CN115687137A - Automatic testing method and device for industrial robot, demonstrator and storage medium - Google Patents

Abstract

The invention discloses an automatic testing method and device of an industrial robot, a demonstrator and a storage medium, and relates to the technical field of industrial robots. The method comprises the following steps: monitoring and recording an operation instruction input by a user, wherein the operation instruction comprises the operation of at least one function point in at least one function module of the demonstrator; generating at least one test scene according to the operation instruction; and if a test instruction of a target test scene is received, acquiring a test case matched with the functional module and the functional point of the target test scene from a test case library according to the target test scene, and executing the test case. The automatic testing method can greatly improve the testing efficiency, accelerate the release process of the product version and reduce the misoperation of manual testing.

Description

Automatic testing method and device for industrial robot, demonstrator and storage medium

Technical Field

The invention relates to the technical field of industrial robots, in particular to an automatic testing method and device of an industrial robot, a demonstrator and a storage medium.

Background

With the development of industry, industrial robots are more and more widely applied in the manufacturing industry, and a robot system can complete various high-precision and high-risk works, so that the completion efficiency is high, and the precision is greatly higher than that of manual operation. Therefore, compared with other common application software or systems, the robot system has higher testing requirements, and the running accuracy of the robot is ensured.

At present, a test tool based on an embedded system is deficient, a test means is relatively single, particularly, a test method for a robot system is still deficient, problems of error test, missing test and the like are easily caused by manual test, and the automation degree is low. Although the existing robot system can perform function test on a plurality of software in the system one by one and also perform comprehensive function test on the whole system software, when the number of test instructions is large, especially under the conditions of many regression test function modules and wide test range, the test efficiency is still not high enough, and mistakes are easily made when a large number of test instructions are manually input.

Disclosure of Invention

The embodiment of the invention provides an automatic testing method and device of an industrial robot, a demonstrator and a storage medium, and aims to solve the problem of low automatic testing efficiency of the existing industrial robot.

In a first aspect, an embodiment of the present invention provides an automatic testing method for an industrial robot, which is applied to a teach pendant, and the method includes: monitoring and recording an operation instruction input by a user, wherein the operation instruction comprises the operation of at least one function point in at least one function module of the demonstrator; generating at least one test scene according to the operation instruction, wherein the test scene is formed by at least one function point in at least one function module; and if a test instruction of a target test scene is received, acquiring a test case matched with the functional module and the functional point of the target test scene from a test case library according to the target test scene, and executing the test case.

In a second aspect, an embodiment of the present invention further provides an automatic testing apparatus for an industrial robot, which is applied to a teach pendant, and includes: the monitoring unit is used for monitoring and recording an operation instruction input by a user, wherein the operation instruction comprises the operation of at least one function point in at least one function module of the demonstrator; the generating unit is used for generating at least one test scene according to the operation instruction, wherein the test scene is formed by at least one function point in at least one function module; and the test unit is used for acquiring a test case matched with the functional module and the functional point of the target test scene from a test case library according to the target test scene and executing the test case if a test instruction of the target test scene is received.

In a third aspect, an embodiment of the present invention further provides a teach pendant, where the teach pendant includes a chamber, a memory, and a processor, where the memory stores a computer program, and the processor implements the method as described above when executing the computer program.

In a fourth aspect, the present invention also provides a computer-readable storage medium, which stores a computer program, and the computer program can implement the above method when being executed by a processor.

The embodiment of the invention provides an automatic testing method and device of an industrial robot, a demonstrator and a storage medium. Wherein the method comprises the following steps: monitoring and recording an operation instruction input by a user, wherein the operation instruction comprises the operation of at least one function point in at least one function module of the demonstrator; generating at least one test scene according to the operation instruction, wherein the test scene is formed by at least one function point in at least one function module; and if a test instruction of a target test scene is received, acquiring a test case matched with the functional module and the functional point of the target test scene from a test case library according to the target test scene, and executing the test case. According to the technical scheme of the embodiment of the invention, the test scene is generated by monitoring and recording the operation instructions daily input by the user on the demonstrator, so that the demonstrator can execute the test scene when executing the automatic test, a large number of test instructions do not need to be manually input, the situation of false test and missed test is avoided, and the test efficiency is greatly improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic flow chart of an automatic testing method for an industrial robot according to an embodiment of the present invention;

fig. 2 is a schematic sub-flow diagram of an automatic testing method for an industrial robot according to an embodiment of the present invention;

fig. 3 is a schematic flow chart of an automatic testing method for an industrial robot according to another embodiment of the present invention;

fig. 4 is a schematic flow chart of an automatic testing method for an industrial robot according to another embodiment of the present invention;

fig. 5 is a schematic flow chart of an automatic testing method for an industrial robot according to still another embodiment of the present invention;

fig. 6 is a schematic flow chart of an automatic testing method for an industrial robot according to yet another embodiment of the present invention;

fig. 7 is a schematic block diagram of an automatic testing apparatus of an industrial robot according to an embodiment of the present invention; and

fig. 8 is a schematic block diagram of a teach pendant according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. 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 invention.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".

Fig. 1 is a schematic flow chart of an automatic testing method for an industrial robot according to an embodiment of the present invention. The automatic testing method of the industrial robot is applied to a demonstrator, an automatic testing tool is installed in the demonstrator, and the tool is integrated by a plurality of units and plug-ins and installed in the robot demonstrator. The teaching machine has a human-computer interaction interface, is a handheld device for carrying out manual operation, programming, parameter configuration and monitoring of the robot, and an operator controls the robot to execute movement or other operations by using the teaching machine. As shown in fig. 1, the method includes the following steps S110-S130.

S110, monitoring and recording an operation instruction input by a user, wherein the operation instruction comprises the operation of at least one function point in at least one function module of the demonstrator.

In this embodiment, the user inputs various operation instructions in the teach pendant on a daily basis, and the operation instructions may be a click operation, an input operation, a slide operation, or the like, which is not limited herein. For example, clicking a program editing module, inputting a value assignment instruction and the like, which all belong to operation instructions. The demonstrator is provided with a plurality of functional modules, and each functional module is provided with a plurality of functional points. Specifically, the function modules of the demonstrator mainly include: the system comprises a program editing module, a manual operation module, an automatic production module, a backup and recovery module, a control panel module, an IO module, an event log module and the like, wherein a plurality of large and small functional points are arranged under each large functional module. The program editing module has a project management function and can create and load a project, the program editing module also has a program data function, variables belonging to project files can be created and assigned, and the program editing module also has a function of inserting a robot motion instruction and executing motion. The automatic production module is used for operating the engineering files in an automatic mode. The manual operation module can be used for teaching and modifying the position points of the robot, can be used for switching a coordinate system and can be used for viewing the coordinate position of the robot. The event log can monitor whether the robot gives an alarm or not and record the alarm and other operation information. The demonstrator monitors various operation instructions of the user on the demonstrator at any time, records and stores various operation instructions input by the user, so that the subsequent automatic test can reproduce the original operation of the user according to the records, a tester does not need to input the test instruction again during testing, the situations of mistest and missed test are avoided, and the testing efficiency is improved.

And S120, generating at least one test scene according to the operation instruction.

In this embodiment, software testing of an existing industrial robot is generally performed for each function one by one. However, the test based on a single or some functional points can not cover or satisfy the application scenario of the client, and has no practical user value. Therefore, the test scenario in this embodiment is formed by at least one function point in at least one function module, for example, a test scenario may be formed by a plurality of function points in a plurality of function modules together. That is to say, when the test of the test scenario is executed, a plurality of function points in a plurality of function modules can be tested at one time, similar to a test set with a plurality of function points, all the function points in the set are tested during the test, and the test is not required to be performed on a function point-by-function point basis, so that the test efficiency is greatly improved.

More importantly, the test scenes are generated by the instruction operation of the user, that is, the user can input different operation instructions according to different service scenes to generate different test scenes. For the user, the user's use of various functions in operating the teach pendant generates one or more specific end-to-end business scenarios. The end-to-end service scenario refers to a service flow generated based on an actual use scenario of a user, and the end-to-end test is performed from the perspective of the user to consider how to fully cover the tested function points. An end-to-end service scenario may be a service flow including a plurality of function points of a plurality of function modules, and this service flow may form a plurality of test scenarios, and in actual operation, the service scenario often includes a plurality of test scenarios. For example, a user loads a project in program editing, inserts a plurality of motion instructions into the project, manually teaches position points for each instruction, manually enables the project to run the program, then switches to an automatic mode on an automatic production interface, automatically enables the program to run, and checks the coordinate position of the robot instruction running on a manual operation interface.

It can be seen that, according to the embodiment, one or more specific service scenes are generated according to the recorded user operation instructions, wherein the service scenes comprise various functional modules of the robot demonstrator and cover end-to-end user use scenes. All end-to-end service scenes can be generated into different test scenes by arranging and combining all function points of all function modules on the demonstrator.

In a specific implementation, the step of generating at least one test scenario according to the operation instruction includes: and arranging and combining the function points in the function module according to a preset rule to generate different test scenes. Specifically, the preset rule refers to a rule for arranging and combining each function module and each function point, and the preset rule is in various manners, for example, the function modules and the function points may be arranged and combined according to an operation sequence of a user on a teach pendant, or a plurality of function points may be combined together according to a principle of similar functions, which is of course understood that other rules may also be used. And is not limited thereto.

S130, if a test instruction of a target test scene is received, obtaining a test case matched with the functional module and the functional point of the target test scene from a test case library according to the target test scene, and executing the test case.

In this embodiment, the test case library stores a plurality of test cases for controlling the industrial robot to perform a test, and when the test cases are executed, the industrial robot operates to perform a corresponding action. The target test scene refers to a test scene selected by a user, because a plurality of test scenes are generated in the demonstrator, the user can select one of the test scenes to test, and the selected test scene is the target test scene. The test scenes and the test cases have corresponding matching relations, and one test scene can correspond to a plurality of test cases. Specifically, the test scenario is composed of function points under the function module, and the function points are tested, that is, the test cases corresponding to the function points are executed, where one function point may correspond to one test case or to multiple test cases, and is not limited herein. All test cases in the test case library are preset and stored in the case library. When the demonstrator executes the automatic test, the demonstrator matches the test cases in the test case library according to the test scene, and leads out the matched test cases to execute the test instead of directly executing the test cases. That is to say, compared with the existing method of directly executing the test case for testing, in the embodiment, when the automated test is executed, the generated test scenario can be automatically triggered, and according to the imported case library, the test scenario library is automatically matched with the case library, and all test cases related to functions in the test scenario are selected from the test scenario library to be executed, so that the scenic test is completed, and the test efficiency is improved.

In one embodiment, as shown in fig. 2, the step S130 includes: S131-S133.

S131, acquiring keywords of the functional module and the functional point in the target test scene;

s132, inquiring the test cases matched with the keywords in a test case library according to the keywords;

s131, exporting the matched test case.

In this embodiment, there are various ways of matching the test scenario and the test case, and this embodiment provides a better implementation way, and matching is performed through keywords, but it is understood that other matching ways may also be used. Specifically, after the user selects the target test scenario, it determines the functional modules and functional points to be tested next, and each functional module and functional point has its corresponding name, for example, a program editing module, a manual operation module, an automatic production module, a backup recovery module, a control panel module, an IO module, and an event log module. Each module has corresponding keywords such as edit, manual, automatic, backup, control, IO, log, etc. Generally, the naming of the test cases is also related to the naming of the tested functions, so that all the test cases related to the functions in the test scene can be obtained through keyword query matching, the matched test cases are further exported, and the exported test cases are executed to finish the automatic test of the test scene.

In an embodiment, as shown in fig. 3, the method for automatic testing of an industrial robot further comprises the steps of: S141-S143.

S141, acquiring an actual track of the industrial robot moving according to the test case;

s142, judging whether the actual track is the same as a preset expected track;

and S143, if the actual track is different from the preset expected track, judging that the industrial robot runs abnormally.

In this embodiment, the existing system cannot analyze the running trajectory and running accuracy of the robot. Therefore, in the embodiment, firstly, the demonstrator generates the expected operation track, the expected operation track and the preset expected track of the program instruction by itself according to the motion instruction inserted in the program editor. The preset expected trajectory can be stored in a memory, and the preset expected trajectory can be directly called for comparison when comparison is carried out. When the industrial robot executes the test case, the actual motion track of the industrial robot is obtained in real time, and the actual motion track can be recognized through a CCD visual system. And after the actual track is obtained, comparing the actual track with a preset expected track, and judging whether the actual track and the preset expected track are the same. Judging whether the two tracks are the same or not can be judging whether the difference value of the two tracks exceeds a threshold value, if so, indicating that the actual track is different from the preset expected track, and judging that the industrial robot runs abnormally; if the actual track is not the same as the preset expected track, the industrial robot is judged to operate normally. Of course, other determination methods are also possible, and are not limited herein. Whether the robot moves according to the expectation of the inserted motion instruction is judged by comparing the actual track with the preset expected track, and then the abnormal operation detection of the industrial robot is realized.

In an embodiment, as shown in fig. 4, the method for automatic testing of an industrial robot further comprises the steps of: S151-S152.

S151, obtaining a test result of executing the test case, wherein the test result comprises a test result of each function point;

and S152, generating a test report according to the test result.

In this embodiment, the operation in the current robot system test execution process does not have any information record, so that it is difficult to reproduce the defect according to the actual operation steps, and the specific problem cannot be located. When the automatic test is executed, the test result corresponding to each functional point can be recorded to form a report, so that the functional points where the defects are located can be automatically positioned when the test result is analyzed, and a tester can conveniently and quickly find the problem.

In an embodiment, as shown in fig. 5, the method for automatic testing of an industrial robot further comprises the steps of: S161-S164.

S161, acquiring an actual track of the industrial robot moving according to the test case;

s162, identifying an actual action instruction corresponding to the actual track according to a robot motion algorithm;

s163, judging whether the actual action instruction is the same as a preset expected instruction or not;

and S164, if the actual action command is different from the preset expected action command, judging that the industrial robot runs abnormally.

In this embodiment, since it is necessary to consume much computing resources and computing time to determine whether the operation of the industrial robot is abnormal through comparison of the motion trajectories, this embodiment provides a manner capable of quickly identifying whether the operation of the industrial robot is abnormal. Specifically, the obtained actual robot running track is sent to a program analysis plug-in, an actual action instruction corresponding to the track is obtained through robot motion algorithm analysis, and then is compared with a preset expected action instruction actually inserted into a program editor of a demonstrator to judge whether the actual robot running track meets the expectation. The actual action instruction refers to an instruction obtained by identification according to the actual motion track of the robot. The preset expected instruction refers to an instruction corresponding to the teaching of the robot to execute the action by the user. Robot motion algorithms are well known to those skilled in the art, and are identified, for example, by neural network algorithms, or by supervised or semi-supervised algorithms, and will not be described herein. This testing process need not operating personnel and is close to the exactness of robot closely observing the behavior, guarantees user's security, and this instrument is simple to use high-efficient moreover, can improve efficiency of software testing and degree of accuracy greatly, need not compare two movement tracks moreover, only need compare two instructions can, recognition speed is faster.

In an embodiment, as shown in fig. 6, the method for automatic testing of an industrial robot further comprises the steps of: S171-S173.

S171, receiving a control instruction which is input by a user and used for updating the test case;

s172, updating the test case according to the control instruction, wherein the updating comprises adding, modifying and deleting;

and S173, importing the updated test case into a test case library.

In the embodiment, an example library plug-in is built in the demonstrator, so that example import is supported, an example library of the robot demonstrator is formed, an operator can add, modify or delete an example, and the example library in the demonstrator can be updated and maintained in real time. According to the imported use case library, the test scenarios are matched with the self-connection thereof, and all test cases related to the functions in the test scenarios are selected for execution. Specifically, the user operates on the demonstrator, the demonstrator receives the instruction of the user, the test case is added, modified and deleted, and then the updated test case is guided into the test case library to complete updating.

The automatic test method of the industrial robot provided by the embodiment of the invention can record daily operation of a user, generate one or more specific service scenes according to the use of each function of the user, automatically perform test execution, namely trigger the service scenes, select a proper test case from a case library according to a function module to perform a test process and record, and automatically generate a test result and a test report after the test is finished. The automatic testing method can greatly improve the testing efficiency, accelerate the release process of the product version and reduce the misoperation of manual testing. In addition, the user can also import a service scene or a test case to directly execute the test. The end-to-end test covering the user service scene not only effectively verifies the whole function and ensures the system quality, but also better conforms to the actual use condition of a client and improves the satisfaction degree of the client.

Fig. 7 is a schematic block diagram of an automatic testing apparatus 200 for an industrial robot according to an embodiment of the present invention. As shown in fig. 7, the present invention also provides an automatic testing apparatus 200 for an industrial robot corresponding to the above automatic testing method for an industrial robot. The automatic test apparatus 200 of the industrial robot, which includes a unit for performing the above-described automatic test method of the industrial robot, may be configured in a teach pendant. Specifically, referring to fig. 7, the automatic test apparatus 200 of the industrial robot includes a monitoring unit 201, a generating unit 202, and a testing unit 203.

The monitoring unit 201 is configured to monitor and record an operation instruction input by a user, where the operation instruction includes operating at least one function point in at least one function module of the teach pendant; a generating unit 202, configured to generate at least one test scenario according to the operation instruction, where the test scenario is formed by at least one function point in at least one function module; the testing unit 203 is configured to, if a testing instruction of a target testing scenario is received, obtain a test case matched with the functional module and the functional point of the target testing scenario from a test case library according to the target testing scenario, and execute the test case.

In some embodiments, such as this embodiment, the test unit 203 comprises an acquisition unit, a matching unit, and a derivation unit.

The acquisition unit is used for acquiring keywords of the functional module and the functional point in the target test scene; the matching unit is used for inquiring the test cases matched with the keywords in a test case library according to the keywords; and the derivation unit is used for deriving the matched test cases.

In some embodiments, such as this embodiment, the automatic testing device 200 of the industrial robot further includes a first trajectory acquisition unit, a first judgment unit, and a first judgment unit.

The first track acquisition unit is used for acquiring an actual track of the industrial robot moving according to the test case; the first judgment unit is used for judging whether the actual track is the same as a preset expected track or not; and the first judging unit is used for judging that the industrial robot runs abnormally if the actual track is different from a preset expected track.

In some embodiments, such as this embodiment, the automatic testing device 200 of the industrial robot further comprises a result obtaining unit and a reporting unit.

The result obtaining unit is used for obtaining a test result of executing the test case, wherein the test result comprises a test result of each function point; and the report unit is used for generating a test report according to the test result.

In some embodiments, such as this embodiment, the automatic testing apparatus 200 of the industrial robot further comprises a second trajectory acquisition unit, a recognition unit, a second judgment unit, and a second judgment unit.

The second track acquiring unit is used for acquiring the actual track of the industrial robot moving according to the test case; the recognition unit is used for recognizing an actual action instruction corresponding to the actual track according to a robot motion algorithm; the second judgment unit is used for judging whether the actual action instruction is the same as a preset expected instruction or not; and the second judgment unit is used for judging that the industrial robot runs abnormally if the actual action command is different from a preset expected action command.

In some embodiments, such as this embodiment, the automatic testing device 200 of the industrial robot further comprises a receiving unit, an updating unit and an importing unit.

The receiving unit is used for receiving a control instruction which is input by a user and used for updating the test case; the updating unit is used for updating the test case according to the control instruction, wherein the updating comprises adding, modifying and deleting; and the importing unit is used for importing the updated test case into a test case library.

The automatic testing device of the industrial robot described above may be implemented in the form of a computer program that can be run on a teach pendant as shown in fig. 8.

Referring to fig. 8, fig. 8 is a schematic block diagram of a teach pendant according to an embodiment of the present invention.

Referring to FIG. 8, the teach pendant 300 includes a processor 302, memory, which may include a non-volatile storage medium 303 and an internal memory 304, and a network interface 305 connected by a system bus 301.

The nonvolatile storage medium 303 may store an operating system 3031 and a computer program 3032. The computer program 3032, when executed, causes the processor 302 to perform a method for automatic testing of an industrial robot.

The processor 302 is used to provide computational and control capabilities to support the operation of the entire teach pendant 300.

The internal memory 304 provides an environment for running a computer program 3032 in the non-volatile storage medium 303, which computer program 3032, when executed by the processor 302, causes the processor 302 to perform an automatic testing method for an industrial robot.

The network interface 305 is used for network communication with other devices. Those skilled in the art will appreciate that the configuration shown in figure 8 is a block diagram of only a portion of the configuration associated with the inventive arrangements and does not constitute a limitation of the teach pendant 300 to which the inventive arrangements may be applied, and that a particular teach pendant 300 may include more or less components than shown, or combine certain components, or have a different arrangement of components.

Wherein the processor 302 is adapted to run a computer program 3032 stored in the memory to implement any of the embodiments of the automatic testing method of an industrial robot described above.

It should be understood that, in the embodiment of the present invention, the Processor 302 may be a Central Processing Unit (CPU), and the Processor 302 may also be other general-purpose processors, digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like. Wherein a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

It will be understood by those skilled in the art that all or part of the flow of the method implementing the above embodiments may be implemented by a computer program instructing associated hardware. The computer program may be stored in a storage medium, which is a computer-readable storage medium. The computer program is executed by at least one processor in the computer system to implement the flow steps of the embodiments of the method described above.

Accordingly, the present invention also provides a storage medium. The storage medium may be a computer-readable storage medium. The storage medium stores a computer program. The computer program, when executed by a processor, causes the processor to perform any of the embodiments of the method for automatic testing of an industrial robot as described above.

The storage medium may be a usb disk, a removable hard disk, a Read-Only Memory (ROM), a magnetic disk, or an optical disk, which can store various computer readable storage media.

Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative. For example, the division of each unit is only one logic function division, and there may be another division manner in actual implementation. For example, various elements or components may be combined or may be integrated in another system or some features may be omitted, or not implemented.

The steps in the method of the embodiment of the invention can be sequentially adjusted, combined and deleted according to actual needs. The units in the device of the embodiment of the invention can be combined, divided and deleted according to actual needs. In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in a storage medium. Based on this understanding, the technical solutions of the present invention may be substantially implemented as a part of the prior art, or all or part of the technical solutions may be embodied in the form of a software product stored in a storage medium and including instructions for causing a teach pendant to perform all or part of the steps of the methods according to the embodiments of the present invention.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, while the invention has been described with respect to the specific embodiments, it will be understood by those skilled in the art that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined in the appended claims.

While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (10)

1. An automatic test method of an industrial robot is applied to a demonstrator and is characterized in that the method comprises the following steps:

monitoring and recording an operation instruction input by a user, wherein the operation instruction comprises the operation of at least one function point in at least one function module of the demonstrator;

generating at least one test scene according to the operation instruction;

and if a test instruction of a target test scene is received, acquiring a test case matched with the functional module and the functional point of the target test scene from a test case library according to the target test scene, and executing the test case.

2. The method according to claim 1, wherein the step of obtaining, from a test case library according to the target test scenario, the test case matching the function module and the function point in the target test scenario includes:

acquiring keywords of the functional module and the functional point in the target test scene;

querying a test case matched with the keyword in a test case library according to the keyword;

and exporting the matched test case.

3. The method of claim 1, wherein after the step of executing the test case, further comprising:

acquiring an actual track of the industrial robot according to the motion of the test case;

judging whether the actual track is the same as a preset expected track or not;

and if the actual track is different from the preset expected track, judging that the industrial robot runs abnormally.

4. The method of claim 3, wherein the step of determining that the industrial robot is operating abnormally is followed by:

obtaining a test result of executing the test case, wherein the test result comprises a test result of each function point;

and generating a test report according to the test result.

5. The method of claim 1, further comprising:

acquiring an actual track of the industrial robot moving according to the test case;

identifying an actual action instruction corresponding to the actual track according to a robot motion algorithm;

judging whether the actual action instruction is the same as a preset expected instruction or not;

and if the actual action command is different from the preset expected action command, judging that the industrial robot runs abnormally.

6. The method of claim 1, wherein the step of generating at least one test scenario according to the operation command comprises:

and arranging and combining the function points in the function module according to a preset rule to generate different test scenes.

7. The method of claim 1, further comprising:

receiving a control instruction which is input by a user and used for updating the test case;

updating the test case according to the control instruction, wherein the updating comprises adding, modifying and deleting;

and importing the updated test case into a test case library.

8. An automatic testing device of an industrial robot is applied to a demonstrator, and is characterized by comprising:

the monitoring unit is used for monitoring and recording an operation instruction input by a user, wherein the operation instruction comprises the operation of at least one function point in at least one function module of the demonstrator;

the generating unit is used for generating at least one test scene according to the operation instruction, wherein the test scene is formed by at least one function point in at least one function module;

and the test unit is used for acquiring a test case matched with the functional module and the functional point of the target test scene from a test case library according to the target test scene and executing the test case if a test instruction of the target test scene is received.

9. A teach pendant comprising a chamber including a memory having a computer program stored thereon and a processor which when executed implements the method of any of claims 1-7.

10. A computer-readable storage medium, characterized in that the storage medium stores a computer program which, when executed by a processor, implements the method according to any one of claims 1-7.

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