Robot instruction automatic inspection method and device based on PDPS platform

Abstract

The invention discloses an automatic robot instruction checking method and device based on a PDPS platform, and the method comprises the steps: obtaining the operation program data of a robot offline program, obtaining a design rule corresponding to the operation program data, and configuring a program checking tool according to the design rule; inputting the running program data into a program inspection tool to enable the program inspection tool to store security information in the first instruction and the second instruction into corresponding variables respectively, and comparing or judging the information in the variables to obtain a first judgment result; judging Chinese characters and Chinese punctuation marks of the running program data to obtain a second judgment result; and calculating the margin value of each joint when the robot executes each action on the basis of the motion parameters in the running program data, performing collision risk judgment according to the margin values to obtain a third judgment result, and judging whether the robot accords with a safety rule or not according to the motion radius to obtain a fourth judgment result. Through the method, the offline program checking accuracy is improved.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a method and device for automatically checking robot instructions based on a PDPS platform. Background Art

[0002] Process Simulate software (hereinafter referred to as PS software) is widely used in the project design of body-in-white welding production lines of mainstream automobile OEMs around the world because of its many professional and efficient functions and strong scalability.

[0003] In the design of the body-in-white welding project, engineers use PS software to program the robots in the welding production line (also known as offline programming). After basically completing the robot programming in PS, engineers need to check the basically completed program in combination with safety, process, customer standards and other factors, such as checking safety control instructions (interference zone signals, interlocking signals, etc.), motion control parameters (joint safety redundancy, accuracy level). However, the mainstream method in the industry today requires engineers to learn customer standards and check them one by one by eye and manually.

[0004] In a standard robot handling program, at least 28 signals and 50 parameter details are included. Therefore, engineers need to check these instructions and parameter details one by one with the naked eye in combination with project experience and project standards. If there are complex working conditions, more instructions and details need to be paid attention to. This is very dependent on the project experience and learning ability of engineers, which is not conducive to the work arrangement of project personnel. The workload is large, and the manual screening method is too slow, which can no longer meet the node requirements of the current project; more importantly, it is easy to miss details through manual screening. If the missing items are checked, the program quality will fluctuate and the equipment on site will collide. Summary of the invention

[0005] In order to solve the above technical problems, an embodiment of the present invention provides a method and device for automatic inspection of robot instructions based on the PDPS platform to solve the problem of low accuracy of offline program inspection in the prior art.

[0006] A first aspect of an embodiment of the present invention provides a method for automatically checking robot instructions based on a PDPS platform, the method comprising:

[0007] Obtaining running program data of the robot offline program and obtaining design rules corresponding to the running program data, and configuring a program checking tool according to the design rules;

[0008] Input the running program data into the program checking tool so that the program checking tool stores the safety information in the first instruction and the second instruction into the corresponding variables respectively, compares or judges the information in each variable, and obtains a first judgment result; judges the Chinese characters and Chinese punctuation marks in the running program data to obtain a second judgment result; calculates the margin value of each joint when the robot performs each action based on the motion parameters in the running program data, and judges the collision risk according to the margin value to obtain a third judgment result; based on the motion radius of the robot performing the exit action in the running program data, judges whether the robot complies with the safety rules according to the motion radius to obtain a fourth judgment result;

[0009] An inspection report is obtained according to the first judgment result, the second judgment result, the third judgment result and the fourth judgment result.

[0010] In a possible implementation manner of the first aspect, respectively storing security information in the first instruction and the second instruction in corresponding variables, comparing or judging information in each variable, and obtaining a first judgment result includes:

[0011] The number of safety signals of the first instruction is stored in a first quantity variable, and the number of safety signals of the second instruction is stored in a second quantity variable, and it is determined whether the number of safety zone signals in the first quantity variable and the second quantity variable are consistent. If they are inconsistent, it is determined that there is a matching error in the first instruction or the second instruction, and a matching determination result is obtained;

[0012] The safety signal sequence number of the first instruction is stored in the first sequence variable, and the safety signal sequence number of the second instruction is stored in the second sequence variable, and it is determined whether any one of the safety zone signal sequence numbers of the first sequence variable and the second sequence variable is reasonable. If it is unreasonable, it is determined that there is an advance and retreat sequence error in the first instruction or the second instruction, and the advance and retreat sequence result is obtained;

[0013] The first number variable is used to record the number of times the safety signal of the first instruction is used, and the second number variable is used to record the number of times the safety signal of the second instruction is used, and it is determined whether the number of times the safety signal is used in the first number variable and the second number variable is greater than a preset value. If so, it is determined that there is a safety error in the first instruction or the second instruction, and a safety determination result is obtained;

[0014] A first determination result is obtained according to the matching determination result, the advance and retreat sequence result and the safety determination result.

[0015] In a possible implementation of the first aspect, judging the Chinese characters and Chinese punctuation marks of the running program data to obtain a second judgment result includes:

[0016] Using a preset judgment method to judge whether there are Chinese characters in the running program data, if so, it is judged that there are Chinese character errors in the running program data, and a character judgment result is obtained;

[0017] Based on the set character list variable, the Chinese punctuation marks in the running program data are traversed by using a loop method to determine whether there are punctuation marks in the running program data that do not belong to the character list variable. If so, it is determined that there are punctuation mark errors in the running program data, and the punctuation mark judgment result is obtained;

[0018] A second judgment result is obtained according to the character judgment result and the punctuation match judgment result.

[0019] In a possible implementation of the first aspect, based on the motion parameters in the running program data, the margin value of each joint when the robot performs each action is calculated, and the collision risk is judged according to the margin value to obtain a third judgment result, including:

[0020] Based on the radian value of each joint when the robot performs each action, each radian value is converted using a preset conversion method to obtain the angle value of each joint;

[0021] The angle value of each joint is stored in the angle variable, and each angle value in the angle variable is compared with the corresponding preset angle threshold to obtain the margin of each joint under each action. If the margin is less than the preset margin threshold, it is judged that there is a collision risk and the third judgment result is obtained.

[0022] In a possible implementation manner of the first aspect, based on a movement radius of the robot performing an exit action in the running program data, judging whether the robot complies with safety rules according to the movement radius, and obtaining a fourth judgment result includes:

[0023] It is determined whether the movement radius of the robot in the running program data when executing the exit action is less than or equal to the preset running radius threshold. If not, it is determined that the robot's exit action is unreasonable, and a fourth judgment result is obtained.

[0024] In a possible implementation manner of the first aspect, the inspection report also includes robot names and program names corresponding to the first judgment result, the second judgment result, the third judgment result, and the fourth judgment result.

[0025] In a possible implementation of the first aspect, configuring a program checking tool according to a design rule includes:

[0026] A program checking tool is obtained based on a design rule configuration checking method and a data calling method, wherein the data calling method is used to call data in the running program data using an interface of a robot offline program platform.

[0027] A second aspect of an embodiment of the present invention provides a robot instruction automatic inspection device based on a PDPS platform, comprising:

[0028] An acquisition module is used to acquire the running program data of the robot offline program and the design rules corresponding to the running program data, and configure the program checking tool according to the design rules;

[0029] The inspection module is used to input the running program data into the program inspection tool, so that the program inspection tool stores the safety information in the first instruction and the second instruction into the corresponding variables respectively, compares or judges the information in each variable, and obtains a first judgment result; judges the Chinese characters and Chinese punctuation marks in the running program data to obtain a second judgment result; calculates the margin value of each joint when the robot performs each action based on the motion parameters in the running program data, judges the collision risk according to the margin value, and obtains a third judgment result; based on the motion radius of the robot performing the exit action in the running program data, judges whether the robot complies with the safety rules according to the motion radius, and obtains a fourth judgment result;

[0030] The inspection report acquisition module is used to obtain the inspection report according to the first judgment result, the second judgment result, the third judgment result and the fourth judgment result.

[0031] A third aspect of an embodiment of the present invention provides a computer device, including:

[0032] Memory for storing computer programs;

[0033] A processor is used to implement the robot instruction automatic inspection method based on the PDPS platform as described in the first aspect when executing the computer program.

[0034] A fourth aspect of an embodiment of the present invention provides a storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the automatic inspection method for robot instructions based on the PDPS platform as in the first aspect.

[0035] Compared with the prior art, the beneficial effects of the present invention are:

[0036] The robot instruction automatic inspection method based on the PDPS platform provided by the embodiment of the present invention obtains the running program data of the robot offline program, and obtains the design rules corresponding to the running program data, and configures the program inspection tool according to the design rules; inputs the running program data into the program inspection tool, so that the program inspection tool stores the safety information in the first instruction and the second instruction into the corresponding variables respectively, compares or judges the information in each variable, and obtains the first judgment result; judges the Chinese characters and Chinese punctuation marks of the running program data to obtain the second judgment result; based on the motion parameters in the running program data, calculates the margin value of each joint when the robot performs each action, and judges the collision risk according to the margin value to obtain the third judgment result; based on the motion radius of the robot performing the exit action in the running program data, judges whether the robot meets the safety rules according to the motion radius, and obtains the fourth judgment result; obtains the inspection report according to the first judgment result, the second judgment result, the third judgment result and the fourth judgment result. Through the above method, the accuracy of offline program inspection is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A method flow chart of an embodiment of a method for automatically checking robot instructions based on a PDPS platform provided by the present invention;

[0038] Figure 2 A device block diagram of another embodiment of the robot instruction automatic inspection method based on the PDPS platform provided by the present invention. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] It should be understood that the step numbers used in this article are only for convenience of description and are not intended to limit the order in which the steps are executed.

[0041] It should be understood that the terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0042] The terms “include” and “comprising” indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0043] Therefore, a flowchart of an embodiment of a method for automatic inspection of robot instructions based on a PDPS platform provided in an embodiment of the present invention is as follows: Figure 1 , including steps S101 to S103, each step is as follows:

[0044] S101, obtaining running program data of a robot offline program, and obtaining design rules corresponding to the running program data, and configuring a program checking tool according to the design rules.

[0045] In this embodiment, the running program data of the robot offline program to be checked is obtained. Before the inspection, the program inspection tool is customized based on the development interface requirements of the PDPS platform using a programming language, combined with the production line safety requirements, production process, and customer program standards. The running program data to be checked is input into the program inspection tool to automatically check the robot offline program.

[0046] In some embodiments, "configuring the program checking tool according to the design rules" in step S101 includes but is not limited to the following steps:

[0047] A program checking tool is obtained based on a design rule configuration checking method and a data calling method, wherein the data calling method is used to call data in the running program data using an interface of a robot offline program platform.

[0048] In this embodiment, the interface of PDPS is fully utilized, data is read according to the method open to the platform, and input operations are performed on PDPS in strict accordance with the requirements of the data type. In addition, the calling method function specified by PDPS is used, so that the tool can deeply obtain or set various precise data during the operation of PDPS.

[0049] After the design of the inspection tool is completed using the programming language, CommandReg.exe needs to be used to register the tool. If the tool meets the PDPS platform plug-in specification standard, the registration is successful. After successful registration, the tool can be added to the PS software for use. The tool has a clear user interface and is easy to operate.

[0050] S102. Input the running program data into the program checking tool so that the program checking tool stores the safety information in the first instruction and the second instruction into corresponding variables respectively, compares or judges the information in each variable, and obtains a first judgment result; judges the Chinese characters and Chinese punctuation marks in the running program data to obtain a second judgment result; calculates the margin value of each joint when the robot performs each action based on the motion parameters in the running program data, judges the collision risk according to the margin value, and obtains a third judgment result; based on the motion radius of the robot performing the exit action in the running program data, judges whether the robot complies with the safety rules according to the motion radius, and obtains a fourth judgment result.

[0051] In this embodiment, after the running program data to be checked is imported into the program checking tool, the safety instruction check, Chinese character check and running control instruction check can be performed. Specifically, by reading the instructions in the running program data, the information in the interference zone entry instruction and the interference zone exit instruction is stored in the corresponding variables, such as numberOfEntZone and numberOfClsZone, and it is judged whether the robot interference zone entry instruction and the interference zone exit instruction meet the conditions. If not, the recording instruction has a safety problem. The Chinese characters and Chinese punctuation marks in the running program data are checked by the preset method ContainChinese.

[0052] By reading the motion parameters in the running program data, the margins of each joint of the robot are recorded when it performs each action. By using the margin values, it is determined whether the robot is at risk of mechanical structure hard limit collision when moving at high speed. By reading the motion parameters in the running program data, it is determined whether the robot's motion mode when leaving the safety zone meets the safety requirements. If it is not safe, the potential safety hazard is recorded.

[0053] In some embodiments, the step S102 of "storing the security information in the first instruction and the second instruction into corresponding variables respectively, comparing or judging the information in each variable, and obtaining a first judgment result" includes but is not limited to the following steps:

[0054] The number of safety signals of the first instruction is stored in a first quantity variable, and the number of safety signals of the second instruction is stored in a second quantity variable, and it is determined whether the number of safety zone signals in the first quantity variable and the second quantity variable are consistent. If they are inconsistent, it is determined that there is a matching error in the first instruction or the second instruction, and a matching determination result is obtained;

[0055] The safety signal sequence number of the first instruction is stored in the first sequence variable, and the safety signal sequence number of the second instruction is stored in the second sequence variable, and it is determined whether any one of the safety zone signal sequence numbers of the first sequence variable and the second sequence variable is reasonable. If it is unreasonable, it is determined that there is an advance and retreat sequence error in the first instruction or the second instruction, and the advance and retreat sequence result is obtained;

[0056] The first number variable is used to record the number of times the safety signal of the first instruction is used, and the second number variable is used to record the number of times the safety signal of the second instruction is used, and it is determined whether the number of times the safety signal is used in the first number variable and the second number variable is greater than a preset value. If so, it is determined that there is a safety error in the first instruction or the second instruction, and a safety determination result is obtained;

[0057] A first determination result is obtained according to the matching determination result, the advance and retreat sequence result and the safety determination result.

[0058] In this embodiment, the instructions for entering the interference zone and exiting the interference zone are stored in two variables (numberOfEntZone and numberOfClsZone) respectively, and then it is determined whether the number of each signal entering the safety zone and the number of signals exiting the safety zone of the robot match. If they do not match, there is a safety problem in recording the instructions.

[0059] By reading the running program data, the order (Index) of the interference zone entry signal and the interference zone exit signal is stored in the List, the interference zone entry is entZoneIndexList, and the interference zone exit is clsZoneIndexList. Finally, by comparing the nth index value in entZoneIndexList and clsZoneIndexList at the same time, if the index value of the interference zone entry is greater than the index value of the interference zone exit, it is judged to be reasonable, otherwise it is unreasonable, and there is a safety problem in the tool's automatic recording of instructions.

[0060] By reading the running program data and recording the number of times the signal entering the interference zone and the signal exiting the interference zone are used through int variables, it is determined whether the number of times the signal entering the safety zone and the signal exiting the safety zone are used is safe. If the number of times the signal entering the safety zone and / or the signal exiting the safety zone are used is greater than 3, there is a safety problem in the tool's automatic recording of instructions.

[0061] In some embodiments, the step S102 of “judging the Chinese characters and Chinese punctuation marks of the running program data to obtain a second judgment result” includes but is not limited to the following steps:

[0062] Using a preset judgment method to judge whether there are Chinese characters in the running program data, if so, it is judged that there are Chinese character errors in the running program data, and a character judgment result is obtained;

[0063] Based on the set character list variable, the Chinese punctuation marks in the running program data are traversed by using a loop method to determine whether there are punctuation marks in the running program data that do not belong to the character list variable. If so, it is determined that there are punctuation mark errors in the running program data, and the punctuation mark judgment result is obtained;

[0064] A second judgment result is obtained according to the character judgment result and the punctuation match judgment result.

[0065] In this embodiment, a regular expression object regex is created through the preset method ContainChinese to determine whether the running program data contains Chinese characters within the Unicode range. If it does, "ContainsChinese" outputs true and records the problem points in strCommandsList. Otherwise, false is output and the problem points are not recorded.

[0066] To determine whether there are Chinese punctuation marks that are not supported by the on-site equipment, first collect common Chinese punctuation marks in a custom charLibList, and use a for loop to determine whether the robot program contains the prohibited symbols in charLibList. If so, record this punctuation mark problem in strCommandsList.

[0067] In some embodiments, in step S102, "calculating the margin value of each joint when the robot performs each action based on the motion parameters in the running program data, and performing collision risk judgment according to the margin value to obtain a third judgment result" includes but is not limited to the following steps:

[0068] Based on the radian value of each joint when the robot performs each action, each radian value is converted using a preset conversion method to obtain the angle value of each joint;

[0069] The angle value of each joint is stored in the angle variable, and each angle value in the angle variable is compared with the corresponding preset angle threshold to obtain the margin of each joint under each action. If the margin is less than the preset margin threshold, it is judged that there is a collision risk and the third judgment result is obtained.

[0070] In this embodiment, by reading the motion parameters in the running program data, the margins of each joint of the robot are recorded when it performs each action. Through the margin value, it is judged whether the robot is likely to have the risk of mechanical structure hard limit collision when moving at high speed. Specifically, by converting radians into angles, the angle of each action of the robot is extracted and stored in LocJointValueList. The elements in the List are then used to compare the maximum limit angles of each joint of the robot one by one to obtain the joint safety redundancy. If the margin is unsafe, the problem will be automatically recorded.

[0071] The algorithm for converting radians to degrees is "double jointValue = Math.Round (value * (180 / Math.PI), 2)", where value is radians, Math.PI is pi, and Math.Round is rounding. The converted angle is stored in a double type variable called iointValue.

[0072] In some embodiments, step S102 of "based on the movement radius of the robot performing the exit action in the running program data, judging whether the robot complies with the safety rules according to the movement radius to obtain a fourth judgment result" includes but is not limited to the following steps:

[0073] It is determined whether the movement radius of the robot in the running program data when executing the exit action is less than or equal to the preset running radius threshold. If not, it is determined that the robot's exit action is unreasonable, and a fourth judgment result is obtained.

[0074] In this embodiment, by reading the motion parameters in the running program data, it is determined whether the motion mode of the robot when leaving the safety zone meets the safety requirements. If it is not safe, the potential safety hazard is recorded. It is read whether the radius of the robot's motion when leaving the safety zone is the minimum. The minimum value is FINE. If not FINE, it is recorded in a list called flyByIssuesList for use when outputting the inspection report.

[0075] It should be noted that the fourth judgment result is that if the radius is less than the preset radius threshold, a prompt "the approximation value of the de-interference zone point XXX is unreasonable" is output; if it is greater, no prompt is output.

[0076] S103. Obtain an inspection report according to the first judgment result, the second judgment result, the third judgment result and the fourth judgment result.

[0077] In this embodiment, the inspection report generated according to the first judgment result includes prompts such as: "There is a missing match for EnterZone (XX)!" or "There is a missing match for CloseZone (XX)!", "Please check the entry and exit order of EnterZone (XX) and CloseZone (XX)!", "EnterZone (XX) or CloseZone (XX) is frequently used in the same program, please optimize!", and is accompanied by the corresponding robot name and program name.

[0078] The inspection report generated by the second judgment result will include: "Contains Chinese characters, please modify!", and the corresponding program name. The inspection report generated by the third judgment result will include: "Track point XXX has an axis value safety margin problem of less than 10°", and the corresponding robot name and program name.

[0079] The inspection report generated according to the fourth judgment result includes: "The approximation value of the de-interference zone point XXX is unreasonable", and is accompanied by the corresponding robot name and program name.

[0080] The present invention combines programming languages, production line safety requirements, production processes, customer program standards, and a customizable program inspection tool based on the development interface requirements of the PDPS platform, which is deeply integrated with PDPS to realize the method and code for automatically checking offline program functions. The tool calculates the variables of offline program instructions and other details in the PS software, with higher accuracy and faster speed. It can be checked without downloading the program to the hard disk, which is more convenient and quick. And the program inspection tool can be applied to program inspection of various processes (handling, welding, gluing, etc.).

[0081] It should be understood that although Figure 1 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1 At least part of the steps may include multiple steps or multiple stages. These steps or stages are not necessarily performed at the same time, but can be performed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed in turn or alternately with other steps or at least part of the steps or stages in other steps.

[0082] In some embodiments, Figure 2 As shown, it shows a block diagram of a robot instruction automatic inspection device 200 based on the PDPS platform provided in an embodiment of the present application, including: an acquisition module 201, an inspection module 202 and an inspection report acquisition module 203, wherein:

[0083] An acquisition module is used to acquire the running program data of the robot offline program and the design rules corresponding to the running program data, and configure the program checking tool according to the design rules;

[0084] The inspection module is used to input the running program data into the program inspection tool, so that the program inspection tool stores the safety information in the first instruction and the second instruction into the corresponding variables respectively, compares or judges the information in each variable, and obtains a first judgment result; judges the Chinese characters and Chinese punctuation marks in the running program data to obtain a second judgment result; calculates the margin value of each joint when the robot performs each action based on the motion parameters in the running program data, judges the collision risk according to the margin value, and obtains a third judgment result; based on the motion radius of the robot performing the exit action in the running program data, judges whether the robot complies with the safety rules according to the motion radius, and obtains a fourth judgment result;

[0085] The inspection report acquisition module is used to obtain the inspection report according to the first judgment result, the second judgment result, the third judgment result and the fourth judgment result.

[0086] The specific implementation of the robot instruction automatic inspection device based on the PDPS platform is basically the same as the specific implementation example of the robot instruction automatic inspection method based on the PDPS platform mentioned above, and will not be repeated here.

[0087] In one embodiment of the present application, a computer device is provided, which includes a memory and a processor, wherein a computer program is stored in the memory, and the above steps are implemented when the processor executes the computer program; the computer device provided in this embodiment has an implementation principle and technical effects similar to those of the above method embodiments, and will not be repeated here.

[0088] In one embodiment of the present application, a computer-readable storage medium is provided, on which a computer program is stored, and the above steps are implemented when the computer program is executed by a processor; the computer-readable storage medium provided in this embodiment has an implementation principle and technical effects similar to those of the above method embodiment, and will not be repeated here.

[0089] The technical features of the above embodiments may 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.

[0090] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A robot instruction automatic inspection method based on the PDPS platform, characterized in that: include: Acquire running program data of the robot offline program, and acquire design rules corresponding to the running program data, and configure a program checking tool according to the design rules; Inputting the running program data into the program checking tool, so that the program checking tool stores the security information in the first instruction and the second instruction into corresponding variables respectively, and compares or judges the security information in each of the variables to obtain a first judgment result; The Chinese characters and Chinese punctuation marks in the running program data are judged to obtain a second judgment result; based on the motion parameters in the running program data, the margin value of each joint when the robot performs each action is calculated, and the collision risk is judged according to the margin value to obtain a third judgment result; based on the motion radius of the robot performing the exit action in the running program data, whether the robot complies with the safety rules is judged according to the motion radius to obtain a fourth judgment result; An inspection report is obtained according to the first judgment result, the second judgment result, the third judgment result and the fourth judgment result.

2. The method for automatically checking robot instructions based on the PDPS platform as claimed in claim 1, characterized in that: The storing the security information in the first instruction and the second instruction into corresponding variables respectively, comparing or judging the security information in each variable to obtain a first judgment result includes: The number of safety signals of the first instruction is stored in a first quantity variable, and the number of safety signals of the second instruction is stored in a second quantity variable, and it is determined whether the number of safety zone signals in the first quantity variable and the second quantity variable are consistent. If they are inconsistent, it is determined that there is a matching error in the first instruction or the second instruction, and a matching determination result is obtained; The safety signal sequence number of the first instruction is stored in a first sequence variable, and the safety signal sequence number of the second instruction is stored in a second sequence variable, and it is determined whether any one of the safety zone signal sequence numbers of the first sequence variable and the second sequence variable is reasonable. If it is unreasonable, it is determined that the first instruction or the second instruction has an advance and retreat sequence error, and an advance and retreat sequence result is obtained; Using the first number variable to record the number of times the safety signal of the first instruction is used, and using the second number variable to record the number of times the safety signal of the second instruction is used, and judging whether the number of times the safety signal is used in the first number variable and the second number variable is greater than a preset value, respectively, if greater, judging that the first instruction or the second instruction has a safety error, and obtaining a safety judgment result; A first determination result is obtained according to the matching determination result, the advance and retreat sequence result and the safety determination result.

3. The method for automatically checking robot instructions based on the PDPS platform as claimed in claim 2, characterized in that: The step of judging the Chinese characters and Chinese punctuation marks of the running program data to obtain a second judgment result includes: Using a preset judgment method to judge whether the running program data contains Chinese characters, if so, judging that the running program data contains Chinese character errors, and obtaining a character judgment result; Based on the set character list variable, the Chinese punctuation marks in the running program data are traversed by a loop method to determine whether there are punctuation marks in the running program data that do not belong to the character list variable. If so, it is determined that there is a punctuation mark error in the running program data, and a punctuation mark error determination result is obtained; A second judgment result is obtained according to the character judgment result and the punctuation match judgment result.

4. The method for automatically checking robot instructions based on the PDPS platform as claimed in claim 2, characterized in that: The method further comprises: calculating the margin value of each joint when the robot performs each action based on the motion parameters in the running program data, and performing collision risk judgment according to the margin value to obtain a third judgment result, including: Based on the radian value of each joint when the robot performs each action, each radian value is converted using a preset conversion method to obtain the angle value of each joint; The angle value of each joint is stored in an angle variable, and each angle value in the angle variable is compared with the corresponding preset angle threshold to obtain the margin of each joint under each action. If the margin is less than the preset margin threshold, it is judged that there is a collision risk and a third judgment result is obtained.

5. The method for automatically checking robot instructions based on the PDPS platform as claimed in claim 1, characterized in that: The step of determining whether the robot complies with safety rules based on the movement radius of the robot performing the exit action in the running program data to obtain a fourth determination result includes: It is determined whether the movement radius of the robot in the running program data when executing the exit action is less than or equal to a preset running radius threshold; if not, it is determined that the exit action of the robot is unreasonable, and a fourth judgment result is obtained.

6. The method for automatically checking robot instructions based on the PDPS platform as claimed in claim 1, characterized in that: The inspection report also includes robot names and program names corresponding to the first judgment result, the second judgment result, the third judgment result, and the fourth judgment result.

7. The method for automatically checking robot instructions based on the PDPS platform as claimed in claim 1, characterized in that: The program checking tool configured according to the design rules comprises: Based on the design rule configuration checking method and the data calling method, a program checking tool is obtained, wherein the data calling method is used to call the data in the running program data using the interface of the robot offline program platform.

8. A robot instruction automatic inspection device based on the PDPS platform, characterized in that: include: An acquisition module, used to acquire running program data of the robot offline program, and to acquire design rules corresponding to the running program data, and to configure a program checking tool according to the design rules; A checking module, used for inputting the running program data into the program checking tool, so that the program checking tool stores the security information in the first instruction and the second instruction into corresponding variables respectively, and compares or judges the security information in each of the variables to obtain a first judgment result; The Chinese characters and Chinese punctuation marks in the running program data are judged to obtain a second judgment result; based on the motion parameters in the running program data, the margin value of each joint when the robot performs each action is calculated, and the collision risk is judged according to the margin value to obtain a third judgment result; based on the motion radius of the robot performing the exit action in the running program data, whether the robot complies with the safety rules is judged according to the motion radius to obtain a fourth judgment result; An inspection report acquisition module is used to obtain an inspection report according to the first judgment result, the second judgment result, the third judgment result and the fourth judgment result.

9. A computer device, characterized in that: include: Memory for storing computer programs; A processor, used to implement the robot instruction automatic inspection method based on the PDPS platform as described in any one of claims 1 to 7 when executing the computer program.

10. A storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by the processor, the method for automatically checking robot instructions based on the PDPS platform as described in any one of claims 1 to 7 is implemented.

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