TWI585559B - No waiting robot control program method for multiplexing synchronization - Google Patents
No waiting robot control program method for multiplexing synchronization Download PDFInfo
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本發明關於一種機器人控制系統及其控制方法，尤其是指一種簡易化可方便操作者控制機器人的解編譯系統程式，並使機器人動作流暢的多工同步無等待機器人控制程式系統及其控制方法。 The invention relates to a robot control system and a control method thereof, in particular to a multiplexed synchronous waitless robot control program system and a control method thereof, which are simplified and can facilitate the operator to control the decompilation system program of the robot and make the robot move smoothly.
典型的機器人進行動作是在關節處靠馬達運轉，而機器人上通常具有複數個關節，因此需要複數個馬達分別帶動。複數個馬達進行不同時間及不同作動角度運作，需要利用計算機程式來進行動作控制。計算機程式可分成兩大類：一為作業系統，另一為應用操控程式，較常見者是兩者混合設計為一，下文所述機器人控制程式將不特別區分是分開設計的系統或是混合設計的系統。 A typical robot performs motion by running a motor at the joint, and the robot usually has a plurality of joints, so that a plurality of motors are required to drive them separately. Multiple motors operate at different times and at different operating angles, and computer programs are required for motion control. Computer programs can be divided into two categories: one for the operating system and the other for the application control program. The more common one is the mixed design of the two. The robot control program described below will not distinguish between a separately designed system or a mixed design. system.
機器人其它可控制裝置如影樣擷取、聲音擷取、聲音播放、網路資料搜尋等，皆有慢速處理之特性，例如機器人的主人以口語下達命命，控制程式擷取聲音或影像，必要時可上網搜尋資料，然後以動作、語音、燈號或顯示幕各類形式回應主人的需求，常見的機器人控制程式設計是分階段進行，必須等待訊息完全處理完成，才會見到相關回應，因此看見機器人動作停頓是常有的事。 Other controllable devices of the robot such as shadow capture, sound capture, sound playback, and network data search have the characteristics of slow processing. For example, the owner of the robot releases his life in a spoken language, and the control program captures sound or image. If necessary, you can search the Internet for information, and then respond to the owner's needs in various forms of action, voice, light or display. The common robot control program design is carried out in stages, and you must wait for the message to be completely processed before you can see the relevant response. It is therefore common to see robot movements pause.
如前段說明，習知的機器人控制程式，僅能進行單一馬達運轉，需等待到位後才能再控制另一顆馬達，除了有等待時間外，並且造成整個機器人動作不流暢。而現階段的機器人控制程式為達成複數個馬達同時運轉，或是要同時進行機器人影音處理，使機器人動作流暢，控制程式需加入多個條件判斷式去加以控制，不僅使機器人控制程式過於複雜，且僅能適應同一動作。一但須要更換動作，須將機器人控制程式內的所有相關參數進行更動，如此限制機器人發展空間。因此，針對上述機器人控制程式所存在之問題點，如何開發一種更具理想實用性之創新使用操作系統，實使用消費者所殷切企盼，亦係相關業者須努力研發突破之目標及方向。 As explained in the previous paragraph, the conventional robot control program can only perform a single motor operation, and it is necessary to wait for the position to be in control before the other motor can be controlled, in addition to waiting time, and the entire robot movement is not smooth. At present, the robot control program is to make a plurality of motors run at the same time, or to simultaneously perform robot audio and video processing to make the robot move smoothly, and the control program needs to be controlled by adding a plurality of conditional judgments, which not only makes the robot control program too complicated, And can only adapt to the same action. Once the action needs to be changed, all relevant parameters in the robot control program must be changed to limit the robot development space. Therefore, in view of the problems existing in the above-mentioned robot control program, how to develop an innovative operating system that is more ideal and practical, the consumer is eagerly awaited, and the relevant industry must strive to develop the breakthrough goal and direction.
本發明是指一種多工同步無等待機器人控制程式系統及其控制方法，將機器人程式控制系統拆分成解編譯系統程式與使用者的應用操控程式兩大部分，使用者僅需在應用操控程式下達簡單的高階控制指令，解編譯系統程式將自動處理機器人應用操控程式中隱含未明示的多個條件判斷式及時間等待，以達到更方便操作者控制機器人的功效。 The invention relates to a multiplex synchronous no-waiting robot control program system and a control method thereof, and the robot program control system is divided into two parts: a decompilation system program and a user application control program, and the user only needs to use the application control program. A simple high-level control command is issued, and the decompilation system program automatically processes a plurality of conditional judgments and time waits implicitly in the robot application control program to achieve more convenient operation of the robot.
為了達到上述目的，本發明係提供一種多工同步無等待機器人控制程式系統，包括有：一機器人部、一計算機控制部以及一程式取代單元。該機器人部其具有複數個結構體、複數個驅動裝置以及若干個訊號裝置，該驅動裝置分別連接二該結構體，且使其中之一該結構體可進行預定角度之一旋轉位移運動，而該訊號裝置可進行預定之一作動訊號。 In order to achieve the above object, the present invention provides a multiplexed synchronous standby robot control program system including: a robot portion, a computer control portion, and a program replacement unit. The robot part has a plurality of structures, a plurality of driving devices and a plurality of signal devices, wherein the driving device respectively connects the two structures, and one of the structures can perform a rotational displacement movement of a predetermined angle, and the The signal device can perform one of the predetermined actuation signals.
該計算機控制部其與機器人部電訊連接，可控制該機器人部之作動，該計算機控制部更包括有：一程式記憶單元、一解編譯執行單元以及一控 制通訊介面。該程式記憶單元除安裝有解編譯系統程式外，並提供使用者輸入應用操控程式，該應用操控程式提供控制馬達旋轉位移運動的角度訊號及訊號時間、其它訊號裝置的作動訊號及作動時間以及上述訊號及時間的作動順序。該解編譯執行單元其與該程式記憶單元電訊連接，且可接收該應用操控程式，由解編譯執行單元將該應用操控程式碼處理成一控制指令。該控制通訊介面其與複數個該驅動裝置以及若干個訊號裝置電訊連接，接收該解編譯執行單元的控制指令，且使該複數個驅動裝置以及若干個訊號裝置依該應用操控程式所提供的該旋轉位移運動的角度訊號及訊號時間、該訊號裝置的作動訊號及作動時間以及上述訊號及時間的作動順序進行作動，另外亦將機器人部所回授的訊號傳回給解編譯執行單元，以了解機器人部的動作狀態。 The computer control unit is in telecommunication connection with the robot part, and can control the operation of the robot part. The computer control part further comprises: a program memory unit, a decompilation execution unit and a control Communication interface. The program memory unit provides a user input application control program in addition to the decompilation system program, and the application control program provides an angle signal and signal time for controlling the rotational displacement motion of the motor, an operation signal and an operation time of the other signal devices, and the above The order of the signal and time. The decompilation execution unit is in telecommunication connection with the program memory unit, and can receive the application control program, and the decompilation execution unit processes the application control code into a control instruction. The control communication interface is connected to a plurality of the driving device and the plurality of signal devices to receive the control command of the decompilation execution unit, and the plurality of driving devices and the plurality of signal devices are provided according to the application control program The angle signal and signal time of the rotational displacement motion, the actuation signal and actuation time of the signal device, and the sequence of the signal and time are actuated, and the signal sent back by the robotic unit is transmitted back to the decompilation execution unit to understand The operating state of the robot unit.
為了達到上述目的，本發明係提供一種多工同步無等待機器人程式控制方法，隱藏條件判斷方法，包括有下列步驟：提供一機器人部以及一計算機控制部，該機器人部其可進行預定之一作動方式，該計算機控制部其與該機器人部電訊連接，該計算機控制部具有一第一主程式、一第二主程式、一副程式以及一訊號輸入狀態。 In order to achieve the above object, the present invention provides a multiplexed synchronous waitless robot program control method, and a hidden condition determining method, comprising the steps of: providing a robot portion and a computer control portion, wherein the robot portion can perform one of predetermined actions The computer control unit is in telecommunication connection with the robot unit. The computer control unit has a first main program, a second main program, a sub program, and a signal input state.
執行該計算機控制部之該第一主程式，當該第一主程式具有該訊號輸入狀態檢查功能，判斷該訊號輸入狀態是否執行一副程式指令。 The first main program of the computer control unit is executed, and when the first main program has the signal input status check function, it is determined whether the signal input status executes a program command.
若當該訊號輸入狀態是輸入該執行指令時，則執行該副程式；若當該訊號輸入狀態不是輸入該執行指令時，則執行接續的第二主程式。 If the signal input state is the input of the execution instruction, the subroutine is executed; if the signal input state is not the input of the execution instruction, the subsequent second main program is executed.
該第二主程式執行結束。 The execution of the second main program ends.
以該計算機控制部控制該機器人部之該作動方式。 The computer control unit controls the operation mode of the robot unit.
為了達到上述目的，本發明係提供一種多工同步無等待機器人程式控制方法，略除多餘等待方法，包括有下列步驟：提供一機器人部以及一計算機控制部，該機器人部其可進行預定之一作動方式，該計算機控制部其與該機器人部電訊連接，該計算機控制部具有一第一主程式、一第二主程式、一第一副程式、一第二副程式、一第一訊號狀態以及一第二訊號狀態。 In order to achieve the above object, the present invention provides a multiplexed synchronous waitless robot program control method, which eliminates the redundant waiting method, and includes the following steps: providing a robot portion and a computer control portion, which can perform one of the predetermined steps Actuation mode, the computer control unit is in telecommunication connection with the robot part, the computer control unit has a first main program, a second main program, a first sub program, a second sub program, a first signal status, and A second signal state.
執行該計算機控制部之該第一主程式。 Executing the first main program of the computer control unit.
該第一主程式位於該第一訊號狀態，則執行該第一副程式。 The first main program is in the first signal state, and the first subprogram is executed.
該第一副程式位於該第二訊號狀態，判斷該第二訊號狀態是否為一耗時指令。 The first subroutine is located in the second signal state, and determines whether the second signal state is a time consuming instruction.
若當該第二訊號狀態為該耗時指令時，則同時執行該第二主程式以及該耗時指令，且當該耗時指令執行結束，執行該第二副程式；若當該第二訊號狀態不是為該耗時指令時，則執行接續的第二副程式。 If the second signal state is the time-consuming instruction, the second main program and the time-consuming instruction are simultaneously executed, and when the time-consuming instruction is executed, the second sub-program is executed; if the second signal is When the state is not the time-consuming instruction, the second subroutine of the connection is executed.
該第二主程式執行結束。 The execution of the second main program ends.
以該計算機控制部控制該機器人部之該作動方式。 The computer control unit controls the operation mode of the robot unit.
1‧‧‧機器人部 1‧‧‧ Robotics Department
11、11a‧‧‧結構體 11, 11a‧‧‧ structure
12‧‧‧驅動裝置 12‧‧‧ drive
13‧‧‧訊號裝置 13‧‧‧Signal device
2‧‧‧計算機控制部 2‧‧‧Computer Control Department
21‧‧‧程式記憶單元 21‧‧‧Program memory unit
210‧‧‧應用操控程式 210‧‧‧Application Control Program
22‧‧‧解編譯執行單元 22‧‧‧Uncompile execution unit
220‧‧‧控制指令 220‧‧‧Control instructions
23‧‧‧控制通訊介面 23‧‧‧Control communication interface
3‧‧‧程式取代單元 3‧‧‧Program replacement unit
31‧‧‧回饋指令 31‧‧‧Reward instructions
4‧‧‧網路 4‧‧‧Network
51‧‧‧第一主程式 51‧‧‧First main program
52‧‧‧第二主程式 52‧‧‧Second main program
53‧‧‧副程式 53‧‧‧Subprogram
54‧‧‧訊號輸入狀態 54‧‧‧Signal input status
61‧‧‧提供一機器人部以及一計算機控制部 61‧‧‧ Provide a robot department and a computer control department
62‧‧‧執行計算機控制部之第一主程式 62‧‧‧Executing the first main program of the computer control department
63‧‧‧判斷訊號輸入狀態是否執行一副程式指令 63‧‧‧Determining whether the signal input status executes a program command
64‧‧‧執行該副程式 64‧‧‧Executing the subprogram
65‧‧‧執行接續的第二主程式 65‧‧‧Execution of the second main program
66‧‧‧第二主程式執行結束 66‧‧‧The second main program execution ends
67‧‧‧以計算機控制部控制機器人部之作動方式 67‧‧‧Controlling the robotic part by computer control
71‧‧‧第一主程式 71‧‧‧First main program
72‧‧‧第二主程式 72‧‧‧Second main program
73‧‧‧第一副程式 73‧‧‧First subprogram
74‧‧‧第二副程式 74‧‧‧Second subprogram
75‧‧‧第一訊號狀態 75‧‧‧First signal status
76‧‧‧第二訊號狀態 76‧‧‧Second signal status
81‧‧‧提供一機器人部以及一計算機控制部 81‧‧‧ Provide a robot department and a computer control department
82‧‧‧執行計算機控制部之第一主程式 82‧‧‧Executing the first main program of the computer control department
83‧‧‧位於第一訊號狀態執行第一副程式 83‧‧‧The first subroutine is executed in the first signal state
84‧‧‧位於第二訊號狀態，判斷第二訊號狀態是否為一耗時指令 84‧‧‧ Located in the second signal state, determining whether the second signal status is a time-consuming instruction
85‧‧‧同時執行第二主程式以及耗時指令 85‧‧‧ Simultaneous execution of the second main program and time-consuming instructions
851‧‧‧耗時指令執行結束 851‧‧‧Time-consuming instruction execution ends
852‧‧‧執行第二副程式 852‧‧‧Executing the second subprogram
86‧‧‧執行接續的第二副程式 86‧‧‧Execution of the second subprogram
87‧‧‧第二主程式執行結束 87‧‧‧The second main program execution ends
88‧‧‧以計算機控制部控制機器人部之作動方式 88‧‧‧Control the operation of the robot department with the computer control department
91‧‧‧旋轉位移運動 91‧‧‧Rotational displacement motion
θ‧‧‧角度 Θ‧‧‧ angle
圖1所示為本發明多工同步無等待機器人控制程式系統較佳實施例之系統架構示意圖。 1 is a schematic diagram showing the system architecture of a preferred embodiment of a multiplexed synchronous waitless robot control program system of the present invention.
圖2所示為本發明機器人部較佳實施例之正視結構示意圖。 2 is a front elevational view showing the preferred embodiment of the robot portion of the present invention.
圖3A所示為本發明多工同步無等待機器人程式控制方法第一較佳實施例之程式架構示意圖。 FIG. 3A is a schematic diagram showing the program architecture of the first preferred embodiment of the multiplexed synchronous waitless robot program control method of the present invention.
圖3B所示為本發明多工同步無等待機器人程式控制方法第一較佳實施例之流程方塊示意圖。 FIG. 3B is a block diagram showing the flow of the first preferred embodiment of the multiplexed synchronous waitless robot program control method of the present invention.
圖4A所示為本發明多工同步無等待機器人程式控制方法第二較佳實施例之程式架構示意圖。 4A is a schematic diagram showing the architecture of a second preferred embodiment of the multiplexed synchronous waitless robot program control method of the present invention.
圖4B所示為本發明多工同步無等待機器人程式控制方法第二較佳實施例之流程方塊示意圖。 4B is a block diagram showing the flow of a second preferred embodiment of the multiplexed synchronous waitless robot program control method of the present invention.
為達成上述目的及功效，本發明所採用之技術手段及構造，茲繪圖就本發明較佳實施例詳加說明其特徵與功能如下，俾利完全了解。 In order to achieve the above objects and effects, the technical means and the structure of the present invention will be described in detail with reference to the preferred embodiments of the present invention.
請參閱圖1及圖2所示，其為本發明之多工同步無等待機器人控制程式系統較佳實施例之系統架構示意圖，及機器人部較佳實施例之正視結構示意圖。本發明之多工同步無等待機器人控制程式系統，包括有：一機器人部1、一計算機控制部2及一程式取代單元3。請再參閱圖2，該機器人部1更包括有複數個結構體11、複數個驅動裝置12以及若干個訊號裝置13，於本發明較佳時實施中，該結構體11其為剛性結構，為組成該機器人部1之身體及四肢等結構。而該驅動裝置12分別連接二該結構體11、11a，較佳者為一伺服馬達，因此可以使相連接之二該結構體11、11a中其中之一該結構體11以另一該結構體11a為軸心，進行預定角度θ之一旋轉位移運動91。而該訊號裝置13位於該機器人部1之眼睛或嘴巴等，因此該訊號裝置13可以為一訊號輸入裝置，該訊號輸入裝置為一開 關裝置、一按鍵裝置、一觸控裝置、一影像擷取裝置、一聲音擷取裝置、一味道檢測裝置、一壓力裝置、一溫溼度檢知裝置、一運動速度狀態檢知裝置以及一距離測量裝置的至少其中之一。而該訊號裝置13亦可以是一訊號輸出裝置，該訊號輸出裝置為一燈光裝置、一聲音裝置、一震動裝置、一氣味裝置、一文字圖案訊息顯示裝置、一環境狀態調整裝置以及一位置運動裝置的至少其中之一，所以該訊號裝置13可進行預定之一作動訊號，該作動訊號可以為燈光閃爍、播放聲音、錄製影像、錄製聲音或顯示文字圖案訊息等。由以上複數個驅動裝置12以及若干個訊號裝置13之不同組合動作，如該旋轉位移運動91的角度訊號及訊號時間、該訊號裝置13的作動訊號及作動時間以及上述訊號及時間的組合作動順序所形成不同組合，使該機器人部1呈現出預定之一作動方式，例如跳舞、行走、取物或說話等。 Please refer to FIG. 1 and FIG. 2 , which are schematic diagrams of a system architecture of a preferred embodiment of the multiplexed synchronous waitless robot control program system of the present invention, and a front view of a preferred embodiment of the robot unit. The multiplexed synchronous standby robot control program system of the present invention comprises: a robot unit 1, a computer control unit 2, and a program replacement unit 3. Referring to FIG. 2 , the robot unit 1 further includes a plurality of structures 11 , a plurality of driving devices 12 , and a plurality of signal devices 13 . In the preferred embodiment of the present invention, the structure 11 has a rigid structure. The body and the limbs of the robot unit 1 are configured. The driving device 12 is respectively connected to the structural bodies 11, 11a, preferably a servo motor, so that one of the structural bodies 11, 11a connected to the structural body 11 can be connected to another structural body. 11a is an axis, and a rotational displacement motion 91 of one of predetermined angles θ is performed. The signal device 13 is located in the eye or mouth of the robot unit 1. Therefore, the signal device 13 can be a signal input device, and the signal input device is open. Off device, one button device, one touch device, one image capturing device, one sound capturing device, one taste detecting device, one pressure device, one temperature and humidity detecting device, one moving speed state detecting device, and one distance At least one of the measuring devices. The signal device 13 can also be a signal output device, which is a lighting device, an audio device, a vibration device, an odor device, a text message display device, an environmental state adjustment device, and a position motion device. At least one of the signals, the signal device 13 can perform a predetermined one of the action signals, and the action signal can be a flashing light, playing a sound, recording an image, recording a sound, or displaying a text pattern message. The combination of the plurality of driving devices 12 and the plurality of signal devices 13 respectively, such as the angle signal and the signal time of the rotational displacement motion 91, the actuation signal and the actuation time of the signal device 13, and the sequence of cooperation of the signals and time The different combinations are formed such that the robot portion 1 exhibits a predetermined manner of action, such as dancing, walking, taking or talking.
該計算機控制部2其與該機器人部1電訊連接，可控制該機器人部1之該作動方式，該計算機控制部2更包括有：一程式記憶單元21、一解編譯執行單元22以及一控制通訊介面23。該程式記憶單元21提供輸入一應用操控程式210，該應用操控程式210控制該機器人部1之該作動方式。該解編譯執行單元22其與該程式記憶單元21電訊連接，且可接收該應用操控程式210，並將該應用操控程式210處理成一控制指令220。該控制通訊介面23其與該機器人部1電訊連接，以本較佳實施例中，該控制通訊介面23與複數個該驅動裝置12以及若干個訊號裝置13電訊連接。該控制通訊介面23接收該解編譯執行單元22的控制指令220，且使該機器人部1進行該作動方式，並且傳回機器人部1的回饋指令31傳回給解編譯執行單元22，以了解機器人部1的動作狀態。 The computer control unit 2 is connected to the robot unit 1 to control the operation mode of the robot unit 1. The computer control unit 2 further includes: a program memory unit 21, a decompilation execution unit 22, and a control communication. Interface 23. The program memory unit 21 provides an input application control program 210 that controls the operation mode of the robot unit 1. The decompilation execution unit 22 is in telecommunication connection with the program memory unit 21, and can receive the application control program 210 and process the application control program 210 into a control instruction 220. The control communication interface 23 is in telecommunication connection with the robot unit 1. In the preferred embodiment, the control communication interface 23 is electrically connected to a plurality of the driving devices 12 and the plurality of signal devices 13. The control communication interface 23 receives the control instruction 220 of the decompilation execution unit 22, and causes the robot unit 1 to perform the actuation mode, and the feedback instruction 31 returned to the robot unit 1 is transmitted back to the decompilation execution unit 22 to learn the robot. The operating state of the unit 1.
該程式取代單元3其以一網路4與該控制通訊介面23電訊連接，該程式取代單元3儲存有應用操控程式210欲網路搜尋的資料，抑或是一外部計算機控制部能遙控本地機器人或可被控制的外部機器人。而該計算機控制部2中，該程式記憶單元21提供輸入該應用操控程式210時，經過解編譯執行單元22處理過的控制指令220，透過控制通訊介面23以網路4傳遞至該程式取代單元3，該程式取代單元3儲存有分別與若干控制指令220一一相對應之若干個回饋指令31。這些回饋指令31將透過通訊控制介面23傳回給解編譯執行單元22處理。 The program replaces the unit 3 with a network 4 and is connected to the control communication interface 23. The program replaces the unit 3 to store the data that the application control program 210 wants to search for, or an external computer control unit can remotely control the local robot or An external robot that can be controlled. In the computer control unit 2, the program memory unit 21 provides the control command 220 processed by the decompilation execution unit 22 when the application control program 210 is input, and is transmitted to the program replacement unit via the control communication interface 23 via the network 4. 3. The program replacement unit 3 stores a plurality of feedback instructions 31 corresponding to the plurality of control commands 220, respectively. These feedback instructions 31 will be passed back to the decompilation execution unit 22 via the communication control interface 23.
請同時參閱圖3A及圖3B所示，為本發明多工同步無等待機器人程式控制方法第一較佳實施例之程式架構及流程方塊示意圖。本發明多工同步無等待機器人程式控制方法，可隱藏條件判斷方法，包括有下列步驟： Please refer to FIG. 3A and FIG. 3B simultaneously, which are schematic diagrams of a program architecture and a flow block of a first preferred embodiment of the multiplexed synchronous waitless robot program control method according to the present invention. The multiplexed synchronous no-waiting robot program control method of the present invention can hide the condition judgment method, and includes the following steps:
步驟61：提供一機器人部1以及一計算機控制部2，該機器人部1其可進行預定之一作動方式，該計算機控制部2其與該機器人部1電訊連接，該計算機控制部具有一第一主程式51、一第二主程式52、一副程式53以及一訊號輸入狀態54。 Step 61: Providing a robot unit 1 and a computer control unit 2, wherein the robot unit 1 can perform a predetermined operation mode, and the computer control unit 2 is electrically connected to the robot unit 1, and the computer control unit has a first The main program 51, a second main program 52, a subroutine 53 and a signal input state 54.
步驟62：執行該計算機控制部之該第一主程式51。 Step 62: Execute the first main program 51 of the computer control unit.
步驟63：當該第一主程式51具有該訊號輸入狀態檢查功能，判斷該訊號輸入狀態54是否執行一副程式53指令。 Step 63: When the first main program 51 has the signal input state check function, it is determined whether the signal input state 54 executes a subroutine 53 command.
步驟64：若當該訊號輸入狀態54是輸入該執行指令時，則執行該副程式53。 Step 64: If the signal input state 54 is the input of the execution instruction, the subroutine 53 is executed.
步驟65：若當該訊號輸入狀態54不是輸入該執行指令時，則執行接續的第二主程式52。 Step 65: If the signal input state 54 is not inputting the execution instruction, the subsequent second main program 52 is executed.
步驟66：該第二主程式52執行結束。 Step 66: The second main program 52 ends execution.
步驟67：以該計算機控制部2控制該機器人部1之該作動方式。 Step 67: The computer control unit 2 controls the operation mode of the robot unit 1.
請同時參閱圖4A及圖4B所示，為本發明多工同步無等待機器人程式控制方法第二較佳實施例之程式架構及流程方塊示意圖。本發明多工同步無等待機器人程式控制方法，略除多餘等待方法，包括有下列步驟： Please refer to FIG. 4A and FIG. 4B simultaneously, which are schematic diagrams of a program architecture and a flow block of a second preferred embodiment of the multiplexed synchronous waitless robot program control method according to the present invention. The multiplexed synchronous no-waiting robot program control method of the present invention eliminates the redundant waiting method, and includes the following steps:
步驟81：提供一機器人部1以及一計算機控制部2，該機器人部其可進行預定之一作動方式，該計算機控制部2其與該機器人部1電訊連接，該計算機控制部2具有一第一主程式71、一第二主程式72、一第一副程式73、一第二副程式74、一第一訊號狀態75以及一第二訊號狀態76。 Step 81: Providing a robot unit 1 and a computer control unit 2, wherein the robot unit can perform a predetermined one of the actuation modes, the computer control unit 2 is in telecommunication connection with the robot unit 1, and the computer control unit 2 has a first The main program 71, a second main program 72, a first sub-program 73, a second sub-program 74, a first signal state 75 and a second signal state 76.
步驟82：執行該計算機控制部2之該第一主程式71。 Step 82: Execute the first main program 71 of the computer control unit 2.
步驟83：該第一主程式71位於該第一訊號狀態75，則執行該第一副程式73。 Step 83: The first main program 71 is located in the first signal state 75, and the first subroutine 73 is executed.
步驟84：該第一副程式73位於該第二訊號狀態76，判斷該第二訊號狀態76是否為一耗時指令。 Step 84: The first sub-program 73 is located in the second signal state 76, and determines whether the second signal state 76 is a time-consuming instruction.
步驟85：若當該第二訊號狀態76為該耗時指令時，則同時執行該第二主程式72以及該耗時指令，步驟851：當該耗時指令執行結束，步驟852：執行該第二副程式74。 Step 85: If the second signal state 76 is the time-consuming instruction, execute the second main program 72 and the time-consuming instruction simultaneously, step 851: when the time-consuming instruction execution ends, step 852: execute the first The second subprogram 74.
步驟86：若當該第二訊號狀態76不是為該耗時指令時，則執行接續的第二副程式74。 Step 86: If the second signal state 76 is not the time-consuming instruction, then the succeeding second sub-program 74 is executed.
步驟87：該第二主程式72執行結束。 Step 87: The execution of the second main program 72 ends.
步驟88：以該計算機控制部2控制該機器人部1之該作動方式。 Step 88: The computer control unit 2 controls the operation mode of the robot unit 1.
惟，以上所述僅為本發明之較佳實施例而已，非因此即拘限本發明之專利範圍，故舉凡運用本發明說明書及圖式內容所為之簡易修飾及等效結構變化，均應同理包含於本發明之專利範圍內，合予陳明。 However, the above description is only for the preferred embodiment of the present invention, and thus the scope of the present invention is not limited thereto, so that the simple modification and equivalent structural changes that are made by using the specification and the contents of the present invention should be the same. It is included in the scope of the patent of the present invention and is combined with Chen Ming.
1‧‧‧機器人部 1‧‧‧ Robotics Department
2‧‧‧計算機控制部 2‧‧‧Computer Control Department
21‧‧‧程式記憶單元 21‧‧‧Program memory unit
210‧‧‧應用操控程式 210‧‧‧Application Control Program
22‧‧‧解編譯執行單元 22‧‧‧Uncompile execution unit
220‧‧‧控制指令 220‧‧‧Control instructions
23‧‧‧控制通訊介面 23‧‧‧Control communication interface
3‧‧‧程式取代單元 3‧‧‧Program replacement unit
31‧‧‧回饋指令 31‧‧‧Reward instructions
4‧‧‧網路 4‧‧‧Network
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