an event instruction library, a function instruction library, a variable instruction library, and an input and output instruction library; the motion instruction library includes linear motion primitives, joint motion primitives, Arc motion primitives and speed setting primitives; the logic instruction library includes a judgment start primitive, a judgment end primitive, a cycle start primitive, and a cycle end primitive; the event instruction library includes a wait primitive, a stop primitive , instruction jump primitives; the function instruction library includes new function primitives, function end primitives, and function jump primitives; the variable instruction library includes new variable primitives; the input and output instruction library includes input and output instructions Primitive.

Further, the logic module specifies the function interface and the attributes of the corresponding primitives, wherein the attributes include a parent node, a first-level child node and a second-level child node; The sequence of the second-level sub-nodes corresponds to a function interface. When the primitive attribute does not correspond to the function interface, the logic module outputs an error message and prohibits the dragging or editing of the primitive.

Further, the graphical interface module includes a primitive operation sub-module, a trigger event sub-module and an event processing sub-module; wherein:

The primitive operation submodule is used to realize the operation of dragging and connecting the primitives in the component library;

The trigger event submodule is used to realize a mouse click event and a mouse drag event;

The event processing sub-module is used by the user to edit the moving point information or logic condition information through external input.

Further, the graphical interface module is implemented through the QmouseEvent mouse event and the QDrag drag event in QT, and starts dragging in the QmouseMoveEvent mouse event.

Further, the interpreter includes a lexical analyzer, a syntax analyzer and a semantic analyzer.

Further, the lexical analyzer, according to the robot language rules, divides each instruction according to keywords, identifiers, and constants, and generates a word symbol comparison table, so that each word has a corresponding label value and attribute value; The predicate lexical analyzer creates an object of a class to store the number value and attribute value of the corresponding word for the invocation of the parser.

Further, the grammatical analyzer adopts the grammatical rules of context-free grammar, and the word number value after the lexical analyzer is processed is processed, and the numbered value is stored in the numbering table, and a series of expressions is formed by utilizing the BNF-style grammar, utilizing These expressions form a syntax tree, and finally the syntax tree is traversed to form the object code.

Further, the graphical programming module unifies all the primitive sizes into the same size, divides the program editing area into grids of the primitive size, and when there are primitives in the program editing area, makes the primitives automatically find the nearest Grid area placement.

Further, a communication module is also included, and the communication module realizes data transmission between the man-machine interface and the lower computer based on the TCP communication protocol.

The advantages and positive effects of the present invention are: a graphical-based robot programming system of the present invention has the characteristics of simple programming, low use threshold and high programming efficiency. Using the graphical programming interface can effectively improve the efficiency of programming, effectively reduce the programming amount of programmers, and effectively improve the readability of programming, which is convenient for programmers to modify existing programs.

The human-machine interface of the present invention is developed based on QT under LINUX. Due to the open source feature of the LINUX system, the cost of the robot manufacturer is greatly saved. The interpreter developed by FLEX and BISON based on the C language under LINUX has high portability. This system can be used for different robot manufacturers, only need to modify the robot instruction set and target code.

Description of drawings

Fig. 1 is a kind of application flow chart of the present invention;

Fig. 2 is a display interface diagram of a man-machine interface of the present invention;

Fig. 3 is a kind of development flow chart of the present invention;

FIG. 4 is a development flow chart of an interpreter of the present invention.

In the figure: 1. Menu bar; 2. Toolbar; 3. Instruction library; 4. Programming area.

Detailed ways

In order to further understand the content of the invention, features and effects of the present invention, the following embodiments are listed herewith, and are described in detail as follows in conjunction with the accompanying drawings:

Please refer to FIG. 1 to FIG. 4 , a graphical programming system for a collaborative robot, including a human-machine interface, an interpreter, and a robot instruction set; the human-machine interface is developed based on the QT of the Linux operating system, and is provided with the following modules: a menu bar module, toolbar module, graphical programming module, graphical interface module, logic module and parameter editing module; the graphical programming module is used to perform graphical processing on the robot instruction set, which includes an instruction classification library and a corresponding instruction classification library The component library of ; use the primitive to represent the instructions in the instruction classification library, and use the primitive to represent the components in the component library.

The graphical interface module is used to implement primitive operations, trigger events and event processing; the logic module is used to specify the connection relationship between each graphic element and the function interface and between each graphic element; the parameter editing module uses It is used to edit and modify the information of primitives. The man-machine interface of the present invention is constructed by using the Linux open source operating system and the QT graphic development tool as the development environment; the graphic interface developed based on the Linux system can be cross-compiled and suitable for use on other embedded teaching devices, with strong compatibility.

In the menu bar 1, you can perform operations such as creating a new file, saving a file, running a program, and viewing the version content. You can also click the corresponding icon in the toolbar 2 to perform these operations. In the graphical programming module, you can click the corresponding module element to call different programming. Primitive. Drag the primitives of the instruction library 3 into the programming area 4 to program the robot program.

Using this system, you can create a new graphic programming project, select the instruction classification library, you can choose to call the corresponding component library with different attributes, drag the primitives in different component libraries, different function interfaces will be called, and when you drag or click, the Trigger different events, dragging a primitive will trigger a drag event, you can drag the primitive, double-clicking the primitive will trigger a mouse event, and an editing interface will be generated for a specific primitive.

The logic module specifies the rules for the splicing of each graphic element. For example, when the logical judgment graphic element ends, there must be a logical judgment end graphic element to ensure the scope of the logical judgment statement; the logical loop graphic element must have a logical loop end graphic element when it ends. , to ensure the scope of the logical loop statement; the new function primitive must have a new function end primitive at the end to ensure the scope of the new function; the new variable primitive cannot be in the above logic judgment end primitive, logical loop primitive and new function diagram Internal call of primitive primitives; function jump primitives should be called after creating function primitives; stop primitives cannot be called at the beginning of the program; other loops and judgment statements cannot be called in infinite loops; functions cannot be created in loops, etc.

In the graphical programming interface, in order to avoid the phenomenon of overlapping the dragged primitives, the size of all primitives can be unified to the same size, and the program editing area is divided into grids of the size of the primitives. When the element is selected, the element will automatically find the nearest grid area to place it.

Further, the instruction classification library may include a motion instruction library, a logic instruction library, an event instruction library, a function instruction library, a variable instruction library, and an input and output instruction library; the motion instruction library may include linear motion primitives, joint motion diagrams primitives, arc motion primitives and speed setting primitives; the logic instruction library may include judgment start primitives, judgment end primitives, loop start primitives, and loop end primitives; the event instruction library may include wait primitives , stop primitives, instruction jump primitives; function instruction library may include new function primitives, function end primitives, function jump primitives; variable instruction library may include new variable primitives; input and output instruction library may include input and output primitives Command primitive.

Further, the logic module can specify the function interface and the attributes of the corresponding primitives, wherein the attributes can include a parent node, a first-level child node and a second-level child node; The order of the child nodes and the second-level child nodes corresponds to a function interface. When a primitive attribute does not correspond to the function interface, the logic module can output an error message and prohibit the dragging or editing of the primitive. The output error message is displayed on the programming interface, prompting the operator to correct it. In this way, each primitive in the graphical interface corresponds to its own function interface, so dragging a primitive will call the corresponding function interface without traversing and searching, which greatly improves the speed of primitive parsing; the graphical programming interface adds With the function of error detection and error handling, users can check errors according to the prompts, which improves the accuracy and programming speed of graphical programming.

The graphical interface module can realize the functions of primitive operation, trigger event, event state analysis, error handling, event handling and so on. The operation of primitives refers to the operation of dragging and connecting the primitives in the component library; the triggered events are mainly mouse click events and mouse drag events, which are divided into click and double-click events and drag events; Event state analysis refers to determining whether the mouse event has been triggered; error handling refers to whether the operation of the graphic element and the triggering of the event conform to the interface logic; event processing refers to the user can edit point information and condition information through external input. The point information is coordinate information, and the condition information includes logical relationship, input and output, and jumping position.

Preferably, the graphical interface module may include a primitive operation submodule, a trigger event submodule, an event state analysis submodule, an event processing submodule, an error processing submodule, etc.; wherein:

The primitive operation submodule is used to realize the operation of dragging and connecting the primitives in the component library;

The trigger event submodule is used to realize a mouse click event and a mouse drag event;

The event state analysis submodule can be used to judge whether the current state of the graphic element satisfies the processing conditions.

The event processing sub-module is used by the user to edit the moving point information or logic condition information through external input.

The error handling sub-module can be used to detect whether the operation of the primitive and the triggering of the event conform to the interface logic.

Preferably, the graphical interface module can be implemented by the QmouseEvent mouse event and the QDrag drag event in QT, and the dragging is started in the mouse event of QmouseMoveEvent. The drag is started in the mouse event of QmouseMoveEvent instead of in the mouse event of QmousePressEvent. The advantage of this is that the primitive will be dragged only when the mouse is clicked and moved, avoiding the error caused by the wrong click during the operation. drag. QmouseEvent, QmouseMoveEvent, QDrag, QmousePressEvent are all QT commands.

The written source program enters the interpreter for processing, and the interpreter completes lexical analysis, syntax analysis and semantic analysis, and translates the source code into runnable script code. The interpreter can have the function of error detection and error processing, which can detect errors in the information input in the editing interface in the graphical programming.

Further, the interpreter may include a lexical analyzer, a syntax analyzer and a semantic analyzer.

The lexical analyzer can divide each instruction by keywords, identifiers and constants according to the robot language rules, and generate a word symbol comparison table, so that each word can have a corresponding label value and attribute value; the The lexical analyzer can create a class object to save the number value and attribute value of the corresponding word for the invocation of the lexical analyzer. The lexical analyzer performs lexical error detection on the incoming words. If there is no defined word, it will be passed to the error processing module, and after error processing, it will be returned to the human interface for display.

The grammatical analyzer can adopt the grammatical rules of the context-free grammar, process the word number value processed by the lexical analyzer, store the number value in the number table, and use the BNF grammar to form a series of expressions. These expressions form a syntax tree, and finally the syntax tree is traversed to form the object code. The syntax analyzer will check the syntax errors. If there is an error in the syntax, the error handling module will be called, and the error message will be displayed on the man-machine interface. The Chinese interpretation of BNF is Backus Normal Form (BNF: Abbreviation of Backus-Naur Form), which is a set of symbols first introduced by John Backus and Peter Naur to describe the grammar of computer languages.

The semantic analyzer can edit all robot statements into semantic subprograms corresponding to the robot statements according to the syntax-guided compilation principle. After the syntax analysis instructions match the semantic subprograms, the intermediate code generated by the syntax analyzer can be compiled. into a script code that the robot can recognize.

The flowchart of the interpreter can be shown in Figure 4. Because the graphical program cannot be compiled directly through the interpreter, the graphical program generated by editing will automatically generate a source program composed of statements, and the source program will be compiled through the interpreter. , a scripting language that generates robot jobs.

First, the interpreter performs lexical analysis on the source program. The lexical analysis will perform error checking. If there is an error, it will perform error processing and return it to the human interface. The user can clearly understand the location of the program error. If there is no error, the intermediate code A will be generated.

The intermediate code will continue to enter the parser, and the syntax analysis will perform error checking. If there is an error, it will handle the error and return the error to the human interface. If there is no error, the intermediate code B will be formed.

Further intermediate code B will perform semantic analysis and compile intermediate code B into script code that can be used by the robot to move.

Further, the robot instruction set may include motion statements, logic statements, event statements, function statements, variable statements, and input/output statements; the motion statements may include linear motion statements, joint motion statements, and arc motion statements; the The logic statement may include an if statement, a while statement, and an end statement; the event statement may include a delay statement, a jump statement, and a stop statement; the function statement may include a new function statement, a call function statement, and a function end statement; the variable Statements may include int statements, double statements, and string statements; the input and output statements may include basic IO statements, extended IO statements, and the like.

Further, the system may further include a communication module, and the communication module may realize data transmission between the man-machine interface and the lower computer based on the TCP communication protocol.

The script code compiled by the interpreter will be transmitted to the lower computer through the communication module, and the lower computer can run the program after receiving the script code.

The working method and working principle of the present invention are further described below with a preferred embodiment of the present invention:

A graphical programming system of the present invention includes a robot instruction set, a man-machine interface, an interpreter and a communication module.

Among them, the robot instruction set includes linear motion (movel), joint motion (movej), arc motion (movec), speed setting statement (set_v), if statement, while statement, waiting instruction (wait), stop instruction (stop) , jump instruction (jump), new function instruction (fun), function jump instruction (fun jump), new variable instruction (var), and input and output instruction (in/out) and other instructions. The man-machine interface includes a main menu, a toolbar 2, a programming module, and a program display area, in which the component library corresponds to the motion instruction set.

Under the linux system, an executable file that can be run on the teach pendant will be generated through cross-compilation. The present invention is tested in the HTQ-based cross-compilation environment. When a script file is executed on the teach pendant, the generated executable file will be directly invoked at startup. Execute the file, and the graphical programming interface will be displayed on the teach pendant.

Click the new file in the menu bar 1 or click the new button in the toolbar 2 to create a new robot program, click the motion command library to call the robot's command component library, and drag the primitives to the programming interface, such as clicking the straight line in the programming interface. For motion primitives, you can edit point information on the linear motion editing interface, manually move the collaborative robot to the first point, and click the teach button. At this time, the starting point in the point information is the coordinate information of the teaching point, which can be input manually. The coordinate information of the termination point, click OK, the program will automatically generate the corresponding parent node, first-level child node, second-level child node, and the corresponding instruction of linear motion will be generated in the source program file. In the same way, the robot instructions can be edited, and the source program files will also form the corresponding instructions.

In the programming interface, you can drag primitives and graphical interfaces such as buttons, and you can perform connection operations. There is a logical relationship between the graphical buttons. If the dragged graphical button does not conform to the logical relationship, the dragged The graphic button will return to its original position or a connection error will be reported.

Click the compile button, the source file will be compiled, and the corresponding robot instruction set will be compiled into script instructions that the robot can recognize. This module exists in the background of the interface. The programmer only needs to perform graphical programming, and the script language is automatically generated. . In order to improve the applicability of the system, it is only necessary to modify the robot instruction set and script code, and the graphical programming system can be applied to most robots.

The interpreter first performs lexical analysis on the source code formed by the graphical interface. The process of lexical analysis is to first divide the source program according to newline characters. Each newline character is a statement, and each statement is stored in the input buffer area. The analyzer will read characters. If it matches the keyword defined by the lexical analyzer, it will output the word, such as a keyword defined by movej for us. If there is a match in the program statement, the keyword will be output and have attributes Value, label value, in the lexical analyzer, we set the attribute value of the keyword of the motion instruction to 0, the label value of movej is 1, the label value of movej is 2, the value of movec number is 3, and the attribute value of the logic statement is 2 , the label value starts from 0 and so on. Similarly, the attribute value and label value of other statements can be set. After the analysis of each statement is completed, the input buffer area will be closed. When the next statement is input, a new input buffer area will be opened until all statements have completed lexical analysis. Error handling of unrecognized words. In fact, the function of error handling is not used in the graphical interface, because we have already mapped the graphical interface to the keywords, but the error handling function is very useful, which can be used for non-graphical interpreters. interface.

The word stream that has undergone lexical analysis will be grammatically analyzed. The process of grammatical analysis is to extract the word sequence number and word label in the word stream, match the sequence number and word label, and then define keywords through defined grammar rules, such as BISON. Movement (movej/movel/movec) can only be followed by point information, and if the match fails, error handling will be performed. The intermediate code that has undergone syntax analysis will undergo semantic analysis. BISON is a generic parser generator.

The script code generated above passes through the communication module, and through the communication module based on the TCP protocol, in the program, the ip address and port number of the graphical interface are consistent with the lower computer, then the script code can be passed to the lower computer, and the robot can be written according to the script code. The execution motion corresponding to the program.

The above-mentioned embodiments are only used to illustrate the technical idea and characteristics of the present invention, and the purpose is to enable those skilled in the art to understand the content of the present invention and implement them accordingly, and the present invention cannot be limited only by the present embodiment. The patent scope, that is, all equivalent changes or modifications made to the spirit disclosed in the present invention, still fall within the patent scope of the present invention.

Claims (10)

1. a collaborative robot graphical programming system, is characterized in that, comprises man-machine interface, interpreter and robot instruction set; Described man-machine interface is based on the QT development of Linux operating system, and it is provided with following modules: menu bar module, Toolbar module, graphical programming module, graphical interface module, logic module and parameter editing module; the graphical programming module is used to perform graphical processing on the robot instruction set, which includes an instruction classification library and components corresponding to the instruction classification library library; the graphical interface module is used to implement primitive operations, trigger events and event processing; the logic module is used to specify the connection relationship between each graphic element and the function interface and between each graphic element; the parameter editing Modules are used to edit and modify the information of primitives. 2. The collaborative robot graphical programming system according to claim 1, wherein the instruction classification library comprises a motion instruction library, a logic instruction library, an event instruction library, a function instruction library, a variable instruction library, and an input and output instruction library ; The motion instruction library includes linear motion primitives, joint motion primitives, arc motion primitives and speed setting primitives; the logic instruction library includes judgment start primitives, judgment end primitives, cycle start primitives, cycle end primitives; the event instruction library includes wait primitives, stop primitives, and instruction jump primitives; the function instruction library includes new function primitives, function end primitives, and function jump primitives; the variable instructions The library includes new variable primitives; the input and output instruction library includes input and output instruction primitives. 3. The collaborative robot graphical programming system according to claim 1, wherein the logic module specifies a function interface and attributes of corresponding primitives, wherein the attributes include a parent node, a first-level child node and a second-level child node; each primitive corresponds to a function interface in the order of parent node, first-level child node, and second-level child node. When the attribute of the primitive does not correspond to the function interface, the logic module outputs an error message And prohibit dragging or editing of primitives. 4. The collaborative robot graphical programming system according to claim 1, wherein the graphical interface module comprises a primitive operation submodule, a trigger event submodule and an event processing submodule; wherein: The primitive operation submodule is used to realize the operation of dragging and connecting the primitives in the component library; The trigger event submodule is used to realize a mouse click event and a mouse drag event; The event processing sub-module is used by the user to edit the moving point information or logic condition information through external input. 5. The collaborative robot graphical programming system according to claim 4, wherein the graphical interface module is implemented by the QmouseEvent mouse event and the QDrag drag event in QT, and starts dragging at the mouse event of the QmouseMoveEvent. 6. The collaborative robot graphical programming system according to claim 1, wherein the interpreter comprises a lexical analyzer, a syntax analyzer and a semantic analyzer. 7. The collaborative robot graphical programming system according to claim 6, wherein the lexical analyzer, according to the robot language rules, divides each instruction according to keywords, identifiers and constants, and generates a word symbol comparison table, so that each word has a corresponding label value and attribute value; the lexical analyzer creates a class object to save the number value and attribute value of the corresponding word, which is used for the invocation of the syntax analyzer. 8. The collaborative robot graphical programming system according to claim 6, wherein the syntactic analyzer adopts the grammar rules of context-free grammar, processes the word number value processed by the lexical analyzer, and stores the number value. Enter into the number table, use BNF grammar to form a series of expressions, use these expressions to form a syntax tree, and finally traverse the syntax tree to form the target code. 9. The collaborative robot graphical programming system according to claim 1, wherein the graphical programming module unifies all the primitive sizes into the same size, and divides the program editing area into grids of primitive sizes, When there are primitives in the program editing area, make the primitives automatically find the nearest grid area and place them. 10 . The collaborative robot graphical programming system according to claim 1 , further comprising a communication module, the communication module realizes data transmission between the man-machine interface and the lower computer based on the TCP communication protocol. 11 .

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