Configuration system of robot job flow graph and robot

Abstract

The invention provides a configuration system of a robot job flow graph and a robot, the configuration system comprises a processing unit, a display unit and an input unit, the processing unit comprises a node generation unit, a node connection setting unit, an attribute configuration unit and a node operation unit which are respectively used for moving a newly-built flow graph to a flow graph configuration area, or triggering the flow graph to run, selecting and adding nodes from a node warehouse, and generating a plurality of node modules; establishing a logic and data connection relationship between the node modules; performing attribute configuration on the node modules, and setting module parameters of the node modules; and operating and storing each node module to obtain a robot workflow graph. Wherein the robot workflow graph is used for controlling the movement of the robot. Therefore, the control flow diagram of the robot motion can be flexibly compiled, the operation is simple, the requirement for technicians is low, and control flows of various different application scenes and different motion modes can be obtained without programming.

Description

Background Art

[0002] A Data Flow Diagram (DFD) is a tool used in structured analysis methods. It graphically depicts the process of data flowing and being processed in a system. Since a data flow diagram only reflects the logical functions that the system must complete, it is a functional model. From the perspective of data transfer and processing, a data flow diagram graphically expresses the logical functions of a system, the logical flow of data within the system, and the logical transformation process. It is the main expression tool of the structured system analysis method and a graphical method for representing software models.

[0003] Currently, data flow diagrams have been used as a way to plan robot operation tasks and are applied in the corresponding simulation software of robots. However, this kind of data flow diagram is complex to operate and requires high technical skills. Whenever a new task is developed, it has to go through repeated debugging and verification, with low efficiency, which is not conducive to the popularization and use of the software. Summary of the Invention

[0004] Aiming at the deficiencies in the prior art, the purpose of the present invention is to provide a configuration system for a robot operation flow diagram and a robot.

[0005] In a first aspect, an embodiment of the present application provides a configuration system for a robot operation flow diagram, including: a processing unit, a display unit, and an input unit. The input unit is used to receive operation information input by a user and send the operation information to the processing unit. The display unit is used to display the generated node modules and the robot operation flow diagram. Among them, the processing unit includes: a node generation unit, a node connection setting unit, an attribute configuration unit, and a node operation unit.

[0006] The node generation unit is used to move the newly created flow diagram to the flow diagram configuration area, or trigger the flow diagram and select to add nodes to generate a number of node modules.

[0007] The node connection setting unit is used to establish a connection relationship between the node modules.

[0008] The attribute configuration unit is used to perform attribute configuration on the node modules and set the module parameters of the node modules.

[0009] The node operation unit is used to run and save each node module to obtain a robot operation flow diagram, where the robot operation flow diagram is used to control the movement of the robot.

[0010] Optionally, the processing unit further includes: a flow diagram establishment unit, which is used to establish a flow diagram in any of the following ways before selecting to add nodes:

[0011] Select a file on the Max home page, click "New" to generate a blank flowchart or a template flowchart;

[0012] Select a file on the Max home page, click "Read" to retrieve a pre-stored flowchart template.

[0013] Optionally, the flowchart template includes: an event module, a process control module, a function module, a variable module, a motion planning module, and a motion execution module.

[0014] Optionally, the node connection setting unit is specifically configured to:

[0015] Drag out a connection line from the output port of the previous node module and connect it to the input port of the next node module. Among them, only the interfaces of two node modules with exactly the same graphic shape and color can be connected. The triangular interface represents the logic flow, and the circular interface represents the data flow.

[0016] Optionally, the processing unit further includes: a connection line deletion unit, which is used to:

[0017] Delete the connection line between the node modules that have established a connection relationship.

[0018] Optionally, the attribute configuration unit is specifically configured to:

[0019] Set the speed ratio for moving to the target joint, the robotic arm number, the robotic arm path, the target joint angle, and the movement mode respectively; where:

[0020] The target joint angle includes angles of multiple degrees of freedom;

[0021] The movement mode includes: linear movement and joint movement.

[0022] Optionally, the node operation unit is specifically configured to:

[0023] Click the operation control on any node module to execute the corresponding node module;

[0024] The node module is highlighted during operation to distinguish it from the unoperated modules;

[0025] Set the inspection breakpoint of the node module;

[0026] When the node module finishes running, generate a run completion indication message.

[0027] Optionally, the processing unit further includes: a flowchart operation unit and a storage unit,

[0028] The flowchart operation unit is used to: run a complete robotic operation flowchart, or,

[0029] Select a node module as the current module and set the running mode in the pop-up list. The running modes include: running until the selected node, running to the subsequent node, running the previous node, and tracking the start event;

[0030] The storage unit is used to save the robot job flow diagram that has completed the running test.

[0031] In a second aspect, an embodiment of the present application provides a robot, including: a base, a robotic arm, a drive system, a vision sensor, a processor, and a configuration system for the robot job flow diagram as described in any one of the first aspects, where:

[0032] The configuration system for the robot job flow diagram is used to generate a robot job flow diagram according to the operation information input by the user, and send the robot job flow diagram to the processor so that the processor generates motion control instructions;

[0033] The drive system drives the robotic arm to perform corresponding job tasks according to the motion control instructions.

[0034] Optionally, it further includes: a vision sensor;

[0035] The vision sensor is used to obtain the job environment around the robot, determine the position of the material to be grasped, and the target placement position of the material.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] In the present application, by moving the newly created flow diagram to the flow diagram configuration area, or triggering the flow diagram and selecting to add nodes, a number of node modules are generated; the connection relationship between the node modules is established; the attributes of the node modules are configured, and the module parameters of the node modules are set; each node module is run and saved to obtain a robot job flow diagram, where the robot job flow diagram is used to control the movement of the robot. Thus, it is possible to compile the control flow diagram of the robot movement very flexibly, with simple operation, low requirements for technicians, and without programming, various control processes for different application scenarios and different movement modes can be obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts. By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, objectives, and advantages of the present invention will become more obvious:

[0039] Figure 1 A schematic diagram of the Max interface provided in an embodiment of the present application;

[0040] Figure 2 A schematic diagram of a configuration system for a robot workflow diagram provided in an embodiment of the present application;

[0041] Figure 3 A schematic diagram of the connection between node modules provided in an embodiment of the present application;

[0042] Figure 4 A schematic diagram of the node attribute configuration interface provided in an embodiment of the present application;

[0043] Figure 5 A schematic diagram of the structure of another system for configuring a robot workflow diagram provided in an embodiment of the present application;

[0044] Figure 6 A schematic diagram of the structure of a configuration system for a robot operation flow diagram provided in an embodiment of the present application;

[0045] Figure 7 A schematic diagram of the structure of a configuration device for a robot operation flow diagram provided in one embodiment of the present application;

[0046] Figure 8 It is a schematic structural diagram of a computer-readable storage medium in an embodiment of the present invention. DETAILED DESCRIPTION

[0047] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0048] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may be an intermediate component. When a component is referred to as being "connected to" another component, it may be directly connected to the other component or there may be an intermediate component.

[0049] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0050] In the description and claims of the present invention and the above-mentioned drawings, the terms "first", "second", "third", "fourth", etc. (if any) are used to distinguish similar objects and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein, for example, can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that comprises a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0051] The technical solutions of the present invention and how the technical solutions of the present application solve the above technical problems will be described in detail below with specific embodiments. These several specific embodiments below can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0052] Some embodiments of the present application will be described in detail below with reference to the drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0053] Figure 1 The schematic diagram of the interface of Max provided by the embodiment of the present application is as Figure 1 shown. The main interface of Max mainly includes four major functions: motion, vision, task, and HMI settings. The configuration of the robot operation flow diagram belongs to the robot motion planning part, which further includes: file, edit, view, wizard, run, and function and other setting controls. The wizard configuration list is at the lower left corner of the interface, the flow diagram configuration area is in the middle area of the interface, and the lower right corner of the interface includes: node selection, property, data, service editing, global search, function, variable, list, action planning, motion execution, vision, machine drive, robotic arm IO and other setting controls.

[0054] Figure 2 The schematic structural diagram of a configuration system of a robot operation flow diagram provided by the embodiment of the present application is as Figure 2As shown in the figure, the configuration system 200 of the robot operation flow chart in this embodiment may include: a processing unit 210, a display unit 220, and an input unit 230. The input unit 230 is used to receive operation information input by the user and send the operation information to the processing unit 210. The display unit 220 is used to display the generated node modules and the robot operation flow chart. Among them, the processing unit 210 includes: a node generation unit 211, a node connection setting unit 212, an attribute configuration unit 213, and a node operation unit 214. The node generation unit 211 is used to move the newly created flow chart to the flow chart configuration area, or trigger the flow chart and select to add nodes to generate several node modules. The node connection setting unit 212 is used to establish the connection relationship between the node modules. The attribute configuration unit 213 is used to configure the attributes of the node modules and set the module parameters of the node modules. The node operation unit 214 is used to run and save each node module to obtain a robot operation flow chart, where the robot operation flow chart is used to control the movement of the robot.

[0055] Exemplarily, Figure 3 is a schematic diagram of the connection between node modules provided by the embodiment of the present application. As Figure 3 shown, the node connection setting unit 212 is specifically used for: dragging out the connection line from the output port of the previous node module and connecting it to the input port of the next node module. Among them, only the interfaces of two node modules with exactly the same graphic shape and color can be connected. The triangular interface represents the logic flow, and the circular interface represents the data flow.

[0056] Exemplarily, the processing unit further includes: a connection line deletion unit, which deletes the connection line between the node modules that have established a connection relationship. Specifically, click on the connection line to be deleted, and the connection line border will be highlighted, indicating that the connection line is selected. Click the "Delete" key, or right-click on the connection line and select Delete.

[0057] Exemplarily, Figure 4 is a schematic diagram of the node attribute configuration interface provided by the embodiment of the present application. As Figure 4 shown, in this embodiment, the attribute configuration unit 213 is specifically used for: respectively setting the speed ratio for moving to the target joint, the manipulator number, the manipulator path, the target joint angle, and the movement mode; where: the target joint angle includes the angles of multiple degrees of freedom; the movement mode includes: linear movement and joint movement.

[0058] In this embodiment, the robot operation flow chart is used to control the movement of the robot.

[0059] Exemplarily, the node operation unit 214 is specifically configured to: click the operation control on any node module to execute the corresponding node module; set the inspection breakpoint of the node module; and generate a run completion indication message when the node module finishes running.

[0060] Specifically, click the green dot in the upper right corner of the module to execute the current module. Click the gray dot in the upper left corner of the module, and when the dot turns red, the inspection breakpoint can be set.

[0061] In this embodiment, by moving the newly created flow graph to the flow graph configuration area, or triggering the flow graph and selecting to add nodes, a number of node modules are generated; the connection relationship between the node modules is established; the node modules are configured with attributes, and the module parameters of the node modules are set; each node module is run and saved to obtain a robot operation flow graph, where the robot operation flow graph is used to control the movement of the robot. Thus, it is possible to very flexibly compile the control flow graph of the robot movement, with simple operation, low requirements for technicians, and no need for programming, and control processes for various different application scenarios and different movement modes can be obtained.

[0062] Figure 5 Shown in the following is a structural schematic diagram of another configuration system for a robot operation flow graph provided by an embodiment of the present application. Figure 5 As shown, the configuration system 200 for the robot operation flow graph in this embodiment may include: a processing unit 210, a display unit 220, and an input unit 230. The input unit 230 is configured to receive operation information input by a user and send the operation information to the processing unit 210. The display unit 220 is configured to display the generated node modules and the robot operation flow graph. Among them, the processing unit 210 includes: a node generation unit 211, a node connection setting unit 212, an attribute configuration unit 213, a node operation unit 214, and a flow graph establishment unit 215. The flow graph establishment unit 215 is configured to establish a flow graph in any of the following ways before selecting to add nodes:

[0063] Select a file on the Max home page, click New to generate a blank flow graph or a template flow graph;

[0064] Select a file on the Max home page, click Read to retrieve a pre-stored flow graph template.

[0065] In this embodiment, referring to Figure 1 As shown, a file can be selected on the Max task home page, click New to generate a blank flow graph or a template flow graph; or a file can be selected on the Max task home page, click Read to retrieve a pre-stored flow graph.

[0066] Exemplarily, the flowchart template includes: an event module, a process control module, a function module, a variable module, a motion planning module, and a motion execution module.

[0067] In this embodiment, a flowchart can be created independently or modified personalized on the basis of an original flowchart template, and the attribute settings and running tests of each node module in the flowchart can be completed, greatly improving the configuration efficiency of the robot operation flowchart.

[0068] Figure 6 FIG. is a schematic structural diagram of another configuration system for a robot operation flowchart provided by an embodiment of the present application. As Figure 6 shown, the configuration system 200 of the robot operation flowchart may include: a processing unit 210, a display unit 220, and an input unit 230. The input unit 230 is configured to receive operation information input by a user and send the operation information to the processing unit 210. The display unit 220 is configured to display the generated node modules and the robot operation flowchart. Among them, the processing unit 210 includes: a node generation unit 211, a node connection setting unit 212, an attribute configuration unit 213, a node operation unit 214, a flowchart establishment unit 215, a flowchart operation unit 216, and a storage unit 217. The flowchart operation unit 216 is configured to: run a complete robot operation flowchart, or select a node module as the current module and set an operation mode in a pop-up list. The operation mode includes: running until the selected node, running to the subsequent node, running the previous node, and tracking the start event. The storage unit 217 is configured to save the robot operation flowchart that has completed the running test.

[0069] In this embodiment, the operation modes include: running until the selected node, running to the subsequent node, running the previous node, and tracking the start event.

[0070] In this embodiment, after establishing the robot operation flowchart, it is also possible to perform running tests on all or part of the nodes in the flowchart. The running modes include running until the selected node, running to the subsequent node, running the previous node, tracking the start event, etc., so as to greatly improve the running test efficiency of the flowchart and discover anomalies in a timely manner.

[0071] An embodiment of the present application further provides a robot, including: a base, a robotic arm, a drive system, a vision sensor, a processor, and a configuration system for a robot operation flowchart as Figure 2 , Figure 5 , Figure 6 shown, wherein:

[0072] The configuration system of the robot operation flow chart is used to generate a robot operation flow chart according to the operation information input by the user, and send the robot operation flow chart to the processor so that the processor generates motion control instructions;

[0073] The drive system drives the robotic arm to perform corresponding operation tasks according to the motion control instructions.

[0074] In this embodiment, the above-mentioned robot further includes: a vision sensor; the vision sensor is used to obtain the operation environment around the robot, determine the position of the material to be grasped, and the target placement position of the material.

[0075] The embodiment of the present application also provides a method for configuring a robot operation flow chart, and the method may include the following steps:

[0076] Step S1: Move the newly created flow chart to the flow chart configuration area, or trigger the flow chart and select to add nodes to generate several node modules.

[0077] Step S2: Establish the connection relationship between the node modules.

[0078] Exemplarily, as Figure 3 shown, drag out the connection line from the output port of the previous node module and connect it to the input port of the next node module. Among them, only the interfaces of two node modules with exactly the same graphic shape and color can be connected. The triangular interface represents the logic flow, and the circular interface represents the data flow.

[0079] Exemplarily, the connection line between the node modules with the established connection relationship can also be deleted. Specifically, click on the connection line to be deleted, and the connection line border will be highlighted to indicate that the connection line is selected. Click the "Delete" key, or right-click on the connection line and select Delete.

[0080] Step S3: Configure the attributes of the node modules and set the module parameters of the node modules.

[0081] Exemplarily, as Figure 4 shown, in this embodiment, the speed ratio of moving to the target joint, the robotic arm number, the robotic arm path, the target joint angle, and the moving mode are respectively set; among them: the target joint angle includes the angles of multiple degrees of freedom; the moving mode includes: linear movement and joint movement.

[0082] Step S4: Run each node module and save to obtain the robot operation flow chart.

[0083] In this embodiment, the robot operation flow chart is used to control the movement of the robot.

[0084] Exemplarily, the run control on any node module can be clicked to execute the corresponding node module; the inspection breakpoint of the node module can be set; when the node module finishes running, a run completion indication message is generated.

[0085] Specifically, clicking the green dot in the upper right corner of the module can execute the current module. Clicking the gray dot in the upper left corner of the module, and the dot turns red, can set the inspection breakpoint.

[0086] In this embodiment, by moving the newly created flow chart to the flow chart configuration area, or triggering the flow chart and selecting to add nodes, several node modules are generated; the connection relationship between the node modules is established; the attributes of the node modules are configured, and the module parameters of the node modules are set; each node module is run and saved to obtain a robot operation flow chart, where the robot operation flow chart is used to control the movement of the robot. Thus, it is possible to compile the control flow chart of the robot movement very flexibly, with simple operation, low requirements for technicians, and no need for programming, and the control processes for various different application scenarios and different movement modes can be obtained.

[0087] Exemplarily, before selecting to add nodes and generating several node modules in the method of this embodiment, the following steps may further be included:

[0088] Step S0: Create a new flow chart.

[0089] In this embodiment, referring to Figure 1 as shown, a blank flow chart or a template flow chart can be generated by selecting a file on the Max task home page and clicking New; a pre-stored flow chart can also be retrieved by selecting a file on the Max task home page and clicking Read.

[0090] Exemplarily, the flow chart template includes: an event module, a process control module, a function module, a variable module, a motion planning module, and a motion execution module.

[0091] This embodiment can greatly improve the configuration efficiency of the robot operation flow chart by independently creating a flow chart or making personalized modifications on the basis of an original flow chart template, and completing the attribute setting and operation test of each node module in the flow chart.

[0092] Exemplarily, the method in this embodiment may further include:

[0093] Step S5: Run the complete robot operation flow chart, or select a node module as the current module and set the running mode in the pop-up list.

[0094] In this embodiment, the running modes include: running until the selected node, running to the subsequent node, running the previous node, and tracking the start event.

[0095] Step S6: Save the robot job flow diagram that has completed the running test.

[0096] In this embodiment, after establishing the robot job flow diagram, it is also possible to perform a running test on all or part of the nodes in the flow diagram. The running methods include running until the selected node, running to the subsequent node, running the previous node, tracking the start event, etc., thereby greatly improving the running test efficiency of the flow diagram and promptly detecting abnormalities.

[0097] Figure 7 FIG. 7 is a schematic structural diagram of a configuration device for a robot job flow diagram provided by an embodiment of the present application. The configuration device 700 for the robot job flow diagram in this embodiment may include: a processor 701 and a memory 702.

[0098] The memory 702 is used to store programs; the memory 702 may include a volatile memory (English: volatile memory), such as a random access memory (English: random-access memory, abbreviation: RAM), such as a static random access memory (English: static random-access memory, abbreviation: SRAM), a double data rate synchronous dynamic random access memory (English: Double Data Rate Synchronous Dynamic Random Access Memory, abbreviation: DDR SDRAM), etc.; the memory may also include a non-volatile memory (English: non-volatile memory), such as a flash memory (English: flash memory). The memory 702 is used to store computer programs (such as application programs and functional modules for implementing the above methods), computer instructions, etc. The above computer programs, computer instructions, etc. may be partitioned and stored in one or more memories 702. And the above computer programs, computer instructions, data, etc. may be called by the processor 701.

[0099] The above computer programs, computer instructions, etc. may be partitioned and stored in one or more memories 702. And the above computer programs, computer instructions, data, etc. may be called by the processor 701.

[0100] The processor 701 is configured to execute the computer programs stored in the memory 702 to implement each step in the method described in the above embodiment.

[0101] For specific details, reference may be made to the relevant descriptions in the foregoing method embodiments.

[0102] The processor 701 and the memory 702 can be independent structures or integrated structures integrated together. When the processor 701 and the memory 702 are independent structures, the memory 702 and the processor 701 can be coupled through a bus 703.

[0103] The configuration device 700 of the robot operation flow chart in this embodiment can execute the technical solutions in the above method. For the specific implementation process and technical principle, refer to the relevant descriptions in the above method, which will not be elaborated here.

[0104] Those skilled in the art can understand that various aspects of the present invention can be implemented as a system, a method, or a program product. Therefore, various aspects of the present invention can be specifically implemented in the following forms, namely: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or an implementation combining hardware and software aspects, which can be collectively referred to as "circuit", "module", or "platform" here.

[0105] In addition, the embodiments of the present application further provide a computer-readable storage medium. Computer-executable instructions are stored in the computer-readable storage medium. When at least one processor of the user equipment executes the computer-executable instructions, the user equipment executes the above various possible methods.

[0106] Among them, the computer-readable medium includes a computer storage medium and a communication medium. The communication medium includes any medium facilitating the transmission of a computer program from one place to another. The storage medium can be any available medium accessible by a general-purpose or special-purpose computer. An exemplary storage medium is coupled to the processor, enabling the processor to read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC. Additionally, the ASIC can be located in the user equipment. Of course, the processor and the storage medium can also exist as discrete components in the communication device.

[0107] The present application also provides a program product. The program product includes a computer program. The computer program is stored in a readable storage medium. At least one processor of the server can read the computer program from the readable storage medium. Executing the computer program by at least one processor enables the server to implement the method according to any one of the above embodiments of the present invention.

[0108] Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps including those of the above method embodiments; and the foregoing storage medium includes: various media such as read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disc that can store program code.

[0109] Figure 8 is a schematic structural diagram of a computer-readable storage medium in an embodiment of the present invention. Refer to Figure 8 As shown, a program product 800 for implementing the above method according to an embodiment of the present invention is described. It can be a portable compact disc read-only memory (CD-ROM) and includes program code, and can run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, a readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or in combination with an instruction execution system, apparatus, or device.

[0110] The program product can adopt any combination of one or more readable media. The readable media can be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the readable storage medium include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0111] The computer-readable storage medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries the readable program code. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The readable storage medium can also be any readable medium other than the readable storage medium, and the readable medium can send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium can be transmitted by any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the above.

[0112] The program code for performing the operations of the present invention can be written in any combination of one or more programming languages, including object-oriented programming languages such as Java, C++, etc., and also including conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computing device, partially on the user's device, executed as a stand-alone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user's computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., by connecting through the Internet using an Internet service provider).

[0113] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the various embodiments, reference can be made to each other. The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but rather will conform to the widest scope consistent with the principles and novel features disclosed herein.

[0114] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various deformations or modifications within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A configuration system for a robot operation flow diagram, characterized in that, Including: A processing unit, a display unit, and an input unit. The input unit is used to receive operation information input by a user and send the operation information to the processing unit. The display unit is used to display generated node modules and a robot operation flow diagram. Among them, the processing unit includes: a node generation unit, a node connection setting unit, an attribute configuration unit, and a node operation unit. The node generation unit is used to move a newly created flow diagram to the flow diagram configuration area, or trigger the flow diagram and select to add nodes to generate several node modules. The node connection setting unit is used to establish a connection relationship between the node modules. The attribute configuration unit is used to perform attribute configuration on the node modules and set module parameters of the node modules. The node operation unit is used to run and save each node module to obtain a robot operation flow diagram, where the robot operation flow diagram is used to control the movement of the robot.

2. The configuration system of the robot operation flow chart according to claim 1, wherein The processing unit further includes: a flow diagram establishment unit, which is used to establish a flow diagram in any of the following ways before selecting to add nodes: Select a file on the Max home page and click "New" to generate a blank flow diagram or a template flow diagram. Select a file on the Max home page and click "Read" to retrieve a pre-stored flow diagram template.

3. The configuration system of the robot operation flow chart according to claim 2, characterized in that, The flow diagram template includes: an event module, a process control module, a function module, a variable module, a motion planning module, and a motion execution module.

4. The configuration system of the robot operation flow chart according to claim 1, characterized in that The node connection setting unit is specifically used for: Drag out a connection line from the output port of the previous node module and connect it to the input port of the next node module. Among them, only the interfaces of two node modules with exactly the same graphic shape and color can be connected. The triangular interface represents the logic flow, and the circular interface represents the data flow.

5. The configuration system of the robot operation flow chart according to claim 4, characterized in that, The processing unit further includes: a connection line deletion unit, which is used for: Deleting the connection line between the node modules that have established a connection relationship.

6. The configuration system of the robot operation flow chart according to claim 1, characterized in that, The attribute configuration unit is specifically used for: Respectively setting the speed ratio for moving to the target joint, the manipulator number, the manipulator path, the target joint angle, and the movement mode; where: The target joint angle includes angles of multiple degrees of freedom. The movement mode includes: linear movement and joint movement.

7. The configuration system of the robot operation flow chart according to any one of claims 1-6, characterized in that The node operation unit is specifically used for: Click the operation control on any node module to execute the corresponding node module. The node module is highlighted during operation to distinguish it from the unoperated modules. Setting inspection breakpoints for the node modules. When the node module finishes running, generating a run completion indication message.

8. The configuration system of the robot operation flow chart according to any one of claims 1-6, characterized in that, The processing unit further includes: a flow diagram operation unit and a storage unit. The flow diagram operation unit is used for: running the complete robot operation flow diagram, or Selecting a node module as the current module and setting the operation mode in the pop-up list. The operation mode includes: running until the selected node, running to the subsequent node, running the previous node, and tracking the start event. The storage unit is used to save the robot operation flow diagram that has completed the operation test.

9. A robot, characterized in that, Including: A base, a manipulator, a drive system, a vision sensor, a processor, and a configuration system for the robot operation flow diagram according to any one of claims 1-8, where: The configuration system of the robot operation flow chart is used to generate a robot operation flow chart according to the operation information input by the user, and send the robot operation flow chart to the processor so that the processor generates motion control instructions; The drive system drives the robotic arm to perform corresponding operation tasks according to the motion control instructions.

10. The robot according to claim 9, characterized in that, It further includes: A vision sensor; The vision sensor is used to obtain the operation environment around the robot, determine the position of the material to be grasped, and the target placement position of the material.

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