Collaborative robot safety testing method, device, computer equipment and storage medium

Abstract

The present application relates to a collaborative robot safety testing method, apparatus, computer equipment, computer-readable storage medium, and computer program product. The method includes: obtaining test data input under simulated different scenarios, generating test instructions for the corresponding scenarios based on the test data; sending the test instructions to the collaborative robot's synchronous control system so that the synchronous control system controls the collaborative robot to simulate operation under the corresponding scenarios; obtaining response parameters output by the collaborative robot's synchronous control system under different scenarios; and using the response parameters to perform safety testing on the collaborative robot. By issuing test instructions to the collaborative robot's synchronous control system to operate under different scenarios, and then obtaining the response parameters output by the collaborative robot's synchronous control system under different scenarios, it is possible to test whether the collaborative robot's protection functions fail to take effect under different scenarios, thereby ensuring the safety of the collaborative robot.

Description

Technical Field

[0001] The present application relates to the technical field of collaborative robots, and in particular to a collaborative robot safety testing method, apparatus, computer equipment, computer-readable storage medium, and computer program product. Background Art

[0002] With the advancement of industrial automation, robots have gradually taken over repetitive, simple tasks. However, some tasks still require human intervention, creating scenarios where robots and humans need to work together. This has led to the design of collaborative robots. When humans and robots share the same workspace, the safety of collaborative robots becomes particularly important. If a collaborative robot's control function fails, a series of emergencies, such as runaway, current overload, collision, and control panel burnout, can occur. These emergencies could impact the operator and damage the robot itself. Safety testing of collaborative robots to ensure their safe use is a pressing issue. Summary of the Invention

[0003] Based on this, it is necessary to provide a collaborative robot safety testing method, device, computer equipment, computer-readable storage medium and computer program product that can test the safety of collaborative robots in response to the above technical problems.

[0004] In a first aspect, the present application provides a collaborative robot safety testing method, the method comprising:

[0005] Acquire test data input under simulated different scenarios, and generate test instructions for corresponding scenarios based on the test data;

[0006] Sending the test instruction to the synchronous control system of the collaborative robot so that the synchronous control system controls the collaborative robot to simulate and run in a corresponding scenario;

[0007] Response parameters output by the synchronization control system of the collaborative robot in different scenarios are obtained; the response parameters are used to perform safety testing on the collaborative robot.

[0008] In one embodiment, the scenarios include network anomaly scenarios, software anomaly scenarios, and human anomaly scenarios; and sending the test instructions to the synchronous control system of the collaborative robot so that the synchronous control system controls the collaborative robot to simulate running in the corresponding scenarios includes:

[0009] When the collaborative robot carries a set load, a test instruction corresponding to a network abnormality scenario is sent to the synchronous control system, so that the synchronous control system controls the collaborative robot to operate under the simulated network abnormality scenario;

[0010] When the collaborative robot carries a set load, a test instruction corresponding to the software abnormality scenario is sent to the synchronous control system, so that the synchronous control system controls the collaborative robot to operate under the simulated software abnormality scenario;

[0011] When the collaborative robot carries a set load, a test instruction corresponding to the man-made abnormal scenario is sent to the synchronous control system, so that the synchronous control system controls the collaborative robot to operate under the simulated man-made abnormal scenario.

[0012] In one embodiment, when the collaborative robot carries a set load, sending a test instruction corresponding to a network abnormality scenario to the synchronous control system so that the synchronous control system controls the collaborative robot to operate in a simulated network abnormality scenario includes at least one of the following:

[0013] The first item,

[0014] When the collaborative robot carries the maximum load, a test instruction corresponding to the network abnormality scenario is sent to the synchronous control system, so that the synchronous control system sets the movement speed to the maximum, interrupts the robot process during the movement, and resumes the process after a set time to allow the collaborative robot to resume operation;

[0015] The second item,

[0016] When the collaborative robot carries the maximum load, a test instruction corresponding to the network abnormality scenario is sent to the synchronous control system, so that the synchronous control system sets the collaborative robot to switch between various functional states, interrupts the robot process during the state switching process, and resumes the process after a set time to make the collaborative robot run again;

[0017] The third item is that when the collaborative robot carries the maximum load, the test instructions corresponding to the network abnormality scenario are sent to the synchronous control system, so that the synchronous control system sets the movement speed to the maximum, causes the slave station to go offline during the movement, and goes online again after the set time to make the collaborative robot run again.

[0018] In one embodiment, when the collaborative robot carries a set load, a test instruction corresponding to a software abnormality scenario is sent to the synchronous control system, so that the synchronous control system controls the collaborative robot to operate in a simulated software abnormality scenario, including at least one of the following:

[0019] The first item,

[0020] When the collaborative robot carries the maximum load, a test instruction corresponding to the software abnormality scenario is sent to the synchronous control system, so that the synchronous control system sets the movement speed to the maximum, fills the server-side resources of the synchronous control system to the maximum during the movement, and restores the server-side resources again after a set time to enable the collaborative robot to resume operation;

[0021] The second item,

[0022] When the collaborative robot carries the maximum load, the test instructions corresponding to the software abnormality scenario are sent to the synchronous control system, so that the synchronous control system sets the collaborative robot to switch between various functional states, fills the server resources of the synchronous control system to the maximum during the state switching process, and restores the server resources again after the set time to make the collaborative robot run again.

[0023] In one embodiment, when the collaborative robot carries a set load, sending a test instruction corresponding to a human-induced abnormal scenario to the synchronous control system so that the synchronous control system controls the collaborative robot to operate in the simulated human-induced abnormal scenario includes at least one of the following:

[0024] First, when the collaborative robot is unloaded, a test instruction corresponding to an artificial abnormal scenario is sent to the synchronous control system, so that the synchronous control system sets a load greater than the maximum load, causing the collaborative robot to move or repeatedly switch the functional states of the collaborative robot;

[0025] The second item,

[0026] When the collaborative robot carries the maximum load, a test instruction corresponding to the artificial abnormal scenario is sent to the synchronous control system, so that the synchronous control system sets the movement speed to the maximum, so that the collaborative robot moves or repeatedly switches the various functional states of the collaborative robot;

[0027] The third item,

[0028] When the collaborative robot carries the maximum load, a test instruction corresponding to the artificial abnormal scenario is sent to the synchronous control system, so that the synchronous control system sets the movement speed to the maximum and modifies the working parameters of the collaborative robot during the movement;

[0029] Item 4,

[0030] When the collaborative robot carries the maximum load, a test instruction corresponding to the artificial abnormal scenario is sent to the synchronous control system, so that the synchronous control system sets the movement speed to the maximum and switches the base installation angle of the collaborative robot during the movement;

[0031] Item 5,

[0032] When the collaborative robot carries the maximum load, a test instruction corresponding to the artificial abnormal scenario is sent to the synchronous control system, so that the synchronous control system sets the movement speed to the maximum and modifies the safety level of the collaborative robot during the movement.

[0033] In one embodiment, after obtaining the response parameters output by the synchronization control system of the collaborative robot in different scenarios, the method further includes at least one of the following:

[0034] The first item,

[0035] Performing a collaborative robot safety test based on the response parameters and reference data in the corresponding scenario;

[0036] The second item,

[0037] The response parameters are displayed.

[0038] In a second aspect, the present application further provides a collaborative robot safety testing device, the device comprising:

[0039] The test module is used to obtain test data input under simulated different scenarios and generate test instructions for corresponding scenarios based on the test data;

[0040] A sending module, configured to send the test instruction to the synchronous control system of the collaborative robot, so that the synchronous control system controls the collaborative robot to simulate and run in a corresponding scenario;

[0041] The receiving module is used to obtain the response parameters output by the synchronous control system of the collaborative robot in different scenarios.

[0042] In a third aspect, the present application further provides a computer device. The computer device includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are performed:

[0043] Acquire test data input under simulated different scenarios, and generate test instructions for corresponding scenarios based on the test data;

[0044] Sending the test instruction to the synchronous control system of the collaborative robot so that the synchronous control system controls the collaborative robot to simulate and run in a corresponding scenario;

[0045] Response parameters output by the synchronization control system of the collaborative robot in different scenarios are obtained; the response parameters are used to perform safety testing on the collaborative robot.

[0046] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the following steps:

[0047] Acquire test data input under simulated different scenarios, and generate test instructions for corresponding scenarios based on the test data;

[0048] Sending the test instruction to the synchronous control system of the collaborative robot so that the synchronous control system controls the collaborative robot to simulate and run in a corresponding scenario;

[0049] Response parameters output by the synchronization control system of the collaborative robot in different scenarios are obtained; the response parameters are used to perform safety testing on the collaborative robot.

[0050] In a fifth aspect, the present application further provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the following steps:

[0051] Acquire test data input under simulated different scenarios, and generate test instructions for corresponding scenarios based on the test data;

[0052] Sending the test instruction to the synchronous control system of the collaborative robot so that the synchronous control system controls the collaborative robot to simulate and run in a corresponding scenario;

[0053] Response parameters output by the synchronization control system of the collaborative robot in different scenarios are obtained; the response parameters are used to perform safety testing on the collaborative robot.

[0054] The above-mentioned collaborative robot safety testing method, device, computer equipment, computer-readable storage medium and computer program product, by issuing test instructions for running in different scenarios to the collaborative robot's synchronous control system, and then obtaining the response parameters output by the collaborative robot's synchronous control system in different scenarios, are used to perform safety tests on the collaborative robot, so as to test whether there is a problem in which the protection function of the collaborative robot cannot take effect in different scenarios, thereby ensuring the safe use of the collaborative robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 A diagram showing an application environment of a collaborative robot safety testing method in one embodiment;

[0056] Figure 2 1 is a flow chart of a collaborative robot safety testing method according to an embodiment;

[0057] Figure 3A schematic diagram of a process for sending a test instruction to a synchronous control system of a collaborative robot so that the synchronous control system controls the collaborative robot to simulate running in a corresponding scenario in one embodiment;

[0058] Figure 4 is a schematic diagram of a response parameter waveform in one embodiment;

[0059] Figure 5 is a schematic diagram of a response parameter waveform in another embodiment;

[0060] Figure 6 1 is a block diagram of a collaborative robot safety testing device according to an embodiment;

[0061] Figure 7 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0062] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0063] The collaborative robot safety testing method provided in the embodiment of the present application can be applied to Figure 1In the application environment shown. Among them, the terminal 102 obtains test data input under simulated different scenarios, generates test instructions for the corresponding scenarios based on the test data, and sends the test instructions to the synchronous control system of the collaborative robot 200, so that the synchronous control system controls the collaborative robot 200 to simulate the operation in the corresponding scenarios, and obtains the response parameters output by the synchronous control system of the collaborative robot 200 in different scenarios, which are used for safety testing of the collaborative robot 200. Specifically, the synchronous control system of the collaborative robot 200 can be connected to the display device 104, and the response parameters output by the synchronous control system of the collaborative robot 200 in different simulated scenarios can be displayed on the display device 104. Then, the tester compares and analyzes the response parameters under the simulated different scenarios with the reference data under the corresponding scenarios to obtain the safety performance test results of the collaborative robot 200. Alternatively, the terminal 102 may receive response parameters output by the synchronous control system of the collaborative robot 200 in different scenarios, display the response parameters on the terminal 102, and then the tester may compare and analyze the response parameters under the simulated different scenarios with reference data under the corresponding scenarios to obtain safety performance test results for the collaborative robot 200. Alternatively, after the terminal 102 displays the response parameters, the terminal 102 may compare and analyze the response parameters under the simulated different scenarios with reference data under the corresponding scenarios to obtain safety performance test results for the collaborative robot 200. The terminal 102 may be, but is not limited to, various personal computers, laptops, smartphones, tablet computers, and portable wearable devices. The portable wearable devices may be smart watches, smart bracelets, head-mounted devices, etc. The display device 104 may be an oscilloscope. Taking parameter display through an oscilloscope as an example, the collaborative robot to be tested is installed on a stable shock-absorbing platform, and soft padding is placed around the collaborative robot to prevent the collaborative robot from being damaged when it is flying. The collaborative robot is connected to the oscilloscope through TCP / IP (Transmission Control / Internet Protocol, also called network communication protocol), and then the terminal 102 generates test instructions for the corresponding scenario based on the test data, and sends the test instructions to the synchronous control system of the collaborative robot 200 to perform scenario simulation.

[0064] In one embodiment, Figure 2 As shown in the figure, a collaborative robot safety testing method is provided, which is applied to Figure 1 The following steps are used as an example to illustrate the terminal in the figure:

[0065] Step 202: Acquire test data input under simulated different scenarios, and generate test instructions for corresponding scenarios based on the test data.

[0066] Among them, the various working scenarios that collaborative robots may encounter during work, such as abnormal working scenarios such as software and network, each of which includes at least one or more abnormal conditions. Test data refers to the corresponding data that the terminal will use when conducting tests, where the test data includes data that can simulate various scenarios of collaborative robots. The tester enters the test data for the corresponding scenario into the terminal based on the actual work scenario that needs to be simulated. After obtaining the test data input by the simulated collaborative robot in different scenarios, the terminal generates one or more test instructions for the corresponding scenario based on the test data. The test instructions for the same scenario are used to simulate the complete simulation process of the collaborative robot in that scenario.

[0067] Step 204 : Send the test instruction to the synchronous control system of the collaborative robot, so that the synchronous control system controls the collaborative robot simulation to run in the corresponding scenario.

[0068] Among them, the synchronous control system refers to a control system inside the collaborative robot, which can operate the collaborative robot's movements and functional state switching. When the terminal generates test instructions for the corresponding scenario based on the test data, it can be sent to the synchronous control system of the collaborative robot after each test instruction for the scenario is generated. The terminal can also send all test instructions for the scenario to the synchronous control system in sequence after generating all test instructions for the corresponding scenario based on the test data, or it can package all test instructions for the scenario and send them to the synchronous control system. After receiving the test instructions that simulate the corresponding scenario, the synchronous control system controls the collaborative robot to operate in the scenario according to the test instructions, such as making corresponding actions or state switching.

[0069] Step 206: Obtain response parameters output by the synchronous control system of the collaborative robot in different scenarios.

[0070] Response parameters are used to perform safety tests on collaborative robots. Response parameters are not unique and may include, for example, at least one of position, velocity, momentum, and power. The collaborative robot's synchronous control system, in response to test instructions, controls the collaborative robot to complete corresponding actions or state transitions. The synchronous control system records the parameters of the collaborative robot's entire response state and outputs these recorded parameters as response parameters. The response parameters can be obtained through a terminal for display or data analysis to test the collaborative robot's safety, or they can be obtained through a display device for display and manual analysis of the collaborative robot's safety.

[0071] In the above-mentioned collaborative robot safety testing method, by issuing test instructions for running in different scenarios to the collaborative robot's synchronous control system, the synchronous control system can complete different scenario simulations according to different test instructions, and then obtain the response parameters output by the synchronous control system of the collaborative robot in different scenarios, so as to test whether the collaborative robot has the problem of protection function not being able to take effect in different scenarios, so as to achieve the purpose of multi-faceted and multi-angle detection of the safety performance of the collaborative robot, and ensure the safe use of the collaborative robot.

[0072] Specifically, based on the classification of common abnormal situations of collaborative robots, the test scenarios may include but are not limited to network abnormality scenarios, software abnormality scenarios, and human abnormality scenarios. In one embodiment, the scenarios include network abnormality scenarios, software abnormality scenarios, and human abnormality scenarios. In this embodiment, by including multi-dimensional test scenarios, the dimensions are sufficient to effectively cover the test of various abnormal situations of the robot, making the test results comprehensive and accurate. Figure 3 As shown, step 204 includes step 302 , step 304 and step 306 .

[0073] Step 302: When the collaborative robot carries a set load, a test instruction corresponding to the network abnormality scenario is sent to the synchronous control system, so that the synchronous control system controls the collaborative robot to operate under the simulated network abnormality scenario.

[0074] The set load refers to the actual load that the tester installs on the collaborative robot's robotic arm when preparing for testing. The set load can be full load, no load, or half load. Based on actual testing requirements, after configuring the corresponding load state for the collaborative robot, the tester enters test data that simulates the corresponding scenario into the terminal. The terminal outputs test instructions based on the test data to the synchronous control system, allowing the synchronous control system to control the collaborative robot to simulate network anomalies such as network interruptions and slave station disconnections.

[0075] Specifically, when the synchronous control system simulates a network anomaly scenario, it causes the collaborative robot to simulate a network disconnection. For example, the simulated disconnection can occur by interrupting a process and resuming it after a set time. Alternatively, it can occur by simulating a multi-axis slave disconnection in the collaborative robot and then resuming the connection and the collaborative robot's process after a set time. Furthermore, the process can be interrupted while the collaborative robot is in a state of maximum speed during motion, or while in a function switching state. Function switching states include switching between at least one of the following functional states: enabling, zero-force teaching on, zero-force teaching off, powering on, and powering off. A slave disconnection can occur when one or more slaves controlling the collaborative robot go offline. The synchronous control system collects response parameters collected during the simulation of the corresponding network anomaly scenario and outputs them to a terminal or display device for analysis of whether the collaborative robot will experience anomalies in network anomaly scenarios such as network interruption or slave disconnection. In this embodiment, the collaborative robot is a six-axis robot with three slaves, each controlling the motion of two adjacent axes. It is understood that this method is equally applicable to robots with other numbers of slaves.

[0076] There is not only one way to control the collaborative robot simulation to run in a network abnormality scenario. In one embodiment, step 302 includes: when the collaborative robot carries the maximum load, the test instructions corresponding to the network abnormality scenario are sent to the synchronous control system to set the synchronous control system to the maximum movement speed, interrupt the robot process during the movement, and resume the process again after the set time to make the collaborative robot run again.

[0077] Among them, the movement speed range of the collaborative robot can be pre-set in the synchronous control system, and the specific value of the setting time is not unique and can be adjusted according to actual needs. The tester can configure the load of the collaborative robot according to the actual load-bearing capacity of the collaborative robot. When the collaborative robot is assembled with the maximum load, the maximum movement speed is set, and the main process of the collaborative robot is forcibly interrupted during the movement. The main process is resumed again after the interruption set time, so that the collaborative robot can move again, and the synchronous control system obtains the corresponding corresponding parameters and outputs them. For example, it can be output to an oscilloscope for display, so as to observe the robot's movement status and parameter feedback. Among them, the terminal can send a command to the synchronous control system to resume the process after waiting for a set period of time after interrupting the collaborative robot process, or it can send a command to the synchronous control system so that the synchronous control system can actively resume the process after the process is interrupted for a set time.

[0078] In one embodiment, step 302 includes: when the collaborative robot carries the maximum load, sending the test instructions corresponding to the network abnormality scenario to the synchronous control system, so that the synchronous control system sets the collaborative robot to switch between various functional states, interrupts the robot process during the state switching process, and resumes the process again after a set time to make the collaborative robot run again.

[0079] Among them, when the collaborative robot assembles the maximum load, the collaborative robot is set to switch between various functional states, the robot process is interrupted during the state switching process, and the main process is resumed after the interruption set time, so that the collaborative robot can move again, and the synchronous control system obtains the corresponding parameters and outputs them.

[0080] In one embodiment, step 302 includes: when the collaborative robot carries the maximum load, sending the test instructions corresponding to the network abnormality scenario to the synchronous control system, so that the synchronous control system sets the movement speed to the maximum, causes the slave station to go offline during the movement, and goes online again after the set time to make the collaborative robot run again.

[0081] When the collaborative robot is assembling the maximum load, the collaborative robot is set to move at the maximum speed and the slave station is disconnected during the movement. After the disconnection time is set, the slave station is brought back online to make the collaborative robot move again, and the synchronous control system obtains the corresponding parameters and outputs them. The terminal can send a command to the synchronous control system to make the slave station come online again after waiting for a set time after disconnecting the slave station, or it can send a command to the synchronous control system so that the synchronous control system actively brings the slave station back online after the slave station has been offline for a set time.

[0082] The above provides simulations of the operation of collaborative robots in several different network anomaly scenarios. By simulating the operation of collaborative robots in network anomaly scenarios, it is possible to test whether the protection functions of collaborative robots cannot take effect in simulated network anomaly scenarios, so as to achieve the purpose of detecting the safety performance of collaborative robots from different angles in simulated network anomaly scenarios.

[0083] Step 304 : When the collaborative robot carries a set load, a test instruction corresponding to the software abnormality scenario is sent to the synchronous control system, so that the synchronous control system controls the collaborative robot to operate under the simulated software abnormality scenario.

[0084] Among them, according to actual testing requirements, after the tester configures the corresponding load state for the collaborative robot, he inputs the test data simulating the corresponding scenario into the terminal. The terminal outputs the test instructions to the synchronous control system based on the test data, so that the synchronous control system controls the collaborative robot to simulate the operation under software abnormality scenarios such as abnormal operation resources of the synchronous control system.

[0085] Specifically, when the synchronous control system simulates a network abnormality scenario, the synchronous control system causes the collaborative robot to simulate a software abnormality. For example, the server-side resource abnormality of the synchronous control system is simulated, and the server-side resource is restored after a set time. Furthermore, the server-side resource abnormality may be caused when the collaborative robot is controlled to be in a state of maximum speed during movement, or the server-side resource abnormality may be caused when the collaborative robot is controlled to be in a function switching state. The function switching state includes switching of at least one of the function states, such as enabling, turning on zero-force teaching, turning off zero-force teaching, powering on, and powering off. The synchronous control system collects response parameters when simulating the corresponding software abnormality scenario and outputs them to a terminal or display device for analysis of whether the collaborative robot will have an abnormality in software abnormality scenarios such as server-side resource abnormality.

[0086] There is not only one way to control the collaborative robot to simulate running in a software exception scenario. In one embodiment, step 304 includes: when the collaborative robot carries the maximum load, the test instructions corresponding to the software exception scenario are sent to the synchronous control system to set the synchronous control system to the maximum movement speed, fill the server resources of the synchronous control system to the maximum during the movement, and restore the server resources again after the set time to make the collaborative robot run again.

[0087] Among them, when the collaborative robot assembles the maximum load, by setting the maximum movement speed and filling the server-side resources of the synchronous control system to the maximum during the movement, the server-side resources are restored again after a set time, so that the collaborative robot can resume movement, and the synchronous control system obtains the corresponding corresponding parameters and outputs them. Among them, the terminal can wait for a set time after filling the server-side resources of the synchronous control system and then send an instruction to the synchronous control system to restore the server-side resources, or it can send an instruction to the synchronous control system so that the synchronous control system actively resumes the process after filling the server-side resources of the synchronous control system for a set time.

[0088] In one embodiment, step 304 includes: when the collaborative robot carries the maximum load, sending the test instructions corresponding to the software abnormality scenario to the synchronous control system, so that the synchronous control system sets the collaborative robot to switch between various functional states, fills the server resources of the synchronous control system to the maximum during the state switching process, and restores the server resources again after the set time to make the collaborative robot run again.

[0089] Among them, when the collaborative robot assembles the maximum load, the collaborative robot is set to switch between various functional states, and the server resources of the synchronous control system are filled to the maximum during the switching process. After the set time, the server resources are restored again to make the collaborative robot move again, and the synchronous control system obtains the corresponding parameters and outputs them.

[0090] The above provides simulations of collaborative robot operation under several different software anomaly scenarios. By testing software anomalies, we complement the testing and verification of the collaborative robot's safety protection functions under its own anomalies, ensuring that the safety protection functions function as intended by the designer. This demonstrates the safety performance of the collaborative robot under software anomalies.

[0091] Step 306 : When the collaborative robot carries the set load, a test instruction corresponding to the man-made abnormal scenario is sent to the synchronous control system, so that the synchronous control system controls the collaborative robot to operate under the simulated man-made abnormal scenario.

[0092] Among them, according to actual test requirements, after the tester configures the corresponding load state for the collaborative robot, he inputs the test data simulating the corresponding scenario into the terminal. The terminal outputs the test instructions to the synchronous control system based on the test data, so that the synchronous control system controls the collaborative robot to simulate the operation in man-made abnormal scenarios such as abnormal parameters and exceeding the safety level definition indicators.

[0093] Specifically, when the synchronous control system simulates a human-induced abnormality scenario, the synchronous control system causes the collaborative robot to simulate a human-induced operational error. For example, simulating a human-induced operational error can be repeatedly switching the various functional states of the collaborative robot; it can be simulating a parameter abnormality of the collaborative robot; it can also be simulating an installation error to cause the collaborative robot to switch the installation angle; it can also be simulating the collaborative robot to exceed the safety level definition indicator. Further, it can be controlling the collaborative robot to repeatedly switch the various functional states of the collaborative robot when the load is greater than the maximum load; it can be controlling the collaborative robot to repeatedly switch the various functional states of the collaborative robot when it is in the maximum speed state during motion; it can be controlling the collaborative robot to have a parameter abnormality in the maximum speed state during motion, such as a load abnormality or calibration abnormality; it can be controlling the collaborative robot to switch the installation angle in the maximum speed state during motion; it can be controlling the collaborative robot to have the maximum speed state during motion exceed the safety level definition indicator; the function switching state includes switching at least one of the function states of enabling, turning on zero-force teaching, turning off zero-force teaching, powering on, and powering off. The synchronous control system will collect response parameters when simulating corresponding network abnormal scenarios and output them to the terminal or display device for analysis of whether the collaborative robot will have abnormalities when repeatedly switching the functional states of the collaborative robot, parameter abnormalities, switching installation angles, exceeding safety level definition indicators, and other artificial abnormal scenarios.

[0094] There is not only one way to control the collaborative robot to simulate operation in a man-made abnormal scenario. In one embodiment, step 306 includes: when the collaborative robot has no load, sending the test instructions corresponding to the man-made abnormal scenario to the synchronous control system, so that the synchronous control system sets a load greater than the maximum load, so that the collaborative robot moves or repeatedly switches the various functional states of the collaborative robot.

[0095] Among them, when the collaborative robot has no load, by setting the load greater than the maximum load and making the collaborative robot move, or repeatedly switching the functional states of the collaborative robot, the synchronous control system obtains the corresponding parameters and outputs them.

[0096] In one embodiment, step 306 includes: when the collaborative robot carries the maximum load, sending the test instructions corresponding to the artificial abnormal scenario to the synchronous control system, so that the synchronous control system sets the movement speed to the maximum, so that the collaborative robot moves or repeatedly switches the various functional states of the collaborative robot.

[0097] Among them, when the collaborative robot assembles the maximum load, by setting the maximum movement speed and making the collaborative robot move or repeatedly switching the various functional states of the collaborative robot during the movement, the synchronous control system obtains the corresponding parameters and outputs them.

[0098] In one embodiment, step 306 includes: when the collaborative robot carries the maximum load, sending a test instruction corresponding to the artificial abnormal scenario to the synchronous control system, so that the synchronous control system sets the movement speed to the maximum and modifies the working parameters of the collaborative robot during the movement.

[0099] Among them, when the collaborative robot assembles the maximum load, by setting the maximum movement speed, and modifying the working parameters of the collaborative robot during the movement, for example, the modified working parameters can be at least one parameter such as motion feedforward, power, momentum, etc. The synchronous control system obtains the corresponding corresponding parameters and outputs them.

[0100] In one embodiment, step 306 includes: when the collaborative robot carries the maximum load, sending a test instruction corresponding to the artificial abnormal scenario to the synchronous control system, so that the synchronous control system sets the movement speed to the maximum and switches the base installation angle of the collaborative robot during the movement.

[0101] Among them, when the collaborative robot assembles the maximum load, by setting the maximum movement speed and switching the base installation angle of the collaborative robot during the movement, the synchronous control system obtains the corresponding parameters and outputs them.

[0102] In one embodiment, step 306 includes: when the collaborative robot carries the maximum load, sending a test instruction corresponding to the artificial abnormal scenario to the synchronous control system, so that the synchronous control system sets the movement speed to the maximum and modifies the safety level of the collaborative robot during the movement.

[0103] Among them, when the collaborative robot assembles the maximum load, by setting the maximum movement speed and modifying the safety level of the collaborative robot during the movement, the synchronous control system obtains the corresponding parameters and outputs them.

[0104] The above provides simulations of the operation of collaborative robots in several different human-caused abnormality scenarios. Through the simulation test of human-caused abnormalities, it can cover abnormal situations caused by tester operation errors. It not only considers the collaborative robot's own abnormal triggering safety protection capabilities, but also considers the scenarios where abnormal errors caused by human factors trigger the robot's safety protection capabilities, effectively preventing the occurrence of various safety accidents.

[0105] In one embodiment, after step 206, the method may further include: performing a safety test on the collaborative robot based on the response parameters and reference data for the corresponding scenarios. Specifically, reference data for different scenarios may be pre-set on the terminal. It is understood that the corresponding reference data may vary depending on the type of collaborative robot, the simulation scenario, and the operating conditions within each simulation scenario. After receiving the response parameters, the terminal performs a safety test on the collaborative robot based on the corresponding reference data. For example, the terminal may generate a response parameter waveform and a reference parameter waveform based on the response parameters and the reference data for the corresponding scenario, and analyze the delay and peak difference between the response parameter waveform and the reference parameter waveform. Finally, the terminal compares the delay and peak difference with corresponding thresholds to obtain the safety test results of the collaborative robot for each simulation scenario. For example, if at least one of the delay and peak difference is greater than the corresponding threshold, it can be considered that the collaborative robot is operating abnormally in the corresponding simulation scenario. If both the delay and peak difference are less than or equal to the corresponding threshold, it can be considered that the collaborative robot is operating normally in the corresponding simulation scenario.

[0106] In addition, the response parameters can be received through an oscilloscope, and the response parameter waveform and the reference parameter waveform can be generated and displayed respectively in combination with the reference data in the corresponding scenario. The terminal can be connected to the oscilloscope to obtain the corresponding waveforms for comparative analysis.

[0107] In this embodiment, by obtaining the response parameters of the collaborative robot's synchronous control system output under different simulated scenarios, the tester then compares and analyzes the response parameters under different simulated scenarios with the reference data under the corresponding scenarios to obtain the safety performance test results of the collaborative robot, thereby realizing safety testing of the collaborative robot in different scenarios.

[0108] Furthermore, after conducting safety testing of the collaborative robot based on the response parameters and reference data in the corresponding scenario, the method may also include: if the collaborative robot has an operational abnormality, outputting abnormal prompt information. The method of outputting abnormal prompt information is not unique, and it can be through at least one of an indicator light, a display screen and a speaker to provide information prompts. The prompt methods include but are not limited to one or more of sound, light, graphics, and text.

[0109] In another embodiment, after step 206, the method may further include displaying the response parameters. Specifically, the response parameters may be received and displayed via a terminal or an oscilloscope. Taking the oscilloscope displaying the response parameters as an example, the oscilloscope may also receive the response parameters, combine them with reference data for the corresponding scenario, and generate a response parameter waveform and a reference parameter waveform for display, respectively. The tester may then analyze the parameter waveform displayed on the oscilloscope.

[0110] Furthermore, when analyzing the waveform of the response parameter, the delay and peak difference between the response parameter waveform and the reference parameter waveform are mainly analyzed. By analyzing the response parameters in multiple directions and dimensions, a comprehensive comparison of the safety of the collaborative robot can be achieved, making the safety results obtained reliable. Figure 4 and Figure 5 As shown in Figure 2, by comparing the delay and peak difference between the response parameter waveform 2 and the reference parameter waveform 1, we can draw a conclusion about the safety of the collaborative robot. Figure 4 As shown in Figure 2, if the difference between the delay and peak value of the response parameter waveform 2 and the reference parameter waveform 1 is too large, it can be considered that the collaborative robot in the corresponding scenario has an abnormal operation. Figure 5 As shown, if the delay and peak value difference between the response parameter waveform 2 and the reference parameter waveform 1 are small, it can be considered that the collaborative robot is safe to operate in the corresponding scenario.

[0111] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0112] Based on the same inventive concept, the present application also provides a collaborative robot safety testing device for implementing the collaborative robot safety testing method described above. The solution provided by this device is similar to the solution described in the method described above. Therefore, the specific limitations of one or more collaborative robot safety testing device embodiments provided below can be found in the limitations of the collaborative robot safety testing method described above and will not be repeated here.

[0113] In one embodiment, Figure 6 As shown, a collaborative robot safety testing device is provided, including: a testing module 602, a sending module 604 and a receiving module 606, wherein:

[0114] The testing module 602 is used to obtain test data input under simulated different scenarios and generate test instructions for corresponding scenarios based on the test data.

[0115] The sending module 604 is used to send the test instruction to the synchronous control system of the collaborative robot, so that the synchronous control system controls the collaborative robot simulation to run in the corresponding scenario.

[0116] The receiving module 606 is used to obtain the response parameters output by the synchronous control system of the collaborative robot in different scenarios.

[0117] In one embodiment, the sending module 604 is used to send test instructions corresponding to the network abnormality scenario to the synchronous control system when the collaborative robot carries a set load, so that the synchronous control system controls the collaborative robot to operate in a simulated network abnormality scenario; when the collaborative robot carries a set load, the test instructions corresponding to the software abnormality scenario are sent to the synchronous control system, so that the synchronous control system controls the collaborative robot to operate in a simulated software abnormality scenario; when the collaborative robot carries a set load, the test instructions corresponding to the human abnormality scenario are sent to the synchronous control system, so that the synchronous control system controls the collaborative robot to operate in a simulated human abnormality scenario.

[0118] In one embodiment, the sending module 604 is used to send test instructions corresponding to the network abnormality scenario to the synchronous control system when the collaborative robot carries the maximum load, so that the synchronous control system sets the movement speed to the maximum, interrupts the robot process during the movement, and resumes the process after a set time to allow the collaborative robot to run again.

[0119] In one embodiment, the sending module 604 is used to send test instructions corresponding to the network abnormality scenario to the synchronous control system when the collaborative robot carries the maximum load, so that the synchronous control system sets the collaborative robot to switch between various functional states, interrupts the robot process during the state switching process, and resumes the process after a set time to make the collaborative robot run again.

[0120] In one embodiment, the sending module 604 is used to send test instructions corresponding to the network abnormality scenario to the synchronous control system when the collaborative robot carries the maximum load, so that the synchronous control system sets the movement speed to the maximum, causes the slave station to go offline during the movement, and goes online again after the set time to make the collaborative robot run again.

[0121] In one embodiment, the sending module 604 is used to send test instructions corresponding to the software abnormality scenario to the synchronous control system when the collaborative robot carries the maximum load, so that the synchronous control system sets the maximum movement speed, fills the server resources of the synchronous control system to the maximum during the movement, and restores the server resources again after the set time to enable the collaborative robot to resume operation.

[0122] In one embodiment, the sending module 604 is used to send test instructions corresponding to the software abnormality scenario to the synchronous control system when the collaborative robot carries the maximum load, so that the synchronous control system sets the collaborative robot to switch between various functional states, fills the server resources of the synchronous control system to the maximum during the state switching process, and restores the server resources again after a set time to enable the collaborative robot to resume operation.

[0123] In one embodiment, the sending module 604 is used to send test instructions corresponding to the artificial abnormal scenario to the synchronous control system when the collaborative robot has no load, so that the synchronous control system sets a load greater than the maximum load, causing the collaborative robot to move or repeatedly switch the various functional states of the collaborative robot.

[0124] In one embodiment, the sending module 604 is used to send test instructions corresponding to the artificial abnormal scenario to the synchronous control system when the collaborative robot carries the maximum load, so that the synchronous control system sets the movement speed to the maximum, allowing the collaborative robot to move or repeatedly switch the various functional states of the collaborative robot.

[0125] In one embodiment, the sending module 604 is used to send the test instructions corresponding to the artificial abnormal scenario to the synchronous control system when the collaborative robot carries the maximum load, so that the synchronous control system sets the movement speed to the maximum and modifies the working parameters of the collaborative robot during the movement.

[0126] In one embodiment, the sending module 604 is used to send test instructions corresponding to the artificial abnormal scenario to the synchronous control system when the collaborative robot carries the maximum load, so that the synchronous control system sets the movement speed to the maximum and switches the base installation angle of the collaborative robot during movement.

[0127] In one embodiment, the sending module 604 is used to send test instructions corresponding to the artificial abnormal scenario to the synchronous control system when the collaborative robot carries the maximum load, so that the synchronous control system sets the movement speed to the maximum and modifies the safety level of the collaborative robot during the movement.

[0128] In one embodiment, the receiving module 606 is further configured to perform a safety test on the collaborative robot based on the response parameters and reference data in the corresponding scenario.

[0129] In one embodiment, the receiving module 606 is further configured to display the response parameters.

[0130] Each module in the collaborative robot safety testing device can be implemented in whole or in part through software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in hardware form, or stored in a computer device memory in software form, so that the processor can call and execute the corresponding operations of each module.

[0131] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 7 As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected via a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a collaborative robot safety testing method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad provided on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0132] Those skilled in the art will understand that Figure 7 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0133] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the following steps when executing the computer program: obtaining test data input under simulated different scenarios, and generating test instructions for corresponding scenarios based on the test data; sending the test instructions to the synchronous control system of the collaborative robot, so that the synchronous control system controls the collaborative robot to simulate running in the corresponding scenario; obtaining response parameters output by the synchronous control system of the collaborative robot under different scenarios; and the response parameters are used to perform safety testing on the collaborative robot.

[0134] In one embodiment, when the processor executes the computer program, it also implements the following steps: when the collaborative robot carries a set load, the test instructions corresponding to the network abnormality scenario are sent to the synchronous control system, so that the synchronous control system controls the collaborative robot to operate in a simulated network abnormality scenario; when the collaborative robot carries a set load, the test instructions corresponding to the software abnormality scenario are sent to the synchronous control system, so that the synchronous control system controls the collaborative robot to operate in a simulated software abnormality scenario; when the collaborative robot carries a set load, the test instructions corresponding to the human abnormality scenario are sent to the synchronous control system, so that the synchronous control system controls the collaborative robot to operate in a simulated human abnormality scenario.

[0135] In one embodiment, the processor also implements the following steps when executing the computer program: when the collaborative robot carries the maximum load, the test instructions corresponding to the network abnormality scenario are sent to the synchronous control system, so that the synchronous control system sets the movement speed to the maximum, interrupts the robot process during the movement, and resumes the process after the set time to make the collaborative robot run again.

[0136] In one embodiment, the processor also implements the following steps when executing the computer program: when the collaborative robot carries the maximum load, the test instructions corresponding to the network abnormality scenario are sent to the synchronous control system, so that the synchronous control system sets the collaborative robot to switch between various functional states, interrupts the robot process during the state switching process, and resumes the process again after a set time to make the collaborative robot run again.

[0137] In one embodiment, the processor also implements the following steps when executing the computer program: when the collaborative robot carries the maximum load, the test instructions corresponding to the network abnormality scenario are sent to the synchronous control system, so that the synchronous control system sets the movement speed to the maximum, causes the slave station to go offline during the movement, and goes online again after the set time to make the collaborative robot run again.

[0138] In one embodiment, the processor also implements the following steps when executing the computer program: when the collaborative robot carries the maximum load, the test instructions corresponding to the software abnormality scenario are sent to the synchronous control system, so that the synchronous control system sets the maximum movement speed, fills the server resources of the synchronous control system to the maximum during the movement, and restores the server resources again after the set time to make the collaborative robot run again.

[0139] In one embodiment, the processor also implements the following steps when executing the computer program: when the collaborative robot carries the maximum load, the test instructions corresponding to the software abnormality scenario are sent to the synchronous control system, so that the synchronous control system sets the collaborative robot to switch between various functional states, fills the server resources of the synchronous control system to the maximum during the state switching process, and restores the server resources again after the set time to make the collaborative robot run again.

[0140] In one embodiment, when the processor executes the computer program, it also implements the following steps: when the collaborative robot has no load, the test instructions corresponding to the artificial abnormal scenario are sent to the synchronous control system, so that the synchronous control system sets a load greater than the maximum load, causing the collaborative robot to move or repeatedly switch the various functional states of the collaborative robot.

[0141] In one embodiment, when the processor executes the computer program, it also implements the following steps: when the collaborative robot carries the maximum load, the test instructions corresponding to the artificial abnormal scenario are sent to the synchronous control system, so that the synchronous control system sets the movement speed to the maximum, so that the collaborative robot moves or repeatedly switches the various functional states of the collaborative robot.

[0142] In one embodiment, when the processor executes the computer program, it also implements the following steps: when the collaborative robot carries the maximum load, the test instructions corresponding to the artificial abnormal scenario are sent to the synchronous control system, so that the synchronous control system sets the movement speed to the maximum and modifies the working parameters of the collaborative robot during the movement.

[0143] In one embodiment, when the processor executes the computer program, it also implements the following steps: when the collaborative robot carries the maximum load, the test instructions corresponding to the artificial abnormal scenario are sent to the synchronous control system, so that the synchronous control system sets the movement speed to the maximum and switches the base installation angle of the collaborative robot during the movement.

[0144] In one embodiment, when the processor executes the computer program, it also implements the following steps: when the collaborative robot carries the maximum load, the test instructions corresponding to the artificial abnormal scenario are sent to the synchronous control system, so that the synchronous control system sets the movement speed to the maximum and modifies the safety level of the collaborative robot during the movement.

[0145] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented: obtaining test data input under simulated different scenarios, and generating test instructions for corresponding scenarios based on the test data; sending the test instructions to the synchronous control system of the collaborative robot so that the synchronous control system controls the collaborative robot to simulate running in the corresponding scenario; obtaining response parameters output by the synchronous control system of the collaborative robot under different scenarios; and the response parameters are used to perform safety testing on the collaborative robot.

[0146] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the collaborative robot carries a set load, the test instructions corresponding to the network abnormality scenario are sent to the synchronous control system, so that the synchronous control system controls the collaborative robot to operate in a simulated network abnormality scenario; when the collaborative robot carries a set load, the test instructions corresponding to the software abnormality scenario are sent to the synchronous control system, so that the synchronous control system controls the collaborative robot to operate in a simulated software abnormality scenario; when the collaborative robot carries a set load, the test instructions corresponding to the human abnormality scenario are sent to the synchronous control system, so that the synchronous control system controls the collaborative robot to operate in a simulated human abnormality scenario.

[0147] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the collaborative robot carries the maximum load, the test instructions corresponding to the network abnormality scenario are sent to the synchronous control system, so that the synchronous control system sets the movement speed to the maximum, interrupts the robot process during the movement, and resumes the process again after the set time to make the collaborative robot run again.

[0148] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the collaborative robot carries the maximum load, the test instructions corresponding to the network abnormality scenario are sent to the synchronous control system, so that the synchronous control system sets the collaborative robot to switch between various functional states, interrupts the robot process during the state switching process, and resumes the process again after a set time to make the collaborative robot run again.

[0149] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the collaborative robot carries the maximum load, the test instructions corresponding to the network abnormality scenario are sent to the synchronous control system, so that the synchronous control system sets the movement speed to the maximum, causes the slave station to go offline during the movement, and goes online again after the set time to make the collaborative robot run again.

[0150] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the collaborative robot carries the maximum load, the test instructions corresponding to the software abnormality scenario are sent to the synchronous control system, so that the synchronous control system sets the maximum movement speed, fills the server resources of the synchronous control system to the maximum during the movement, and restores the server resources again after the set time to make the collaborative robot run again.

[0151] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the collaborative robot carries the maximum load, the test instructions corresponding to the software abnormality scenario are sent to the synchronous control system, so that the synchronous control system sets the collaborative robot to switch between various functional states, fills the server resources of the synchronous control system to the maximum during the state switching process, and restores the server resources again after the set time to make the collaborative robot run again.

[0152] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the collaborative robot has no load, the test instructions corresponding to the artificial abnormal scenario are sent to the synchronous control system, so that the synchronous control system sets a load greater than the maximum load, causing the collaborative robot to move or repeatedly switch the various functional states of the collaborative robot.

[0153] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the collaborative robot carries the maximum load, the test instructions corresponding to the artificial abnormal scenario are sent to the synchronous control system, so that the synchronous control system sets the movement speed to the maximum, so that the collaborative robot moves or repeatedly switches the various functional states of the collaborative robot.

[0154] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the collaborative robot carries the maximum load, the test instructions corresponding to the artificial abnormal scenario are sent to the synchronous control system so that the synchronous control system sets the movement speed to the maximum and modifies the working parameters of the collaborative robot during the movement.

[0155] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the collaborative robot carries the maximum load, the test instructions corresponding to the artificial abnormal scenario are sent to the synchronous control system, so that the synchronous control system sets the movement speed to the maximum and switches the base installation angle of the collaborative robot during the movement.

[0156] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the collaborative robot carries the maximum load, the test instructions corresponding to the artificial abnormal scenario are sent to the synchronous control system so that the synchronous control system sets the movement speed to the maximum and modifies the safety level of the collaborative robot during the movement.

[0157] In one embodiment, a computer program product is provided, including a computer program, which implements the following steps when executed by a processor: obtaining test data input under simulated different scenarios, and generating test instructions for corresponding scenarios based on the test data; sending the test instructions to the synchronous control system of the collaborative robot so that the synchronous control system controls the collaborative robot to simulate running in the corresponding scenario; obtaining response parameters output by the synchronous control system of the collaborative robot under different scenarios; and using the response parameters to perform safety testing on the collaborative robot.

[0158] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the collaborative robot carries a set load, the test instructions corresponding to the network abnormality scenario are sent to the synchronous control system, so that the synchronous control system controls the collaborative robot to operate in a simulated network abnormality scenario; when the collaborative robot carries a set load, the test instructions corresponding to the software abnormality scenario are sent to the synchronous control system, so that the synchronous control system controls the collaborative robot to operate in a simulated software abnormality scenario; when the collaborative robot carries a set load, the test instructions corresponding to the human abnormality scenario are sent to the synchronous control system, so that the synchronous control system controls the collaborative robot to operate in a simulated human abnormality scenario.

[0159] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the collaborative robot carries the maximum load, the test instructions corresponding to the network abnormality scenario are sent to the synchronous control system, so that the synchronous control system sets the movement speed to the maximum, interrupts the robot process during the movement, and resumes the process again after the set time to make the collaborative robot run again.

[0160] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the collaborative robot carries the maximum load, the test instructions corresponding to the network abnormality scenario are sent to the synchronous control system, so that the synchronous control system sets the collaborative robot to switch between various functional states, interrupts the robot process during the state switching process, and resumes the process again after a set time to make the collaborative robot run again.

[0161] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the collaborative robot carries the maximum load, the test instructions corresponding to the network abnormality scenario are sent to the synchronous control system, so that the synchronous control system sets the movement speed to the maximum, causes the slave station to go offline during the movement, and goes online again after the set time to make the collaborative robot run again.

[0162] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the collaborative robot carries the maximum load, the test instructions corresponding to the software abnormality scenario are sent to the synchronous control system, so that the synchronous control system sets the maximum movement speed, fills the server resources of the synchronous control system to the maximum during the movement, and restores the server resources again after the set time to make the collaborative robot run again.

[0163] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the collaborative robot carries the maximum load, the test instructions corresponding to the software abnormality scenario are sent to the synchronous control system, so that the synchronous control system sets the collaborative robot to switch between various functional states, fills the server resources of the synchronous control system to the maximum during the state switching process, and restores the server resources again after the set time to make the collaborative robot run again.

[0164] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the collaborative robot has no load, the test instructions corresponding to the artificial abnormal scenario are sent to the synchronous control system, so that the synchronous control system sets a load greater than the maximum load, causing the collaborative robot to move or repeatedly switch the various functional states of the collaborative robot.

[0165] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the collaborative robot carries the maximum load, the test instructions corresponding to the artificial abnormal scenario are sent to the synchronous control system, so that the synchronous control system sets the movement speed to the maximum, so that the collaborative robot moves or repeatedly switches the various functional states of the collaborative robot.

[0166] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the collaborative robot carries the maximum load, the test instructions corresponding to the artificial abnormal scenario are sent to the synchronous control system so that the synchronous control system sets the movement speed to the maximum and modifies the working parameters of the collaborative robot during the movement.

[0167] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the collaborative robot carries the maximum load, the test instructions corresponding to the artificial abnormal scenario are sent to the synchronous control system, so that the synchronous control system sets the movement speed to the maximum and switches the base installation angle of the collaborative robot during the movement.

[0168] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the collaborative robot carries the maximum load, the test instructions corresponding to the artificial abnormal scenario are sent to the synchronous control system so that the synchronous control system sets the movement speed to the maximum and modifies the safety level of the collaborative robot during the movement.

[0169] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processor involved in the various embodiments provided herein may be, but are not limited to, a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, and the like.

[0170] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0171] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A collaborative robot safety testing method, characterized in that: The method comprises: Acquire test data input under simulated different scenarios, and generate test instructions for corresponding scenarios based on the test data; Sending the test instruction to the synchronous control system of the collaborative robot so that the synchronous control system controls the collaborative robot to simulate and run in a corresponding scenario; Obtaining response parameters output by the synchronization control system of the collaborative robot in different scenarios; the response parameters are used to perform safety testing on the collaborative robot; The scenarios include network anomaly scenarios, software anomaly scenarios, and human anomaly scenarios; the sending of the test instructions to the synchronous control system of the collaborative robot so that the synchronous control system controls the collaborative robot to simulate running in the corresponding scenarios includes: when the collaborative robot carries a set load, sending the test instructions corresponding to the software anomaly scenario to the synchronous control system so that the synchronous control system controls the collaborative robot to run in the simulated software anomaly scenario, specifically including at least one of the following: The first item, When the collaborative robot carries the maximum load, a test instruction corresponding to the software abnormality scenario is sent to the synchronous control system, so that the synchronous control system sets the movement speed to the maximum, fills the server-side resources of the synchronous control system to the maximum during the movement, and restores the server-side resources again after a set time to enable the collaborative robot to resume operation; The second item, When the collaborative robot carries the maximum load, the test instructions corresponding to the software abnormality scenario are sent to the synchronous control system, so that the synchronous control system sets the collaborative robot to switch between various functional states, fills the server resources of the synchronous control system to the maximum during the state switching process, and restores the server resources again after the set time to make the collaborative robot run again.

2. The method according to claim 1, characterized in that The step of sending the test instruction to the synchronous control system of the collaborative robot so that the synchronous control system controls the collaborative robot to simulate and run in a corresponding scenario includes: When the collaborative robot carries a set load, a test instruction corresponding to a network abnormality scenario is sent to the synchronous control system, so that the synchronous control system controls the collaborative robot to operate under the simulated network abnormality scenario; When the collaborative robot carries a set load, a test instruction corresponding to the man-made abnormal scenario is sent to the synchronous control system, so that the synchronous control system controls the collaborative robot to operate under the simulated man-made abnormal scenario.

3. The method according to claim 2, characterized in that When the collaborative robot carries a set load, sending a test instruction corresponding to a network abnormality scenario to the synchronous control system, so that the synchronous control system controls the collaborative robot to operate in a simulated network abnormality scenario, includes at least one of the following: The first item, When the collaborative robot carries the maximum load, a test instruction corresponding to the network abnormality scenario is sent to the synchronous control system, so that the synchronous control system sets the movement speed to the maximum, interrupts the robot process during the movement, and resumes the process after a set time to allow the collaborative robot to resume operation; The second item, When the collaborative robot carries the maximum load, a test instruction corresponding to the network abnormality scenario is sent to the synchronous control system, so that the synchronous control system sets the collaborative robot to switch between various functional states, interrupts the robot process during the state switching process, and resumes the process after a set time to make the collaborative robot run again; The third item, When the collaborative robot carries the maximum load, the test instructions corresponding to the network abnormality scenario are sent to the synchronous control system to set the synchronous control system to the maximum movement speed, causing the slave station to go offline during the movement, and then go online again after the set time to make the collaborative robot run again.

4. The method according to claim 2, characterized in that When the collaborative robot carries a set load, sending a test instruction corresponding to a man-made abnormal scenario to the synchronous control system, so that the synchronous control system controls the collaborative robot to operate in the simulated man-made abnormal scenario, includes at least one of the following: The first item, When the collaborative robot is unloaded, a test instruction corresponding to an artificial abnormal scenario is sent to the synchronous control system, so that the synchronous control system sets a load greater than the maximum load, causing the collaborative robot to move or repeatedly switch the functional states of the collaborative robot; The second item, When the collaborative robot carries the maximum load, a test instruction corresponding to the artificial abnormal scenario is sent to the synchronous control system, so that the synchronous control system sets the movement speed to the maximum, so that the collaborative robot moves or repeatedly switches the various functional states of the collaborative robot; The third item, When the collaborative robot carries the maximum load, a test instruction corresponding to the artificial abnormal scenario is sent to the synchronous control system, so that the synchronous control system sets the movement speed to the maximum and modifies the working parameters of the collaborative robot during the movement; Item 4, When the collaborative robot carries the maximum load, a test instruction corresponding to the artificial abnormal scenario is sent to the synchronous control system, so that the synchronous control system sets the movement speed to the maximum and switches the base installation angle of the collaborative robot during the movement; Item 5, When the collaborative robot carries the maximum load, a test instruction corresponding to the artificial abnormal scenario is sent to the synchronous control system, so that the synchronous control system sets the movement speed to the maximum and modifies the safety level of the collaborative robot during the movement.

5. The method according to any one of claims 1 to 4, characterized in that After obtaining the response parameters output by the synchronization control system of the collaborative robot in different scenarios, the method further includes at least one of the following: The first item, Performing a collaborative robot safety test based on the response parameters and reference data in the corresponding scenario; The second item, The response parameters are displayed.

6. A collaborative robot safety testing device, characterized in that: The device comprises: The test module is used to obtain test data input under simulated different scenarios and generate test instructions for corresponding scenarios based on the test data; A sending module, configured to send the test instruction to the synchronous control system of the collaborative robot, so that the synchronous control system controls the collaborative robot to simulate and run in a corresponding scenario; A receiving module, configured to obtain response parameters output by the synchronization control system of the collaborative robot in different scenarios; The scenarios include network anomaly scenarios, software anomaly scenarios, and human anomaly scenarios; the sending module is used to send test instructions corresponding to the software anomaly scenarios to the synchronous control system when the collaborative robot carries a set load, so that the synchronous control system controls the collaborative robot to operate in the simulated software anomaly scenario, specifically including at least one of the following: The first item, When the collaborative robot carries the maximum load, a test instruction corresponding to the software abnormality scenario is sent to the synchronous control system, so that the synchronous control system sets the movement speed to the maximum, fills the server-side resources of the synchronous control system to the maximum during the movement, and restores the server-side resources again after a set time to enable the collaborative robot to resume operation; The second item, When the collaborative robot carries the maximum load, the test instructions corresponding to the software abnormality scenario are sent to the synchronous control system, so that the synchronous control system sets the collaborative robot to switch between various functional states, fills the server resources of the synchronous control system to the maximum during the state switching process, and restores the server resources again after the set time to make the collaborative robot run again.

7. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

9. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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