Automatic simulation test system and method for multi-model and multi-configuration robots

Abstract

The invention discloses an automatic simulation test system and method for a multi-model and multi-configuration robot, and the system comprises a server and a plurality of test industrial personal computers, and the server is in data connection with the plurality of test industrial personal computers. Parameters are stored through the model configuration file unit, automatic scheduling is conducted through the task scheduling unit, the synchronous tool unit and the operation and maintenance tool unit are combined, full-process automatic switching of test models, configurations and test cases is achieved, manual intervention is not needed, and the problems that in the prior art, due to dependence on manual operation, efficiency is low, and errors are prone to occurring are thoroughly solved; a test is deployed on an actual industrial personal computer, hardware data are collected in real time by means of a hardware monitoring module, and hardware performance verification of the industrial personal computer is completed while functions of robot control software are verified; an independent thread is distributed for each industrial personal computer through the thread management unit, parallel testing of multiple industrial personal computers is supported, the testing throughput is greatly improved, and the overall testing period of multi-model and multi-configuration robots is shortened.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot testing, in particular to an automatic simulation testing system and method for robots of multiple models and multiple configurations. BACKGROUND

[0002] With the rapid development of industrial automation and robot technology, the application scenarios of robots are increasingly complex, giving rise to a product system of multiple models and multiple configurations. To ensure the functional stability and hardware adaptability of robots of different models and configurations, simulation testing has become a core verification method in the development and production of robots, and the core goal is to simulate actual working conditions in a virtual environment to discover functional defects of the robot control system software and performance bottlenecks of the hardware in advance.

[0003] Currently, certain technical foundations have been formed in the field of robot simulation testing, but when facing the demand for large-scale testing of multiple models and multiple configurations, the existing technical solutions still have the following defects: 1. The existing robot simulation testing methods lack sufficient automation and rely too much on manual intervention, with low testing efficiency. Since robots of different models and configurations correspond to different control parameters and testing requirements, the existing solutions require manual switching of configuration files of the testing model and adjustment of the execution sequence of the test cases. For example, after completing the simulation testing of an industrial robot arm, the tester needs to manually replace the configuration parameter file of another mobile robot and select the appropriate test case set again, and then start the testing process. This manual intervention mode not only consumes a lot of labor costs, but also easily leads to deviations in test results due to operational errors. Moreover, it cannot achieve uninterrupted batch testing, which seriously restricts the development cycle and production verification efficiency of robots of multiple models; 2. The existing robot simulation testing methods focus on software function verification and ignore the hardware performance adaptability testing in actual robot operating scenarios, with incomplete test coverage. Current mainstream solutions usually deploy the testing environment in a server or virtual machine, and only verify the core functions of the robot control system software, without considering the hardware performance of the industrial computer on which the robot control system software needs to run in actual operation. However, in actual applications, the CPU frequency stability, memory occupancy, and hardware load capacity of the industrial computer directly affect the motion accuracy and response speed of the robot. For example, when the CPU occupancy of the industrial computer is too high, it may cause a delay in the execution of robot instructions, leading to motion deviation. If the memory is insufficient, it may also cause software crashes. The existing solutions lack real-time monitoring and verification of the hardware performance of the industrial computer, resulting in a disconnection between the test results and actual application scenarios. Even if the software functions pass the testing in the server / virtual machine environment, they may still have hardware adaptation problems when deployed in the actual industrial computer, increasing the risk of failures in the on-site application of robots. SUMMARY

[0004] The purpose of this invention is to provide an automated simulation testing system and method for multi-model, multi-configuration robots to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an automated simulation testing system for multi-model, multi-configuration robots, comprising a server and a test industrial control computer, wherein the server establishes data connections with multiple test industrial control computers, the server is equipped with automated testing platform software, the automated testing platform software has data connections to tool software modules, configuration file modules, test case modules and exception handling modules, and the test industrial control computers are equipped with robot control software modules and hardware monitoring modules.

[0006] Preferably, the automated testing platform software includes a thread management unit, a task scheduling unit, and a result aggregation unit. The thread management unit is used for the allocation and monitoring of thread resources, the task scheduling unit is used for task scheduling and advancing the testing process, and the result aggregation unit is used for the integration and output of test data.

[0007] Preferably, the tool software module includes a synchronization tool unit and an operation and maintenance tool unit. The synchronization tool unit is used to realize bidirectional file transmission, and the operation and maintenance tool unit is used to issue operation instructions.

[0008] Preferably, the configuration file module includes a model configuration file unit and a test item configuration file unit. The model configuration file unit contains parameter information for each model and configuration, and the test item configuration file unit contains the test model and configuration for each device, as well as the configuration of the test cases executed for each model and configuration.

[0009] Preferably, the test case module includes a general test case unit and a personalized test case unit. The general test case unit is used to store basic test scripts that are common to all models, and the personalized test case unit is used to store test resources specific to each model.

[0010] Preferably, the anomaly handling module includes an anomaly detection unit and an anomaly recovery unit. The anomaly detection unit is used to identify and record abnormal scenarios, and the anomaly recovery unit is used to perform repair operations on the anomalies.

[0011] Preferably, the robot control software module includes a model switching unit, an SDK interface unit, and a permission configuration unit. The model switching unit is used to read the model configuration file and load the parameters of the corresponding model and configuration. The SDK interface unit is used to provide an instruction receiving interface and a status feedback interface. The permission configuration unit is used to automatically configure the reading permissions of hardware data.

[0012] Preferably, the hardware monitoring module includes a data acquisition unit and a data storage and export unit. The data acquisition unit is used to acquire hardware data, and the data storage and export unit is used to upload the acquired hardware data and store it in a specified local file in chronological order.

[0013] An automated simulation testing method for multi-model, multi-configuration robots includes the following steps: Step 1, establishing communication; Step 2, synchronizing model files and test cases; Step 3, starting the hardware status monitoring process; Step 4, starting the test; Step 5, executing general tests; Step 6, executing personalized tests; Step 7, switching models and cyclically testing; Step 8, summarizing the test results.

[0014] In step one above, communication is established between the server and multiple test industrial control computers. The automated test platform software allocates independent threads that match the number of test industrial control computers and sends the robot control software module to the test industrial control computer with test items.

[0015] In step two above, the server synchronizes the model configuration file and test case script of the current test model to the specified path of the corresponding test industrial control machine according to the test item configuration file.

[0016] In step three above, the server starts the hardware status monitoring process on the test industrial control computer through the operation and maintenance tool unit. The hardware monitoring module monitors and records hardware data information according to the preset detection time and recording rules. The hardware data information includes CPU frequency, CPU temperature, CPU utilization, and memory utilization.

[0017] In step four above, the server sends a command to the test industrial control computer through the operation and maintenance tool unit to enable the robot control software module in simulation mode. After enabling, the server reads the control software version, model and configuration information of the currently enabled robot control software module through the SDK interface unit. The automated test platform software verifies whether the information matches the test item. If they match, the process proceeds to step five. If they do not match, the machine configuration file is resynchronized for the test industrial control computer and the control software is restarted. If the number of failed retries reaches the set threshold, the exception handling module is triggered. The exception handling module records the error information, stops the test of the test industrial control computer, and the automated test platform software assigns the test task on the test industrial control computer to other industrial control computers of the same model for execution.

[0018] In step five above, the automated testing platform software calls the general test case unit, reads the general test cases, sends test instructions to the simulation robot through the robot control software module and receives the status after execution. It judges whether the test passes by determining whether the status meets expectations. If the status meets expectations, the test is judged to pass and the result is recorded. If the status does not meet expectations, the test is judged to fail, the reason and log are recorded, and the next general test case is executed. After all general test cases are completed, the process proceeds to step six.

[0019] In step six above, the task scheduling unit calls the personalized test case unit, reads the personalized test cases, sends test instructions to the simulation robot through the robot control software module and receives the status after execution. The test is judged to pass by determining whether the status meets the expectations. If the status meets the expectations, the test is judged to pass and the result is recorded. If the status does not meet the expectations, the test is judged to fail, the reason and log are recorded, and the next personalized test case is executed. After all personalized test cases are completed, step seven is entered.

[0020] In step seven above, the automated testing platform software obtains the test results for the machine model, and then, according to the test item configuration file, synchronizes the machine model configuration file and test case script of the next machine model to be tested to the specified path of the test industrial control machine. After that, the test process of starting the test, general test and personalized test is executed again until the test of all models is completed. If the machine model switching fails or the test case execution fails during the test, the exception handling module is triggered. The exception handling module records the error information, stops the test of the test industrial control machine, and the automated testing platform software assigns the test task on the test industrial control machine to other industrial control machines of the same model for execution.

[0021] In step eight above, after the test industrial control computer completes the testing of all models under test, the testing of the test industrial control computer is stopped, and the automated testing platform software summarizes the test results of all models of the test industrial control computer, generates and outputs a visual test report.

[0022] Preferably, in step six, the personalized test cases include motion engineering tests and custom tests. In motion engineering tests, the task scheduling unit sends test instructions to the simulation robot through the SDK interface unit. In custom tests, the operation and maintenance tool unit needs to call the pre-written script, send the script to the test industrial control computer, and trigger the script execution. The script sends test instructions to the simulation robot through the software's SDK interface unit and receives the status after execution, and sends the test results back to the automated test platform software.

[0023] Compared with existing technologies, the beneficial effects of this invention are as follows: This invention achieves fully automatic switching of test models, configurations, and test cases through parameter storage in the model configuration file unit, automatic scheduling in the task scheduling unit, and combined with synchronization and maintenance tool units, without manual intervention, thus completely solving the problems of low efficiency and error-proneness caused by manual operation in existing technologies; by deploying tests on actual industrial control computers and relying on the hardware monitoring module to collect hardware data in real time, the hardware performance of the industrial control computer is verified while verifying the functions of the robot control software; and by allocating independent threads to each industrial control computer through the thread management unit, parallel testing of multiple industrial control computers is supported, significantly improving test throughput and shortening the overall testing cycle of multi-model and multi-configuration robots. Attached Figure Description

[0024] Figure 1 This is a system structure block diagram of the present invention;

[0025] Figure 2 This is a block diagram of the server structure of the present invention;

[0026] Figure 3 This is a block diagram of the test industrial control computer structure of the present invention;

[0027] Figure 4 This is a flowchart of the steps of the present invention;

[0028] Figure 5 This is a flowchart of the method of the present invention.

[0029] In the diagram: 1. Server; 11. Automated Testing Platform Software; 111. Thread Management Unit; 112. Task Scheduling Unit; 113. Result Summarization Unit; 12. Tool Software Module; 121. Synchronization Tool Unit; 122. Operation and Maintenance Tool Unit; 13. Configuration File Module; 131. Model Configuration File Unit; 132. Test Item Configuration File Unit; 14. Test Case Module; 141. General Test Case Unit; 142. Personalized Test Case Unit; 15. Exception Handling Module; 151. Exception Detection Unit; 152. Exception Recovery Unit; 2. Test Industrial Control Computer; 21. Robot Control Software Module; 211. Model Switching Unit; 212. SDK Interface Unit; 213. Permission Configuration Unit; 22. Hardware Monitoring Module; 221. Data Acquisition Unit; 222. Data Storage and Export Unit. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] Please see the appendix Figure 1 -Appendix Figure 3This invention provides an embodiment of an automated simulation testing system for multi-model, multi-configuration robots, comprising a server 1 and test industrial control computers 2. The server 1 establishes data connections with multiple test industrial control computers 2. The server 1 is equipped with automated testing platform software 11, which is connected to a tool software module 12, a configuration file module 13, a test case module 14, and an exception handling module 15. The test industrial control computers 2 are equipped with a robot control software module 21 and a hardware monitoring module 22. The server 1 is the core control and data hub of the system, responsible for scheduling, management, and data storage throughout the automated testing process. The automated testing platform software 11 is responsible for coordinating multiple... The entire process of simulation testing for various robot models and configurations is described. The tool software module 12 provides basic tools for automated testing, including file synchronization and remote maintenance. The configuration file module 13 provides standardized model parameters and task planning for testing, serving as a rule base. The test case module 14 stores all test scripts and project files to be executed, acting as a test resource library. The exception handling module 15 monitors abnormal scenarios in real time during testing to ensure stable system operation, serving as the system's fault repair center. The test industrial control computer 2 is used to run the software under test and monitor hardware performance. The robot control software module 21 is responsible for implementing model switching and simulation testing functions. The hardware monitoring module 22 is used for hardware performance monitoring. The system can collect and upload data; the automated testing platform software 11 includes a thread management unit 111, a task scheduling unit 112, and a result aggregation unit 113. The thread management unit 111 is used for the allocation and monitoring of thread resources, the task scheduling unit 112 is used for task scheduling and advancing the test process, and the result aggregation unit 113 is used for the integration and output of test data; the tool software module 12 includes a synchronization tool unit 121 and an operation and maintenance tool unit 122. The synchronization tool unit 121 is used to realize bidirectional file transfer, and the operation and maintenance tool unit 122 is used to issue operation commands; the configuration file module 13 includes a machine model configuration file unit 131 and a test item configuration file unit 132. Unit 131 contains parameter information for each model and configuration; test item configuration file unit 132 contains the test model and configuration for each device, and the configuration of test cases to be executed for each model and configuration; test case module 14 includes a general test case unit 141 and a personalized test case unit 142. The general test case unit 141 is used to store basic test scripts common to all models, and the personalized test case unit 142 is used to store test resources specific to each model; exception handling module 15 includes an exception detection unit 151 and an exception recovery unit 152. The exception detection unit 151 is used to identify and record exception scenarios, and the exception recovery unit 152 is used to perform repair operations on exceptions.The robot control software module 21 includes a model switching unit 211, an SDK interface unit 212, and a permission configuration unit 213. The model switching unit 211 reads the model configuration file and loads parameters corresponding to the model and configuration. The SDK interface unit 212 provides an instruction receiving interface and a status feedback interface. The permission configuration unit 213 automatically configures the reading permissions for hardware data. The hardware monitoring module 22 includes a data acquisition unit 221 and a data storage and export unit 222. The data acquisition unit 221 collects hardware data, and the data storage and export unit 222 uploads the collected hardware data and stores it in a specified local file in chronological order.

[0032] Please see the appendix Figure 4 -Appendix Figure 5 The present invention provides an embodiment of an automated simulation testing method for multi-model, multi-configuration robots, comprising the following steps: Step 1, establishing communication; Step 2, synchronizing model files and test cases; Step 3, starting a hardware status monitoring process; Step 4, starting testing; Step 5, executing general testing; Step 6, executing personalized testing; Step 7, switching models and cyclically testing; Step 8, summarizing test results.

[0033] In step one above, communication is established between server 1 and multiple test industrial control computers 2. The automated test platform software 11 allocates independent threads matching the number of test industrial control computers 2 and sends the robot control software module 21 to the test industrial control computers 2 with test items.

[0034] In step two above, server 1 synchronizes the model configuration file and test case script of the current model under test to the specified path of the corresponding test industrial control computer 2 according to the test item configuration file.

[0035] In step three above, server 1 starts the hardware status monitoring process on test industrial control computer 2 through operation and maintenance tool unit 122. Hardware monitoring module 22 monitors and records hardware data information according to preset detection time and recording rules. The hardware data information includes CPU frequency, CPU temperature, CPU utilization rate, and memory utilization rate.

[0036] In step four above, server 1 sends a command to test industrial control computer 2 through operation and maintenance tool unit 122 to enable robot control software module 21 in simulation mode. After enabling, it reads the control software version, model and configuration information of the currently enabled robot control software module 21 through SDK interface unit 212. The automated test platform software 11 verifies whether the information matches the test item. If they match, it proceeds to step five. If they do not match, it resynchronizes the model configuration file for test industrial control computer 2 and restarts the control software. If the number of failed retries reaches the set threshold, the exception handling module 15 is triggered. The exception handling module 15 records the error information, stops the test of test industrial control computer 2, and the automated test platform software 11 assigns the test task on test industrial control computer 2 to other industrial control computers of the same model for execution.

[0037] In step five above, the automated testing platform software 11 calls the general test case unit 141 to read the general test cases, sends test instructions to the simulation robot through the robot control software module 21 and receives the status after execution. The test is judged to pass by determining whether the status meets the expectations. If the status meets the expectations, the test is judged to pass and the result is recorded. If the status does not meet the expectations, the test is judged to fail, the reason and log are recorded, and the next general test case is executed. After all general test cases are completed, step six is ​​entered.

[0038] In step six above, the task scheduling unit 112 calls the personalized test case unit 142 to read the personalized test cases, sends test instructions to the simulation robot through the robot control software module 21 and receives the status after execution. The test is judged by whether the status meets the expectations. If the status meets the expectations, the test is judged to have passed and the result is recorded. If the status does not meet the expectations, the test is judged to have failed and the reason and log are recorded. The next personalized test case is then executed. After all personalized test cases are completed, step seven is entered. The personalized test cases include motion engineering tests and custom tests. In motion engineering tests, the task scheduling unit 112 sends test instructions to the simulation robot through the SDK interface unit 212. In custom tests, the operation and maintenance tool unit 122 calls the pre-written script, sends the script to the test industrial control computer 2, and triggers the script execution. The script sends test instructions to the simulation robot through the software's SDK interface unit 212 and receives the status after execution. The test results are then sent back to the automated test platform software 11.

[0039] In step seven above, the automated testing platform software 11 obtains the test results of the machine model, and then, according to the test item configuration file, synchronizes the machine model configuration file and test case script of the next machine model to be tested on the test industrial control machine 2 to the specified path of the test industrial control machine 2. After that, the test process of starting test, general test and personalized test is executed again until the test of all machine models is completed. If the machine model switching fails or the test case execution fails during the test, the exception handling module 15 is triggered. The exception handling module 15 records the error information, stops the test of the test industrial control machine 2, and the automated testing platform software 11 assigns the test task on the test industrial control machine 2 to other industrial control machines of the same model for execution.

[0040] In step eight above, after the test industrial control computer 2 completes the testing of all models under test, the testing of the test industrial control computer 2 is stopped, and the automated testing platform software 11 summarizes the test results of all models of the test industrial control computer 2, generates and outputs a visual test report.

[0041] Based on the above, the advantages of this invention are as follows: When in use, server 1 and multiple test industrial control computers 2 establish network communication via TCP / IP protocol. The operation and maintenance tool unit 122 of the tool software module 12 sends heartbeat packets to each test industrial control computer 2 to verify the stability of the communication link. The automated testing platform software 11 extracts independent threads from the thread pool that perfectly match the number of test industrial control computers 2 through the thread management unit 111, ensuring that one test industrial control computer 2 corresponds to one dedicated thread, avoiding mutual interference between test tasks of different industrial control computers. The task scheduling unit 112 instructs the synchronization tool unit 121 of the tool software module 12 to schedule the tasks to be tested... The robot control software module 21 sends the data to all test industrial control computers 2 that need to perform test tasks. The synchronization tool unit 121 can use rsync, etc. The task scheduling unit 112 reads the test item configuration file unit 132 of the configuration file module 13 to obtain the association information of the first test model of each test industrial control computer 2. Based on the above information, the task scheduling unit 112 instructs the synchronization tool unit 121 to extract the parameter file of the current test model from the model configuration file unit 131 and extract the corresponding test case script from the test case module 14. The synchronization tool unit 121 synchronizes the above model configuration file and test case script to the corresponding test industrial control computer 2. The test industrial computer 2 should be set to a preset path. After synchronization, it should send a file ready signal to the task scheduling unit 112. The model switching unit 211 should read the model configuration file, load the parameters of the corresponding model and configuration, and complete the initialization. The synchronization tool unit 121 can use Ansible, etc. The task scheduling unit 112 should send a command to the operation and maintenance tool unit 122, which should trigger the hardware monitoring module 22 of the test industrial computer 2 to start. The data acquisition unit 221 of the hardware monitoring module 22 should collect hardware data information of the test industrial computer 2 in real time according to the preset detection time, such as CPU frequency, CPU temperature, CPU utilization, etc. Data storage and export unit 222 writes the collected hardware data into a local record file according to preset recording rules, such as storage occupancy rate, to avoid meaningless data occupying storage space. The detection time can be set as appropriate, usually within 1ms to 10ms. Specifically, it can be executed through script programs, Linux command lines, etc. The recording rules can be set as follows: write to the record file when the temperature exceeds a certain value, or the current CPU frequency deviates from the rated main frequency by a certain value, or the current test case fails. Do not record at other times. When all tests are completed, stop hardware monitoring and export the record file to server 1 for testers to analyze.The maintenance tool unit 122 sends a command to the test industrial control computer 2 to enable the robot control software module 21 in simulation mode. The SDK interface unit 212 reads the current software's control software version, model, and configuration information, and sends the information back to the automated test platform software 11. The task scheduling unit 112 verifies the returned information against the target information in the test item configuration file unit 132. If the information matches, the general test phase begins. If the information does not match, the task scheduling unit 112 instructs the synchronization tool unit 121 to resynchronize the model configuration file to the test industrial control computer 2, and restarts the robot control software module 21 through the maintenance tool unit 122. After receiving the switching command from the maintenance tool unit 122, the model switching unit 211 restarts the robot. The software rereads the configuration file for the new model to enable rapid switching between different models and configurations. After switching, it sends the current model information back to the server 1 via the SDK interface unit 212. If the number of failed retries reaches a preset threshold, the exception handling module 15 is triggered. After entering the general testing phase, the task scheduling unit 112 calls the general test case unit 141 to read general test cases in sequence, such as jog tests and manual / automatic switching tests. Through the SDK interface unit 212, it sends general test instructions to the simulation robot and receives the status information after the simulation robot executes the instructions. The task scheduling unit 112 determines whether the received status information meets expectations. If it does, the test is considered passed and the test result is recorded. If it does not meet expectations, the test is considered passed. If the test fails, the anomaly detection unit 151 records the reason for the failure and related logs, and continues to execute the next general test case. After all general test cases have been executed, the personalized testing phase begins. In the personalized testing phase, the task scheduling unit 112 calls the personalized test case unit 142 to read the personalized test cases for the current model in a preset order, such as motion engineering tests and custom communication tests. It then sends personalized test instructions to the simulation robot through the SDK interface unit 212 and receives the status information after execution. The task scheduling unit 112 determines whether the status information meets expectations. If it does, the test is considered passed and the result is recorded. If it does not meet expectations, the test is considered failed, and the anomaly detection unit 151 records the failure. The reason and log are checked, and the next personalized test case is executed. After all personalized test cases are executed, the next model test is started. The result summary unit 113 obtains the test results of the model. The task scheduling unit 112 reads the test item configuration file unit 132 and determines whether there are any untested models in the current test industrial control computer 2. If there are untested models, the synchronization tool unit 121 synchronizes the model configuration file and test case script of the next model to be tested to the specified path of the test industrial control computer 2. Then, the test process of starting test, general test and personalized test is repeated until all models are tested. If a switching failure occurs during the model switching process, or a series of failures occur when the test case is executed, the exception handling module 15 is immediately triggered.After the test industrial control computer 2 completes the testing of all models under test, the task scheduling unit 112 instructs the operation and maintenance tool unit 122 to stop the hardware monitoring module 22 of the industrial control computer, and sends the hardware data log file back to the server 1 through the synchronization tool unit 121. The result summary unit 113 classifies, statistically integrates, and consolidates the test results and hardware data of all models of the test industrial control computer 2, generates a visual test report, and outputs the report to a specified path for testers to analyze. The test results include general and personalized test pass rates and failure logs, and the test report includes software function verification results and hardware performance compliance status. Among them, after the exception handling module 15 is triggered, the exception detection unit 151 records the current error information, the exception recovery unit 152 stops the testing of the test industrial control computer 2, and at the same time, the automated test platform software 11 assigns the test tasks on the industrial control computer to other test industrial control computers 2 of the same model for execution.

[0042] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. An automated simulation testing system for multi-model, multi-configuration robots, comprising a server and a test industrial control computer, characterized in that: The server establishes data connections with multiple test industrial control computers. The server is equipped with automated testing platform software, which includes a tool software module, a configuration file module, a test case module, and an exception handling module. The test industrial control computers are equipped with a robot control software module and a hardware monitoring module.

2. The automated simulation testing system for multi-model, multi-configuration robots according to claim 1, characterized in that: The automated testing platform software includes a thread management unit, a task scheduling unit, and a result aggregation unit. The thread management unit is used for the allocation and monitoring of thread resources, the task scheduling unit is used for task scheduling and advancing the testing process, and the result aggregation unit is used for the integration and output of test data.

3. The automated simulation testing system for multi-model, multi-configuration robots according to claim 1, characterized in that: The software module includes a synchronization tool unit and an operation and maintenance tool unit. The synchronization tool unit is used to realize bidirectional file transfer, and the operation and maintenance tool unit is used to issue operation instructions.

4. The automated simulation testing system for multi-model, multi-configuration robots according to claim 1, characterized in that: The configuration file module includes a model configuration file unit and a test item configuration file unit. The model configuration file unit contains parameter information for each model and configuration, while the test item configuration file unit contains the test model and configuration for each device, as well as the configuration of the test cases to be executed for each model and configuration.

5. The automated simulation testing system for multi-model, multi-configuration robots according to claim 1, characterized in that: The test case module includes a general test case unit and a personalized test case unit. The general test case unit stores basic test scripts that are common to all models, while the personalized test case unit stores test resources specific to each model.

6. The automated simulation testing system for multi-model, multi-configuration robots according to claim 1, characterized in that: The anomaly handling module includes an anomaly detection unit and an anomaly recovery unit. The anomaly detection unit is used to identify and record abnormal scenarios, and the anomaly recovery unit is used to perform repair operations on the anomalies.

7. The automated simulation testing system for multi-model, multi-configuration robots according to claim 1, characterized in that: The robot control software module includes a model switching unit, an SDK interface unit, and a permission configuration unit. The model switching unit is used to read the model configuration file and load the parameters of the corresponding model and configuration. The SDK interface unit is used to provide an instruction receiving interface and a status feedback interface. The permission configuration unit is used to automatically configure the reading permissions of hardware data.

8. The automated simulation testing system for multi-model, multi-configuration robots according to claim 1, characterized in that: The hardware monitoring module includes a data acquisition unit and a data storage and export unit. The data acquisition unit is used to collect hardware data, and the data storage and export unit is used to upload the collected hardware data and store it in a specified local file in chronological order.

9. An automated simulation testing method for multi-model, multi-configuration robots, comprising: Step 1, establishing communication; Step 2, synchronizing model files and test cases; Step 3, starting the hardware status monitoring process; Step 4, starting the test; Step 5, executing general tests; Step 6, executing personalized tests; Step 7, switching models and cyclically testing; Step 8, summarizing test results; characterized in that: In step one above, communication is established between the server and multiple test industrial control computers. The automated test platform software allocates independent threads that match the number of test industrial control computers and sends the robot control software module to the test industrial control computer with test items. In step two above, the server synchronizes the model configuration file and test case script of the current test model to the specified path of the corresponding test industrial control machine according to the test item configuration file. In step three above, the server starts the hardware status monitoring process on the test industrial control computer through the operation and maintenance tool unit. The hardware monitoring module monitors and records hardware data information according to the preset detection time and recording rules. The hardware data information includes CPU frequency, CPU temperature, CPU utilization, and memory utilization. In step four above, the server sends a command to the test industrial control computer through the operation and maintenance tool unit to enable the robot control software module in simulation mode. After enabling, the server reads the control software version, model and configuration information of the currently enabled robot control software module through the SDK interface unit. The automated test platform software verifies whether the information matches the test item. If they match, the process proceeds to step five. If they do not match, the machine configuration file is resynchronized for the test industrial control computer and the control software is restarted. If the number of failed retries reaches the set threshold, the exception handling module is triggered. The exception handling module records the error information, stops the test of the test industrial control computer, and the automated test platform software assigns the test task on the test industrial control computer to other industrial control computers of the same model for execution. In step five above, the automated testing platform software calls the general test case unit, reads the general test cases, sends test instructions to the simulation robot through the robot control software module and receives the status after execution. It judges whether the test passes by determining whether the status meets expectations. If the status meets expectations, the test is judged to pass and the result is recorded. If the status does not meet expectations, the test is judged to fail, the reason and log are recorded, and the next general test case is executed. After all general test cases are completed, the process proceeds to step six. In step six above, the task scheduling unit calls the personalized test case unit, reads the personalized test cases, sends test instructions to the simulation robot through the robot control software module and receives the status after execution. The test is judged to pass by determining whether the status meets the expectations. If the status meets the expectations, the test is judged to pass and the result is recorded. If the status does not meet the expectations, the test is judged to fail, the reason and log are recorded, and the next personalized test case is executed. After all personalized test cases are completed, step seven is entered. In step seven above, the automated testing platform software obtains the test results for the machine model, and then, according to the test item configuration file, synchronizes the machine model configuration file and test case script of the next machine model to be tested to the specified path of the test industrial control machine. After that, the test process of starting the test, general test and personalized test is executed again until the test of all models is completed. If the machine model switching fails or the test case execution fails during the test, the exception handling module is triggered. The exception handling module records the error information, stops the test of the test industrial control machine, and the automated testing platform software assigns the test task on the test industrial control machine to other industrial control machines of the same model for execution. In step eight above, after the test industrial control computer completes the testing of all models under test, the testing of the test industrial control computer is stopped, and the automated testing platform software summarizes the test results of all models of the test industrial control computer, generates and outputs a visual test report.

10. The automated simulation testing method for multi-model, multi-configuration robots according to claim 9, characterized in that: In step six, the personalized test cases include motion engineering tests and custom tests. In motion engineering tests, the task scheduling unit sends test instructions to the simulation robot through the SDK interface unit. In custom tests, the operation and maintenance tool unit needs to call the pre-written script, send the script to the test industrial control computer, and trigger the script execution. The script sends test instructions to the simulation robot through the software's SDK interface unit and receives the status after execution, and sends the test results back to the automated test platform software.

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