CN114815699A

CN114815699A - System and method for testing robot safety plate

Info

Publication number: CN114815699A
Application number: CN202210483414.9A
Authority: CN
Inventors: 赵杰; 朱显宇; 徐文才
Original assignee: KUKA Robotics Guangdong Co Ltd
Current assignee: KUKA Robotics Guangdong Co Ltd
Priority date: 2022-05-05
Filing date: 2022-05-05
Publication date: 2022-07-29

Abstract

The application discloses a system and a method for testing a robot safety plate. The system comprises: the upper computer is configured to send a power supply control signal to the programmable power supply; the programmable power supply is connected with the upper computer and the safety board and is configured to supply power to the safety board according to a power supply control signal sent by the upper computer; and the signal acquisition device is respectively connected with the upper computer and the safety board, is configured to receive a response signal aiming at the safety board test, and feeds the response signal back to the upper computer. This application replaces traditional artifical monitoring to maintain through the buildding of automatic test system, has shortened the cycle that the safety plate test was verified, has improved the efficiency of software testing and the measuring accuracy of safety plate.

Description

System and method for testing robot safety plate

Technical Field

The present application relates to the field of robotics, and in particular, to a system and method for testing a robot safety plate.

Background

With the rapid development of the Chinese market in the aspect of intelligent manufacturing and the continuous promotion of the automation industry, industrial robots are widely applied to production lines to realize automation. Therefore, the importance of safe operation of robots is becoming increasingly prominent. In order to ensure the safe operation of the industrial robot, the robot control system mostly adopts a safety control module of an independent control system. For example, the robot is stopped in an emergency state by monitoring an input of a safety signal and outputting the safety signal through a certain logic process. In the prior art, for the function test of the robot safety plate, the actual application of a simulation field such as a servo driver, a motion controller and a motor is required to be connected, and whether the function is abnormal or not is displayed by an indicator lamp for observing the response. In the prior art, a real scene is required to be built for the function test of the robot safety plate, more instruments are required, the cost is higher, and the program required to be debugged is complex, so that the test and verification period is longer, and the test precision is lower.

Disclosure of Invention

An object of the embodiments of the present application is to provide a system and a method for testing a robot safety plate, so as to solve the problems of a long test and verification period and a low test precision of the robot safety plate in the prior art.

To achieve the above object, a first aspect of the present application provides a system for testing a robot safety plate, comprising:

the upper computer is configured to send a power supply control signal to the programmable power supply;

the programmable power supply is connected with the upper computer and the safety board and is configured to supply power to the safety board according to a power supply control signal sent by the upper computer; and

and the signal acquisition device is respectively connected with the upper computer and the safety board, is configured to receive a response signal aiming at the safety board test, and feeds the response signal back to the upper computer.

In the embodiment of the application, the system further comprises a logic control device, and the logic control device is respectively connected with the upper computer and the safety board; the host computer is further configured to:

sending a safety control signal to a logic control device;

the logic control device is configured to:

acquiring a safety control signal sent by an upper computer; and

the security control signal is sent to the security pane.

In an embodiment of the present application, the upper computer includes a fault injection module configured to:

sending a target power failure signal to the programmable power supply; and

and sending a target safety fault signal to the logic control device.

In an embodiment of the present application, the upper computer is further configured to:

and verifying whether the safety mechanism of the safety board is effective in the failure mode and whether the function of the safety board meets the preset condition in the non-failure mode according to the response signal.

and displaying the verification result of the upper computer according to the response signal.

In an embodiment of the present application, the programmable power supply is further configured to:

acquiring a power supply control signal sent by an upper computer;

determining a target power value matched with the power control signal according to the power control signal; and

and adjusting the current power supply value to the target power supply value.

In an embodiment of the present application, the target power failure signal includes at least one of:

undervoltage, overvoltage and no power input.

In an embodiment of the application, the target safety failure signal comprises at least one of:

open circuit of the safety signal and short circuit of the safety signal;

the safety signal comprises an emergency stop, a confirmation key, a tri-state enable and a safety door.

The second aspect of the application provides a method for testing robot safety plate, is applied to the host computer, and the host computer is connected with program control power supply and signal acquisition device respectively, and program control power supply and signal acquisition device are connected with the safety plate respectively, and this method includes:

sending a power supply control signal to the programmable power supply;

acquiring a response signal fed back by the safety plate;

verifying whether the safety mechanism of the safety plate is effective or not under the condition that the power supply control signal is a power supply fault signal;

and under the condition that the power supply control signal is not the power supply fault signal, verifying whether the power supply function of the safety board meets a first preset condition.

In this application embodiment, the host computer is further connected with a logic control device, and the logic control device is connected with the safety board, and the method further includes:

sending a safety control signal to a logic control device;

acquiring a response signal fed back by the safety plate;

verifying whether the safety mechanism of the safety plate is effective or not under the condition that the safety control signal is a safety fault signal;

and under the condition that the safety control signal is not a safety fault signal, verifying whether the safety signal function of the safety board meets a second preset condition.

Through the technical scheme, the system for testing the robot safety plate comprises an upper computer, a programmable power supply and a control module, wherein the upper computer is configured to send a power supply control signal to the programmable power supply; the programmable power supply is connected with the upper computer and the safety board and is configured to supply power to the safety board according to a power supply control signal sent by the upper computer; and the signal acquisition device is respectively connected with the upper computer and the safety board, is configured to receive a response signal aiming at the safety board test, and feeds the response signal back to the upper computer. Therefore, the upper computer sends a power supply control signal to the programmable power supply and acquires a response signal fed back by the safety board, and whether the safety mechanism of the safety board is effective or not can be verified under the condition that the power supply control signal is a power supply fault signal; and under the condition that the power supply control signal is not the power supply fault signal, verifying whether the power supply function of the safety board meets a first preset condition. Through the establishment of an automatic test system, the traditional manual monitoring maintenance is replaced, the test verification period of the safety plate is shortened, and the test efficiency and the test precision of the safety plate are improved.

Additional features and advantages of embodiments of the present application will be described in detail in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the embodiments of the disclosure, but are not intended to limit the embodiments of the disclosure. In the drawings:

FIG. 1 schematically illustrates a schematic structural diagram of a system for testing a robotic security pane according to an embodiment of the present application;

FIG. 2 schematically illustrates a block diagram of a system for testing a robotic security pane according to another embodiment of the present application;

FIG. 3 schematically illustrates a block diagram of a system for testing a robotic safety plate, in accordance with yet another embodiment of the present application;

FIG. 4 schematically illustrates a flow diagram of a method for testing a robotic security pane according to an embodiment of the present application;

fig. 5 schematically illustrates a flow diagram of a method for testing a robotic security pane according to another embodiment of the present application.

Description of the reference numerals

110 upper computer 120 program control power supply

130 signal acquisition device 140 safety plate

150 logic control device 111 fault injection module

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it should be understood that the specific embodiments described herein are only used for illustrating and explaining the embodiments of the present application and are not used for limiting the embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that if directional indications (such as up, down, left, right, front, and back … …) are referred to in the embodiments of the present application, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.

In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.

Fig. 1 schematically shows a schematic structural diagram of a system for testing a robotic safety plate according to an embodiment of the application. As shown in fig. 1, an embodiment of the present application provides a system for testing a robot safety plate, which may include:

an upper computer 110 configured to send a power control signal to the programmable power supply 120;

the programmable power supply 120 is connected with the upper computer 110 and the safety board 140 and is configured to supply power to the safety board 140 according to a power supply control signal sent by the upper computer 110; and

and the signal acquisition device 130 is respectively connected with the upper computer 110 and the safety board 140, and is configured to receive a response signal of the safety board 140 and feed the response signal back to the upper computer 110.

The embodiment of the application provides an automatic test platform for a robot function safety board, namely a system for testing the robot safety board, a function safety standard and a function safety verification scheme which accords with the robot safety board. In industrial robot, the safety plate is industrial robot security fence, also called industrial aluminium alloy rail promptly. The safety board outputs a safety function response signal mainly by receiving various double-loop redundant signals related to function safety and then through signal comparison and logic control of the safety signal, and then the safety function response signal is sent to the driver.

The existing function test of the robot safety plate needs to be connected with a servo driver, a motion controller, a motor and other simulation field practical applications, and meanwhile, an indicator lamp for observing response displays whether the function is abnormal or not. The method needs building of a real scene, more required instruments and higher cost, and the program needing debugging is complex, so that the test and verification period is longer, and the test precision is lower.

Therefore, the embodiment of the present application provides a system for testing a robot safety plate, which may include an upper computer 110, a programmable power supply 120, and a signal acquisition device 130. The upper computer 110 is a computer capable of directly issuing a control command, and is generally a PC/host computer/master computer/upper computer, and various signal changes can be displayed on a screen of the upper computer. The programmable power supply 120 adopts microcomputer control, advanced technology, full program control, full key operation, small volume, light weight and convenient carrying, and can be used in laboratories and on-site. The signal acquisition device 130 is a device for acquiring a signal.

In this embodiment, the programmable power supply 120 is connected to the upper computer 110 and the security board 140, so that the programmable power supply 120 can obtain a power control signal sent by the upper computer 110 and supply power to the security board 140 according to the obtained power control signal. The signal acquisition device 130 is connected with the safety plate 140 and the upper computer 110 respectively, so that the signal acquisition device 130 can acquire a response signal of the safety plate 140 and feed the response signal back to the upper computer 110. Therefore, the upper computer 110 verifies whether the safety mechanism of the safety plate 140 is effective or not under the condition that the power supply control signal is a power supply fault signal; or in case the power control signal is not the power failure signal, verifying whether the power function of the security pane 140 satisfies the first preset condition. The first preset condition is whether the output response signal is within a normal range or not under the condition that the power supply control signal is not the power supply fault signal.

In one example, the upper computer 110 of the embodiment of the present application may include a fault injection module, configured to send a target power failure signal to the programmable power supply 120. In this way, the upper computer 110 may transmit the normal power control signal or the power failure signal.

Under the condition of a normal working mode (that is, the upper computer 110 sends a normal power control signal), the upper computer 110 controls the power output to be within a reasonable range. The signal acquisition device 130 acquires a response signal output by the security panel 140 and automatically outputs a test report, so that the upper computer 110 verifies whether the function thereof is normal.

Under the condition of a fault mode (that is, the upper computer 110 sends a power failure signal), the fault injection module of the upper computer 110 injects a target power failure signal, wherein the target power failure signal is a power failure signal to be tested. The upper computer 110 sends the target power failure signal to the programmable power supply 120, so that the programmable power supply 120 controls the safety board 140 according to the target power failure signal, and the safety board 140 outputs a response signal. And further the signal acquisition device 130 feeds back the response signal to the upper computer 110. The upper computer 110 acquires a response signal sent by the signal acquisition device 130, and judges whether a safety mechanism corresponding to the target power failure can be activated. If the corresponding safety mechanism can be excited, the safety mechanism of the system is indicated to be effective, otherwise, the safety mechanism of the system is judged to be ineffective. The target power failure signal may include, but is not limited to: undervoltage, overvoltage and no power input.

Through the technical scheme, the system for testing the safety board of the robot is provided, so that the upper computer sends a power supply control signal to the programmable power supply and acquires a response signal fed back by the safety board. Therefore, whether the safety mechanism of the safety plate is effective or not can be verified under the condition that the power supply control signal is the power supply fault signal; and under the condition that the power supply control signal is not the power supply fault signal, verifying whether the power supply function of the safety board meets a first preset condition. Through the establishment of an automatic test system, the traditional manual monitoring maintenance is replaced, the test verification period of the safety plate is shortened, and the test efficiency and the test precision of the safety plate are improved.

Fig. 2 schematically illustrates a schematic structural diagram of a system for testing a robotic safety plate according to another embodiment of the present application. As shown in fig. 2, in another embodiment of the present application, the system further includes a logic control device 150, and the logic control device 150 is connected to the upper computer 110 and the security board 140 respectively; the host computer 110 may also be configured to:

sending a safety control signal to the logic control device 150;

the logic control apparatus 150 may be configured to:

acquiring a safety control signal sent by the upper computer 110; and

the security control signal is sent to the security pane 140.

In the embodiment of the application, the test of the safety board also comprises a safety function signal test in addition to the power supply function test. Therefore, the system for testing the robot safety guard of the embodiment of the present application further includes a logic control device 150, and the logic control device 150 is connected to the upper computer 110 and the safety guard 140, respectively. The upper computer 110 may send a safety control signal to the logic control device 150 in addition to sending a power control signal to the programmable power supply 120. The logic control device 150 acquires the safety control signal sent by the upper computer 110, sends the safety control signal to the safety board 140, and the safety board 140 outputs a corresponding response signal and feeds the response signal back to the upper computer 110. Therefore, the upper computer 110 verifies whether the safety mechanism of the safety plate 140 is effective or not under the condition that the safety control signal is a safety fault signal; or in case the safety control signal is not the safety failure signal, verifying whether the safety function of the safety plate 140 satisfies the second preset condition. The second preset condition is whether the output response signal is within a normal range or not under the condition that the safety control signal is not the safety fault signal.

In one example, the upper computer 110 of the embodiment of the present application may include a fault injection module for sending a target safety fault signal to the logic control device 150. In this way, the upper computer 110 may transmit both the normal safety control signal and the safety failure signal.

Under the condition of the normal working mode (that is, the upper computer 110 sends a normal safety control signal), the upper computer 110 controls the normal input of the safety function signal. The signal acquisition device 130 acquires a response signal output by the security board 140 and automatically outputs a test report, so that the upper computer 110 verifies whether the function thereof is normal.

Under the condition of a fault mode (that is, the upper computer 110 sends a safety fault signal), the fault injection module of the upper computer 110 injects a target safety fault signal, where the target safety fault signal is a safety fault signal to be tested. The upper computer 110 then transmits the target safety fault signal to the logic control device 150, and the logic control device 150 is connected with the safety signal of the related function of the safety board 140 through a relay and the like, so that the safety board 140 outputs a response signal. And further the signal acquisition device 130 feeds back the response signal to the upper computer 110. The upper computer 110 acquires a response signal sent by the signal acquisition device 130, and judges whether a safety mechanism corresponding to the target safety failure can be activated. If the corresponding safety mechanism can be excited, the safety mechanism of the system is indicated to be effective, otherwise, the safety mechanism of the system is judged to be ineffective. The target safety fault signal may include, but is not limited to: an open circuit of the safety signal and a short circuit of the safety signal. The safety signals comprise emergency stop, confirmation key, tri-state enabling and safety door.

Through the technical scheme, the system for testing the safety board of the robot comprises the logic control device, so that the upper computer sends a safety control signal to the logic control device and acquires a response signal fed back by the safety board. Therefore, whether the safety mechanism of the safety plate is effective or not can be verified under the condition that the safety control signal is the safety fault signal; and under the condition that the safety control signal is not the safety fault signal, verifying whether the safety function of the safety board meets a second preset condition. Through the establishment of an automatic test system, the traditional manual monitoring maintenance is replaced, the test verification period of the safety plate is shortened, and the test efficiency and the test precision of the safety plate are improved.

Fig. 3 schematically shows a schematic structural diagram of a system for testing a robotic safety plate according to yet another embodiment of the present application. As shown in fig. 3, in a further embodiment of the present application, the upper computer 110 may include a fault injection module 111, and the fault injection module 111 may be configured to:

sending a target power failure signal to the programmable power supply 120; and

a target safety failure signal is sent to the logic control device 150.

In the embodiment of the present application, the upper computer 110 includes a fault injection module 111. The fault injection module 111 may include a plurality of fault conditions, such as power supply fault injection and safety signal fault injection. Wherein, the power failure injection is to inject a power failure signal, and the safety signal failure injection is to inject a safety failure signal. Power failure signals include, but are not limited to: undervoltage, overvoltage and no power input; safety fault signals include, but are not limited to: open circuit of the safety signal and short circuit of the safety signal; the safety signal comprises an emergency stop, a confirmation key, a tri-state enable and a safety door.

In this embodiment, the upper computer 110 may send a target power failure signal to the programmable power supply 120, or may send a target safety failure signal to the logic control device 150.

In one example, in the case where the upper computer 110 sends a power failure signal to the programmable power supply 120, the failure injection module of the upper computer 110 injects a target power failure signal, where the target power failure signal is a power failure signal that needs to be tested. The upper computer 110 sends the target power failure signal to the programmable power supply 120, so that the programmable power supply 120 controls the safety board 140 according to the target power failure signal, and the safety board 140 outputs a response signal. And further the signal acquisition device 130 feeds back the response signal to the upper computer 110. The upper computer 110 acquires a response signal sent by the signal acquisition device 130, and judges whether a safety mechanism corresponding to the target power failure can be activated. If the corresponding safety mechanism can be excited, the safety mechanism of the system is indicated to be effective, otherwise, the safety mechanism of the system is judged to be ineffective.

In another example, in the case where the upper computer 110 sends a safety fault signal to the logic control device 150, the fault injection module of the upper computer 110 injects a target safety fault signal, where the target safety fault signal is a safety fault signal that needs to be tested. The upper computer 110 then transmits the target safety fault signal to the logic control device 150, and the logic control device 150 is connected with the safety signal of the related function of the safety board 140 through a relay and the like, so that the safety board 140 outputs a response signal. And further the signal acquisition device 130 feeds back the response signal to the upper computer 110. The upper computer 110 acquires a response signal sent by the signal acquisition device 130, and judges whether a safety mechanism corresponding to the target safety failure can be activated. If the corresponding safety mechanism can be excited, the safety mechanism of the system is indicated to be effective, otherwise, the safety mechanism of the system is judged to be ineffective.

According to the embodiment of the application, the fault injection module 111 is configured in the upper computer 110, and whether the safety plate 140 can be switched between the safety states in time or not is verified through simulating various faults, so that the system for testing the robot safety plate can adapt to various fault environments, the expandability is high, a large amount of simulation equipment is not needed, and the cost is low.

In this embodiment, the upper computer 110 may be further configured to:

it is verified whether the safety mechanism of the safety board 140 is valid in the failure mode and whether the function of the safety board 140 satisfies a preset condition in the non-failure mode according to the response signal.

The upper computer 110 of the embodiment of the present application may send both a normal control signal (e.g., a power failure signal within a reasonable range and a safety control signal within a reasonable range) and a failure signal (e.g., a power failure signal and a safety failure signal), that is, the system may be in a failure mode and a non-failure mode. The signal acquisition device 130 can acquire a response signal of the security panel 140 and feed back the response signal to the upper computer 110. The upper computer 110 verifies whether the safety mechanism of the safety plate 140 is valid in the failure mode and whether the function of the safety plate 140 satisfies the preset condition in the non-failure mode according to the response signal sent by the signal acquisition device 130.

In one example, in the case where the power control signal is a power failure signal, it is verified whether the security mechanism of the security pane 140 is valid; or in case the power control signal is not the power failure signal, verifying whether the power function of the security pane 140 satisfies the first preset condition. The first preset condition is whether the output response signal is within a normal range or not under the condition that the power supply control signal is not the power supply fault signal.

In another example, in the case where the safety control signal is a safety failure signal, it is verified whether the safety mechanism of the safety board 140 is valid; or in case the safety control signal is not the safety failure signal, verifying whether the safety function of the safety plate 140 satisfies the second preset condition. The second preset condition is whether the output response signal is within a normal range or not under the condition that the safety control signal is not the safety fault signal.

The upper computer 110 of the embodiment of the application can automatically verify whether the safety mechanism of the safety plate 140 is effective in the failure mode or not and also can automatically verify whether the function of the safety plate 140 meets the preset condition or not in the non-failure mode. Through the establishment of an automatic test system, the traditional manual monitoring maintenance is replaced, the test verification period of the safety plate is shortened, and the test efficiency and the test precision of the safety plate are improved.

In this embodiment, the upper computer 110 may be further configured to:

and displaying the verification result of the upper computer 110 according to the response signal.

Specifically, the upper computer 110 further includes a display module (not shown in the figure), which can display information such as a verification result and a response signal in real time. Therefore, the user can more intuitively and efficiently obtain the current test result, and the test efficiency and the user experience are improved.

In an embodiment of the present application, the programmable power supply 120 may be further configured to:

acquiring a power supply control signal sent by the upper computer 110;

and adjusting the current power supply value to the target power supply value.

Specifically, the programmable power supply 120 is controlled by a microcomputer, has advanced technology, full program control and full key operation, small volume, light weight and convenient carrying, and can be used in laboratories and on-site.

In this embodiment, the programmable power supply 120 is connected to the upper computer 110 and the security board 140, so that the programmable power supply 120 can obtain a power supply control signal sent by the upper computer 110, and determine a target power supply value matched with the power supply control signal according to the obtained power supply control signal. For example, if the power control signal is no power input, the programmable power supply 120 does not input power to the security board 140, and the current power value is adjusted to 0V. In this way, the input signal of the security pane 140 may be adjusted according to the power control signal, making the test more flexible and efficient.

In an embodiment of the present application, the target power failure signal may include at least one of:

undervoltage, overvoltage and no power input.

Specifically, as shown in table 1, the target power failure may include, but is not limited to, an undervoltage, an overvoltage, and no power input, and correspondingly, in the case of the undervoltage, the overvoltage, and the no power input, whether a responsive safety mechanism can be triggered to determine whether the safety mechanism corresponding to the power failure is effective.

TABLE 1

Detecting items	Determination request
		Under-voltage	Security mechanism capable of triggering response
Overpressure	Security mechanism capable of triggering response
		Powerless input	Security mechanism capable of triggering response

In an embodiment of the present application, the target safety failure signal may include at least one of:

open circuit of safety signal and short circuit of safety signal;

Specifically, as shown in table 2, the target safety fault signal may include, but is not limited to, a safety signal open and a safety signal short. The safety signal comprises an emergency stop, a confirmation key, a tri-state enable and a safety door. For example, the target safety faults may include a safety signal short to 24V, a safety signal short to GND, a safety signal open, and a safety signal-to-safety signal short. The safety signals can comprise E-STOP A or B, E-STOP A and B, a safety door signal and a tri-state enabling signal lamp.

TABLE 2

It should be noted that the fault signals according to the embodiments of the present application are not limited to the fault signals shown in the above table. Other fault signals that can test the security pane are also possible. The specific fault signal is configured at the fault injection module.

Fig. 4 schematically illustrates a flow diagram of a method for testing a robotic security pane according to an embodiment of the present application. As shown in fig. 4, an embodiment of the present application provides a method for testing a robot safety plate, which is applied to an upper computer, the upper computer may be connected to a programmable power supply and a signal acquisition device, and the programmable power supply and the signal acquisition device may be connected to the safety plate, respectively, and the method may include the following steps:

step 401, sending a power control signal to the programmable power supply;

step 402, obtaining a response signal fed back by the safety plate;

step 403, verifying whether the safety mechanism of the safety plate is effective or not under the condition that the power supply control signal is a power supply fault signal;

and step 404, verifying whether the power supply function of the safety plate meets a first preset condition or not under the condition that the power supply control signal is not a power supply fault signal.

In this application embodiment, the program-controlled power supply is connected with host computer and safety plate respectively, and like this, the program-controlled power supply can acquire the power control signal that the host computer sent to power for the safety plate according to the power control signal who acquires. The signal acquisition device is respectively connected with the safety plate and the upper computer, so that the signal acquisition device can acquire the response signal of the safety plate and feed the response signal back to the upper computer. Therefore, the upper computer verifies whether the safety mechanism of the safety plate is effective or not under the condition that the power supply control signal is a power supply fault signal; or verifying whether the power supply function of the safety board meets the first preset condition or not under the condition that the power supply control signal is not the power supply fault signal. The first preset condition is whether the output response signal is within a normal range or not under the condition that the power supply control signal is not the power supply fault signal.

In one example, the upper computer of the embodiment of the present application may include a fault injection module, configured to send a target power failure signal to the programmable power supply. Therefore, the upper computer can send a normal power supply control signal and also can send a power supply fault signal.

Under the condition of a normal working mode (namely the upper computer sends a normal power supply control signal which is not a power supply fault signal), the upper computer controls the power supply to output in a reasonable range. The signal acquisition device acquires a response signal output by the safety plate and automatically outputs a test report so that the upper computer verifies whether the function of the upper computer is normal.

Under the condition of a fault mode (namely that the upper computer sends a power supply fault signal, and the power supply control signal is the power supply fault signal), a fault injection module of the upper computer injects a target power supply fault signal, wherein the target power supply fault signal is the power supply fault signal to be tested. And the upper computer sends the target power supply fault signal to the program-controlled power supply so that the program-controlled power supply controls the safety board according to the target power supply fault signal and the safety board outputs a response signal. And then the signal acquisition device feeds the response signal back to the upper computer. The upper computer obtains a response signal sent by the signal acquisition device and judges whether a safety mechanism corresponding to the target power failure can be excited. If the corresponding safety mechanism can be excited, the safety mechanism of the system is indicated to be effective, otherwise, the safety mechanism of the system is judged to be ineffective. The target power failure signal may include, but is not limited to: undervoltage, overvoltage and no power input.

By the technical scheme, whether the safety mechanism of the safety plate is effective or not can be verified under the condition that the power supply control signal is the power supply fault signal; and under the condition that the power supply control signal is not the power supply fault signal, verifying whether the power supply function of the safety board meets a first preset condition. Through the establishment of an automatic test system, the traditional manual monitoring maintenance is replaced, the test verification period of the safety plate is shortened, and the test efficiency and the test precision of the safety plate are improved.

Fig. 5 schematically illustrates a flow diagram of a method for testing a robotic security pane according to another embodiment of the present application. As shown in fig. 5, in another embodiment of the present application, the upper computer may further be connected to a logic control device, and the logic control device may be connected to the security board, and the method may further include the following steps:

step 501, sending a safety control signal to a logic control device;

step 502, acquiring a response signal fed back by a safety plate;

step 503, verifying whether the safety mechanism of the safety plate is effective under the condition that the safety control signal is a safety fault signal;

and step 504, under the condition that the safety control signal is not the safety fault signal, verifying whether the safety signal function of the safety board meets a second preset condition.

In the embodiment of the application, the test of the safety board also comprises a safety function signal test in addition to the power supply function test. Therefore, the system for testing the robot safety board in the embodiment of the application further comprises a logic control device, and the logic control device is respectively connected with the upper computer and the safety board. The upper computer can send power control signals to the program control power supply and can also send safety control signals to the logic control device. The logic control device acquires a safety control signal sent by the upper computer, sends the safety control signal to the safety board, and the safety board outputs a corresponding response signal and feeds the response signal back to the upper computer. Therefore, the upper computer verifies whether the safety mechanism of the safety plate is effective or not under the condition that the safety control signal is a safety fault signal; or verifying whether the safety function of the safety plate meets a second preset condition or not under the condition that the safety control signal is not the safety fault signal. The second preset condition is whether the output response signal is within a normal range or not under the condition that the safety control signal is not the safety fault signal.

In one example, the upper computer of the embodiment of the present application may include a fault injection module, configured to send a target safety fault signal to the logic control device. Therefore, the upper computer can send normal safety control signals and safety fault signals.

Under the condition of a normal working mode (namely that the upper computer sends a normal safety control signal), the upper computer controls the normal input of a safety function signal. The signal acquisition device acquires a response signal output by the safety plate and automatically outputs a test report so that the upper computer verifies whether the function of the upper computer is normal.

Under the condition of a fault mode (namely that the upper computer sends a safety fault signal), a fault injection module of the upper computer injects a target safety fault signal, wherein the target safety fault signal is the safety fault signal to be tested. The upper computer sends the target safety fault signal to the logic control device, and the logic control device is connected with the safety board related function safety signal through a relay and the like so that the safety board outputs a response signal. And then the signal acquisition device feeds the response signal back to the upper computer. The upper computer obtains a response signal sent by the signal acquisition device and judges whether a safety mechanism corresponding to the target safety fault can be excited or not. If the corresponding safety mechanism can be excited, the safety mechanism of the system is indicated to be effective, otherwise, the safety mechanism of the system is judged to be ineffective. The target safety fault signal may include, but is not limited to: an open circuit of the safety signal and a short circuit of the safety signal. The safety signals include emergency stop, confirmation key, tri-state enable and safety door.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.

The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A system for testing a robotic safety plate, comprising:

the program-controlled power supply is connected with the upper computer and the safety board and is configured to supply power to the safety board according to the power supply control signal sent by the upper computer; and

the signal acquisition device is respectively connected with the upper computer and the safety board, is configured to receive a response signal aiming at the safety board test, and feeds the response signal back to the upper computer.

2. The system of claim 1, further comprising a logic control device, wherein the logic control device is respectively connected with the upper computer and the safety board; the upper computer is further configured to:

sending a safety control signal to the logic control device;

the logic control apparatus is configured to:

acquiring a safety control signal sent by the upper computer; and

sending the security control signal to the security pane.

3. The system of claim 2, wherein the upper computer comprises a fault injection module configured to:

sending a target power failure signal to the programmable power supply; and

and sending a target safety fault signal to the logic control device.

4. The system of claim 1, wherein the host computer is further configured to:

and verifying whether the safety mechanism of the safety plate is effective in the failure mode and whether the function of the safety plate meets the preset condition in the non-failure mode according to the response signal.

5. The system of claim 1, wherein the host computer is further configured to:

6. The system of claim 1, wherein the programmed power supply is further configured to:

acquiring a power supply control signal sent by the upper computer;

adjusting a current power supply value to the target power supply value.

7. The system of claim 3, wherein the target power failure signal comprises at least one of:

undervoltage, overvoltage and no power input.

8. The system of claim 3, wherein the target safety failure signal comprises at least one of:

open circuit of the safety signal and short circuit of the safety signal;

9. A method for testing a robot safety plate is applied to an upper computer, the upper computer is respectively connected with a programmable power supply and a signal acquisition device, the programmable power supply and the signal acquisition device are respectively connected with the safety plate, and the method comprises the following steps:

sending a power supply control signal to the programmable power supply;

acquiring a response signal fed back by the safety plate;

verifying whether a safety mechanism of the safety plate is effective or not under the condition that the power supply control signal is a power supply fault signal;

10. The method of claim 9, wherein the host computer is further connected to a logic control device, the logic control device being connected to the security pane, the method further comprising:

sending a safety control signal to the logic control device;

acquiring a response signal fed back by the safety plate;

verifying whether the safety mechanism of the safety board is effective or not under the condition that the safety control signal is a safety fault signal;

and under the condition that the safety control signal is not the safety fault signal, verifying whether the safety signal function of the safety board meets a second preset condition.