Industrial robot automatic testing method, device, teach pendant and storage medium

Abstract

The application discloses an automatic testing method and device of an industrial robot, a teaching device and a storage medium, and relates to the technical field of industrial robots. The method comprises the following steps: monitoring and recording operation instructions input by a user, wherein the operation instructions comprise operations on at least one function point in at least one function module of the teaching device; at least one test scene is generated according to the operation instructions; if a test instruction of a target test scene is received, a test case matched with the function module and the function point of the target test scene is acquired from a test case library according to the target test scene, and the test case is executed. The automatic testing method can greatly improve the testing efficiency, speed up the process of product version release, and reduce the misoperation of manual testing.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial robots, and particularly relates to an automatic testing method and device of an industrial robot, a teach pendant and a storage medium. BACKGROUND

[0002] With the development of industry, industrial robots are more and more widely used in manufacturing industry. Robot systems can complete various high-precision and high-risk work, and have high efficiency and high accuracy compared with manual operation. Therefore, compared with other ordinary application software or systems, robot systems have higher testing requirements to ensure the accuracy of robot operation.

[0003] At present, there are few testing tools based on embedded systems, and the testing means is relatively single. In particular, the testing method for robot systems is still relatively lacking. Manual testing is prone to misjudgment and omission, and the degree of automation is not high. Although the existing robot system can perform function testing on multiple software in the system one by one, and can perform comprehensive function testing on the entire system software, when the number of test instructions is large, especially for the case of multiple function modules for regression testing and wide test range, the testing efficiency is still not high, and manual input of a large number of test instructions is prone to errors. SUMMARY

[0004] The embodiments of the present application provide an automatic testing method and device of an industrial robot, a teach pendant and a storage medium, aiming at solving the problem of low efficiency of automatic testing of the existing industrial robot.

[0005] In a first aspect, the embodiments of the present application provide an automatic testing method of an industrial robot, applied to a teach pendant, and the method comprises the following steps: monitoring and recording operation instructions input by a user, wherein the operation instructions comprise operations on at least one function point in at least one function module of the teach pendant; generating at least one test scene according to the operation instructions, wherein the test scene is composed of at least one function point in at least one function module; if a test instruction of a target test scene is received, obtaining a test case matched with the function module and the function point of the target test scene from a test case library according to the target test scene, and executing the test case.

[0006] In a second aspect, the embodiments of the present application further provide an automatic testing device of an industrial robot, applied to a teach pendant, comprising: a monitoring unit configured to monitor and record an operation instruction input by a user, wherein the operation instruction comprises an operation on at least one function point in at least one function module of the teach pendant; a generating unit configured to generate at least one test scene according to the operation instruction, wherein the test scene is composed of at least one function point in at least one function module; and a testing unit configured to, if a test instruction of a target test scene is received, acquire a test case matched with the function module and the function point of the target test scene from a test case library according to the target test scene, and execute the test case.

[0007] In a third aspect, the embodiments of the present application further provide a teach pendant, comprising a room, a memory and a processor, wherein the memory stores a computer program, and the processor implements the method described above when executing the computer program.

[0008] In a fourth aspect, the embodiments of the present application further provide a computer readable storage medium, which stores a computer program, and the computer program can implement the method described above when executed by a processor.

[0009] The embodiments of the present application provide an automatic testing method and device of an industrial robot, a teach pendant and a storage medium. The method comprises: monitoring and recording an operation instruction input by a user, wherein the operation instruction comprises an operation on at least one function point in at least one function module of the teach pendant; generating at least one test scene according to the operation instruction, wherein the test scene is composed of at least one function point in at least one function module; and if a test instruction of a target test scene is received, acquiring a test case matched with the function module and the function point of the target test scene from a test case library according to the target test scene, and executing the test case. The technical solution of the embodiments of the present application generates a test scene by monitoring and recording the operation instruction input by a user on a teach pendant in daily life, so that the teach pendant can execute the test scene when performing automatic testing, without manually inputting a large number of test instructions, thereby avoiding the situation of false testing and missing testing, and greatly improving the testing efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0010] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort.

[0011] Figure 1A flowchart of an automatic testing method of an industrial robot provided by an embodiment of the present application is shown in FIG. 1.

[0012] Figure 2 A sub-flowchart of the automatic testing method of the industrial robot provided by the embodiment of the present application is shown in FIG. 2.

[0013] Figure 3 A flowchart of the automatic testing method of the industrial robot provided by another embodiment of the present application is shown in FIG. 3.

[0014] Figure 4 A flowchart of the automatic testing method of the industrial robot provided by yet another embodiment of the present application is shown in FIG. 4.

[0015] Figure 5 A flowchart of the automatic testing method of the industrial robot provided by still another embodiment of the present application is shown in FIG. 5.

[0016] Figure 6 A flowchart of the automatic testing method of the industrial robot provided by yet another embodiment of the present application is shown in FIG. 6.

[0017] Figure 7 A schematic block diagram of an automatic testing device of an industrial robot provided by an embodiment of the present application is shown in FIG. 7.

[0018] Figure 8 A schematic block diagram of a demonstrator provided by an embodiment of the present application is shown in FIG. 8. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, but not all of 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 the present application.

[0020] It should be understood that, when used in the specification and the appended claims, the terms “comprise” and “include” indicate the presence of described features, integers, steps, operations, elements, and / or components, but do not exclude one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0021] It should also be understood that the terms used in the present application specification are only for the purpose of describing particular embodiments and are not intended to limit the present application. As used in the present application specification and the appended claims, the singular forms “a”, “an” and “the” are intended to include the plural forms, unless the context clearly indicates otherwise.

[0022] It should also be further understood that the term "and / or" as used in the specification and in the claims, if any, means

[0023] As used in this specification and claims, the term "if" can be construed to mean "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase "if it is determined" or "if [a described condition or event] is detected" can be construed to mean "once it is determined" or "in response to determining" or "once [the described condition or event] is detected" or "in response to detecting [the described condition or event]," depending on the context.

[0024] Figure 1 is a flowchart of an automatic testing method of an industrial robot provided by an embodiment of the present application. The automatic testing method of the industrial robot is applied to a teach pendant, and the teach pendant is installed with an automatic testing tool integrated by multiple units and plug-ins, and installed in the robot teach pendant. The teach pendant has a human-computer interaction interface, and is a handheld device for manual operation of the robot, program writing, parameter configuration, and monitoring. An operator uses the teach pendant to control the robot to perform movement or other operations. As shown in Figure 1 The method includes the following steps S110-S130.

[0025] S110, monitoring and recording the operation instruction input by a user, wherein the operation instruction includes operation on at least one function point in at least one function module of the teach pendant.

[0026] In the embodiment, the user inputs various operation instructions in the demonstrator in daily life, which can be click operation, input operation, sliding operation, etc., without limitation. For example, clicking the program editing module, inputting an assignment instruction, etc., all of which are operation instructions. The demonstrator has multiple function modules, and each function module has multiple function points. Specifically, the function modules of the demonstrator mainly include a program editing module, a manual operation module, an automatic production module, a backup recovery module, a control panel module, an IO module, an event log module, etc., and each large function module has many small function points. Among them, the program editing module has an engineering management function, can create and load an engineering, the program editing module also has a program data function, can create some variables belonging to engineering files and assign values here, the program editing also has the function of inserting robot motion instructions and executing motion. The automatic production module is to run the engineering file in automatic mode. The manual operation module can teach and modify the position point of the robot, can switch the coordinate system, and can view the coordinate position of the robot. The event log can monitor whether the robot alarms, and records the alarm and other operation information. The demonstrator monitors various operation instructions of the user on the demonstrator at any time, and records and stores various operation instructions input by the user, so that subsequent automatic testing can reproduce the original operation of the user according to these records, so that the tester does not need to input test instructions again when testing, avoiding the situation of misjudgment and omission, and improving the testing efficiency.

[0027] S120, generating at least one test scene according to the operation instruction.

[0028] In the embodiment, the existing software testing of industrial robots is usually to test each function one by one. However, the test based on a single or several function points cannot cover or meet the application scenarios of customers, and does not have actual user value. Therefore, the test scene in the embodiment is composed of at least one function point in at least one function module, for example, multiple function points in multiple function modules can jointly constitute a test scene. That is to say, when testing the test scene, multiple function points in multiple function modules can be tested at one time, which is similar to a test set with multiple function points, and all function point tests in the set are executed when testing, without testing one function point at a time, which greatly improves the testing efficiency.

[0029] More importantly, these test scenarios are generated by user instruction operation, that is, the user can input different operation instructions according to different business scenarios to generate different test scenarios. For the user, the user's use of each function in the operation demonstrator generates one or more specific end-to-end business scenarios. End-to-end business scenarios refer to business processes generated based on actual user usage scenarios. This end-to-end testing is from the user's perspective, considering how to comprehensively cover the tested function points. End-to-end business scenarios may be a business process that includes multiple function points of multiple function modules. Such a business process can form multiple test scenarios. In actual operation, a business scenario often includes multiple test scenarios. For example, the user first loads an engineering in the program editor, inserts multiple motion instructions in the engineering, manually demonstrates the position points for each instruction, then manually enables, runs the program, switches to the automatic mode in the automatic production interface, automatically enables the program, and views the coordinate position of the robot instruction running in the manual operation interface. This entire business scenario can form multiple test scenarios according to different function points, and a single function point combination can form a new test scenario.

[0030] As can be seen, according to the recorded user operation instructions, one or more specific business scenarios are generated, which include each function module of the robot demonstrator and cover end-to-end user usage scenarios. All end-to-end business scenarios can arrange and combine each function point of each function module on the demonstrator to generate different test scenarios.

[0031] In specific implementation, the step of generating at least one test scenario according to the operation instruction includes arranging and combining the function points in the function module according to a preset rule to generate different test scenarios. Specifically, the preset rule refers to a rule for arranging and combining each function module and function point. This preset rule is in multiple ways, for example, each function module and function point can be arranged and combined according to the operation order of the user on the demonstrator, or multiple function points can be combined according to the principle of similar functions. Of course, it can be understood that other rules can also be used. Herein, no limitation is made.

[0032] S130, if a test instruction of a target test scenario is received, a test case matching the function module and the function point of the target test scenario is obtained from a test case library according to the target test scenario, and the test case is executed.

[0033] In the embodiment, the test case library stores a plurality of test cases for controlling the industrial robot to perform testing, and the industrial robot performs corresponding actions when the test cases are executed. The target test scenario refers to a test scenario selected by a user, because a plurality of test scenarios are generated in the teach pendant, the user can select one of the test scenarios to perform testing, and the selected test scenario is the target test scenario. The test scenario and the test case have a corresponding matching relationship, and one test scenario can correspond to a plurality of test cases. Specifically, the test scenario is composed of function points under the function module, and the function points are tested, that is, the test cases corresponding to the function points are executed, wherein one function point can correspond to one test case, or can correspond to a plurality of test cases, which is not limited here. All test cases in the test case library are pre-set and stored in the case library. When the teach pendant performs automatic testing, it matches the test cases in the test case library according to the test scenario, exports the matched test cases to perform testing, instead of directly executing the test cases. That is, compared with the existing test method of directly executing test cases, the embodiment can automatically trigger the generated test scenario when performing automatic testing, and automatically match the imported case library to select the test cases related to all functions involved in the test scenario to perform testing, thereby completing the scenario-based testing and improving the testing efficiency.

[0034] In an embodiment, as shown in FIG. 13, Figure 2 The step S130 includes S131-S133.

[0035] S131, acquiring the keywords of the function module and the function points under the target test scenario;

[0036] S132, querying the test case library according to the keywords to match the test cases with the keywords;

[0037] S131, exporting the matched test cases.

[0038] In the embodiment, there are multiple ways to match the test scene with the test case. The embodiment proposes a relatively optimal implementation manner, i.e., matching by using keywords. It can be understood that other matching manners can also be used. Specifically, after the user selects the target test scene, the function module and the function point to be tested next are determined. Each function module and function point has a corresponding name, for example, a program editing module, a manual operation module, an automatic production module, a backup and recovery module, a control panel module, an IO module, and an event log module. Each module has a corresponding keyword, for example, editing, manual, automatic, backup, control, IO, and log. Generally, the name of the test case is also related to the name of the function to be tested. Therefore, the test cases related to all the functions involved in the test scene can be obtained by keyword query matching, and then the matched test cases are exported, and the automatic test of the test scene is completed by executing the exported test cases.

[0039] In an embodiment, as shown in Figure 3 the automatic test method of the industrial robot further includes steps S141-S143.

[0040] S141, obtaining an actual trajectory of the industrial robot according to the test case;

[0041] S142, determining whether the actual trajectory is the same as the preset expected trajectory;

[0042] S143, if the actual trajectory is different from the preset expected trajectory, determining that the industrial robot is abnormal.

[0043] In the embodiment, since the existing system cannot analyze the test results of the running trajectory and the running accuracy of the robot, the programmer first generates the expected running trajectory of the program instruction by the programmer according to the motion instruction inserted in the program editor. The expected running trajectory and the preset expected trajectory can be stored in the memory, and the comparison can be directly called for comparison. When the industrial robot executes the test case, the actual trajectory of the industrial robot is obtained in real time, which can be recognized by the CCD vision system. After obtaining the actual trajectory, the actual trajectory is compared with the preset expected trajectory to determine whether they are the same. The determination of whether they are the same can be to determine whether the difference between the two trajectories exceeds a threshold value. If the threshold value is exceeded, it means that the actual trajectory is different from the preset expected trajectory, and it is determined that the industrial robot is abnormal. If the threshold value is not exceeded, it means that the actual trajectory is the same as the preset expected trajectory, and it is determined that the industrial robot is normal. Of course, other determination manners can also be used, which are not limited herein. The comparison between the actual trajectory and the preset expected trajectory is used to determine whether the robot moves as expected according to the inserted motion instruction, so as to realize the detection of the abnormal running of the industrial robot.

[0044] In an embodiment, as shown in Figure 4 the automatic testing method of the industrial robot further comprises steps S151-S152.

[0045] S151, obtaining a test result of executing the test case, wherein the test result comprises a test result of each of the function points;

[0046] S152, generating a test report according to the test result.

[0047] In the embodiment, the operation in the current robot system test execution process is not recorded with any information, which makes it difficult to reproduce according to the actual operation steps when a defect occurs, so that the specific problem cannot be located. In the embodiment, when the automatic test is executed, the test result corresponding to each function point is recorded to form a report. Thus, when the test result is analyzed, the function point where the defect is located can be automatically located, and the tester can quickly find the problem.

[0048] In an embodiment, as shown in Figure 5 the automatic testing method of the industrial robot further comprises steps S161-S164.

[0049] S161, obtaining an actual trajectory of the industrial robot moving according to the test case;

[0050] S162, identifying an actual action instruction corresponding to the actual trajectory according to a robot motion algorithm;

[0051] S163, judging whether the actual action instruction is same as a preset expected instruction;

[0052] S164, if the actual action instruction is not same as the preset expected action instruction, determining that the industrial robot is abnormal.

[0053] In the embodiment, since it needs to consume more computing resources and computing time to determine whether the industrial robot operation is abnormal through the comparison of the motion trajectories, the embodiment proposes a way to quickly identify whether the industrial robot operation is abnormal. Specifically, the first acquired actual robot operation trajectory is sent to a program analysis plug-in, which analyzes the actual action instructions corresponding to the trajectory through a robot motion algorithm, and then compares them with the preset expected action instructions actually inserted in the teach pendant program editor to determine whether they meet the expectations. The actual action instructions refer to the instructions identified according to the actual robot motion trajectory. The preset expected instructions refer to the instructions corresponding to the action of the user teaching the robot. The robot motion algorithm is well known to those skilled in the art, for example, it can be identified through a neural network algorithm, or a supervised or semi-supervised algorithm, which will not be described here. The test process does not require the operator to observe the correctness of the operation from close range, ensuring the safety of the user, and the tool is simple and efficient to use, which can greatly improve the test efficiency and accuracy, and only two instructions need to be compared, the identification speed is faster.

[0054] In an embodiment, as shown in Figure 6 the automatic test method of the industrial robot further includes steps S171-S173.

[0055] S171, receiving a control instruction input by a user for updating the test case;

[0056] S172, updating the test case according to the control instruction, the updating including adding, modifying and deleting;

[0057] S173, importing the updated test case into a test case library.

[0058] In the embodiment, the test case library plug-in is built in the teach pendant, supporting the import of the test case, forming the test case library of the teach pendant, and the operator can add, modify or delete the test case, so as to realize the real-time updating and maintenance of the test case library in the teach pendant. According to the imported test case library, the test scene is matched with the test case library, and the test case related to all functions involved in the test scene is selected to execute. Specifically, the user operates on the teach pendant, the teach pendant receives the instruction of the user, adds, modifies and deletes the test case, and then imports the updated test case into the test case library to complete the updating.

[0059] The automatic testing method of the industrial robot provided by the embodiment of the present application can record the daily operation of the user, generate one or more specific business scenarios according to the use of each function by the user, automatically trigger the business scenario during the execution of the test, select the appropriate test case from the use case library according to the function module, record the test process, and automatically generate the test result and the test report after the test. This automatic testing method can greatly improve the test efficiency, speed up the process of product version release, and reduce the misoperation of manual testing. In addition, the user can also import the business scenario or the test case to directly execute the test. This end-to-end test covering the user business scenario not only effectively verifies the functions of the whole machine and ensures the system quality, but also is more in line with the actual use of the customer and improves the customer satisfaction.

[0060] Figure 7 is a schematic block diagram of an automatic testing device 200 of an industrial robot provided by the embodiment of the present application. As shown in Figure 7 corresponding to the above automatic testing method of the industrial robot, the present application also provides an automatic testing device 200 of an industrial robot. The automatic testing device 200 of the industrial robot includes a unit for executing the above automatic testing method of the industrial robot, and the device can be configured in a teach pendant. Specifically, please refer to Figure 7 , the automatic testing device 200 of the industrial robot includes a monitoring unit 201, a generating unit 202, and a testing unit 203.

[0061] The monitoring unit 201 is configured to monitor and record the operation instruction input by the user, wherein the operation instruction includes the operation on at least one function point in at least one function module of the teach pendant; the generating unit 202 is configured to generate at least one test scenario according to the operation instruction, wherein the test scenario is composed of at least one function point in at least one function module; and the testing unit 203 is configured to, if a test instruction of a target test scenario is received, acquire the test case matching the function module and the function point of the target test scenario from the test case library according to the target test scenario, and execute the test case.

[0062] In some embodiments, for example in the present embodiment, the testing unit 203 includes an acquiring unit, a matching unit, and an exporting unit.

[0063] The acquiring unit is configured to acquire the keyword of the function module and the function point under the target test scenario; the matching unit is configured to query the test case library for the test case matching the keyword according to the keyword; and the exporting unit is configured to export the matching test case.

[0064] In some embodiments, such as the present embodiment, the automatic testing device 200 of the industrial robot further comprises a first trajectory obtaining unit, a first judging unit and a first determining unit.

[0065] The first trajectory obtaining unit is configured to obtain an actual trajectory of the industrial robot according to the test case; the first judging unit is configured to judge whether the actual trajectory is identical to a preset expected trajectory; and the first determining unit is configured to determine that the industrial robot is abnormal if the actual trajectory is not identical to the preset expected trajectory.

[0066] In some embodiments, such as the present embodiment, the automatic testing device 200 of the industrial robot further comprises a result obtaining unit and a reporting unit.

[0067] The result obtaining unit is configured to obtain a test result of executing the test case, wherein the test result comprises a test result of each of the function points; and the reporting unit is configured to generate a test report according to the test result.

[0068] In some embodiments, such as the present embodiment, the automatic testing device 200 of the industrial robot further comprises a second trajectory obtaining unit, an identifying unit, a second judging unit and a second determining unit.

[0069] The second trajectory obtaining unit is configured to obtain an actual trajectory of the industrial robot according to the test case; the identifying unit is configured to identify an actual action instruction corresponding to the actual trajectory according to a robot motion algorithm; the second judging unit is configured to judge whether the actual action instruction is identical to a preset expected instruction; and the second determining unit is configured to determine that the industrial robot is abnormal if the actual action instruction is not identical to the preset expected action instruction.

[0070] In some embodiments, such as the present embodiment, the automatic testing device 200 of the industrial robot further comprises a receiving unit, an updating unit and an importing unit.

[0071] The receiving unit is configured to receive a control instruction input by a user for updating the test case; the updating unit is configured to perform an updating process on the test case according to the control instruction, wherein the updating process comprises adding, modifying and deleting; and the importing unit is configured to import the updated test case into a test case library.

[0072] The above automatic testing device of the industrial robot can be implemented in the form of a computer program, which can run on a teach pendant as shown in Figure 8 .

[0073] Please refer to Figure 8 , Figure 8is a schematic block diagram of a teaching device provided by an embodiment of the present application.

[0074] Referring to Figure 8 The teaching device 300 comprises a processor 302, a memory and a network interface 305 connected through a system bus 301, wherein the memory can comprise a non-volatile storage medium 303 and an internal memory 304.

[0075] The non-volatile storage medium 303 can store an operating system 3031 and a computer program 3032. The computer program 3032, when executed, can cause the processor 302 to perform an automatic testing method of an industrial robot.

[0076] The processor 302 is configured to provide computing and control capabilities to support the operation of the entire teaching device 300.

[0077] The internal memory 304 provides an environment for the execution of the computer program 3032 in the non-volatile storage medium 303, and the computer program 3032, when executed by the processor 302, can cause the processor 302 to perform an automatic testing method of an industrial robot.

[0078] The network interface 305 is configured to perform network communication with other devices. Those skilled in the art can understand that Figure 8 The structure shown in the figure is only a block diagram of part of the structure related to the present application, and does not constitute a limitation on the teaching device 300 to which the present application is applied. The specific teaching device 300 can comprise more or fewer components than those shown in the figure, or some components can be combined, or have a different component arrangement.

[0079] The processor 302 is configured to run the computer program 3032 stored in the memory to implement any embodiment of the above-mentioned automatic testing method of an industrial robot.

[0080] It should be understood that, in the embodiments of the present application, the processor 302 can be a central processing unit (CPU), and the processor 302 can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0081] Those skilled in the art can understand that all or part of the processes in the method of the above-mentioned embodiments can be completed by instructing the relevant hardware by a computer program. The computer program can be stored in a storage medium, which is a computer readable storage medium. The computer program is executed by at least one processor in the computer system to realize the process steps of the above-mentioned embodiments of the method.

[0082] Therefore, the present application also provides a storage medium. The storage medium can be a computer readable storage medium. The storage medium stores a computer program. The computer program is executed by a processor to make the processor execute any embodiment of the automatic testing method of the industrial robot.

[0083] The storage medium can be a U disk, a mobile hard disk, a read-only memory (ROM), a magnetic disk or an optical disk, and various computer readable storage media that can store program codes.

[0084] Those skilled in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware, computer software or a combination of both. In order to clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been described in the above description in general terms. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0085] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of each unit is only a logical function division, and actual implementation can have another division manner. For example, a plurality of units or components can be combined or integrated into another system, or some features can be omitted or not executed.

[0086] The steps in the method of the embodiments of the present application can be adjusted, combined and deleted in sequence according to actual needs. The units in the device of the embodiments of the present application can be combined, divided and deleted according to actual needs. In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit.

[0087] The integrated unit, if realized in the form of a software function unit and sold or used as an independent product, can be stored in a storage medium. Based on such understanding, the technical solutions of the present application essentially or say the part of the prior art that contributes to the present application, or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a teaching device to execute all or part of the steps of the method described in the various embodiments of the present application.

[0088] In the above embodiments, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0089] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, these modifications and variations of the present application also belong to the scope of the claims of the present application and its equivalent technologies, and the present application also intends to include these modifications and variations.

[0090] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the present application, and these modifications or replacements should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. An automatic testing method for an industrial robot, applied to a teaching pendant, characterized in that: The method comprises: Monitoring and recording operation instructions input by a user, wherein the operation instructions include operating at least one function point in at least one function module of the teaching pendant; Arrange and combine the functional points in the functional modules according to preset rules to generate different test scenarios; If a test instruction of a target test scenario is received, a test case matching the functional module and the functional point of the target test scenario is obtained from a test case library according to the target test scenario, and the test case is executed.

2. The method according to claim 1, characterized in that The step of acquiring, from a test case library according to the target test scenario, a test case that matches the functional module and the functional point of the target test scenario comprises: Obtain keywords for the functional modules and functional points in the target test scenario; Querying a test case library for test cases matching the keyword according to the keyword; Export the matching test cases.

3. The method according to claim 1, characterized in that After the step of executing the test case, the method further includes: Obtaining the actual trajectory of the industrial robot moving according to the test case; Determining whether the actual trajectory is the same as the preset expected trajectory; If the actual trajectory is different from the preset expected trajectory, it is determined that the industrial robot is operating abnormally.

4. The method according to claim 3, characterized in that After the step of determining that the industrial robot is operating abnormally, the method further includes: Obtaining a test result of executing the test case, wherein the test result includes a test result of each of the function points; A test report is generated according to the test results.

5. The method according to claim 1, wherein The method further comprises: Obtaining the actual trajectory of the industrial robot moving according to the test case; Identify the actual action instructions corresponding to the actual trajectory according to the robot motion algorithm; Determining whether the actual action instruction is the same as the preset expected instruction; If the actual motion instruction is different from the preset expected motion instruction, it is determined that the industrial robot is operating abnormally.

6. The method according to claim 1, characterized in that The method further comprises: receiving a control instruction input by a user for updating the test case; Performing an update process on the test case according to the control instruction, wherein the update process includes adding, modifying and deleting; Import the updated test case into the test case library.

7. An automatic testing device for an industrial robot, applied to a teaching pendant, characterized in that: include: A monitoring unit, configured to monitor and record an operation instruction input by a user, wherein the operation instruction comprises operating at least one functional point in at least one functional module of the teach pendant; a generating unit, configured to arrange and combine the functional points in the functional modules according to preset rules to generate different test scenarios, wherein the test scenario is composed of at least one functional point in at least one functional module; The testing unit is configured to, upon receiving a test instruction of a target test scenario, obtain a test case that matches the functional module and the functional point of the target test scenario from a test case library according to the target test scenario, and execute the test case.

8. A teaching pendant, characterized in that: The teaching pendant includes a memory and a processor, the memory stores a computer program, and the processor implements the method according to any one of claims 1 to 6 when executing the computer program.

9. A computer-readable storage medium, characterized in that The storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 6 can be implemented.

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