A robot instruction automatic checking method and device based on a PDPS platform

Abstract

This invention discloses an automatic robot instruction inspection method and apparatus based on the PDPS platform. The method involves acquiring offline program data of the robot and the corresponding design rules, configuring a program inspection tool according to the design rules, inputting the program data into the inspection tool, and storing safety information from the first and second instructions into corresponding variables. The information in each variable is compared or judged to obtain a first judgment result. Chinese characters and punctuation marks in the program data are judged to obtain a second judgment result. Based on the motion parameters in the program data, the margin value of each joint when the robot performs each action is calculated, and collision risk is judged based on the margin value to obtain a third judgment result. Finally, the robot's compliance with safety rules is judged based on the motion radius to obtain a fourth judgment result. This method improves the accuracy of offline program inspection.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically to a method and apparatus for automatic inspection of robot instructions based on the PDPS platform. Background Technology

[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 due to its many professional and efficient functions and strong scalability.

[0003] In the design work of body-in-white welding projects, engineers use Photoshop (PS) software to program the robots in the welding production line (also known as offline programming). After the basic robot programming is completed in PS, engineers need to check the completed program in conjunction with factors such as safety, process, and customer standards. This includes checking safety control commands (interference zone signals, interlock signals, etc.) and 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 visually and manually.

[0004] A standard robotic handling procedure includes at least 28 signals and 50 parameter details. Therefore, checking these instructions and parameters requires engineers to manually inspect each one by one, combining project experience and standards. In complex processes, even more instructions and details need attention. This heavily relies on the engineer's project experience and learning ability, hindering project staff scheduling, resulting in a heavy workload. Furthermore, manual screening is too slow and cannot meet the current project's deadlines. More importantly, manual screening is prone to overlooking details. Missing items can lead to fluctuations in program quality and even collisions with equipment on-site. Summary of the Invention

[0005] To address the aforementioned technical problems, embodiments of the present invention provide a method and apparatus for automatic inspection of robot instructions based on the PDPS platform, thereby solving the problem of low accuracy in offline program inspection in the prior art.

[0006] A first aspect of this invention provides an automatic robot instruction inspection method based on a PDPS platform, the method comprising:

[0007] Obtain the running program data of the robot's offline program, as well as the design rules corresponding to the running program data, and configure the program inspection tool according to the design rules;

[0008] The program data is input into the program inspection tool, which stores the safety information from the first and second instructions into corresponding variables. The information in each variable is compared or judged to obtain the first judgment result. The Chinese characters and Chinese punctuation marks in the program data are judged to obtain the second judgment result. Based on the motion parameters in the program data, the margin value of each joint when the robot performs each action is calculated. The collision risk is judged based on the margin value to obtain the third judgment result. Based on the motion radius of the robot when performing the exit action in the program data, the robot is judged to meet the safety rules to obtain the fourth judgment result.

[0009] An inspection report is obtained based on the first, second, third, and fourth judgment results.

[0010] In one possible implementation of the first aspect, the security information in the first instruction and the second instruction is stored in corresponding variables, and the information in each variable is compared or judged to obtain a first judgment result, including:

[0011] Store the number of safety signals for the first instruction into the first quantity variable, and store the number of safety signals for the second instruction into the second quantity variable. Determine whether the number of safety zone signals in the first and second quantity variables are consistent. If they are inconsistent, determine that there is a matching error in the first or second instruction, and obtain the matching determination result.

[0012] Store the safety signal sequence number of the first instruction into the first sequence number variable, and store the safety signal sequence number of the second instruction into the second sequence number variable. Determine whether any one of the safety zone signal sequence numbers in the first and second sequence number variables is reasonable. If it is not reasonable, it is determined that the first or second instruction has an incorrect advance / retreat order, and the advance / retreat order result is obtained.

[0013] The first count variable records the number of times the safety signal of the first instruction is used, and the second count variable records the number of times the safety signal of the second instruction is used. It is determined whether the number of times the safety signal is used in the first count variable and the second count variable is greater than the preset value. If it is greater, it is determined that there is a safety error in the first instruction or the second instruction, and a safety judgment result is obtained.

[0014] Based on the matching result, the order of advance and retreat results, and the security result, the first determination result is obtained.

[0015] In one possible implementation of the first aspect, the Chinese characters and punctuation marks in the running program data are judged to obtain a second judgment result, including:

[0016] The system uses a preset judgment method to determine whether there are Chinese characters in the running program data. If they are found, the system determines that there is a Chinese character error in the running program data and obtains the character judgment result.

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

[0018] Based on the character judgment result and the punctuation matching judgment result, the second judgment result is obtained.

[0019] In one 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 a collision risk assessment is performed based on the margin value to obtain a third assessment result, including:

[0020] Based on the radian values ​​of each joint when the robot performs various actions, the radian values ​​are converted using a preset conversion method to obtain the angle values ​​of each joint.

[0021] The angle values ​​of each joint are stored in the angle variable. 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 risk of collision, and the third judgment result is obtained.

[0022] In one possible implementation of the first aspect, based on the motion radius of the robot executing the exit action in the program data, a fourth judgment result is obtained by determining whether the robot complies with safety rules based on the motion radius, including:

[0023] The system determines whether the robot's movement radius when performing the exit action is less than or equal to a preset movement radius threshold in the running program data. If not, the robot's exit action is deemed unreasonable, resulting in the fourth judgment result.

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

[0025] In one possible implementation of the first aspect, the program checking tool is configured according to design rules, including:

[0026] Based on the design rules, a program inspection tool is obtained by configuring the inspection method and the data retrieval method. The data retrieval method is used to call data from the running program data using the interface of the robot's offline program platform.

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

[0028] The acquisition module is used to acquire the running program data of the robot's offline program, as well as the design rules corresponding to the running program data, and to configure the program inspection 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 and second instructions into corresponding variables, compares or judges the information in each variable to obtain the first judgment result; judges the Chinese characters and Chinese punctuation marks in the running program data to obtain the 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 based on the margin value to obtain the third judgment result; and judges whether the robot complies with the safety rules based on the motion radius of the robot's exit action in the running program data to obtain the fourth judgment result.

[0030] The inspection report acquisition module is used to generate an inspection report based on the first judgment result, the second judgment result, the third judgment result, and the fourth judgment result.

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

[0032] Memory, used to store computer programs;

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

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

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

[0036] The automatic robot instruction inspection method based on the PDPS platform provided in this invention obtains the offline program data of the robot and the corresponding design rules. A program inspection tool is configured according to the design rules. The program data is input into the program inspection tool, which stores safety information from the first and second instructions into corresponding variables. The information in each variable is compared or judged to obtain a first judgment result. Chinese characters and punctuation marks in the program data are judged to obtain a second judgment result. Based on the motion parameters in the program data, the margin value of each joint when the robot performs each action is calculated. Collision risk is judged based on the margin value to obtain a third judgment result. Based on the motion radius of the robot's exit action in the program data, the robot's compliance with safety rules is judged based on the motion radius to obtain a fourth judgment result. An inspection report is generated based on the first, second, third, and fourth judgment results. This method improves the accuracy of offline program inspection. Attached Figure Description

[0037] Figure 1 A flowchart illustrating an embodiment of the automatic robot instruction checking method based on the PDPS platform provided by the present invention;

[0038] Figure 2 This is a device block diagram of another embodiment of the automatic robot instruction inspection method based on the PDPS platform provided by the present invention. Detailed Implementation

[0039] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] It should be understood that the step numbers used in the text are for ease of description only and are not intended to limit the order in which the steps are performed.

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

[0042] The terms “comprising” and “including” indicate the presence of the described feature, whole, step, operation, element and / or component, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or collections thereof.

[0043] Therefore, the flowchart of one embodiment of the robot instruction automatic inspection method based on the PDPS platform provided by the present invention is as follows: Figure 1 This includes steps S101 to S103, each of which is detailed below:

[0044] S101. Obtain the running program data of the robot's offline program, and obtain the design rules corresponding to the running program data. Configure the program inspection tool according to the design rules.

[0045] In this embodiment, the running program data of the robot's offline program to be inspected is acquired. Before inspection, a program inspection tool is customized using a programming language, taking into account production line safety requirements, production processes, and customer program standards, and based on the development interface requirements of the PDPS platform. The running program data to be inspected is input into the program inspection tool to achieve automatic inspection of the robot's offline program.

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

[0047] Based on the design rules, a program inspection tool is obtained by configuring the inspection method and the data retrieval method. The data retrieval method is used to call data from the running program data using the interface of the robot's offline program platform.

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

[0049] After designing the inspection tool using a programming language, you need to register it using CommandReg.exe. If the tool conforms to the PDPS platform plugin specification standard, the registration will be successful. After successful registration, you can add the tool to Photoshop. The tool has a clean user interface and is easy to use.

[0050] S102. Input the running program data into the program inspection tool so that the program inspection tool stores the safety information in the first and second instructions into the corresponding variables, compares or judges the information in each variable, and obtains the first judgment result; judges the Chinese characters and Chinese punctuation marks in the running program data and obtains the 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 based on the margin value, and obtains the third judgment result; and judges whether the robot complies with the safety rules based on the motion radius of the robot's exit action in the running program data and obtains the fourth judgment result.

[0051] In this embodiment, after importing the running program data to be inspected into the program inspection tool, safety instruction checks, Chinese character checks, and running control instruction checks can be performed. Specifically, by reading the instructions in the running program data, the information in the instructions for entering and exiting the interference zone is stored in corresponding variables, such as numberOfEntZone and numberOfClsZone, respectively. It is then determined whether the robot's instructions for entering and exiting the interference zone meet the conditions. If not, a safety issue is recorded in the instruction. The Chinese characters and punctuation marks in the running program data are checked using a preset method, ContainChinese.

[0052] By reading motion parameters from the runtime program data, the margins of each joint of the robot are recorded when performing each action. These margin values ​​are used to determine if the robot is at risk of mechanical structural hard-limit collisions during high-speed movement. By reading motion parameters from the runtime program data, it is determined whether the robot's movement when leaving the safe zone meets safety requirements; if not, the safety hazard points are recorded.

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

[0054] Store the number of safety signals for the first instruction into the first quantity variable, and store the number of safety signals for the second instruction into the second quantity variable. Determine whether the number of safety zone signals in the first and second quantity variables are consistent. If they are inconsistent, determine that there is a matching error in the first or second instruction, and obtain the matching determination result.

[0055] Store the safety signal sequence number of the first instruction into the first sequence number variable, and store the safety signal sequence number of the second instruction into the second sequence number variable. Determine whether any one of the safety zone signal sequence numbers in the first and second sequence number variables is reasonable. If it is not reasonable, it is determined that the first or second instruction has an incorrect advance / retreat order, and the advance / retreat order result is obtained.

[0056] The first count variable records the number of times the safety signal of the first instruction is used, and the second count variable records the number of times the safety signal of the second instruction is used. It is determined whether the number of times the safety signal is used in the first count variable and the second count variable is greater than the preset value. If it is greater, it is determined that there is a safety error in the first instruction or the second instruction, and a safety judgment result is obtained.

[0057] Based on the matching result, the order of advance and retreat results, and the security result, the first determination result is obtained.

[0058] In this embodiment, the commands to enter the interference zone and exit the interference zone are stored in two variables (numberOfEntZone and numberOfClsZone) respectively. Then, it is determined whether the number of each type of entry signal and exit signal of the robot in the safe zone matches. If they do not match, it is recorded that there is a safety problem with the command.

[0059] By reading the running program data, the order (index) of the signals entering and exiting the interference zone is stored in separate lists: entZoneIndexList for entering the interference zone and clsZoneIndexList for exiting the interference zone. Finally, the nth index value in both entZoneIndexList and clsZoneIndexList is compared. If the index value of the signal entering the interference zone is greater than the index value of the signal exiting the interference zone, the signal is considered valid; otherwise, it is considered invalid, indicating a security issue with the tool's automatic recording of the command.

[0060] By reading the running program data and recording the number of times the signals for entering and exiting the interference zone are used through int variables, the tool determines whether the number of times the signals for entering and exiting the safe zone are used is safe. If the number of times the signals for entering and / or exiting the safe zone are used is greater than 3, the tool automatically records that there is a safety problem with the instruction.

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

[0062] The system uses a preset judgment method to determine whether there are Chinese characters in the running program data. If they are found, the system determines that there is a Chinese character error in the running program data and obtains the character judgment result.

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

[0064] Based on the character judgment result and the punctuation matching judgment result, the second judgment result is obtained.

[0065] In this embodiment, a regular expression object regex is created using the preset method ContainChinese. This object determines whether the running program data contains Chinese characters within the Unicode range. If Chinese characters are found, "ContainsChinese" is output as true, and the problem is recorded in strCommandsList. Otherwise, false is output, and the problem is not recorded.

[0066] To determine if the robot program contains Chinese punctuation marks that are not supported by the field equipment, common Chinese punctuation marks are first collected in a custom charLibList. A for loop then checks each punctuation mark in the robot program to see if it contains any of the prohibited marks from charLibList. If a mark is found, it is recorded in strCommandsList.

[0067] In some embodiments, 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 judging the collision risk based on the margin value to obtain a third judgment result," includes, but is not limited to, the following steps:

[0068] Based on the radian values ​​of each joint when the robot performs various actions, the radian values ​​are converted using a preset conversion method to obtain the angle values ​​of each joint.

[0069] The angle values ​​of each joint are stored in the angle variable. 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 risk of collision, and the third judgment result is obtained.

[0070] In this embodiment, motion parameters from the running program data are read to record the margin of each joint of the robot when performing each action. The margin value is used to determine whether the robot is at risk of mechanical structural hard-limit collisions during high-speed movement. Specifically, the angle of each robot action is extracted by converting radians to angles and stored in a LocJointValueList. The elements in the List are then compared one by one with the maximum limit angle of each joint to determine the joint safety redundancy. If the margin is unsafe, the problem is 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 for rounding. The converted angle is then stored in a double variable named iointValue.

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

[0073] The system determines whether the robot's movement radius when performing the exit action is less than or equal to a preset movement radius threshold in the running program data. If not, the robot's exit action is deemed unreasonable, resulting in the fourth judgment result.

[0074] In this embodiment, by reading the motion parameters in the running program data, it is determined whether the robot's movement when leaving the safe zone meets the safety requirements. If it is unsafe, the safety hazard is recorded. The radius of the robot's movement when leaving the safe zone is read to determine if it is at its minimum value (FINE). If not, it is recorded in a list named flyByIssuesList for use in outputting the inspection report.

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

[0076] S103. An inspection report is obtained based on 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 based on the first judgment result includes prompts such as: "EnterZone(XX) is missing a match!" or "CloseZone(XX) is missing a match!", "Please check the order of EnterZone(XX) and CloseZone(XX)!", "EnterZone(XX) or CloseZone(XX) is used frequently in the same program, please optimize!", and is accompanied by the corresponding robot name and program name.

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

[0079] The inspection report generated based on the fourth judgment result includes: "The approximation value of the regression interference zone point XXX is unreasonable", along with the corresponding robot name and program name.

[0080] This invention combines programming languages, production line safety requirements, production processes, and customer program standards, and is based on the customizable program inspection tool developed using the PDPS platform's development interface requirements. Deeply integrated with PDPS, it provides a method and code for automatically inspecting offline programs. This tool calculates detailed variables such as offline program instructions within the PDPS software, resulting in higher accuracy and faster speed. It eliminates the need to download programs to a hard drive, making inspection more convenient and efficient. Furthermore, this program inspection tool is applicable to program inspection for various processes (handling, welding, gluing, etc.).

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

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

[0083] The acquisition module is used to acquire the running program data of the robot's offline program, as well as the design rules corresponding to the running program data, and to configure the program inspection 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 and second instructions into corresponding variables, compares or judges the information in each variable to obtain the first judgment result; judges the Chinese characters and Chinese punctuation marks in the running program data to obtain the 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 based on the margin value to obtain the third judgment result; and judges whether the robot complies with the safety rules based on the motion radius of the robot's exit action in the running program data to obtain the fourth judgment result.

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

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

[0087] In one embodiment of this application, a computer device is provided, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above steps. The implementation principle and technical effects of the computer device provided in this embodiment are similar to those of the above method embodiments, and will not be repeated here.

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

[0089] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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 solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention for those skilled in the art.

Claims

1. A method for automatically checking robot instructions based on a PDPS platform, characterized in that, include: Obtain the running program data of the robot's offline program, and obtain the design rules corresponding to the running program data; configure the program inspection tool according to the design rules. The running program data is input into the program inspection tool, so that the program inspection tool stores the security information in the first instruction and the second instruction into the corresponding variables, and compares or judges the security information in each of the variables to obtain the first judgment result; The Chinese characters and 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 a collision risk judgment is made based on 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, the robot is judged to meet the safety rules based on the motion radius to obtain a fourth judgment result. An inspection report is obtained based on the first judgment result, the second judgment result, the third judgment result, and the fourth judgment result; wherein, the step of storing the security information in the first instruction and the second instruction into corresponding variables, and comparing or judging the security information in each of the variables to obtain the first judgment result includes: Store the number of security signals of the first instruction into the first quantity variable, store the number of security signals of the second instruction into the second quantity variable, and determine whether the number of security 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. Store the safety signal sequence number of the first instruction into the first sequence number variable, and store the safety signal sequence number of the second instruction into the second sequence number variable. Determine whether any one of the safety zone signal sequence numbers in the first sequence number variable and the second sequence number variable is reasonable. If it is not reasonable, determine that the first instruction or the second instruction has an incorrect advance / retreat order and obtain the advance / retreat order result. The first count variable is used to record the number of times the safety signal of the first instruction is used, and the second count variable is used to record the number of times the safety signal of the second instruction is used. It is determined whether the number of times the safety signal is used in the first count variable and the second count variable is greater than a preset value. If it is greater, it is determined that there is a safety error in the first instruction or the second instruction, and a safety determination result is obtained. Based on the matching determination result, the advance / retreat order result, and the security determination result, a first determination result is obtained.

2. The automatic robot instruction inspection method based on the PDPS platform as described in claim 1, characterized in that, The step of judging the Chinese characters and Chinese punctuation marks in the running program data to obtain a second judgment result includes: The system uses a preset judgment method to determine whether there are Chinese characters in the running program data. If there are, it determines that there is a Chinese character error in the running program data and obtains the character judgment result. Based on the set character list variable, the Chinese punctuation marks in the running program data are traversed 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 there are, it is determined that there is a punctuation error in the running program data, and the punctuation matching judgment result is obtained. Based on the character judgment result and the punctuation match judgment result, a second judgment result is obtained.

3. The automatic robot instruction inspection method based on the PDPS platform as described in claim 1, characterized in that, Based on the motion parameters in the running program data, the margin value of each joint when the robot performs each action is calculated. A collision risk assessment is then performed based on the margin value to obtain a third assessment result, including: Based on the radian values ​​of each joint when the robot performs each action, the radian values ​​are converted using a preset conversion method to obtain the angle values ​​of each joint. The angle values ​​of each joint are stored in an angle variable. 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 determined that there is a risk of collision, and a third judgment result is obtained.

4. The automatic robot instruction inspection method based on the PDPS platform as described in claim 1, characterized in that, The fourth judgment result is obtained by determining whether the robot complies with safety rules based on the motion radius of the robot's exit action in the running program data, based on the motion radius, including: Determine whether the robot's movement radius when performing the exit action is less than or equal to a preset movement radius threshold in the running program data. If not, determine that the robot's exit action is unreasonable, and obtain the fourth judgment result.

5. The automatic robot instruction inspection method based on the PDPS platform as described in claim 1, characterized in that, The inspection report also includes the robot name and program name corresponding to the first judgment result, the second judgment result, the third judgment result, and the fourth judgment result.

6. The automatic robot instruction inspection method based on the PDPS platform as described in claim 1, characterized in that, The configuration program checking tool according to the design rules includes: Based on the design rules, a check method and a data retrieval method are configured to obtain a program check tool. The data retrieval method is used to call data from the running program data using the interface of the robot offline program platform.

7. An automatic robot instruction inspection device based on the PDPS platform, characterized in that, The method for automatically inspecting robot instructions based on the PDPS platform as described in any one of claims 1 to 6 includes: The acquisition module is used to acquire the running program data of the robot's offline program, as well as the design rules corresponding to the running program data, and to configure the program inspection tool according to the design rules. 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 corresponding variables, compares or judges the safety information in each variable to obtain 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 based on the margin value to obtain a third judgment result; and judges whether the robot complies with the safety rules based on the motion radius of the robot performing the exit action in the running program data to obtain a fourth judgment result. The inspection report acquisition module is used to obtain an inspection report based on the first judgment result, the second judgment result, the third judgment result, and the fourth judgment result.

8. A computer device, characterized in that, include: Memory, used to store computer programs; A processor, configured to implement the automatic robot instruction inspection method based on the PDPS platform as described in any one of claims 1 to 6 when executing the computer program.

9. A storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the automatic robot instruction inspection method based on the PDPS platform as described in any one of claims 1 to 6.

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