CN210650758U - Test system of robot demonstrator - Google Patents
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- CN210650758U CN210650758U CN201921538627.7U CN201921538627U CN210650758U CN 210650758 U CN210650758 U CN 210650758U CN 201921538627 U CN201921538627 U CN 201921538627U CN 210650758 U CN210650758 U CN 210650758U
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Abstract
The utility model relates to a test system of robot demonstrator, wherein, demonstrator is connected to an open controller in order to control robot, and this test system includes: the input device is configured to receive a test case, wherein the test case comprises a plurality of test contents and a plurality of expected outputs; a test control device connected with the input device and configured to operate the demonstrator according to a plurality of test contents; a collecting device connected with the open controller and configured to collect a plurality of actual outputs obtained from the operation demonstrator; and a checking device respectively connected with the collecting device and the test control device and configured to compare the plurality of expected outputs with the plurality of actual outputs and provide a comparison result. According to the utility model discloses a test system of robot demonstrator can test demonstrator and software with effective and automatic mode, and need not to carry out artifical intervention in the testing process after the test begins.
Description
Technical Field
The utility model relates to a test system of robot demonstrator.
Background
The test work of the current robot demonstrator is mainly completed by a manual test mode. Testing by hand can be a huge burden for developers and system testing teams. In certain situations, it is extremely difficult for a system testing team to complete the testing of each version if the development team is required to speed up the release process. In addition, as the test workload increases, the test errors also increase, and some errors cannot be discovered by the system test. Manual testing work can affect the efficiency of the teach pendant test and can also lead to errors and quality problems.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a test system of robot demonstrator, this test system need not artifical the intervention after opening the test procedure, can effectively and automatically test robot demonstrator and software for the test procedure is full automatization. The test system improves the test efficiency, reduces the test errors and improves the stability of the robot demonstrator software. Moreover, the data or information related to the test can be automatically stored in the database during the test or after the test is finished, so that the developer can conveniently remove the fault afterwards.
According to the utility model discloses an aspect, the utility model provides a test system of robot demonstrator, wherein, demonstrator is connected to an open controller and includes with control robot: the input device is configured to receive a test case, wherein the test case comprises a plurality of test contents and a plurality of expected outputs; a test control device connected to the input device and the demonstrator, respectively, and configured to operate the demonstrator according to a plurality of test contents; a collecting device connected with the open controller and configured to collect a plurality of actual outputs obtained from the operation demonstrator; and a checking device respectively connected with the collecting device and the test control device and configured to compare the plurality of expected outputs with the plurality of actual outputs and provide a comparison result. The testing system can automatically test the demonstrator and the software thereof according to the testing requirement, ensure that the use of the demonstrator meets the requirement and ensure that the software effect of the demonstrator is accurate and stable. Moreover, information for determining whether the test is successful or not is collected during the test, and the test result can be stored after the test is completed. The dependence on a severe test system on manpower is avoided, and the full automation of the test process is realized.
According to the utility model discloses an exemplary embodiment of robot teach pendant's test system, input device includes: the loading module is configured to load the test case; the verification module is configured to verify the accuracy of the test case; and the analysis module is configured to analyze the test case into standard format data to be provided for the test control device. The test system can determine whether the test content is accurate to ensure the integrity and stability of the test process.
According to the utility model discloses an exemplary embodiment of robot demonstrator's test system, the loading module is still configured to load new test case when the verification module verifies the failure and/or when the analysis module analysis fails. This provides the possibility of further automating the operation in case of failure to load a test case, so that the test procedure can be successfully completed.
According to an exemplary embodiment of the test system of the robot teach pendant of the present invention, the test control means is further configured to sequentially execute a plurality of test contents according to the behavior tree model to operate the function of the teach pendant. The high automation of the test process is realized by means of the machine learning technology, and the automation efficiency of the test process is improved.
According to the utility model discloses a test system's of robot demonstrator exemplary embodiment, test control device still is configured to the screen-shot that acquires the demonstrator, confirms the position of the button of the function that corresponds respectively with a plurality of test content according to the screen-shot to control the cursor of demonstrator in order to click the button. The control device can identify the function to be operated of the demonstrator according to the image information about the demonstrator by using the image processing technology, thereby realizing the purpose of automatically determining the specific execution process for operating the demonstrator.
According to the utility model discloses a robot demonstrator's test system's exemplary embodiment, test system still includes: a camera, coupled to the collection device, configured to capture an image of the indicator light of the robot or the open controller and provide the image to the collection device. The camera can acquire information that the open controller cannot acquire or record in a direct and visual manner.
According to the utility model discloses a robot demonstrator's test system's exemplary embodiment, test system still includes: and the output device is connected with the checking device and is configured to output the comparison result. The output device can provide the test record and the test result for subsequent processing by a developer.
According to the utility model discloses a robot demonstrator's test system's exemplary embodiment, test system still includes: and the human-computer interaction interface is connected with the output device and is configured to display the comparison result. After the test is finished, an operator can see the test result on the man-machine interaction interface.
According to the utility model discloses a robot demonstrator's test system's exemplary embodiment, test system still includes: a database, coupled to the output device, configured to store the comparison results. The test records and test results can be stored for later use.
According to the utility model discloses a robot demonstrator's test system's exemplary embodiment, test system still includes: and the prompting device is connected with the output device and is configured to provide visual or sound prompt when the test is completed. The operator can determine the completion of the test based on the prompt.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. Like parts are designated by like reference numerals in the drawings. The figures show that:
fig. 1 shows a schematic structural diagram of a test system according to an embodiment of the present invention.
Fig. 2 shows a schematic structural diagram of an input device of a test system according to an embodiment of the present invention.
Fig. 3 shows a schematic structural diagram of a test system according to an embodiment of the present invention.
Description of reference numerals:
10: input device
20: test control device
30: collecting device
40: inspection apparatus
50: output device
60: human-computer interaction interface
70: database with a plurality of databases
80: prompting device
13: loading module
15: verification module
17: analysis module
100: demonstrator
200: open type controller
300: and (6) testing the system.
Detailed Description
In order to make the technical solution of the present invention better understood, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiment of the present invention, all other schemes obtained by a person of ordinary skill in the art without creative work shall belong to the protection scope of the present invention.
It is noted that the terms "comprises" and "comprising" and any variations thereof in the description and claims of the invention and the above-described drawings are intended to cover non-exclusive inclusions, e.g., a product or device comprising a list of elements is not necessarily limited to those elements explicitly listed, but may include other elements not expressly listed or inherent to such product or device.
Fig. 1 shows a schematic structural diagram of a test system 300 according to an embodiment of the present invention. In the embodiment shown in fig. 1, a test system 300 of a robot teach pendant 100 is provided, wherein the teach pendant 100 is connected to an open controller 200 for controlling a robot, the test system 300 comprising: an input device 10 configured to receive a test case, wherein the test case includes a plurality of test contents and a plurality of expected outputs; a test control device 20 connected to the input device 10 and the teach pendant 100, respectively, and configured to operate the teach pendant 100 according to a plurality of test contents; a collecting device 30 connected to the open controller 200 and configured to collect a plurality of actual outputs obtained from the operation demonstrator 100; and a checking device 40, respectively connected to the collecting device 30 and the test control device 20, configured to compare the plurality of expected outputs with the plurality of actual outputs and provide a comparison result. For example, in one embodiment, the test system 300 may be implemented as or contained within an industrial personal computer IPC having multiple interfaces for interfacing and communicating with the open controller 200 and teach pendant 100, respectively, and other auxiliary devices. For example, the industrial personal computer is connected with the open controller 200 and the teach pendant 100 and other auxiliary devices via ethernet. Also, a plurality of devices within the test system 300, i.e., the input device 10, the test control device 20, the collection device 30, and the inspection device 40 are connected via an ethernet or similar network.
In the embodiment of FIG. 1, for example, test cases are implemented as XML formatted files that include input, output, and operational descriptions. For example, moving a robot joint to a defined coordinate position is described in a test case. The input device 10 can load the input test case, analyze the test case into standard format data, and further verify the accuracy of the analyzed data. The test control device 20 is also configured to sequentially execute a plurality of test contents according to the behavior tree model to operate the function of the teach pendant 100. Thus, the plurality of items to be tested described in the test case can be executed in sequence in a one-by-one manner without human intervention. Further, the test control device 20 is also configured to acquire a screen shot of the teach pendant 100, determine positions of buttons of functions corresponding to the plurality of test contents, respectively, from the screen shot, and control a cursor of the teach pendant 100 to click the buttons.
Fig. 2 shows a schematic structural diagram of an input device of a test system according to an embodiment of the present invention. In the embodiment shown in fig. 2, the input device of the test system comprises: a loading module 13 configured to load test cases; a verification module 15 configured to verify the accuracy of the test case; and a parsing module 17 configured to parse the test case into standard format data to be provided to the test control device. The input device can check whether the input test case is accurate or not, and then analyze the checked test case into standard format data.
Fig. 3 shows a schematic structural diagram of a test system 300 according to an embodiment of the present invention. In the embodiment shown in fig. 3, the test system 300 further comprises an output device 50, wherein the output device 50 is connected to the inspection device 40 and configured to output the comparison result. The testing system 300 further comprises a human-computer interface 60, and the human-computer interface 60 is connected with the output device 50 and configured to display the comparison result. The operator may observe and review the test results on the human-machine interface 60 and perform further operations on these results. The test system 300 further comprises a database 70, the database 70 being connected to the output device 50 and configured to store the comparison result. The testing system 300 further includes a prompting device 80, the prompting device 80 being coupled to the output device 50 and configured to provide a visual or audible prompt when the test is completed. For example, the prompting device 80 is implemented as a bell or an indicator light to sound or produce a particular color of light when the test is complete, informing the operator that the test is complete. In addition, the test system 300 also includes a camera, for example, an industrial camera. The camera is connected to the collection device 30, and is configured to acquire an image of the robot or the indicator lamp of the open controller 200 and provide the image to the collection device 30. There may be information that cannot be directly acquired from the open controller 200 or the teach pendant 100, such as indication information of signal communication, and these visual indication information may be photographed by the camera at this time. For example, when an I/O channel needs to be opened, a camera can be used to take a picture to check whether the indicator light is on to determine that the I/O channel was successfully opened.
In the embodiments provided in the present invention, it should be understood that the disclosed technical content can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units or modules is only one logical division, and there may be other divisions when the actual implementation is performed, for example, a plurality of units or modules or components may be combined or integrated into another system, or some features may be omitted or not executed. In addition, the shown or discussed mutual coupling or direct coupling may be indirect coupling through some interfaces, modules or units, and may be in an electrical or other form.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. Test system for a robot teach pendant, wherein the teach pendant (100) is connected to an open controller (200) for controlling a robot, characterized in that the test system (300) comprises:
an input device (10) configured to receive a test case, wherein the test case comprises a plurality of test contents and a plurality of expected outputs;
a test control device (20) connected to the input device (10) and the teach pendant (100), respectively, and configured to operate the teach pendant according to the plurality of test contents;
a collecting device (30) connected to the open controller (200) and configured to collect a plurality of actual outputs obtained from operating the teach pendant; and
a checking device (40), connected to the collecting device (30) and the test control device (20), respectively, configured to compare the plurality of expected outputs with the plurality of actual outputs and to provide a comparison result.
2. The test system according to claim 1, wherein the input device (10) comprises:
a loading module (13) configured to load the test case;
a verification module (15) configured to verify the accuracy of the test case; and
a parsing module (17) configured to parse the test case into standard format data to be provided to the test control device.
3. The test system according to claim 2, wherein the loading module (13) is further configured to load new test cases when the verification module fails verification and/or when the parsing module fails parsing.
4. The test system according to claim 1, wherein the test control device (20) is further configured to execute the plurality of test contents sequentially according to a behavior tree model to operate a function of the teach pendant.
5. The test system according to claim 4, wherein the test control device (20) is further configured to acquire a screenshot of the teach pendant, determine a position of a button of the function corresponding to each of the plurality of test contents from the screenshot, and control a cursor of the teach pendant to click the button.
6. The test system of claim 1, wherein the test system (300) further comprises: a camera connected to the collection device (30) and configured to capture an image of the robot or the open controller indicator light and provide the image to the collection device.
7. The test system of claim 1, wherein the test system (300) further comprises: an output device (50), connected to the checking device (40), is configured to output the comparison result.
8. The test system of claim 7, wherein the test system (300) further comprises: a human-machine interface (60) coupled to the output device (50) and configured to display the comparison result.
9. The test system of claim 7, wherein the test system (300) further comprises: a database (70) coupled to the output device (50) and configured to store the comparison results.
10. The test system of claim 7, wherein the test system (300) further comprises: a prompting device (80), coupled to the output device (50), is configured to provide a visual or audio prompt upon completion of the test.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921538627.7U CN210650758U (en) | 2019-09-16 | 2019-09-16 | Test system of robot demonstrator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921538627.7U CN210650758U (en) | 2019-09-16 | 2019-09-16 | Test system of robot demonstrator |
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| CN210650758U true CN210650758U (en) | 2020-06-02 |
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| CN201921538627.7U Expired - Fee Related CN210650758U (en) | 2019-09-16 | 2019-09-16 | Test system of robot demonstrator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112882930A (en) * | 2021-02-04 | 2021-06-01 | 网易（杭州）网络有限公司 | Automatic testing method and device, storage medium and electronic equipment |
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2019
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112882930A (en) * | 2021-02-04 | 2021-06-01 | 网易（杭州）网络有限公司 | Automatic testing method and device, storage medium and electronic equipment |
| CN112882930B (en) * | 2021-02-04 | 2023-09-26 | 网易（杭州）网络有限公司 | Automatic test method and device, storage medium and electronic equipment |
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