Collaborative robot health test system including collaborative robot and computing device and collaborative robot health test method of computing device

Abstract

A method for testing the health of a collaborative robot of a computing device according to the present disclosure comprises: identifying a space in which a collaborative robot is installed and setting a space in which the collaborative robot can operate among the spaces into a plurality of workspaces; determining an operating range of the collaborative robot for the plurality of workspaces; setting test cube boxes for each of the plurality of workspaces based on operating points determined through the operating range; determining a test path corresponding to a path in which the collaborative robot operates based on the test cube boxes; and testing the health of the collaborative robot operating along the test path.

Description

Technology Field

[0001] The present disclosure relates to a collaborative robot health test system comprising a collaborative robot and a computing device, and a collaborative robot health test method of the computing device. Background Technology

[0002] Collaborative robots can improve factory productivity by working alongside other equipment or human operators. However, since collaborative robots work in conjunction with humans, it is crucial to test their reliability in advance. Furthermore, as the operating paths or types of tasks performed by collaborative robots may vary depending on the installation environment, reliability testing may require procedures tailored to the specific setting. The problem to be solved

[0003] The embodiments are for a collaborative robot health test system and method for testing the health of a collaborative robot optimized based on the environment in which the collaborative robot is installed. means of solving the problem

[0004] A method for testing the health of a collaborative robot of a computing device according to one embodiment comprises the steps of: identifying a space in which a collaborative robot is installed and setting a space in which the collaborative robot can operate among the spaces into a plurality of workspaces; determining the operating range of the collaborative robot for the plurality of workspaces; setting test cube boxes for each of the plurality of workspaces based on operating points determined through the operating range; determining a test path corresponding to the path in which the collaborative robot operates based on the test cube boxes; and testing the health of the collaborative robot operating along the test path.

[0005] A collaborative robot health test system according to one embodiment includes a collaborative robot and a computing device that sets a space in which the collaborative robot is installed into a plurality of workspaces, determines an operating range of the collaborative robot for the plurality of workspaces, sets test cube boxes for each of the plurality of workspaces based on operating points determined through the operating range, determines a test path corresponding to a path in which the collaborative robot works based on the test cube boxes, and tests the health of the collaborative robot operating along the test path. Effects of the invention

[0006] According to embodiments, a collaborative robot health test system and method are provided for testing the health of a collaborative robot optimized based on an environment in which the collaborative robot is installed. Brief explanation of the drawing

[0007] FIG. 1 is a drawing for explaining a collaborative robot health test system according to one embodiment. FIG. 2 is a drawing for explaining a collaborative robot test section according to one embodiment. FIG. 3 is a diagram illustrating a computing device that sets up a plurality of workspaces based on an environment in which a collaborative robot is installed according to one embodiment. FIGS. 4 and 5 are drawings for illustrating a computing device for determining the operating range of a collaborative robot for a first workspace according to one embodiment. FIG. 6 is a drawing for explaining a computing device that sets a first test cube box for a first workspace according to one embodiment and sets a first test path based on the first test cube box. FIG. 7 is a drawing for explaining a computing device that determines the operating point of a collaborative robot for a second workspace according to one embodiment. FIG. 8 is a drawing for explaining a computing device that sets a second test cube box for a second workspace according to one embodiment and sets a second test path based on the second test cube box. FIG. 9 is a drawing for explaining a computing device for setting a first test cube box and a second test cube box according to one embodiment. FIG. 10 is a drawing for explaining a computing device that sets a third test path and a fourth test path based on a first test cube box and a second test cube box according to one embodiment. FIG. 11 is a drawing for explaining a test path determined based on a first test cube box and a second test cube box according to one embodiment. FIG. 12 is a flowchart illustrating the operation of a collaborative robot health test system according to one embodiment. Specific details for implementing the invention

[0008] Hereinafter, various embodiments of the present invention will be described in detail with reference to the attached drawings so that those skilled in the art can easily implement the present invention. The present invention may be embodied in various different forms and is not limited to the embodiments described herein.

[0009] To clearly explain the present invention, parts unrelated to the explanation have been omitted, and the same reference numerals are used for identical or similar components throughout the specification.

[0010] Furthermore, the size and thickness of each component shown in the drawings are depicted arbitrarily for convenience of explanation, and thus the present invention is not necessarily limited to what is illustrated. Thicknesses have been enlarged in the drawings to clearly represent various layers and regions. Additionally, for convenience of explanation, the thickness of some layers and regions has been exaggerated in the drawings.

[0011] Furthermore, throughout the specification, when a part is described as "including" a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but may include additional components.

[0013] FIG. 1 is a drawing for explaining a collaborative robot health test system according to one embodiment.

[0014] Referring to FIG. 1, the collaborative robot health test system (10) may include a computing device (100) and a collaborative robot (200).

[0015] In an embodiment, the computing device (100) can control the operation of the collaborative robot (200). In an embodiment, the computing device (100) may include a processor (110), a collaborative robot test unit (120), a memory (130), and an input interface (140).

[0016] In an embodiment, the processor (110) can control the overall operation of the computing device (100).

[0017] In an embodiment, the collaborative robot test unit (120) can test the soundness of the collaborative robot (200). In an embodiment, the collaborative robot test unit (120) can monitor whether the performance of the collaborative robot (200) operating along the test path deteriorates. In an embodiment, the collaborative robot test unit (120) can be implemented as software, hardware, or a combination of software and hardware. In an embodiment, when the collaborative robot test unit (120) is implemented as software, the collaborative robot test unit (120) can be stored in memory (130) and executed by a processor (110).

[0018] In an embodiment, the memory (130) can store data generated by the computing device (100). In an embodiment, the memory (130) can store data related to the health of the collaborative robot.

[0019] In an embodiment, the input interface (140) can receive input from a user of the computing device (100). In an embodiment, the input interface (140) may be a keyboard or a mouse, etc.

[0020] In an embodiment, the collaborative robot (200) may be one of the robots used in an industrial site and may be a robot that performs work in cooperation with humans in the same space.

[0022] FIG. 2 is a drawing for explaining a collaborative robot test section according to one embodiment.

[0023] Referring to FIG. 2, the collaborative robot test unit (120) may include a work environment setting unit (121), a range of motion setting unit (122), a cube box setting unit (123), a test path generation unit (124), and a collaborative robot monitoring unit (125).

[0024] In an embodiment, the work environment setting unit (121) can identify a space where the collaborative robot (200) is installed. In an embodiment, the work environment setting unit (121) can set a space where the collaborative robot (200) can operate among the spaces where the collaborative robot is installed into a plurality of work spaces.

[0025] In an embodiment, the operating range setting unit (122) can determine the operating range of the collaborative robot for a plurality of workspaces. In an embodiment, the operating range setting unit (122) can determine the maximum and minimum points that the collaborative robot can reach for each of the plurality of workspaces as operating points.

[0026] In an embodiment, the cube box setting unit (123) can set test cube boxes based on operating points determined through the operating range of the collaborative robot (200). In an embodiment, the cube box setting unit (123) can determine the operating points as vertices of the test cube boxes and set test cube boxes as a result of connecting the vertices.

[0027] In an embodiment, the test path generation unit (124) can generate a test path corresponding to the path on which the collaborative robot (200) will operate based on test cube boxes. In an embodiment, the test path generation unit (124) can determine a diagonal plane connecting some vertices of the test cube boxes and generate a test path corresponding to the sides of the diagonal plane. In an embodiment, the test path generation unit (124) can generate a path passing through some vertices of the test cube boxes according to an Eulerian circuit as a test path.

[0028] In an embodiment, the collaborative robot monitoring unit (125) can control the collaborative robot to operate according to a test path. In an embodiment, the collaborative robot monitoring unit (125) can test the health of the collaborative robot while the collaborative robot operates according to a test path. In an embodiment, the collaborative robot monitoring unit (125) can monitor whether the performance of the collaborative robot operating according to the test path is degraded.

[0030] FIG. 3 is a diagram illustrating a computing device that sets up a plurality of workspaces based on an environment in which a collaborative robot is installed according to one embodiment.

[0031] Referring to FIG. 3, the work environment setting unit (121) can identify the space where the collaborative robot (200) is installed. In an embodiment, the work environment setting unit (121) can set the space where the collaborative robot (200) is installed into a plurality of work spaces. In an embodiment, the plurality of work spaces may be spaces where the collaborative robot (200) can operate. In an embodiment, the plurality of work spaces may include a first work space (S1), a second work space (S2), and a third work space (S3). In an embodiment, the first work space (S1) may be a space facing the robot arm (210) of the collaborative robot (200) in front. In an embodiment, the second work space (S2) may be a space facing the right side of the collaborative robot (200). In an embodiment, the third work space (S3) may be a space facing the rear side of the collaborative robot (200).

[0032] In an embodiment, the work environment setting unit (121) may set the space where the collaborative robot (200) is installed as a plurality of work spaces where the collaborative robot (200) can work. In an embodiment, if a human or equipment is placed in the third work space (S3), the third work space (S3) may be a space where the collaborative robot cannot operate. In an embodiment, the work environment setting unit (121) may identify the third work space (S3) where a human or equipment is placed and identify the space where the collaborative robot (200) can operate as the first work space (S1) and the second work space (S2). In another embodiment, if the second work space (S2) and the third work space (S3) are spaces where operation is impossible, the work environment setting unit (121) may identify the space where the collaborative robot (200) can operate as the first work space (S1).

[0034] FIGS. 4 and 5 are drawings for illustrating a computing device for determining the operating range of a collaborative robot for a first workspace according to one embodiment.

[0035] In FIGS. 4 and 5, an example is given in which the work environment setting unit (121) sets the first work space (S1) as a space where the collaborative robot (200) can operate.

[0036] Referring to FIGS. 4 and 5, the operating range setting unit (122) can determine the operating range of the collaborative robot (200) for the first workspace (S1). In an embodiment, the operating range setting unit (122) can determine the maximum and minimum points that the collaborative robot (200) can reach for the first workspace (S1) as operating points.

[0037] In an embodiment, the operating range setting unit (122) can determine each of the maximum and minimum points that the collaborative robot (200) can reach in the upper left space of the first workspace (S1), the maximum and minimum points that can reach in the upper right space of the first workspace (S1), the maximum and minimum points that can reach in the lower left space of the first workspace (S1), and the maximum and minimum points that can reach in the lower right space of the first workspace (S1) as operating points.

[0038] In an embodiment, the upper left space of the first workspace (S1) may correspond to the first_1 subspace (S11). In an embodiment, the upper right space of the first workspace (S1) may correspond to the first_2 subspace (S12). In an embodiment, the lower left space of the first workspace (S1) may correspond to the first_3 subspace (S13). In an embodiment, the lower right space of the first workspace (S1) may correspond to the first_4 subspace (S14).

[0039] In an embodiment, the operating range setting unit (122) may determine the maximum point that the collaborative robot (200) can reach for the first_1 subspace (S11) as the first_1 maximum point (P11_MX). In an embodiment, the operating range setting unit (122) may determine the minimum point that the collaborative robot (200) can reach for the first_1 subspace (S11) as the first_1 minimum point (P11_MN). Likewise, the operating range setting unit (122) may determine the maximum and minimum points that the collaborative robot (200) can reach for the first_2 subspace (S12), the first_3 subspace (S13), and the first_4 subspace (S14).

[0041] FIG. 6 is a drawing for explaining a computing device that sets a first test cube box for a first workspace according to one embodiment and sets a first test path based on the first test cube box.

[0042] Referring to FIG. 6(a), the cube box setting unit (123) can set test cube boxes for each of the plurality of workspaces based on the operating points of the collaborative robot (200) determined through the operating range setting unit (122). In the embodiment, the operating points may include maximum and minimum points that the collaborative robot (200) can reach in the plurality of workspaces.

[0043] In an embodiment, the cube box setting unit (123) determines the maximum and minimum points that the collaborative robot (200) can reach in the first workspace (S1) as vertices, and can set a test cube box connecting the vertices. In an embodiment, the maximum and minimum points of the first workspace (S1) may include a first_1 maximum point (S11_MX), a first_1 minimum point (S11_MN), a first_2 maximum point (S12_MX), a first_2 minimum point (S12_MN), a first_3 maximum point (S13_MX), a first_3 minimum point (S13_MN), a first_4 maximum point (S14_MX), and a first_4 minimum point (S14_MN).

[0044] In an embodiment, the first_2 maximum point (S12_MX) and the first_2 minimum point (S12_MN) may be the maximum and minimum points that the collaborative robot (200) can reach in the first_2 subspace (S12). In an embodiment, the first_3 maximum point (S13_MX) and the first_3 minimum point (S13_MN) may be the maximum and minimum points that the collaborative robot (200) can reach in the first_3 subspace (S13). In an embodiment, the first_4 maximum point (S14_MX) and the first_4 minimum point (S14_MN) may be the maximum and minimum points that the collaborative robot can reach in the first_4 subspace (S14).

[0045] In an embodiment, the cube box setting unit (123) can set a first test cube box (CB1) by connecting the first_1 maximum point (S11_MX), the first_1 minimum point (S11_MN), the first_2 maximum point (S12_MX), the first_2 minimum point (S12_MN), the first_3 maximum point (S13_MX), the first_3 minimum point (S13_MN), the first_4 maximum point (S14_MX), and the first_4 minimum point (S14_MN). In an embodiment, the first test cube box (CB1) may be a test cube box for the first workspace (S1).

[0046] Referring to FIG. 6(b), the test path setting unit (124) can set a test path corresponding to the path on which the collaborative robot (200) performs a test operation based on the first test cube box (CB1). In an embodiment, the test path setting unit (124) can determine a diagonal plane connecting some vertices of the first test cube box (CB1) and set a test path along the side of the diagonal plane.

[0047] In an embodiment, the test path setting unit (124) determines a first diagonal plane (DP1) connecting the first_1 maximum point (S11_MX), the first_2 maximum point (S12_MX), the first_3 minimum point (S13_MN), and the first_4 minimum point (S14_MN) of the first test cube box (CB1), and can set a path moving along the edge of the first diagonal plane (DP1) as the first test path (TP1). In the embodiment, the first test path (TP1) may be a path that moves from the first_1 maximum point (S11_MX) to the first_3 minimum point (S13_MN), from the first_3 minimum point (S13_MN) to the first_4 minimum point (S14_MN), from the first_4 minimum point (S14_MN) to the first_2 maximum point (S12_MX), and from the first_2 maximum point (S12_MX) to the first_1 maximum point (S11_MX).

[0048] In an embodiment, the collaborative robot monitoring unit (125) can control the collaborative robot (200) to operate along a first test path (TP1). In an embodiment, the robot arm (210) of the collaborative robot (200) can move along an edge connecting the first_1 maximum point (S11_MX) and the first_3 minimum point (S13_MN), the first_3 minimum point (S13_MN) and the first_4 maximum point (S14_MX), the first_4 maximum point (S14_MX) and the first_2 maximum point (S12_MX), and the first_2 maximum point (S12_MX) and the first_1 maximum point (S11_MX), respectively. In an embodiment, the collaborative robot monitoring unit (125) can test the health of the collaborative robot (200) while the collaborative robot (200) operates along the first test path (TP1).

[0050] FIG. 7 is a drawing for explaining a computing device that determines the operating point of a collaborative robot for a second workspace according to one embodiment.

[0051] In FIG. 7, an example is described of a case where the work environment setting unit (121) sets the second work space (S2) as a space where the collaborative robot (200) can operate.

[0052] Referring to FIG. 7, the operating range setting unit (122) can determine the operating range of the collaborative robot (200) for the second workspace (S2). In an embodiment, the operating range setting unit (122) can determine the maximum and minimum points that the collaborative robot (200) can reach for the second workspace (S2) as operating points.

[0053] In an embodiment, the operating range setting unit (122) can determine, as operating points, each of the maximum and minimum points that the collaborative robot can reach in the 2_1 sub-space (S21) corresponding to the upper left of the 2 workspace (S2), the maximum and minimum points that the robot can reach in the 2_2 sub-space (S22) corresponding to the upper right of the 2 workspace (S2), the maximum and minimum points that the robot can reach in the 2_3 sub-space (S23) corresponding to the lower left of the 2 workspace (S2), and the maximum and minimum points that the robot can reach in the 2_4 sub-space (S24) corresponding to the lower left of the 2 workspace (S2).

[0054] In an embodiment, the operating range setting unit (122) can determine the maximum point that the collaborative robot (200) can reach for the 2_1 sub-space (S21) as the 2_1 maximum point (P21_MX). Likewise, the operating range setting unit (122) can determine the minimum point that the collaborative robot (200) can reach for the 2_1 sub-space (S21).

[0056] FIG. 8 is a drawing for explaining a computing device that sets a second test cube box for a second workspace according to one embodiment and sets a second test path based on the second test cube box.

[0057] Referring to FIG. 8(a), the cube box setting unit (123) can determine the maximum and minimum points that the collaborative robot (200) can reach in the second workspace (S2) as vertices and set up a second test cube box (CB2) connecting the vertices. In the embodiment, the maximum and minimum points of the second workspace (S2) may include a second_1 maximum point (P21_MX), a second_1 minimum point (P21_MN), a second_2 maximum point (P22_MX), a second_2 minimum point (P22_MN), a second_3 maximum point (P23_MX), a second_3 minimum point (P23_MN), a second_4 maximum point (P24_MX), and a second_4 minimum point (P24_MN).

[0058] In an embodiment, the 2_1 maximum point (P21_MX) and the 2_1 minimum point (P21_MN) may be the maximum and minimum points that the collaborative robot (200) can reach in the 2_1 subspace (S21). In an embodiment, the 2_2 maximum point (P22_MX) and the 2_2 minimum point (P22_MN) may be the maximum and minimum points that the collaborative robot (200) can reach in the 2_2 subspace (S22). In an embodiment, the 2_3 maximum point (P23_MX) and the 2_3 minimum point (P23_MN) may be the maximum and minimum points that the collaborative robot (200) can reach in the 2_3 subspace (S23). In the embodiment, the 2_4 maximum point (P24_MX) and the 2_4 minimum point (P24_MN) may be the maximum and minimum points that the collaborative robot (200) can reach in the 2_4 sub-space (S24). In the embodiment, the 2 test cube box (CB2) may be a test cube box for the 2 workspace (S2).

[0059] Referring to FIG. 8(b), the test path setting unit (124) can set a test path corresponding to the path where the collaborative robot (200) performs a test operation based on the second test cube box (CB2). In an embodiment, the test path setting unit (124) can determine a diagonal plane connecting some vertices of the second test cube box (CB2) and set a test path along the side of the diagonal plane.

[0060] In an embodiment, the test path setting unit (124) determines a second diagonal plane (DP2) connecting the second_1 maximum point (P21_MX), the second_2 maximum point (P22_MX), the second_3 minimum point (P23_MN), and the second_4 minimum point (P24_MN) of the second test cube box (CB2), and can set a path moving along the side of the second diagonal plane (DP2) as the second test path (TP2). In the embodiment, the second test path (TP2) may be a path that moves from the second_1 maximum point (P21_MX) to the second_3 minimum point (P23_MN), from the second_3 minimum point (P23_MN) to the second_4 minimum point (P24_MN), from the second_4 minimum point (P24_MN) to the second_2 maximum point (P22_MX), and from the second_2 maximum point (P22_MX) to the second_1 maximum point (P21_MX).

[0061] In an embodiment, the collaborative robot monitoring unit (125) can control the collaborative robot (200) to operate according to a second test path (TP2). In an embodiment, the collaborative robot monitoring unit (125) can test the health of the collaborative robot (200) while the robot arm (210) of the collaborative robot (200) moves along an edge connecting the second_1 maximum point (P21_MX) and the second_3 minimum point (P23_MN), the second_3 minimum point (P23_MN) and the second_4 minimum point (P24_MN), the second_4 minimum point (P24_MN) and the second_2 maximum point (P22_MX), and the second_2 maximum point (P22_MX) and the second_1 maximum point (P21_MX), respectively.

[0063] FIG. 9 is a drawing for explaining a computing device for setting a first test cube box and a second test cube box according to one embodiment.

[0064] In FIG. 9, an example is described of a case where the first workspace (S1) and the second workspace (S2) are set as spaces where the collaborative robot (200) can operate.

[0065] Referring to FIG. 9, the work environment setting unit (121) identifies a space where the collaborative robot (200) is installed and can set a space where the collaborative robot (200) can operate among a plurality of work spaces as a first work space (S1) and a second work space (S2).

[0066] In an embodiment, the operating range setting unit (122) can determine the minimum and maximum points that the collaborative robot (200) can reach for the first workspace (S1) as operating points, and the minimum and maximum points that the collaborative robot (200) can reach for the second workspace (S1) as operating points.

[0067] In an embodiment, the cube box setting unit (123) can generate test cube boxes based on operating points determined by the operating range setting unit (122). In an embodiment, the cube box setting unit (123) can set a first test cube box (CB1) by connecting the operating points of a first workspace (S1) as vertices, and set a second test cube box (CB2) by connecting the operating points of a second workspace (S2) as vertices.

[0069] FIG. 10 is a drawing for explaining a computing device that sets a third test path and a fourth test path based on a first test cube box and a second test cube box according to one embodiment.

[0070] Referring to FIG. 10 (a), the test path setting unit (124) can set a test path based on the first test cube box (CB1) and the second test cube box (CB2).

[0071] In an embodiment, the test path setting unit (124) determines a diagonal plane connecting some vertices of the first test cube box (CB1) and some vertices of the second test cube box (CB2), and can set the sides of the diagonal plane as a test path.

[0072] In an embodiment, the test path setting unit (124) determines a third diagonal plane (DP3) connecting the first_2 maximum point (P12_MX) and the first_3 maximum point (P13_MX) among the vertices of the first test cube box (CB1) and the second_2 maximum point (P22_MX) and the second_4 minimum point (P24_MN) among the vertices of the second test cube box (CB2), and can set a path moving along the edge of the third diagonal plane (DP3) as the third test path (TP3).

[0073] In the embodiment, the third test path (TP3) may be a path in which the robot arm (210) of the collaborative robot (200) moves from the first_2 maximum point (P12_MX) to the first_3 maximum point (P13_MX), from the first_3 maximum point (P13_MX) to the second_4 minimum point (P24_MN), from the second_4 minimum point (P24_MN) to the second_2 maximum point (P22_MX), and from the second_2 maximum point (P22_MX) to the first_2 maximum point (P12_MX).

[0074] In an embodiment, the collaborative robot monitoring unit (125) can test the health of the collaborative robot (200) while the robot arm (210) of the collaborative robot (200) moves along the third test path (TP3).

[0075] Referring to Fig. 10(b), the test path setting unit (124) can determine a fourth diagonal plane (DP4) connecting the first_1 maximum point (P11_MX) and the first_3 minimum point (P13_MN) among the vertices of the first test cube box (CB1) and the second_1 maximum point (P21_MX) and the second_4 maximum point (P24_MX) among the vertices of the second test cube box (CB2), and set a path moving along the edge of the fourth diagonal plane (DP4) as the fourth test path (TP4).

[0076] In the embodiment, the fourth test path (TP4) may be a path in which the robot arm (210) of the collaborative robot (200) moves from the first_1 maximum point (P11_MX) to the first_3 minimum point (P13_MN), from the first_3 minimum point (P13_MN) to the second_4 maximum point (P24_MX), from the second_4 maximum point (P24_MX) to the second_1 maximum point (P21_MX), and from the second_1 maximum point (P21_MX) to the first_1 maximum point (P11_MX).

[0077] In an embodiment, the collaborative robot monitoring unit (125) can test the health of the collaborative robot (200) while the robot arm (210) of the collaborative robot (200) moves along the fourth test path (TP4).

[0079] FIG. 11 is a drawing for explaining a test path determined based on a first test cube box and a second test cube box according to one embodiment.

[0080] Referring to FIG. 11, the test path setting unit (124) can set a fifth test path (TP5) that passes through all the vertices of the first test cube box (CB1) and the second test cube box (CB2) through which the first test path (TP1), the second test path (TP2), the third test path (TP3), and the fourth test path (TP4) pass.

[0081] In an embodiment, the test path setting unit (124) may set a path passing through the vertices of the first test path (TP1), the second test path (TP2), the third test path (TP3), and the fourth test path (TP4) according to an Euler circuit as the fifth test path (TP5). In an embodiment, the fifth test path (TP5) according to the Euler circuit may be a path set to pass through the edges connecting the vertices of the first test cube box (CB1) and the second test cube box (CB2) with minimal overlap.

[0082] In the embodiment, the 5th test path (TP5) goes from the 1_1 maximum point (P11_MX) to the 1_3 minimum point (P13_MN), from the 1_3 minimum point (P13_MN) to the 2_4 maximum point (P24_MX), from the 2_4 maximum point (P24_MX) to the 2_1 maximum point (P21_MX), from the 2_1 maximum point (P21_MX) to the 1_1 maximum point (P11_MX), from the 1_1 maximum point (P11_MX) to the 1_3 minimum point (P13_MN), from the 1_3 minimum point (P13_MN) to the 1_4 minimum point (P14_MN), from the 1_4 minimum point (P14_MN) to the 1_2 maximum point (P12_MX), and from the 1_2 maximum point (P12_MX) to the 1_3 maximum point (P13_MX). From the 1_3 maximum point (P13_MX) to the 2_4 minimum point (P24_MN), from the 2_4 minimum point (P24_MN) to the 2_2 maximum point (P22_MX), from the 2_2 maximum point (P22_MX) to the 2_1 maximum point (P21_MX), from the 2_1 maximum point (P21_MX) to the 2_3 minimum point (P23_MN), from the 2_3 minimum point (P23_MN) to the 2_4 minimum point (P24_MN), from the 2_4 minimum point (P24_MN) to the 2_2 maximum point (P22_MX), from the 2_2 maximum point (P22_MX) to the 1_2 maximum point (P12_MX), and from the 1_2 maximum point (P12_MX) to the 1_1 maximum point (P11_MX) of the collaborative robot (200) The arm (210) may be the path to move.

[0083] In an embodiment, the collaborative robot monitoring unit (125) can control the collaborative robot (200) to operate according to the fifth test path (TP5). In an embodiment, the collaborative robot monitoring unit (125) can test the health of the collaborative robot (200) operating according to the fifth test path (TP5).

[0085] FIG. 12 is a flowchart illustrating the operation of a collaborative robot health test system according to one embodiment.

[0086] Referring to FIG. 12, in S1201, the collaborative robot health test system (10) may set the space where the collaborative robot is installed into a plurality of workspaces. In an embodiment, the plurality of workspaces may be spaces from which the space where the collaborative robot cannot operate is excluded. In an embodiment, the plurality of workspaces may include a space facing the robot arm of the collaborative robot in front, a space facing the left or right side of the collaborative robot, or a space facing the rear side of the collaborative robot.

[0087] In S1203, the collaborative robot health test system (10) can determine the operating range of the collaborative robot for a plurality of workspaces. In an embodiment, the collaborative robot health test system (10) can determine the minimum and maximum points that the collaborative robot can reach for a plurality of workspaces as operating points.

[0088] In S1205, the collaborative robot health test system (10) can set test cube boxes for each of the plurality of workspaces. In an embodiment, the collaborative robot health test system (10) can set a first test cube box for a first workspace among the plurality of workspaces and set a second test cube box for a second workspace among the plurality of workspaces.

[0089] In S1207, the collaborative robot health test system (10) can set a test path based on test cube boxes. In an embodiment, the collaborative robot health test system (10) can determine a diagonal plane connecting some vertices of one of the test cube boxes and set a path moving along the edge of the diagonal plane as a test path. In an embodiment, the collaborative robot health test system (10) can determine a diagonal plane connecting some vertices of the first test cube box and some vertices of the second test cube box among the test cube boxes and set a path moving along the edge of the diagonal plane as a test path. In an embodiment, the collaborative robot health test system (10) can set a path passing through some vertices of the first test cube box and some vertices of the second test cube box according to an Euler circuit as a test path.

[0090] In S1209, the collaborative robot health test system (10) can test the health of the collaborative robot (200) operating along the test path.

[0091] Although embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements by those skilled in the art using the basic concept of the present invention as defined in the following claims also fall within the scope of the present invention. Explanation of the symbols

[0092] 10: Collaborative Robot Health Test System 100: Computing device 110: Processor 120: Collaborative Robot Test Department 121: Work Environment Settings 122: Operating range setting section 123: Cube Box Settings 124: Test path configuration section 125: Collaborative Robot Monitoring Unit 130: Memory 140: Input Interface 200: Collaborative Robot 210: Robotic arm

Claims

Claim 1 A method for testing the health of a collaborative robot of a computing device, comprising: identifying a space in which a collaborative robot is installed and setting a space in which the collaborative robot can operate among the spaces into a plurality of workspaces; determining the operating range of the collaborative robot for the plurality of workspaces; setting test cube boxes for each of the plurality of workspaces based on operating points determined through the operating range; determining a test path corresponding to the path in which the collaborative robot operates based on the test cube boxes; and testing the health of the collaborative robot operating along the test path. Claim 2 A method for testing the health of a collaborative robot of a computing device according to claim 1, wherein the plurality of workspaces include a first workspace facing the robot arm of the collaborative robot, and a second workspace facing the left or right side of the collaborative robot. Claim 3 A method for testing the health of a collaborative robot of a computing device, wherein the step of determining the operating range determines the maximum and minimum points reached by the collaborative robot for each of the plurality of workspaces as the operating points. Claim 4 A method for testing the health of a collaborative robot of a computing device, wherein, in claim 2, the maximum and minimum points are the maximum and minimum points on the left and right sides of the top or bottom of each of the plurality of spaces. Claim 5 A method for testing the health of a collaborative robot of a computing device, wherein, in claim 1, the step of setting the test cube boxes comprises determining the operating points as the vertices of the test cube boxes and generating the test cube boxes for each of the plurality of workspaces based on the vertices. Claim 6 A method for testing the health of a collaborative robot of a computing device, wherein the step of setting the test path in claim 1 comprises determining a diagonal plane connecting some vertices of one of the test cube boxes and setting the test path along the side of the diagonal plane. Claim 7 A method for testing the health of a collaborative robot of a computing device, wherein, in claim 1, the step of setting the test path comprises determining a diagonal plane connecting some vertices of a first test cube box among the test cube boxes and some vertices of a second test cube box among the test cube boxes, and setting the test path along the side of the diagonal plane. Claim 8 A method for testing the health of a collaborative robot of a computing device, wherein the step of setting the test path is to set a path passing through some vertices of a first test cube box among the test cube boxes and some vertices of a second test cube box among the test cube boxes according to an Euler circuit as the test path. Claim 9 A collaborative robot health test system comprising: a collaborative robot; and a computing device that sets a space in which the collaborative robot is installed into a plurality of workspaces, determines the operating range of the collaborative robot for the plurality of workspaces, sets test cube boxes for each of the plurality of workspaces based on operating points determined through the operating range, determines a test path corresponding to the path in which the collaborative robot works based on the test cube boxes, and tests the health of the collaborative robot operating along the test path. Claim 10 A collaborative robot health test system according to claim 9, wherein the plurality of workspaces include a first workspace facing the robot arm of the collaborative robot, and a second workspace facing the left or right side of the collaborative robot. Claim 11 In claim 9, the computing device determines the maximum and minimum points reached by the collaborative robot for each of the plurality of workspaces as the operating points, in a collaborative robot health test system. Claim 12 In claim 9, the computing device determines the maximum and minimum points reached by the collaborative robot for a first workspace among the plurality of workspaces as the first operating points, a collaborative robot health test system. Claim 13 In claim 12, the computing device sets a box in which the first operating points are connected as vertices as the first test cube box among the test cube boxes, a collaborative robot health test system. Claim 14 In claim 13, the computing device determines a diagonal plane connected to some vertices of the first test cube box and sets the test path along the side of the diagonal plane, a collaborative robot health test system. Claim 15 In claim 9, the computing device sets a first test cube box for a first workspace among the plurality of workspaces, sets a second test cube box for a second workspace among the plurality of workspaces, determines a diagonal plane connecting some vertices of the first test cube box and some vertices of the second test cube box, and sets the test path along the side of the diagonal plane, a collaborative robot health test system.

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