A test method, system and medium for a secondary development platform of integrated drive and control

Abstract

The present application provides a test method, system and medium for a secondary development platform for integrated drive and control. The method includes: performing performance testing on an industrial robot, obtaining a control accuracy evaluation index and a fault repair capability evaluation factor based on test data processing, and further processing to obtain a reliability evaluation index, performing multi-robot concurrent control testing on the secondary development platform for integrated drive and control, and processing to obtain a concurrent control accuracy evaluation index, a scalability evaluation index and a resource utilization efficiency evaluation index, and further processing to obtain a system integration performance evaluation index, and combining the reliability evaluation index to perform performance judgment on the secondary development platform for integrated drive and control. By evaluating the performance of the secondary development platform for integrated drive and control from multiple dimensions, a reliable basis for platform performance evaluation is provided for large-scale automated production.

Description

Technical Field

[0001] The present application relates to the field of big data and platform testing technology, and more specifically, to a testing method, system and medium for a secondary development platform of integrated drive and control. Background Art

[0002] The drive-control integrated secondary development platform is a platform that highly integrates the drive system and the control system and allows users to perform secondary development. It is widely used in the field of industrial automation, especially in the field of industrial robots. In the process of secondary development of industrial robots, the stability of the development platform directly affects the quality of the industrial robots. In order to ensure the stable operation of the platform, comprehensive and systematic performance testing is required. Traditional performance testing methods mostly test each performance indicator in isolation and the test indicators are one-sided. They do not combine the performance of industrial robots in terms of obstacle avoidance, fault repair, and multi-robot concurrent control for comprehensive evaluation. This makes it impossible to fully understand the real performance of the platform in a complex industrial environment, which is not conducive to the optimization and improvement of the platform.

[0003] In view of the above problems, effective technical solutions are urgently needed. Summary of the invention

[0004] The purpose of this application is to provide a testing method, system and medium for a secondary development platform of integrated drive and control, by evaluating the performance of the secondary development platform of integrated drive and control from multiple dimensions such as obstacle avoidance, fault repair and concurrent control of multiple robots of industrial robots, so as to achieve the purpose of providing a reliable platform performance evaluation basis for large-scale automated production.

[0005] The present application also provides a test method for a drive-control integrated secondary development platform, comprising the following steps:

[0006] Perform performance tests on industrial robots to obtain motion control accuracy test data, obstacle avoidance test data, and fault repair ability test data;

[0007] Processing the motion control accuracy test data to obtain a control accuracy evaluation index, and processing the fault repair capability test data to obtain a fault repair capability evaluation factor;

[0008] Obtaining a reliability evaluation index according to the control accuracy evaluation index, the fault repair capability evaluation factor and the obstacle avoidance capability test data;

[0009] Conduct multi-robot concurrent control tests on the integrated drive and control secondary development platform to obtain concurrent control accuracy data, scalability test data, and system monitoring data, and process and obtain concurrent control accuracy evaluation index;

[0010] Processing the scalability test data to obtain a scalability evaluation index, and processing the system monitoring data to obtain a resource utilization efficiency evaluation index;

[0011] The system integration performance evaluation index is obtained according to the concurrent control accuracy evaluation index, resource utilization efficiency evaluation index and scalability evaluation index, and the performance of the drive and control integrated secondary development platform is determined in combination with the reliability evaluation index.

[0012] Optionally, in the test method of the drive-control integrated secondary development platform described in the present application, the performance test of the industrial robot to obtain motion control accuracy test data, obstacle avoidance ability test data and fault repair ability test data includes:

[0013] The motion control accuracy test data includes trajectory control accuracy, speed control accuracy and acceleration control accuracy;

[0014] The obstacle avoidance capability test data includes emergency stop response accuracy data and collision avoidance accuracy data;

[0015] The fault repair capability test data includes fault identification success rate data, fault repair success rate data and fault recovery time data.

[0016] Optionally, in the test method of the drive-control integrated secondary development platform described in the present application, the processing of the motion control accuracy test data to obtain a control accuracy evaluation index, and the processing of the fault repair capability test data to obtain a fault repair capability evaluation factor include:

[0017] Obtaining a control accuracy evaluation index according to the trajectory control accuracy, speed control accuracy and acceleration control accuracy;

[0018] The fault identification success rate data, the fault repair success rate data and the fault recovery time data are processed to obtain a fault repair capability evaluation factor.

[0019] Optionally, in the test method of the drive-control integrated secondary development platform described in the present application, the process of obtaining a reliability evaluation index according to the control accuracy evaluation index, the fault repair capability evaluation factor and the obstacle avoidance capability test data includes:

[0020] The reliability evaluation index is obtained by processing the control accuracy evaluation index, the fault repair capability evaluation factor, and the emergency stop response accuracy data and the collision avoidance accuracy data.

[0021] Optionally, in the test method of the integrated drive and control secondary development platform described in the present application, the multi-robot concurrent control test is performed on the integrated drive and control secondary development platform to obtain concurrent control accuracy data, scalability test data and system monitoring data, and the concurrent control accuracy evaluation index is obtained by processing, including:

[0022] The concurrent control accuracy data includes trajectory concurrent control accuracy, speed concurrent control accuracy and acceleration concurrent control accuracy;

[0023] The scalability test data includes hardware compatibility, software compatibility and node expansion success rate;

[0024] The system monitoring data includes CPU occupancy, memory occupancy, storage resource occupancy, throughput and communication delay time;

[0025] A concurrent control accuracy evaluation index is obtained according to the trajectory concurrent control accuracy, the speed concurrent control accuracy and the acceleration concurrent control accuracy.

[0026] Optionally, in the test method of the drive-control integrated secondary development platform described in the present application, the step of obtaining a scalability evaluation index according to the scalability test data processing and obtaining a resource utilization efficiency evaluation index according to the system monitoring data processing includes:

[0027] Obtaining a scalability evaluation index according to the hardware compatibility, software compatibility and node expansion success rate;

[0028] A resource utilization efficiency evaluation index is obtained based on the CPU occupancy rate, memory occupancy rate, storage resource occupancy rate, throughput and communication delay time.

[0029] Optionally, in the test method of the drive-control integrated secondary development platform described in the present application, the system integration performance evaluation index is obtained according to the concurrent control accuracy evaluation index, the resource utilization efficiency evaluation index and the scalability evaluation index, and the performance of the drive-control integrated secondary development platform is determined in combination with the reliability evaluation index, including:

[0030] Obtaining a system integration performance evaluation index according to the concurrent control accuracy evaluation index, resource utilization efficiency evaluation index and scalability evaluation index;

[0031] Obtaining a platform performance evaluation index according to the reliability evaluation index and the system integration performance evaluation index;

[0032] The platform performance evaluation index is compared with a preset platform performance evaluation index threshold. If the threshold comparison result does not meet the preset threshold comparison result requirement, a performance abnormality determination is made on the drive and control integrated secondary development platform.

[0033] In a second aspect, the present application provides a test system for a drive-control integrated secondary development platform, the system comprising: a memory and a processor, the memory storing a program of a test method for the drive-control integrated secondary development platform, and the program of the test method for the drive-control integrated secondary development platform is executed by the processor to implement the following steps:

[0034] Perform performance tests on industrial robots to obtain motion control accuracy test data, obstacle avoidance test data, and fault repair ability test data;

[0035] Processing the motion control accuracy test data to obtain a control accuracy evaluation index, and processing the fault repair capability test data to obtain a fault repair capability evaluation factor;

[0036] Obtaining a reliability evaluation index according to the control accuracy evaluation index, the fault repair capability evaluation factor and the obstacle avoidance capability test data;

[0037] Conduct multi-robot concurrent control tests on the integrated drive and control secondary development platform to obtain concurrent control accuracy data, scalability test data, and system monitoring data, and process and obtain concurrent control accuracy evaluation index;

[0038] Processing the scalability test data to obtain a scalability evaluation index, and processing the system monitoring data to obtain a resource utilization efficiency evaluation index;

[0039] The system integration performance evaluation index is obtained according to the concurrent control accuracy evaluation index, resource utilization efficiency evaluation index and scalability evaluation index, and the performance of the drive and control integrated secondary development platform is determined in combination with the reliability evaluation index.

[0040] Optionally, in the test system of the drive-control integrated secondary development platform described in the present application, the performance test of the industrial robot is performed to obtain motion control accuracy test data, obstacle avoidance ability test data and fault repair ability test data, including:

[0041] The motion control accuracy test data includes trajectory control accuracy, speed control accuracy and acceleration control accuracy;

[0042] The obstacle avoidance capability test data includes emergency stop response accuracy data and collision avoidance accuracy data;

[0043] The fault repair capability test data includes fault identification success rate data, fault repair success rate data and fault recovery time data.

[0044] In the third aspect, the present application also provides a computer-readable storage medium, which stores a test method program for the integrated drive and control secondary development platform. When the test method program for the integrated drive and control secondary development platform is executed by a processor, the steps of the test method for the integrated drive and control secondary development platform as described in any of the above items are implemented.

[0045] From the above, it can be seen that the test method, system and medium of the drive-control integrated secondary development platform provided in the present application evaluate the performance of the drive-control integrated secondary development platform from multiple dimensions such as obstacle avoidance, fault repair and concurrent control of multi-robots of industrial robots, thereby achieving the purpose of providing a reliable platform performance evaluation basis for large-scale automated production.

[0046] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or understood by practicing the embodiments of the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the written description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0048] Figure 1 A flowchart of a test method for a drive-control integrated secondary development platform provided in an embodiment of the present application;

[0049] Figure 2 A flow chart of obtaining a control accuracy evaluation index and a fault repair capability evaluation factor for a test method of a drive-control integrated secondary development platform provided in an embodiment of the present application;

[0050] Figure 3 A flowchart of obtaining a concurrent control accuracy evaluation index for a test method of a drive-control integrated secondary development platform provided in an embodiment of the present application;

[0051] Figure 4 A flowchart of obtaining a scalability evaluation index and a resource utilization efficiency evaluation index for a testing method of a drive-control integrated secondary development platform provided in an embodiment of the present application. DETAILED DESCRIPTION

[0052] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0053] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0054] Please refer to Figure 1 , Figure 1 1 is a flow chart of a test method of a drive-control integrated secondary development platform in some embodiments of the present application. The test method of the drive-control integrated secondary development platform is used in a terminal device, such as a computer, a mobile phone terminal, etc. The test method of the drive-control integrated secondary development platform includes the following steps:

[0055] S11. Perform performance tests on industrial robots to obtain motion control accuracy test data, obstacle avoidance ability test data, and fault repair ability test data;

[0056] S12, obtaining a control accuracy evaluation index according to the motion control accuracy test data, and obtaining a fault repair capability evaluation factor according to the fault repair capability test data;

[0057] S13, obtaining a reliability evaluation index according to the control accuracy evaluation index, the fault repair capability evaluation factor and the obstacle avoidance capability test data;

[0058] S14. Conduct multi-robot concurrent control test on the integrated drive and control secondary development platform to obtain concurrent control accuracy data, scalability test data and system monitoring data, and process to obtain concurrent control accuracy evaluation index;

[0059] S15, obtaining a scalability evaluation index according to the scalability test data, and obtaining a resource utilization efficiency evaluation index according to the system monitoring data;

[0060] S16. Obtain a system integration performance evaluation index according to the concurrent control accuracy evaluation index, resource utilization efficiency evaluation index and scalability evaluation index, and perform a performance assessment on the drive and control integrated secondary development platform in combination with the reliability evaluation index.

[0061] It should be noted that the performance test of the industrial robot is carried out, and the control accuracy evaluation index and fault repair capability evaluation factor are obtained according to the test data processing, and the reliability evaluation index is further processed. The multi-robot concurrent control test of the integrated drive and control secondary development platform is carried out, and the concurrent control accuracy evaluation index, scalability evaluation index and resource utilization efficiency evaluation index are obtained, and the system integration performance evaluation index is further processed, and the performance of the integrated drive and control secondary development platform is judged in combination with the reliability evaluation index. By evaluating the performance of the integrated drive and control secondary development platform from multiple dimensions such as obstacle avoidance, fault repair and multi-robot concurrent control of industrial robots, the purpose of providing a reliable platform performance evaluation basis for large-scale automated production is achieved.

[0062] According to an embodiment of the present invention, the performance test of the industrial robot to obtain motion control accuracy test data, obstacle avoidance ability test data and fault repair ability test data includes:

[0063] The motion control accuracy test data includes trajectory control accuracy, speed control accuracy and acceleration control accuracy;

[0064] The obstacle avoidance capability test data includes emergency stop response accuracy data and collision avoidance accuracy data;

[0065] The fault repair capability test data includes fault identification success rate data, fault repair success rate data and fault recovery time data.

[0066] It should be noted that by performing performance tests on industrial robots, motion control accuracy test data, obstacle avoidance ability test data and fault repair ability test data are obtained.

[0067] Please refer to Figure 2 , Figure 2 The present invention is a flowchart of a test method for a secondary development platform of integrated drive and control in some embodiments of the present application for obtaining a control accuracy evaluation index and a fault repair capability evaluation factor. According to an embodiment of the present invention, the method of obtaining a control accuracy evaluation index according to the motion control accuracy test data processing and obtaining a fault repair capability evaluation factor according to the fault repair capability test data processing include:

[0068] S21, obtaining a control accuracy evaluation index according to the trajectory control accuracy, speed control accuracy and acceleration control accuracy;

[0069] S22: Obtain a fault repair capability evaluation factor according to the fault identification success rate data, the fault repair success rate data and the fault recovery time data.

[0070] It should be noted that the control accuracy evaluation index is obtained according to the motion control accuracy test data processing, and the fault repair capability evaluation factor is obtained according to the fault repair capability test data processing;

[0071] The calculation formula of the control accuracy evaluation index is:

[0072] ;

[0073] in, To control the accuracy evaluation index, , and They are trajectory control accuracy, velocity control accuracy and acceleration control accuracy. , and They are respectively preset characteristic coefficients (which can be obtained by querying the preset drive-control integrated secondary development platform database);

[0074] The calculation formula of the fault repair capability evaluation factor is:

[0075] ;

[0076] in, is the fault repair capability evaluation factor, , and They are respectively the fault identification success rate data, the fault repair success rate data and the fault recovery time data. , and They are respectively preset characteristic coefficients (which can be obtained by querying the preset drive and control integrated secondary development platform database).

[0077] According to an embodiment of the present invention, the process of obtaining a reliability evaluation index according to the control accuracy evaluation index, the fault repair capability evaluation factor and the obstacle avoidance capability test data includes:

[0078] The reliability evaluation index is obtained by processing the control accuracy evaluation index, the fault repair capability evaluation factor, and the emergency stop response accuracy data and the collision avoidance accuracy data.

[0079] It should be noted that the calculation formula of the reliability evaluation index is:

[0080] ;

[0081] in, is the reliability evaluation index, To control the accuracy evaluation index, is the fault repair capability evaluation factor, is the emergency stop response accuracy data, For collision avoidance accuracy data, , and They are respectively preset characteristic coefficients (which can be obtained by querying the preset drive and control integrated secondary development platform database).

[0082] Please refer to Figure 3 , Figure 3 The flowchart of the test method of the integrated secondary development platform of the drive and control in some embodiments of the present application for obtaining the concurrent control precision evaluation index. According to the embodiment of the present invention, the multi-robot concurrent control test of the integrated secondary development platform of the drive and control is performed to obtain concurrent control precision data, scalability test data and system monitoring data, and the concurrent control precision evaluation index is obtained by processing, including:

[0083] S31, the concurrent control accuracy data includes trajectory concurrent control accuracy, speed concurrent control accuracy and acceleration concurrent control accuracy;

[0084] S32, the scalability test data includes hardware compatibility, software compatibility and node expansion success rate;

[0085] S33, the system monitoring data includes CPU occupancy, memory occupancy, storage resource occupancy, throughput and communication delay time;

[0086] S34, obtaining a concurrent control accuracy evaluation index according to the trajectory concurrent control accuracy, speed concurrent control accuracy and acceleration concurrent control accuracy.

[0087] It should be noted that when the secondary development platform is mass-produced, it is necessary to concurrently control industrial robots of multiple brands and models, so the concurrent control accuracy, scalability and resource utilization efficiency of the platform are very important. Among them, the node expansion success rate in the scalability test data is used to evaluate the ability of the secondary development platform to add new nodes, that is, the ability of the platform to automatically discover newly added industrial robots and include them in the management and control scope of the system.

[0088] The concurrent control accuracy evaluation index is obtained according to the trajectory concurrent control accuracy, the velocity concurrent control accuracy and the acceleration concurrent control accuracy. The calculation formula of the concurrent control accuracy evaluation index is:

[0089] ;

[0090] in, is the concurrency control precision evaluation index, , and They are the concurrent trajectory control accuracy, concurrent velocity control accuracy and concurrent acceleration control accuracy, respectively. , and They are respectively preset characteristic coefficients (which can be obtained by querying the preset drive and control integrated secondary development platform database).

[0091] Please refer to Figure 4 , Figure 4 The present invention is a flowchart of obtaining a scalability evaluation index and a resource utilization efficiency evaluation index in a test method of a drive-control integrated secondary development platform in some embodiments of the present application. According to an embodiment of the present invention, obtaining a scalability evaluation index according to the scalability test data processing and obtaining a resource utilization efficiency evaluation index according to the system monitoring data processing include:

[0092] S41, obtaining a scalability evaluation index according to the hardware compatibility, software compatibility and node expansion success rate;

[0093] S42. Obtain a resource utilization efficiency evaluation index according to the CPU occupancy rate, memory occupancy rate, storage resource occupancy rate, throughput and communication delay time.

[0094] It should be noted that the calculation formula of the scalability evaluation index is:

[0095] ;

[0096] in, is the scalability evaluation index, , and They are hardware compatibility, software compatibility and node expansion success rate. , and They are respectively preset characteristic coefficients (which can be obtained by querying the preset drive-control integrated secondary development platform database);

[0097] The calculation formula of the resource utilization efficiency evaluation index is:

[0098] ;

[0099] in, is the resource utilization efficiency evaluation index, is the throughput, is the communication delay time, , and They are CPU usage, memory usage, and storage resource usage. , , , and They are respectively preset characteristic coefficients (which can be obtained by querying the preset drive and control integrated secondary development platform database).

[0100] According to an embodiment of the present invention, the system integration performance evaluation index is obtained according to the concurrent control accuracy evaluation index, the resource utilization efficiency evaluation index and the scalability evaluation index, and the performance of the drive and control integrated secondary development platform is determined in combination with the reliability evaluation index, including:

[0101] Obtaining a system integration performance evaluation index according to the concurrent control accuracy evaluation index, resource utilization efficiency evaluation index and scalability evaluation index;

[0102] Obtaining a platform performance evaluation index according to the reliability evaluation index and the system integration performance evaluation index;

[0103] The platform performance evaluation index is compared with a preset platform performance evaluation index threshold. If the threshold comparison result does not meet the preset threshold comparison result requirement, a performance abnormality determination is made on the drive and control integrated secondary development platform.

[0104] It should be noted that the system integration performance evaluation index is obtained by processing the concurrent control accuracy evaluation index, the resource utilization efficiency evaluation index and the scalability evaluation index, and the platform performance evaluation index is obtained by processing the reliability evaluation index and the system integration performance evaluation index;

[0105] The calculation formula of the system integration performance evaluation index is:

[0106] ;

[0107] in, is the system integration performance evaluation index, , and They are concurrency control accuracy data, resource utilization efficiency evaluation index, and scalability evaluation index. , and They are respectively preset characteristic coefficients (which can be obtained by querying the preset drive-control integrated secondary development platform database);

[0108] The calculation formula of the platform performance evaluation index is:

[0109] ;

[0110] in, is the platform performance evaluation index, and They are reliability evaluation index and system integration performance evaluation index, and They are respectively preset weight coefficients (which can be obtained by querying the preset drive and control integrated secondary development platform database).

[0111] The present invention also discloses a test system for a drive-control integrated secondary development platform, comprising a memory and a processor, wherein the memory stores a test method program for the drive-control integrated secondary development platform, and when the test method program for the drive-control integrated secondary development platform is executed by the processor, the following steps are implemented:

[0112] Perform performance tests on industrial robots to obtain motion control accuracy test data, obstacle avoidance test data, and fault repair ability test data;

[0113] Processing the motion control accuracy test data to obtain a control accuracy evaluation index, and processing the fault repair capability test data to obtain a fault repair capability evaluation factor;

[0114] Obtaining a reliability evaluation index according to the control accuracy evaluation index, the fault repair capability evaluation factor and the obstacle avoidance capability test data;

[0115] Conduct multi-robot concurrent control tests on the integrated drive and control secondary development platform to obtain concurrent control accuracy data, scalability test data, and system monitoring data, and process and obtain concurrent control accuracy evaluation index;

[0116] Processing the scalability test data to obtain a scalability evaluation index, and processing the system monitoring data to obtain a resource utilization efficiency evaluation index;

[0117] The system integration performance evaluation index is obtained according to the concurrent control accuracy evaluation index, resource utilization efficiency evaluation index and scalability evaluation index, and the performance of the drive and control integrated secondary development platform is determined in combination with the reliability evaluation index.

[0118] It should be noted that the performance test of the industrial robot is carried out, and the control accuracy evaluation index and fault repair capability evaluation factor are obtained according to the test data processing, and the reliability evaluation index is further processed. The multi-robot concurrent control test of the integrated drive and control secondary development platform is carried out, and the concurrent control accuracy evaluation index, scalability evaluation index and resource utilization efficiency evaluation index are obtained, and the system integration performance evaluation index is further processed, and the performance of the integrated drive and control secondary development platform is judged in combination with the reliability evaluation index. By evaluating the performance of the integrated drive and control secondary development platform from multiple dimensions such as obstacle avoidance, fault repair and multi-robot concurrent control of industrial robots, the purpose of providing a reliable platform performance evaluation basis for large-scale automated production is achieved.

[0119] According to an embodiment of the present invention, the performance test of the industrial robot to obtain motion control accuracy test data, obstacle avoidance ability test data and fault repair ability test data includes:

[0120] The motion control accuracy test data includes trajectory control accuracy, speed control accuracy and acceleration control accuracy;

[0121] The obstacle avoidance capability test data includes emergency stop response accuracy data and collision avoidance accuracy data;

[0122] The fault repair capability test data includes fault identification success rate data, fault repair success rate data and fault recovery time data.

[0123] It should be noted that by performing performance tests on industrial robots, motion control accuracy test data, obstacle avoidance ability test data and fault repair ability test data are obtained.

[0124] According to an embodiment of the present invention, the step of obtaining a control accuracy evaluation index according to the motion control accuracy test data processing and obtaining a fault repair capability evaluation factor according to the fault repair capability test data processing includes:

[0125] Obtaining a control accuracy evaluation index according to the trajectory control accuracy, speed control accuracy and acceleration control accuracy;

[0126] The fault identification success rate data, the fault repair success rate data and the fault recovery time data are processed to obtain a fault repair capability evaluation factor.

[0127] It should be noted that the control accuracy evaluation index is obtained according to the motion control accuracy test data processing, and the fault repair capability evaluation factor is obtained according to the fault repair capability test data processing;

[0128] The calculation formula of the control accuracy evaluation index is:

[0129] ;

[0130] in, To control the accuracy evaluation index, , and They are trajectory control accuracy, velocity control accuracy and acceleration control accuracy. , and They are respectively preset characteristic coefficients (which can be obtained by querying the preset drive-control integrated secondary development platform database);

[0131] The calculation formula of the fault repair capability evaluation factor is:

[0132] ;

[0133] in, is the fault repair capability evaluation factor, , and They are respectively the fault identification success rate data, the fault repair success rate data and the fault recovery time data. , and They are respectively preset characteristic coefficients (which can be obtained by querying the preset drive and control integrated secondary development platform database).

[0134] According to an embodiment of the present invention, the process of obtaining a reliability evaluation index according to the control accuracy evaluation index, the fault repair capability evaluation factor and the obstacle avoidance capability test data includes:

[0135] The reliability evaluation index is obtained by processing the control accuracy evaluation index, the fault repair capability evaluation factor, and the emergency stop response accuracy data and the collision avoidance accuracy data.

[0136] It should be noted that the calculation formula of the reliability evaluation index is:

[0137] ;

[0138] in, is the reliability evaluation index, To control the accuracy evaluation index, is the fault repair capability evaluation factor, is the emergency stop response accuracy data, For collision avoidance accuracy data, , and They are respectively preset characteristic coefficients (which can be obtained by querying the preset drive and control integrated secondary development platform database).

[0139] According to an embodiment of the present invention, the multi-robot concurrent control test is performed on the integrated drive and control secondary development platform to obtain concurrent control accuracy data, scalability test data and system monitoring data, and to obtain a concurrent control accuracy evaluation index, including:

[0140] The concurrent control accuracy data includes trajectory concurrent control accuracy, speed concurrent control accuracy and acceleration concurrent control accuracy;

[0141] The scalability test data includes hardware compatibility, software compatibility and node expansion success rate;

[0142] The system monitoring data includes CPU occupancy, memory occupancy, storage resource occupancy, throughput and communication delay time;

[0143] A concurrent control accuracy evaluation index is obtained according to the trajectory concurrent control accuracy, the speed concurrent control accuracy and the acceleration concurrent control accuracy.

[0144] It should be noted that when the secondary development platform is mass-produced, it is necessary to concurrently control industrial robots of multiple brands and models, so the concurrent control accuracy, scalability and resource utilization efficiency of the platform are very important. Among them, the node expansion success rate in the scalability test data is used to evaluate the ability of the secondary development platform to add new nodes, that is, the ability of the platform to automatically discover newly added industrial robots and include them in the management and control scope of the system.

[0145] The concurrent control accuracy evaluation index is obtained according to the trajectory concurrent control accuracy, the velocity concurrent control accuracy and the acceleration concurrent control accuracy. The calculation formula of the concurrent control accuracy evaluation index is:

[0146] ;

[0147] in, is the concurrency control precision evaluation index, , and They are the concurrent trajectory control accuracy, concurrent velocity control accuracy and concurrent acceleration control accuracy, respectively. , and They are respectively preset characteristic coefficients (which can be obtained by querying the preset drive and control integrated secondary development platform database).

[0148] According to an embodiment of the present invention, the step of obtaining a scalability evaluation index according to the scalability test data processing and obtaining a resource utilization efficiency evaluation index according to the system monitoring data processing includes:

[0149] Obtaining a scalability evaluation index according to the hardware compatibility, software compatibility and node expansion success rate;

[0150] A resource utilization efficiency evaluation index is obtained based on the CPU occupancy rate, memory occupancy rate, storage resource occupancy rate, throughput and communication delay time.

[0151] It should be noted that the calculation formula of the scalability evaluation index is:

[0152] ;

[0153] in, is the scalability evaluation index, , and They are hardware compatibility, software compatibility and node expansion success rate. , and They are respectively preset characteristic coefficients (which can be obtained by querying the preset drive-control integrated secondary development platform database);

[0154] The calculation formula of the resource utilization efficiency evaluation index is:

[0155] ;

[0156] in, is the resource utilization efficiency evaluation index, is the throughput, is the communication delay time, , and They are CPU usage, memory usage, and storage resource usage. , , , and They are respectively preset characteristic coefficients (which can be obtained by querying the preset drive and control integrated secondary development platform database).

[0157] According to an embodiment of the present invention, the system integration performance evaluation index is obtained according to the concurrent control accuracy evaluation index, the resource utilization efficiency evaluation index and the scalability evaluation index, and the performance of the drive and control integrated secondary development platform is determined in combination with the reliability evaluation index, including:

[0158] Obtaining a system integration performance evaluation index according to the concurrent control accuracy evaluation index, resource utilization efficiency evaluation index and scalability evaluation index;

[0159] Obtaining a platform performance evaluation index according to the reliability evaluation index and the system integration performance evaluation index;

[0160] The platform performance evaluation index is compared with a preset platform performance evaluation index threshold. If the threshold comparison result does not meet the preset threshold comparison result requirement, a performance abnormality determination is made on the drive and control integrated secondary development platform.

[0161] It should be noted that the system integration performance evaluation index is obtained by processing the concurrent control accuracy evaluation index, the resource utilization efficiency evaluation index and the scalability evaluation index, and the platform performance evaluation index is obtained by processing the reliability evaluation index and the system integration performance evaluation index;

[0162] The calculation formula of the system integration performance evaluation index is:

[0163] ;

[0164] in, is the system integration performance evaluation index, , and They are concurrency control accuracy data, resource utilization efficiency evaluation index, and scalability evaluation index. , and They are respectively preset characteristic coefficients (which can be obtained by querying the preset drive-control integrated secondary development platform database);

[0165] The calculation formula of the platform performance evaluation index is:

[0166] ;

[0167] in, is the platform performance evaluation index, and They are reliability evaluation index and system integration performance evaluation index, and They are respectively preset weight coefficients (which can be obtained by querying the preset drive and control integrated secondary development platform database).

[0168] A third aspect of the present invention provides a readable storage medium, which stores a test method program for an integrated drive and control secondary development platform. When the test method program for the integrated drive and control secondary development platform is executed by a processor, the steps of the test method for the integrated drive and control secondary development platform as described in any one of the above items are implemented.

[0169] The present invention discloses a test method, system and medium for a secondary development platform of integrated drive and control, which evaluates the performance of the secondary development platform of integrated drive and control from multiple dimensions such as obstacle avoidance, fault repair and concurrent control of multiple robots of industrial robots, thereby achieving the purpose of providing a reliable basis for platform performance evaluation for large-scale automated production.

[0170] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0171] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed on multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0172] In addition, all functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately used as a unit, or two or more units may be integrated into one unit; the above-mentioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0173] Those skilled in the art can understand that: all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions, the aforementioned program can be stored in a readable storage medium, and when the program is executed, it executes the steps of the above method embodiments; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), disks or optical disks, and other media that can store program codes.

[0174] Alternatively, if the above-mentioned integrated unit of the present invention is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present invention can be essentially or partly reflected in the form of a software product that contributes to the prior art. The software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROM, RAM, magnetic disks or optical disks.

Claims

1. A test method for a drive-control integrated secondary development platform, characterized in that: The following steps are involved: Perform performance tests on industrial robots to obtain motion control accuracy test data, obstacle avoidance test data, and fault repair ability test data; According to the motion control accuracy test data, a control accuracy evaluation index is obtained, and according to the fault repair ability test data, a fault repair ability evaluation factor is obtained; Obtaining a reliability evaluation index according to the control accuracy evaluation index, the fault repair capability evaluation factor and the obstacle avoidance capability test data; Conduct multi-robot concurrent control tests on the integrated drive and control secondary development platform to obtain concurrent control accuracy data, scalability test data, and system monitoring data, and process and obtain concurrent control accuracy evaluation index; Processing the scalability test data to obtain a scalability evaluation index, and processing the system monitoring data to obtain a resource utilization efficiency evaluation index; Obtaining a system integration performance evaluation index according to the concurrent control accuracy evaluation index, resource utilization efficiency evaluation index and scalability evaluation index, and performing a performance evaluation on the drive and control integrated secondary development platform in combination with the reliability evaluation index; The performance test of the industrial robot is performed to obtain motion control accuracy test data, obstacle avoidance ability test data and fault repair ability test data, including: The motion control accuracy test data includes trajectory control accuracy, speed control accuracy and acceleration control accuracy; The obstacle avoidance capability test data includes emergency stop response accuracy data and collision avoidance accuracy data; The fault repair capability test data includes fault identification success rate data, fault repair success rate data and fault recovery time data; The step of obtaining a control accuracy evaluation index according to the motion control accuracy test data and obtaining a fault repair capability evaluation factor according to the fault repair capability test data includes: Obtaining a control accuracy evaluation index according to the trajectory control accuracy, speed control accuracy and acceleration control accuracy; The fault identification success rate data, the fault repair success rate data and the fault recovery time data are processed to obtain a fault repair capability evaluation factor.

2. The test method of the drive-control integrated secondary development platform according to claim 1, characterized in that: The obtaining of the reliability evaluation index according to the control accuracy evaluation index, the fault repair capability evaluation factor and the obstacle avoidance capability test data processing comprises: The reliability evaluation index is obtained by processing the control accuracy evaluation index, the fault repair capability evaluation factor, and the emergency stop response accuracy data and the collision avoidance accuracy data.

3. The test method of the drive-control integrated secondary development platform according to claim 2, characterized in that: The multi-robot concurrent control test is performed on the integrated drive and control secondary development platform to obtain concurrent control accuracy data, scalability test data and system monitoring data, and to obtain a concurrent control accuracy evaluation index, including: The concurrent control accuracy data includes trajectory concurrent control accuracy, speed concurrent control accuracy and acceleration concurrent control accuracy; The scalability test data includes hardware compatibility, software compatibility and node expansion success rate; The system monitoring data includes CPU occupancy, memory occupancy, storage resource occupancy, throughput and communication delay time; A concurrent control accuracy evaluation index is obtained according to the trajectory concurrent control accuracy, the speed concurrent control accuracy and the acceleration concurrent control accuracy.

4. The test method of the drive-control integrated secondary development platform according to claim 3 is characterized in that: The step of obtaining a scalability evaluation index according to the scalability test data and obtaining a resource utilization efficiency evaluation index according to the system monitoring data includes: Obtaining a scalability evaluation index according to the hardware compatibility, software compatibility and node expansion success rate; A resource utilization efficiency evaluation index is obtained based on the CPU occupancy rate, memory occupancy rate, storage resource occupancy rate, throughput and communication delay time.

5. The test method of the drive-control integrated secondary development platform according to claim 4, characterized in that: The system integration performance evaluation index is obtained according to the concurrent control accuracy evaluation index, the resource utilization efficiency evaluation index and the scalability evaluation index, and the performance of the drive and control integrated secondary development platform is determined in combination with the reliability evaluation index, including: Obtaining a system integration performance evaluation index according to the concurrent control accuracy evaluation index, resource utilization efficiency evaluation index and scalability evaluation index; Obtaining a platform performance evaluation index according to the reliability evaluation index and the system integration performance evaluation index; The platform performance evaluation index is compared with a preset platform performance evaluation index threshold. If the threshold comparison result does not meet the preset threshold comparison result requirement, a performance abnormality determination is made on the drive and control integrated secondary development platform.

6. A test system for a secondary development platform of integrated drive and control, characterized in that: The system comprises a memory and a processor, wherein the memory stores a program of a test method of a secondary development platform for integrated drive and control, and the test method program of the secondary development platform for integrated drive and control is executed by the processor to implement the following steps: Perform performance tests on industrial robots to obtain motion control accuracy test data, obstacle avoidance test data, and fault repair ability test data; Processing the motion control accuracy test data to obtain a control accuracy evaluation index, and processing the fault repair capability test data to obtain a fault repair capability evaluation factor; Obtaining a reliability evaluation index according to the control accuracy evaluation index, the fault repair capability evaluation factor and the obstacle avoidance capability test data; Conduct multi-robot concurrent control tests on the integrated drive and control secondary development platform to obtain concurrent control accuracy data, scalability test data, and system monitoring data, and process and obtain concurrent control accuracy evaluation index; Processing the scalability test data to obtain a scalability evaluation index, and processing the system monitoring data to obtain a resource utilization efficiency evaluation index; Obtaining a system integration performance evaluation index according to the concurrent control accuracy evaluation index, resource utilization efficiency evaluation index and scalability evaluation index, and performing a performance evaluation on the drive and control integrated secondary development platform in combination with the reliability evaluation index; The performance test of the industrial robot is performed to obtain motion control accuracy test data, obstacle avoidance ability test data and fault repair ability test data, including: The motion control accuracy test data includes trajectory control accuracy, speed control accuracy and acceleration control accuracy; The obstacle avoidance capability test data includes emergency stop response accuracy data and collision avoidance accuracy data; The fault repair capability test data includes fault identification success rate data, fault repair success rate data and fault recovery time data; The step of obtaining a control accuracy evaluation index according to the motion control accuracy test data and obtaining a fault repair capability evaluation factor according to the fault repair capability test data includes: Obtaining a control accuracy evaluation index according to the trajectory control accuracy, speed control accuracy and acceleration control accuracy; The fault identification success rate data, the fault repair success rate data and the fault recovery time data are processed to obtain a fault repair capability evaluation factor.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a test program for the integrated drive and control secondary development platform. When the test program for the integrated drive and control secondary development platform is executed by the processor, the steps of the test method for the integrated drive and control secondary development platform as described in any one of claims 1 to 5 are implemented.

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