System and method for testing a robot safety board

Abstract

The application discloses a system and method for testing a robot safety board. The system comprises a host computer configured to send a power supply control signal to a programmed power supply; the programmed power supply is connected with the host computer and the safety board, and is configured to supply power to the safety board according to the power supply control signal sent by the host computer; and a signal acquisition device connected with the host computer and the safety board respectively, configured to receive a response signal for the safety board test, and feed back the response signal to the host computer. The application shortens the cycle of safety board test verification and improves the test efficiency and test accuracy of the safety board by building an automatic test system instead of traditional manual monitoring and maintenance.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a system and method for testing a robot safety board. BACKGROUND

[0002] With the rapid development of the Chinese market in the field of intelligent manufacturing and the continuous advancement of the automation industry, industrial robots are widely used in production lines to achieve automation. Therefore, the importance of the safe operation of robots is increasingly prominent. In order to ensure the safe operation of industrial robots, most robot control systems use a safety control module of an independent control system. For example, by monitoring the input of safety signals, a safety signal is outputted after certain logical processing, so that the robot stops in an emergency state. In the prior art, the function test of the robot safety board needs to connect servo drives, motion controllers, motors and other devices to simulate the actual application in the field, and at the same time, the response of the indicator light is observed to determine whether the function is abnormal. The function test of the robot safety board in the prior art needs to build a real scene, requires more instruments, has a high cost, and the debugging program is complex, thereby resulting in a long test and verification period and low test precision. SUMMARY

[0003] The purpose of the embodiments of the present application is to provide a system and method for testing a robot safety board, so as to solve the problem of long test and verification period and low test precision of the robot safety board in the prior art.

[0004] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a system for testing a robot safety board, comprising:

[0005] A host computer configured to send a power control signal to a program-controlled power supply;

[0006] The program-controlled power supply is connected with the host computer and the safety board, and is configured to supply power to the safety board according to the power control signal sent by the host computer; and

[0007] A signal acquisition device connected with the host computer and the safety board respectively, configured to receive a response signal for testing the safety board, and feed back the response signal to the host computer.

[0008] In the embodiments of the present application, the system further comprises a logic control device connected with the host computer and the safety board respectively; the host computer is further configured to:

[0009] Send a safety control signal to the logic control device;

[0010] The logic control device is configured to:

[0011] Obtain the safety control signal sent by the host computer; and

[0012] sending a safety control signal to a safety board.

[0013] In the embodiments of the present application, the host computer comprises a fault injection module, which is configured to:

[0014] sending a target power supply fault signal to the program-controlled power supply; and

[0015] sending a target safety fault signal to the logic control device.

[0016] In the embodiments of the present application, the host computer is further configured to:

[0017] verify, according to the response signal, whether the safety mechanism of the safety board in the fault mode is effective and whether the function of the safety board in the non-fault mode meets the preset condition.

[0018] In the embodiments of the present application, the host computer is further configured to:

[0019] display the verification result of the host computer according to the response signal.

[0020] In the embodiments of the present application, the program-controlled power supply is further configured to:

[0021] obtain the power supply control signal sent by the host computer;

[0022] determine a target power supply value matched with the power supply control signal according to the power supply control signal; and

[0023] adjust the current power supply value to the target power supply value.

[0024] In the embodiments of the present application, the target power supply fault signal comprises at least one of the following:

[0025] under-voltage, over-voltage and no power supply input.

[0026] In the embodiments of the present application, the target safety fault signal comprises at least one of the following:

[0027] open circuit of a safety signal and short circuit of the safety signal;

[0028] wherein the safety signal comprises an emergency stop, a confirmation button, a tri-state enablement and a safety door.

[0029] The second aspect of the present application provides a method for testing a safety board of a robot, applied to a host computer, the host computer being connected with a program-controlled power supply and a signal acquisition device respectively, the program-controlled power supply and the signal acquisition device being connected with the safety board respectively, and the method comprising:

[0030] sending a power supply control signal to the program-controlled power supply;

[0031] obtaining a response signal fed back by the safety board;

[0032] verify whether the safety mechanism of the safety board is effective in the case that the power control signal is a power failure signal;

[0033] verify whether the power function of the safety board meets the first preset condition in the case that the power control signal is not the power failure signal.

[0034] In the embodiment of the present application, the host computer is further connected with a logic control device, and the logic control device is connected with the safety board. The method further comprises:

[0035] sending a safety control signal to the logic control device;

[0036] acquiring a response signal fed back by the safety board;

[0037] verify whether the safety mechanism of the safety board is effective in the case that the safety control signal is a safety failure signal;

[0038] verify whether the safety signal function of the safety board meets the second preset condition in the case that the safety control signal is not the safety failure signal.

[0039] Through the above technical solution, a system for testing a robot safety board is provided. The system comprises a host computer configured to send a power control signal to a programmed power supply; the programmed power supply is connected with the host computer and the safety board, and is configured to supply power to the safety board according to the power control signal sent by the host computer; and a signal acquisition device is connected with the host computer and the safety board respectively, and is configured to receive a response signal for testing the safety board, and feed back the response signal to the host computer. In this way, by sending the power control signal to the programmed power supply by the host computer and acquiring the response signal fed back by the safety board, whether the safety mechanism of the safety board is effective can be verified in the case that the power control signal is a power failure signal; whether the power function of the safety board meets the first preset condition can be verified in the case that the power control signal is not the power failure signal. By building an automatic testing system, traditional manual monitoring and maintenance is replaced, the period of testing and verifying the safety board is shortened, and the testing efficiency and testing accuracy of the safety board are improved.

[0040] Other features and advantages of the embodiments of the present application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0041] The accompanying drawings are included to provide a further understanding of the embodiments of the present application, and constitute a part of the specification, and are used to explain the embodiments of the present application together with the following specific embodiments, but do not constitute a limitation of the embodiments of the present application. In the drawings:

[0042] Figure 1 schematically shows a structure schematic diagram of a system for testing a robot safety board according to an embodiment of the present application;

[0043] Figure 2 Fig. 1 schematically shows a structural schematic diagram of a system for testing a robot safety board according to an embodiment of the present application;

[0044] Figure 3 Fig. 2 schematically shows a structural schematic diagram of a system for testing a robot safety board according to another embodiment of the present application;

[0045] Figure 4 Fig. 3 schematically shows a flow schematic diagram of a method for testing a robot safety board according to an embodiment of the present application;

[0046] Figure 5 Fig. 4 schematically shows a flow schematic diagram of a method for testing a robot safety board according to another embodiment of the present application.

[0047] Legend of reference signs

[0048] 110 host computer 120 programmable power supply

[0049] 130 signal acquisition device 140 safety board

[0050] 150 logic control device 111 fault injection module DETAILED DESCRIPTION

[0051] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. It should be understood that the specific embodiments described herein are merely used to explain and illustrate the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0052] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are merely used to explain the relative positional relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0053] In addition, if the description of "first", "second" and the like is involved in the embodiments of the present application, the description of "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can be explicitly or implicitly included at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor in the protection scope claimed by the present application.

[0054] Figure 1 The structure of a system for testing a robot safety board according to an embodiment of the present application is schematically shown. As shown in the figure, Figure 1 The system for testing a robot safety board according to an embodiment of the present application can include:

[0055] The host computer 110 is configured to send a power control signal to the program-controlled power supply 120.

[0056] The program-controlled power supply 120 is connected to the host computer 110 and the safety board 140, and is configured to supply power to the safety board 140 according to the power control signal sent by the host computer 110; and

[0057] The signal acquisition device 130 is connected to the host computer 110 and the safety board 140, respectively, and is configured to receive the response signal of the safety board 140 and feed back the response signal to the host computer 110.

[0058] The embodiments of the present application provide an automatic test platform for a robot functional safety board, i.e. a system for testing a robot safety board, a functional safety standard, and a functional safety verification scheme conforming to a robot safety board. In an industrial robot, the safety board is an industrial robot safety fence, also known as an industrial aluminum profile fence. The safety board mainly receives various signals related to functional safety through double-loop redundancy, and then outputs a safety function response signal through signal comparison and logic control of the safety signal, and then sends it to the driver.

[0059] The existing functional test of the robot safety board needs to connect servo drivers, motion controllers and motors to simulate the actual application in the field, and at the same time observe whether the response indicator light is abnormal. Such a way needs to build a real scene, needs more instruments, has high cost, and needs complex debugging programs, so as to cause long test and verification period and low test precision.

[0060] Therefore, the embodiment of the present application proposes a system for testing a robot safety board, which can include an upper computer 110, a program-controlled power supply 120 and a signal acquisition device 130. The upper computer 110 refers to a computer that can directly issue control commands, and is generally a PC / host computer / master computer / upper computer. The screen of the upper computer can display various signal changes. The program-controlled power supply 120 is controlled by a microcomputer, is advanced in technology, is fully controlled and operated by keys, is small in size, light in weight and convenient to carry, and can be used in a laboratory or on site. The signal acquisition device 130 is a device for acquiring signals.

[0061] In the embodiment of the present application, the program-controlled power supply 120 is connected with the upper computer 110 and the safety board 140 respectively, so that the program-controlled power supply 120 can acquire the power control signal sent by the upper computer 110 and supply power to the safety board 140 according to the acquired power control signal. The signal acquisition device 130 is connected with the safety board 140 and the upper computer 110 respectively, so that the signal acquisition device 130 can acquire the response signal of the safety board 140 and feed back the response signal to the upper computer 110. Thus, the upper computer 110 verifies whether the safety mechanism of the safety board 140 is effective in the case that the power control signal is a power failure signal, or verifies whether the power supply function of the safety board 140 meets the first preset condition in the case that the power control signal is not the power failure signal. The first preset condition refers to whether the output response signal is within a normal range in the case that the power control signal is not the power failure signal.

[0062] In one example, the upper computer 110 of the embodiment of the present application can include a fault injection module for sending a target power failure signal to the program-controlled power supply 120. In this way, the upper computer 110 can send a normal power control signal or a power failure signal.

[0063] In the case of a normal working mode (i.e., the upper computer 110 sends a normal power control signal), the upper computer 110 controls the power supply to output within a reasonable range. The signal acquisition device 130 acquires the response signal output by the safety board 140 and automatically outputs a test report, so that the upper computer 110 verifies whether its function is normal.

[0064] In the case of a fault mode (i.e., the host computer 110 sends a power failure signal), the fault injection module of the host computer 110 injects a target power failure signal, where the target power failure signal is a power failure signal that needs to be tested. The host computer 110 then sends the target power failure signal to the program-controlled power supply 120, so that the program-controlled power supply 120 controls the safety board 140 according to the target power failure signal, so that the safety board 140 outputs a response signal. In turn, the signal acquisition device 130 feeds back the response signal to the host computer 110. The host computer 110 acquires the response signal sent by the signal acquisition device 130, and judges whether the safety mechanism corresponding to the target power failure can be triggered. If the corresponding safety mechanism can be triggered, it indicates that the safety mechanism of the system is effective, otherwise, it is determined that the safety mechanism of the system is ineffective. The target power failure signal can include but is not limited to: under-voltage, over-voltage, and no power input.

[0065] Through the above technical solution, a system for testing the safety board of a robot is provided, so that the host computer sends a power control signal to the program-controlled power supply and acquires a response signal fed back by the safety board. In this way, in the case that the power control signal is a power failure signal, it can be verified whether the safety mechanism of the safety board is effective; in the case that the power control signal is not a power failure signal, it can be verified whether the power supply function of the safety board meets the first preset condition. By building an automatic test system, traditional manual monitoring and maintenance are replaced, the period of safety board test and verification is shortened, and the test efficiency and test accuracy of the safety board are improved.

[0066] Figure 2 The structure of a system for testing a safety board of a robot according to another embodiment of the application is schematically shown. Figure 2 As shown in the embodiment of the application, the system further comprises a logic control device 150, which is connected with the host computer 110 and the safety board 140 respectively; the host computer 110 can also be configured to:

[0067] send a safety control signal to the logic control device 150;

[0068] The logic control device 150 can be configured to:

[0069] acquire the safety control signal sent by the host computer 110; and

[0070] send the safety control signal to the safety board 140.

[0071] In the embodiment of the present application, the test of the safety board includes not only the power function test but also the safety function signal test. Therefore, the system for testing the safety board of the robot in the embodiment of the present application further includes a logic control device 150 connected with the host computer 110 and the safety board 140 respectively. The host computer 110 can send a safety control signal to the logic control device 150 in addition to sending a power control signal to the program-controlled power supply 120. The logic control device 150 acquires the safety control signal sent by the host computer 110, sends the safety control signal to the safety board 140, and the safety board 140 outputs a corresponding response signal and feeds back the response signal to the host computer 110. Thus, the host computer 110 verifies whether the safety mechanism of the safety board 140 is effective in the case that the safety control signal is a safety fault signal, or verifies whether the safety function of the safety board 140 meets the second preset condition in the case that the safety control signal is not a safety fault signal. The second preset condition refers to whether the output response signal is within a normal range in the case that the safety control signal is not a safety fault signal.

[0072] In one example, the host computer 110 in the embodiment of the present application can include a fault injection module for sending a target safety fault signal to the logic control device 150. In this way, the host computer 110 can send a normal safety control signal or a safety fault signal.

[0073] In the normal working mode (i.e., the host computer 110 sends a normal safety control signal), the host computer 110 controls the normal input of the safety function signal. The signal acquisition device 130 acquires the response signal output by the safety board 140 and automatically outputs a test report, so that the host computer 110 verifies whether its function is normal.

[0074] In the fault mode (i.e., the host computer 110 sends a safety fault signal), the fault injection module of the host computer 110 injects a target safety fault signal, wherein the target safety fault signal is the safety fault signal to be tested. The host computer 110 sends the target safety fault signal to the logic control device 150, and the logic control device 150 is connected with the safety function signal of the safety board 140 through a relay or the like, so that the safety board 140 outputs a response signal. Then, the signal acquisition device 130 feeds back the response signal to the host computer 110. The host computer 110 acquires the response signal sent by the signal acquisition device 130 and judges whether the safety mechanism corresponding to the target safety fault can be triggered. If the corresponding safety mechanism can be triggered, it means that the safety mechanism of the system is effective, otherwise, it is determined that the safety mechanism of the system is ineffective. The target safety fault signal can include but is not limited to the open circuit of the safety signal and the short circuit of the safety signal. The safety signal includes an emergency stop, a confirmation button, a tri-state enablement, and a safety door.

[0075] By the technical solution, a system for testing a safety board of a robot is provided, which comprises a logic control device, so that the host computer sends a safety control signal to the logic control device and acquires a response signal fed back by the safety board. In this way, it can be verified whether the safety mechanism of the safety board is effective in the case that the safety control signal is a safety fault signal, and whether the safety function of the safety board meets a second preset condition in the case that the safety control signal is not the safety fault signal. By building an automatic test system, the traditional manual monitoring and maintenance is replaced, the period of testing and verifying the safety board is shortened, and the test efficiency and test accuracy of the safety board are improved.

[0076] Figure 3 A structural schematic diagram of a system for testing a robot safety board according to another embodiment of the application is schematically shown. As Figure 3 shown, in another embodiment of the application, the host computer 110 can comprise a fault injection module 111, which can be configured to:

[0077] send a target power fault signal to the program-controlled power supply 120; and

[0078] send a target safety fault signal to the logic control device 150.

[0079] In the embodiment of the application, the host computer 110 comprises the fault injection module 111. The fault injection module 111 can comprise a plurality of fault conditions, such as power fault injection and safety signal fault injection. The power fault injection is to inject a power fault signal, and the safety signal fault injection is to inject a safety fault signal. The power fault signal includes but is not limited to under-voltage, over-voltage and no power input; the safety fault signal includes but is not limited to open circuit of the safety signal and short circuit of the safety signal; and the safety signal includes emergency stop, confirmation button, tri-state enable and safety door.

[0080] In the embodiment of the application, the host computer 110 can send a target power fault signal to the program-controlled power supply 120, and can also send a target safety fault signal to the logic control device 150.

[0081] In one example, in the case that the host computer 110 sends a power failure signal to the program-controlled power supply 120, the fault injection module of the host computer 110 injects a target power failure signal, where the target power failure signal is the power failure signal that needs to be tested. The host computer 110 sends the target power failure signal to the program-controlled power supply 120, so that the program-controlled power supply 120 controls the safety board 140 according to the target power failure signal, so that the safety board 140 outputs a response signal. Then the signal acquisition device 130 feeds back the response signal to the host computer 110. The host computer 110 acquires the response signal sent by the signal acquisition device 130, and judges whether the safety mechanism corresponding to the target power failure can be triggered. If the corresponding safety mechanism can be triggered, it indicates that the safety mechanism of the system is effective, otherwise, it is determined that the safety mechanism of the system is ineffective.

[0082] In another example, in the case that the host computer 110 sends a safety failure signal to the logic control device 150, the fault injection module of the host computer 110 injects a target safety failure signal, where the target safety failure signal is the safety failure signal that needs to be tested. The host computer 110 sends the target safety failure signal to the logic control device 150, and the logic control device 150 is connected to the safety board 140 through a relay or the like. The safety signal is connected to the safety board 140, so that the safety board 140 outputs a response signal. Then the signal acquisition device 130 feeds back the response signal to the host computer 110. The host computer 110 acquires the response signal sent by the signal acquisition device 130, and judges whether the safety mechanism corresponding to the target safety failure can be triggered. If the corresponding safety mechanism can be triggered, it indicates that the safety mechanism of the system is effective, otherwise, it is determined that the safety mechanism of the system is ineffective.

[0083] In the embodiment of the application, by configuring the fault injection module 111 in the host computer 110, the safety board 140 can be verified whether it can switch the safety state in time by simulating various faults, so that the system for testing the safety board of the robot can adapt to various fault environments, has strong expandability, and does not need a large number of simulation devices, and has low cost.

[0084] In the embodiment of the application, the host computer 110 can also be configured to:

[0085] According to the response signal, it is verified whether the safety mechanism of the safety board 140 in the fault mode is effective, and whether the function of the safety board 140 in the non-fault mode meets the preset condition.

[0086] The host computer 110 of the embodiment of the present application can send normal control signals (such as power failure signals within a reasonable range and safety control signals within a reasonable range) and failure signals (such as power failure signals and safety failure signals), that is, the system can be in a failure mode and a non-failure mode. The signal acquisition device 130 can acquire the response signal of the safety board 140 and feed back the response signal to the host computer 110. The host computer 110 verifies whether the safety mechanism of the safety board 140 is effective in the failure mode according to the response signal sent by the signal acquisition device 130, and verifies whether the function of the safety board 140 meets the preset condition in the non-failure mode.

[0087] In one example, the safety mechanism of the safety board 140 is verified to be effective in the case that the power control signal is a power failure signal, or the power function of the safety board 140 is verified to meet the first preset condition in the case that the power control signal is not a power failure signal. The first preset condition refers to whether the output response signal is within a normal range in the case that the power control signal is not a power failure signal.

[0088] In another example, the safety mechanism of the safety board 140 is verified to be effective in the case that the safety control signal is a safety failure signal, or the safety function of the safety board 140 is verified to meet the second preset condition in the case that the safety control signal is not a safety failure signal. The second preset condition refers to whether the output response signal is within a normal range in the case that the safety control signal is not a safety failure signal.

[0089] The host computer 110 of the embodiment of the present application can not only automatically verify whether the safety mechanism of the safety board 140 is effective in the failure mode, but also automatically verify whether the function of the safety board 140 meets the preset condition in the non-failure mode. By building an automatic test system, the traditional manual monitoring and maintenance is replaced, the cycle of safety board test verification is shortened, and the test efficiency and test accuracy of the safety board are improved.

[0090] In the embodiment of the present application, the host computer 110 can also be configured to:

[0091] Display the verification result of the host computer 110 according to the response signal.

[0092] Specifically, the host computer 110 further includes a display module (not shown in the figure) and can display the verification result and the response signal and the like in real time. In this way, the user can more intuitively and efficiently obtain the current test result, and the test efficiency and user experience are improved.

[0093] In the embodiment of the present application, the program-controlled power supply 120 can also be configured to:

[0094] Obtain the power control signal sent by the host computer 110;

[0095] determining a target power value matched with the power control signal according to the power control signal; and

[0096] adjusting the current power value to the target power value.

[0097] Specifically, the program-controlled power supply 120 adopts microcomputer control, is advanced in technology, is fully controlled and fully operated by keys, has small size, light weight and is convenient to carry, and can be used in a laboratory or on site.

[0098] In the embodiment of the present application, the program-controlled power supply 120 is connected with the upper computer 110 and the safety board 140 respectively, so that the program-controlled power supply 120 can acquire the power control signal sent by the upper computer 110, and determine a target power value matched with the power control signal according to the acquired power control signal. For example, the power control signal is no power input, then the program-controlled power supply 120 does not input power to the safety board 140, and adjusts the current power value to 0V. In this way, the input signal of the safety board 140 can be adjusted according to the power control signal, so that the test is more flexible and efficient.

[0099] In the embodiment of the present application, the target power failure signal can include at least one of the following:

[0100] under-voltage, over-voltage and no power input.

[0101] Specifically, as shown in Table 1, the target power failure can include but is not limited to under-voltage, over-voltage and no power input, and correspondingly, whether the triggered response safety mechanism can be used to judge whether the safety mechanism corresponding to the power failure is effective in the case of under-voltage, over-voltage and no power input.

[0102] Table 1

[0103] Detection item Determination requirement Under-voltage Safety mechanism capable of triggering a response Over-voltage Safety mechanism capable of triggering a response No power input Safety mechanism capable of triggering a response

[0104] In the embodiment of the present application, the target safety failure signal can include at least one of the following:

[0105] open circuit of the safety signal and short circuit of the safety signal;

[0106] Wherein, the safety signal includes emergency stop, confirmation button, tri-state enable and safety door.

[0107] Specifically, as shown in Table 2, the target safety fault signals can include, but are not limited to, safety signal open circuit and safety signal short circuit. Among them, the safety signal includes E-STOP, confirmation button, tri-state enable and safety door. For example, the target safety fault can include safety signal short circuit to 24V, safety signal short circuit to GND, safety signal open circuit and safety signal short circuit between safety signals. Among them, the safety signal can include E-STOP A or B, E-STOP A and B, safety door signal and tri-state enable signal light.

[0108] Table 2

[0109]

[0110]

[0111] It should be noted that the fault signals of the embodiments of the present application are not limited to the fault signals shown in the above table. Other fault signals that can test the safety board can also be used. The specific fault signals are configured in the fault injection module.

[0112] Figure 4 A flowchart of a method for testing a robot safety board according to an embodiment of the present application is schematically shown. As shown in Figure 4 The embodiment of the present application provides a method for testing a robot safety board, which is applied to an upper computer. The upper computer can be connected with a program-controlled power supply and a signal acquisition device respectively. The program-controlled power supply and the signal acquisition device can be connected with the safety board respectively. The method can include the following steps:

[0113] Step 401, sending a power control signal to the program-controlled power supply;

[0114] Step 402, obtaining a response signal fed back by the safety board;

[0115] Step 403, verifying whether the safety mechanism of the safety board is effective in the case that the power control signal is a power fault signal;

[0116] Step 404, verifying whether the power function of the safety board meets a first preset condition in the case that the power control signal is not a power fault signal.

[0117] In the embodiment of the present application, the program-controlled power supply is connected with the host computer and the safety board respectively, so that the program-controlled power supply can obtain the power control signal sent by the host computer and supply power to the safety board according to the obtained power control signal. The signal acquisition device is connected with the safety board and the host computer respectively, so that the signal acquisition device can obtain the response signal of the safety board and feed back the response signal to the host computer. Thus, the host computer verifies whether the safety mechanism of the safety board is effective in the case that the power control signal is the power failure signal, or verifies whether the power supply function of the safety board meets the first preset condition in the case that the power control signal is not the power failure signal. The first preset condition refers to whether the output response signal is within the normal range in the case that the power control signal is not the power failure signal.

[0118] In one example, the host computer of the embodiment of the present application can include a fault injection module for sending a target power failure signal to the program-controlled power supply. In this way, the host computer can send a normal power control signal or a power failure signal.

[0119] In the normal working mode (i.e., the host computer sends a normal power control signal, and the power control signal is not a power failure signal), the host computer controls the power supply to output within a reasonable range. The signal acquisition device acquires the response signal output by the safety board and automatically outputs a test report, so that the host computer verifies whether its function is normal.

[0120] In the fault mode (i.e., the host computer sends a power failure signal, and the power control signal is a power failure signal), the fault injection module of the host computer injects a target power failure signal, wherein the target power failure signal is the power failure signal to be tested. The host computer sends the target power failure signal to the program-controlled power supply, so that the program-controlled power supply controls the safety board according to the target power failure signal, so that the safety board outputs a response signal. Then the signal acquisition device feeds back the response signal to the host computer. The host computer obtains the response signal sent by the signal acquisition device and judges whether the corresponding safety mechanism corresponding to the target power failure can be triggered. If the corresponding safety mechanism can be triggered, it indicates that the safety mechanism of the system is effective, otherwise, it is determined that the safety mechanism of the system is ineffective. The target power failure signal can include but is not limited to: under-voltage, over-voltage and no power input.

[0121] Through the above technical solution, whether the safety mechanism of the safety board is effective in the case that the power control signal is a power failure signal, or whether the power supply function of the safety board meets the first preset condition in the case that the power control signal is not a power failure signal can be verified. Through the establishment of the automatic test system, the traditional manual monitoring and maintenance is replaced, the period of safety board test and verification is shortened, and the test efficiency and test accuracy of the safety board are improved.

[0122] Figure 5A flowchart of a method for testing a safety board of a robot is shown schematically according to another embodiment of the present application. As shown in Figure 5 In another embodiment of the present application, the host computer can also be connected with a logic control device, and the logic control device can be connected with the safety board. The method can further include the following steps:

[0123] Step 501, sending a safety control signal to the logic control device;

[0124] Step 502, obtaining a response signal fed back by the safety board;

[0125] Step 503, verifying whether the safety mechanism of the safety board is effective in the case that the safety control signal is a safety fault signal;

[0126] Step 504, verifying whether the safety signal function of the safety board meets a second preset condition in the case that the safety control signal is not a safety fault signal.

[0127] In the embodiment of the present application, the test of the safety board includes not only the power function test but also the safety function signal test. Therefore, the system for testing the safety board of the robot according to the embodiment of the present application further includes a logic control device connected with the host computer and the safety board. The host computer can send a safety control signal to the logic control device in addition to sending a power control signal to the program-controlled power supply. The logic control device obtains the safety control signal sent by the host computer, sends the safety control signal to the safety board, and the safety board outputs a corresponding response signal and feeds back the response signal to the host computer. Thus, the host computer verifies whether the safety mechanism of the safety board is effective in the case that the safety control signal is a safety fault signal, or verifies whether the safety function of the safety board meets a second preset condition in the case that the safety control signal is not a safety fault signal. The second preset condition refers to whether the output response signal is within a normal range in the case that the safety control signal is not a safety fault signal.

[0128] In one example, the host computer according to the embodiment of the present application can include a fault injection module for sending a target safety fault signal to the logic control device. In this way, the host computer can send a normal safety control signal or a safety fault signal.

[0129] In the normal working mode (i.e., the host computer sends a normal safety control signal), the host computer controls the normal input of the safety function signal. The signal acquisition device acquires the response signal output by the safety board and automatically outputs a test report, so that the host computer verifies whether the function is normal.

[0130] In the case of a fault mode (i.e., the host computer sends a safety fault signal), the fault injection module of the host computer injects a target safety fault signal, where the target safety fault signal is a safety fault signal that needs to be tested. The host computer then sends the target safety fault signal to the logic control device, which is connected to the safety board related function safety signal through a relay or the like, so that the safety board outputs a response signal. Further, the signal acquisition device feeds back the response signal to the host computer. The host computer acquires the response signal sent by the signal acquisition device, and judges whether the safety mechanism corresponding to the target safety fault can be triggered. If the corresponding safety mechanism can be triggered, it indicates that the safety mechanism of the system is effective, otherwise, it is determined that the safety mechanism of the system is ineffective. The target safety fault signal can include, but is not limited to, an open circuit of a safety signal and a short circuit of a safety signal. The safety signal includes an emergency stop, a confirmation button, a tri-state enable, and a safety door.

[0131] Through the above technical solution, a system for testing the safety board of a robot is provided, which includes a logic control device, so that the host computer sends a safety control signal to the logic control device and acquires a response signal fed back by the safety board. In this way, in the case that the safety control signal is a safety fault signal, it can be verified whether the safety mechanism of the safety board is effective; in the case that the safety control signal is not a safety fault signal, it can be verified whether the safety function of the safety board meets a second preset condition. By building an automatic test system, traditional manual monitoring and maintenance are replaced, the period of testing and verifying the safety board is shortened, and the testing efficiency and testing accuracy of the safety board are improved.

[0132] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can adopt a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

[0133] The present application is described with reference to flowcharts and / or block diagrams according to the methods, devices (systems), and computer program products of the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to produce a machine, so that the instructions executed by the computer or other programmable data processing devices produce a device that implements the functions specified in the flowcharts and / or block diagrams. Figure 1 one flow or multiple flows and / or blocks Figure 1an apparatus to perform each block or blocks of the flow or flows and / or steps of the function(s) specified in the block or blocks.

[0134] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a Figure 1 an apparatus to perform each block or blocks of the flow or flows and / or steps of the function(s) specified in the block or blocks. Figure 1 an apparatus to perform each block or blocks of the flow or flows and / or steps of the function(s) specified in the block or blocks.

[0135] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the flow or flows and / or functions specified in the block or blocks. Figure 1 an apparatus to perform each block or blocks of the flow or flows and / or steps of the function(s) specified in the block or blocks. Figure 1 an apparatus to perform each block or blocks of the flow or flows and / or steps of the function(s) specified in the block or blocks.

[0136] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0137] The memory can include non-persistent memory and / or volatile memory, such as random access memory (RAM) and / or cache memory. The memory can also include non-volatile memory, such as read-only memory (ROM), electrically programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory, or a combination of non-volatile memories. The memory is an example of computer-readable media.

[0138] Computer-readable media includes permanent and non-permanent, removable and non-removable media implemented in any method or technology for storage of information such as computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD), or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer-readable media does not include transitory media, such as modulated data signals and carrier waves.

[0139] It should also be noted that the terms "comprising", "comprises" or other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0140] The above embodiments are only used to illustrate the present application, but not to limit it. Instead of the above, various modifications and changes can be made to the application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application shall fall into the scope of the claims of the application.

Claims

1. A system for testing robot safety boards, characterized in that, include: The host computer is configured to send power control signals to the programmable power supply and safety control signals to the logic control device; The programmable power supply is connected to the host computer and the safety board, and is configured to supply power to the safety board according to the power control signal sent by the host computer; The logic control device is connected to the host computer and the security board respectively, and is configured to acquire the security control signal sent by the host computer and send the security control signal to the security board. as well as A signal acquisition device, connected to the host computer and the security board respectively, is configured to receive response signals for testing the security board and feed back the response signals to the host computer. The host computer is also configured to: The response signal is used to verify whether the security mechanism of the security board is effective in fault mode and whether the function of the security board meets the preset conditions in non-fault mode. The host computer includes a fault injection module, which is configured to: Send a target power failure signal to the programmable power supply, wherein the target power failure signal includes at least one of undervoltage, overvoltage, and no power input; as well as A target safety fault signal is sent to the logic control device. The target safety fault signal includes at least one of an open circuit safety signal and a short circuit safety signal. The safety signal includes an emergency stop, a confirmation button, a tri-state enable, and a safety door.

2. The system according to claim 1, characterized in that, The host computer is also configured to: The host computer displays the verification results based on the response signal.

3. The system according to claim 1, characterized in that, The programmable power supply is also configured to: Obtain the power control signal sent by the host computer; Determine the target power value matching the power control signal based on the power control signal; and Adjust the current power value to the target power value.

4. A method for testing robot safety boards, characterized in that, The method is applied to a host computer, which is connected to a programmable power supply, a logic control device, and a signal acquisition device. The programmable power supply, the logic control device, and the signal acquisition device are each connected to a safety board. The host computer includes a fault injection module, which sends a target power fault signal to the programmable power supply and a target safety fault signal to the logic control device. The target power fault signal includes at least one of undervoltage, overvoltage, and no power input. The target safety fault signal includes at least one of an open circuit safety signal and a short circuit safety signal. The safety signal includes an emergency stop, a confirmation button, a tri-state enable, and a safety gate. The method includes: Send power control signals to the programmable power supply and / or send safety control signals to the logic control device, wherein the power control signals include normal power control signals and power fault signals, and the safety control signals include normal safety control signals and safety fault signals; Obtain the response signal fed back by the security board; Verify the effectiveness of the safety board's safety mechanism when the power control signal is a power failure signal and / or when the safety control signal is a safety failure signal; If the power control signal is not the power fault signal, verify whether the power function of the safety board meets the first preset condition. If the safety control signal is not the safety fault signal, verify whether the safety signal function of the safety board meets the second preset condition.

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