A robot control instruction processing method, device, terminal equipment and medium

Abstract

The present invention discloses a processing method, device, terminal equipment and medium for robot control instructions, by acquiring trajectory point process data, and based on the type data and motion mode data of the trajectory point process data, performing corresponding instruction addition judgment, speed setting judgment and precision setting judgment, thereby obtaining instruction data, speed data and precision data, combining the instruction data, speed data and precision data with the trajectory point process data, obtaining target control instructions, thereby controlling the target robot to execute the instructions through the target control instructions, realizing the addition of robot control instructions, and improving the accuracy of instruction addition. The instruction addition technology of the present invention can not only improve production efficiency in industrial production, but also make the operation more convenient, thereby improving the popularity of instruction addition technology.

Description

Technical Field

[0001] The present invention relates to the field of electronic digital data processing, and in particular to a method, device, terminal equipment and medium for processing robot control instructions. Background Art

[0002] In the design of vehicle body welding projects, engineers usually use PS (Process Simulate software under Siemens PDPS platform) to simulate control or offline programming of robots, fixtures, conveyor lines and other equipment in the welding production line on the client. When programming robots offline in PS, it is necessary to make corresponding instructions for the process type, such as adding various IO instructions (request signals, completion signals, etc.) and motion instructions (motion mode, speed, accuracy level and other parameters). The mainstream method in the industry today requires engineers to refer to the standards and manually add or set each instruction one by one.

[0003] However, manually adding instructions requires many steps and is time-consuming, which consumes a lot of time and energy of users. At the same time, the manual addition of instructions is prone to problems such as missing instructions and misuse, resulting in fluctuations in the quality of offline programs. Therefore, the accuracy of existing instruction addition technology is low.

[0004] Therefore, there is an urgent need for a robot control instruction processing strategy to solve the problem of low accuracy of current instruction adding technology. Summary of the invention

[0005] The embodiments of the present invention provide a method, an apparatus, a terminal device and a medium for processing robot control instructions to improve the accuracy of instruction adding technology.

[0006] In order to solve the above problem, an embodiment of the present invention provides a method for processing a robot control instruction, comprising:

[0007] Acquire trajectory point process data; wherein the trajectory point process data includes: type data, motion mode data, and pre-positioning data;

[0008] Performing instruction adding judgment on the pre-positioning data to obtain instruction data; performing speed setting judgment on the pre-positioning data and the motion mode data to obtain speed data; performing precision setting judgment on the pre-positioning data and the type data to obtain precision data;

[0009] The instruction data, speed data and accuracy data are combined with the trajectory point process data to obtain the target control instruction corresponding to the trajectory point process data. The target control instruction corresponding to the trajectory point process data is transmitted to the target robot so that the target robot executes the control instruction according to the target control instruction.

[0010] As an improvement of the above solution, the step of performing instruction addition judgment on the pre-positioned data to obtain instruction data is specifically as follows:

[0011] The instruction data includes: a first interlocking instruction and a second interlocking instruction;

[0012] When the pre-positioning data is a first preset positioning value, a first interlocking instruction is obtained;

[0013] When the pre-positioning data is a second preset positioning value, obtaining a second interlocking instruction;

[0014] Otherwise, the chained directive is empty.

[0015] As an improvement of the above solution, the speed setting judgment is performed on the pre-positioning data and the motion mode data to obtain the speed data, specifically:

[0016] The speed data includes: a first preset speed and a second preset speed;

[0017] When the pre-positioning data is a second preset positioning value and the motion mode data is a first motion mode, obtaining a first preset speed;

[0018] Otherwise, a second preset speed is obtained.

[0019] As an improvement of the above solution, the step of performing precision setting judgment on the pre-positioned data and the type data to obtain precision data is specifically as follows:

[0020] The accuracy data includes: a first accuracy and a second accuracy;

[0021] When the pre-positioning data is a third preset positioning value and the type data is of a first type, obtaining a first accuracy;

[0022] Otherwise, the second precision is obtained.

[0023] Accordingly, an embodiment of the present invention further provides a processing device for robot control instructions, comprising: a data acquisition module, a data operation module and a result generation module;

[0024] The data acquisition module is used to acquire the process data of the trajectory points; wherein the process data of the trajectory points include: type data, motion mode data, and pre-positioning data;

[0025] The data operation module is used to perform instruction addition judgment on the pre-positioning data to obtain instruction data; perform speed setting judgment on the pre-positioning data and the motion mode data to obtain speed data; perform precision setting judgment on the pre-positioning data and the type data to obtain precision data;

[0026] The result generation module is used to combine the instruction data, speed data and accuracy data with the trajectory point process data to obtain the target control instruction corresponding to the trajectory point process data, and transmit the target control instruction to the target robot so that the target robot executes the control instruction according to the target control instruction.

[0027] As an improvement of the above solution, the step of performing instruction addition judgment on the pre-positioned data to obtain instruction data is specifically as follows:

[0028] The instruction data includes: a first interlocking instruction and a second interlocking instruction;

[0029] When the pre-positioning data is a first preset positioning value, a first interlocking instruction is obtained;

[0030] When the pre-positioning data is a second preset positioning value, obtaining a second interlocking instruction;

[0031] Otherwise, the chained directive is empty.

[0032] As an improvement of the above solution, the speed setting judgment is performed on the pre-positioning data and the motion mode data to obtain the speed data, specifically:

[0033] The speed data includes: a first preset speed and a second preset speed;

[0034] When the pre-positioning data is a second preset positioning value and the motion mode data is a first motion mode, obtaining a first preset speed;

[0035] Otherwise, a second preset speed is obtained.

[0036] As an improvement of the above solution, the step of performing precision setting judgment on the pre-positioned data and the type data to obtain precision data is specifically as follows:

[0037] The accuracy data includes: a first accuracy and a second accuracy;

[0038] When the pre-positioning data is a third preset positioning value and the type data is of a first type, obtaining a first accuracy;

[0039] Otherwise, the second precision is obtained.

[0040] Correspondingly, an embodiment of the present invention further provides a computer terminal device, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, it implements a method for processing robot control instructions as described in the present invention.

[0041] Correspondingly, an embodiment of the present invention further provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute a method for processing robot control instructions as described in the present invention.

[0042] As can be seen from the above, the present invention has the following beneficial effects:

[0043] The present invention provides a method for processing robot control instructions, by acquiring trajectory point process data, and based on the type data and motion mode data of the trajectory point process data, performing corresponding instruction addition judgment, speed setting judgment and precision setting judgment, thereby obtaining instruction data, speed data and precision data, combining the instruction data, speed data and precision data with the trajectory point process data, obtaining a target control instruction, thereby controlling the target robot to execute the instruction through the target control instruction, realizing the addition of robot control instructions, and improving the accuracy of instruction addition. The instruction addition technology of the present invention can not only improve production efficiency in industrial production, but also make the operation more convenient, thereby improving the popularity of the instruction addition technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a flowchart of a method for processing robot control instructions provided by an embodiment of the present invention;

[0045] Figure 2 It is a schematic diagram of the structure of a device for processing robot control instructions provided by an embodiment of the present invention;

[0046] Figure 3 is a schematic diagram of control instruction data before executing a processing method for robot control instructions provided by an embodiment of the present invention;

[0047] Figure 4 is a schematic diagram of control instruction data after executing a processing method for robot control instructions provided by an embodiment of the present invention;

[0048] Figure 5 It is a schematic diagram of the structure of a terminal device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] Embodiment 1

[0051] See also Figure 1 , Figure 1 FIG. 1 is a flow chart of a method for processing a robot control instruction provided by an embodiment of the present invention. Figure 1 As shown, this embodiment includes steps 101 to 103, and each step is specifically as follows:

[0052] Step 101: Acquire trajectory point process data; wherein the trajectory point process data includes: type data, motion mode data, and pre-positioning data.

[0053] In this embodiment, one trajectory point corresponds to one trajectory point process data, and the robot control instruction is processed for each trajectory point;

[0054] Add the spot welding track to the Apply Path Template window of PS, select Set_WeldOLP_Flange, and then select Apply to obtain the track point process data.

[0055] Step 102: Perform instruction adding judgment on the pre-positioning data to obtain instruction data; perform speed setting judgment on the pre-positioning data and the motion mode data to obtain speed data; perform precision setting judgment on the pre-positioning data and the type data to obtain precision data.

[0056] In this embodiment, the instruction adding judgment is performed on the predetermined position data to obtain the instruction data, specifically:

[0057] The instruction data includes: a first interlocking instruction and a second interlocking instruction;

[0058] When the pre-positioning data is a first preset positioning value, a first interlocking instruction is obtained;

[0059] When the pre-positioning data is a second preset positioning value, obtaining a second interlocking instruction;

[0060] Otherwise, the chained directive is empty.

[0061] In a specific embodiment, when the LocRange data (i.e., the pre-positioned data described in the claims of the present application) is first (i.e., the first preset positioning value described in the claims of the present application), a Wait Segment chain instruction is obtained; and the WaitSegment chain instruction is added to the track point process data;

[0062] When the LocRange data (i.e., the pre-positioning data described in the claims of the present application) is Last (i.e., the second preset positioning value described in the claims of the present application), a Finish Segment chain instruction is obtained; and the Finish Segment chain instruction is added to the track point process data;

[0063] When the LocRange data is neither First nor Last, the chain instruction is empty; add an empty chain instruction to the trajectory point process data (ie, do not execute the chain instruction).

[0064] In this embodiment, the speed setting judgment is performed on the pre-positioning data and the motion mode data to obtain the speed data, specifically:

[0065] The speed data includes: a first preset speed and a second preset speed;

[0066] When the pre-positioning data is a second preset positioning value and the motion mode data is a first motion mode, obtaining a first preset speed;

[0067] Otherwise, a second preset speed is obtained.

[0068] In a specific embodiment, when the pre-positioning data is 2-(Last-1) (i.e., the third preset position described in the claims of the present invention), and the motion mode data is LIN (i.e., the first motion mode described in the claims of the present invention), the motion speed is 2 m / s (i.e., the first preset motion speed described in the claims of the present invention), and the motion speed of 2 m / s is added to the trajectory point process data;

[0069] When the pre-positioning data is not 2-(Last-1) (i.e. the third preset position described in the claims of the present invention), or the motion mode data is not LIN (i.e. the first motion mode described in the claims of the present invention), the motion speed is obtained as 100m / s (i.e. the first preset motion speed described in the claims of the present invention), and the motion speed of 100m / s is added to the trajectory point process data.

[0070] The performing precision setting judgment on the pre-positioned data and the type data to obtain precision data is specifically as follows:

[0071] The accuracy data includes: a first accuracy and a second accuracy;

[0072] When the pre-positioning data is a third preset positioning value and the type data is of a first type, obtaining a first accuracy;

[0073] Otherwise, the second precision is obtained.

[0074] In a specific embodiment, when the pre-positioning data is 2-(Last-1) (i.e., the third preset position described in the claims of the present invention), and the type data is VIA (i.e., the first type described in the claims of the present invention), the obtained accuracy data is C_DIS100mm (i.e., the first accuracy described in the claims of the present invention), and the accuracy data corresponding to C_DIS100mm is added to the track point process data;

[0075] When the pre-positioning data is not 2-(Last-1), or the type data is not VIA, the precision data obtained is FINE (ie, the second precision described in the claims of the present invention), and the precision data corresponding to FINE is added to the track point process data.

[0076] Step 103: Combine the instruction data, speed data and accuracy data with the trajectory point process data to obtain the target control instruction corresponding to the trajectory point process data, and transmit the target control instruction to the target robot so that the target robot executes the control instruction according to the target control instruction.

[0077] In a specific embodiment, it also includes: judgment on change of the head and tail movement modes: when the pre-positioning data is the first preset positioning value (ie First) or the second preset positioning value (ie Last), the movement mode of the trajectory point process data corresponding to the pre-positioning data is changed to: the second movement mode.

[0078] In a specific embodiment, the second movement mode may be PTP AXIS:XHOME.

[0079] In a specific embodiment, the statement methods corresponding to the instruction adding judgment, speed setting judgment, accuracy setting judgment and head and tail motion mode changing judgment are combined together through the ActionRef method (Siemens established syntax).

[0080] In a specific embodiment, the pre-positioning data LocRange includes: All, First, Last, M, XY, G-(Last-H);

[0081] Among them, LocRange = All, refers to all track points of the spot welding track;

[0082] LocRange = First, refers to the first track point of the spot welding track;

[0083] LocRange = Last, refers to the last track point of the spot welding track;

[0084] LocRange = M (M refers to a number), when M = 10, it specifies the 10th track point of the spot welding track;

[0085] LocRange = XY (X, Y represent numbers), when X = 10, Y = 13, the specified range is the 10th to 13th track points;

[0086] LocRange=G-(Last-H) (G and H represent numbers). When G=10 and H=1, the specified range is from the 10th to the second to last trajectory point.

[0087] In a specific embodiment, to better illustrate this embodiment, see Figure 3 and Figure 4 ,in, Figure 3 The control instruction data before the processing method of executing the robot control instruction is Figure 4 It is the control instruction data after executing the processing method of the robot control instruction.

[0088] This embodiment obtains the process data of the trajectory point, and based on the type data and motion mode data of the process data of the trajectory point, performs the corresponding instruction addition judgment, speed setting judgment and precision setting judgment, thereby obtaining the instruction data, speed data and precision data, and combining the instruction data, speed data and precision data with the process data of the trajectory point to obtain the target control instruction, thereby controlling the target robot to execute the instruction through the target control instruction, realizing the addition of the robot control instruction and improving the accuracy of the instruction addition. This embodiment can realize the automatic addition of instructions, and has the advantage of more stable product quality compared with the existing manual production method.

[0089] Embodiment 2

[0090] See also Figure 2 , Figure 2 It is a schematic diagram of the structure of a processing device for robot control instructions provided by an embodiment of the present invention, comprising: a data acquisition module 201, a data operation module 202 and a result generation module 203;

[0091] The data acquisition module 201 is used to acquire the process data of the trajectory points; wherein the process data of the trajectory points includes: type data, motion mode data, and pre-positioning data;

[0092] The data operation module 202 is used to perform instruction addition judgment on the pre-positioning data to obtain instruction data; perform speed setting judgment on the pre-positioning data and the motion mode data to obtain speed data; perform precision setting judgment on the pre-positioning data and the type data to obtain precision data;

[0093] The result generation module 203 is used to combine the instruction data, speed data and accuracy data with the trajectory point process data to obtain the target control instruction corresponding to the trajectory point process data, and transmit the target control instruction to the target robot so that the target robot executes the control instruction according to the target control instruction.

[0094] As an improvement of the above solution, the step of performing instruction addition judgment on the pre-positioned data to obtain instruction data is specifically as follows:

[0095] The instruction data includes: a first interlocking instruction and a second interlocking instruction;

[0096] When the pre-positioning data is a first preset positioning value, a first interlocking instruction is obtained;

[0097] When the pre-positioning data is a second preset positioning value, obtaining a second interlocking instruction;

[0098] Otherwise, the chained directive is empty.

[0099] As an improvement of the above solution, the speed setting judgment is performed on the pre-positioning data and the motion mode data to obtain the speed data, specifically:

[0100] The speed data includes: a first preset speed and a second preset speed;

[0101] When the pre-positioning data is a second preset positioning value and the motion mode data is a first motion mode, obtaining a first preset speed;

[0102] Otherwise, a second preset speed is obtained.

[0103] As an improvement of the above solution, the step of performing precision setting judgment on the pre-positioned data and the type data to obtain precision data is specifically as follows:

[0104] The accuracy data includes: a first accuracy and a second accuracy;

[0105] When the pre-positioning data is a third preset positioning value and the type data is of a first type, obtaining a first accuracy;

[0106] Otherwise, the second precision is obtained.

[0107] This embodiment obtains the process data of the trajectory point through the data acquisition module, and performs instruction addition judgment, speed setting judgment and precision setting judgment on the process data of the trajectory point through the data operation module, thereby obtaining instruction data, speed data and precision data, and finally combines the instruction data, speed data and precision data with the process data of the trajectory point through the result generation module to generate the target control instruction, thereby realizing the control of the robot through the target control instruction. This embodiment realizes the addition of robot control instructions and improves the accuracy of instruction addition. The use of the instruction addition technology of the present invention can not only improve production efficiency in industrial production, but also make the operation more convenient, thereby improving the popularity of the instruction addition technology.

[0108] Embodiment 3

[0109] See also Figure 5 , Figure 5 It is a schematic diagram of the structure of a terminal device provided in one embodiment of the present invention.

[0110] A terminal device of this embodiment includes: a processor 501, a memory 502, and a computer program stored in the memory 502 and executable on the processor 501. When the processor 501 executes the computer program, the steps of the processing method of each robot control instruction in the embodiment are implemented, for example Figure 1 Alternatively, when the processor executes the computer program, the functions of each module in the above-mentioned device embodiments are realized, for example: Figure 2 All modules of the robot control instruction processing device are shown.

[0111] In addition, an embodiment of the present invention also provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the processing method of the robot control instruction described in any of the above embodiments.

[0112] Those skilled in the art will understand that the schematic diagram is merely an example of a terminal device and does not constitute a limitation on the terminal device. The terminal device may include more or fewer components than shown in the diagram, or a combination of certain components, or different components. For example, the terminal device may also include input and output devices, network access devices, buses, etc.

[0113] The processor 501 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor 501 is the control center of the terminal device, and uses various interfaces and lines to connect various parts of the entire terminal device.

[0114] The memory 502 can be used to store the computer program and / or module, and the processor 501 realizes various functions of the terminal device by running or executing the computer program and / or module stored in the memory, and calling the data stored in the memory 502. The memory 502 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0115] Wherein, if the module / unit integrated in the terminal device is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0116] It should be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the accompanying drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art may understand and implement it without paying any creative effort.

[0117] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A method for processing robot control instructions, characterized in that: include: Acquire trajectory point process data; wherein the trajectory point process data includes: type data, motion mode data, and pre-positioning data; Performing an instruction adding judgment on the pre-positioning data to obtain instruction data; performing a speed setting judgment on the pre-positioning data and the motion mode data to obtain speed data; performing an accuracy setting judgment on the pre-positioning data and the type data to obtain accuracy data; wherein, performing an instruction adding judgment on the pre-positioning data to obtain instruction data is specifically as follows: the instruction data includes: a first interlocking instruction and a second interlocking instruction; when the pre-positioning data is a first preset positioning value, the first interlocking instruction is obtained; when the pre-positioning data is a second preset positioning value, the second interlocking instruction is obtained; otherwise, the interlocking instruction is empty; performing an accuracy setting judgment on the pre-positioning data and the type data to obtain accuracy data is specifically as follows: the accuracy data includes: a first accuracy and a second accuracy; when the pre-positioning data is a third preset positioning value and the type data is a first type, the first accuracy is obtained; otherwise, the second accuracy is obtained; the first preset positioning value is first, which refers to the first trajectory point of the trajectory; the second preset positioning value is last, which refers to the last trajectory point of the trajectory; the third preset positioning value is 2-(Last-1), which refers to the second to the second to last trajectory point of the trajectory; The instruction data, speed data and accuracy data are combined with the trajectory point process data to obtain the target control instruction corresponding to the trajectory point process data, and the target control instruction is transmitted to the target robot so that the target robot executes the control instruction according to the target control instruction.

2. The method for processing robot control instructions according to claim 1, characterized in that: The speed setting judgment is performed on the pre-positioning data and the motion mode data to obtain the speed data, specifically: The speed data includes: a first preset speed and a second preset speed; When the pre-positioning data is a third preset positioning value and the motion mode data is a first motion mode, obtaining a first preset speed; Otherwise, a second preset speed is obtained.

3. A robot control instruction processing device, characterized in that: include: Data acquisition module, data operation module and result generation module; The data acquisition module is used to acquire the process data of the trajectory points; wherein the process data of the trajectory points include: type data, motion mode data, and pre-positioning data; The data operation module is used to perform instruction adding judgment on the pre-positioning data to obtain instruction data; perform speed setting judgment on the pre-positioning data and the motion mode data to obtain speed data; perform precision setting judgment on the pre-positioning data and the type data to obtain precision data; wherein, the instruction adding judgment on the pre-positioning data to obtain instruction data is specifically as follows: the instruction data includes: a first interlocking instruction and a second interlocking instruction; when the pre-positioning data is a first preset positioning value, the first interlocking instruction is obtained; when the pre-positioning data is a second preset positioning value, the second interlocking instruction is obtained; otherwise, the interlocking instruction is empty; the precision setting judgment on the pre-positioning data and the type data to obtain precision data is specifically as follows: the precision data includes: a first precision and a second precision; when the pre-positioning data is a third preset positioning value and the type data is a first type, the first precision is obtained; otherwise, the second precision is obtained; the first preset positioning value is first, which refers to the first trajectory point of the trajectory; the second preset positioning value is last, which refers to the last trajectory point of the trajectory; the third preset positioning value is 2-(Last-1), which refers to the second to the second to last trajectory point of the trajectory; The result generation module is used to combine the instruction data, speed data and accuracy data with the trajectory point process data to obtain the target control instruction corresponding to the trajectory point process data, and transmit the target control instruction to the target robot so that the target robot executes the control instruction according to the target control instruction.

4. The robot control instruction processing device according to claim 3, characterized in that: The speed setting judgment is performed on the pre-positioning data and the motion mode data to obtain the speed data, specifically: The speed data includes: a first preset speed and a second preset speed; When the pre-positioning data is a third preset positioning value and the motion mode data is a first motion mode, obtaining a first preset speed; Otherwise, a second preset speed is obtained.

5. A computer terminal device, characterized in that: The method comprises a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, a method for processing a robot control instruction as described in any one of claims 1 to 2 is implemented.

6. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored computer program, wherein when the computer program is executed, the device where the computer-readable storage medium is located is controlled to execute a method for processing a robot control instruction as described in any one of claims 1 to 2.

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