EP2526489A1 - Testanlage zum testen von steuerprogrammen für eine roboteranlage - Google Patents

Testanlage zum testen von steuerprogrammen für eine roboteranlage

Info

Publication number
EP2526489A1
EP2526489A1 EP11701202A EP11701202A EP2526489A1 EP 2526489 A1 EP2526489 A1 EP 2526489A1 EP 11701202 A EP11701202 A EP 11701202A EP 11701202 A EP11701202 A EP 11701202A EP 2526489 A1 EP2526489 A1 EP 2526489A1
Authority
EP
European Patent Office
Prior art keywords
robot
test
real
control unit
operating
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
EP11701202A
Other languages
German (de)
English (en)
French (fr)
Inventor
Sandra Schmitz
Gerhard Alonso Garcia
Michael Fella
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Duerr Systems AG
Original Assignee
Duerr Systems AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Duerr Systems AG filed Critical Duerr Systems AG
Publication of EP2526489A1 publication Critical patent/EP2526489A1/de
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B17/00—Systems involving the use of models or simulators of said systems
    • G05B17/02—Systems involving the use of models or simulators of said systems electric
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/23—Pc programming
    • G05B2219/23446—HIL hardware in the loop, simulates equipment to which a control module is fixed
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the invention relates to a test system for testing control programs for a robot system, in particular for a laking system.
  • the invention is suitable for all systems in the field of surface technology, such as interior painting, exterior painting, handling robots (for example, door openers, hood openers), sealing, gluing, seam sealing and underbody protection.
  • the invention relates to a corresponding test method.
  • Figure 7 shows a schematic representation of a conventional paint shop with multiple robots 1.1, 1.2, ln, which may be painting robots, handling robots (eg door openers, bonnet openers) or sealing robot, for example, apply a seam sealing means on a flanged seam on a motor vehicle body component can .
  • robots 1.1, 1.2, l.n may be painting robots, handling robots (eg door openers, bonnet openers) or sealing robot, for example, apply a seam sealing means on a flanged seam on a motor vehicle body component can .
  • the paint shop can basically have any number of robots.
  • Each of the robots 1.1, 1.2, l.n is controlled by a respective robot controller 2.1, 2.2, 2.n, wherein the
  • the robot controls 2.1, 2.2, 2.n give control commands to the robots 1.1, 1.2, ln to set the desired robot positions so that the TCP (Tool Center Point) of the robots 1.1, 1.2, ln moves on the programmed path.
  • the robots 1.1, 1.2, ln also contain sensors (eg axle sensors, which measure the position of the individual robot axes) and send corresponding measured values to the robot controllers 2.1, 2.2, 2.n.
  • the individual robot controls 2.1, 2.2, 2.n are connected to a fieldbus 3, which is connected to a central control unit 4 in the form of a programmable logic controller (PLC: Speicherrjrogrammierbaren control).
  • PLC programmable logic controller
  • the central control unit 4 coordinates the various Robo ⁇ ters price increases 2.1, 2.2, 2.n, for example to ensure synchronous operation and to avoid collisions between the robots 1.1, 1.2, ln.
  • peripheral components 5 which are shown in the drawing only schematically as a single component and also to the
  • the peripheral components 5 may be, for example, actuators or sensors in the paint shop, which influence the operation of the paint shop. Examples of such peripheral components are components of the cabin and conveyor technology, a compressed air supply or a fire protection system.
  • the paint shop has an operating computer 6, which provides a graphical user interface and thus allows easy operation of the paint shop.
  • the operating computer 6 accepts operator inputs from the operating staff of the painting installation, which can be done for example by a touch-sensitive screen, by a keyboard or by other input devices.
  • the operating computer 6 provides on a screen a graphics output to facilitate the operation.
  • Visualization software such as INTOUCH TM, WINNCC TM, ZENON TM or E-coScreenWEB TM can be installed on the operating computer 6.
  • the painting installation has a graphics computer 7, on which a robot visualization system is installed, which visualizes the robots 1.1, 1.2, 1.n corresponding to the respective robot position and thus displays them graphically.
  • Ethernet data bus 8 which connects the robot controllers 2.1, 2.2, 2.n to one another and to the peripheral components 5, the central control unit 4 (SPS), the operating computer 6 and the graphics computer 7.
  • control programs which are stored in the robot controls 2.1, 2.2, 2.n, in the central control unit 4, in the operating computer 6 and in the graphics computer 7.
  • control programs When developing a new paint shop that meets customer-specific requirements, these control programs must be adapted and tested accordingly, using various options.
  • control program for the robot controller 2.1 is tested detached from the entire paint shop.
  • a disadvantage of this first test phase is that the interaction of the control program with the other subsystems of the paint shop remains unconsidered.
  • One Another disadvantage is that the control program can often be tested only static and not dynamic. Especially the safety-related program parts can not be fully tested.
  • a second test phase is then a test of the control programs in the paint shop in the context of pre-commissioning at the manufacturer.
  • a disadvantage of this test phase on the one hand the fact that only those operating conditions can be tested that do not involve any risk of damage to the paint shop, since the paint shop could otherwise be damaged during the test.
  • Another disadvantage of this test phase is that the operation of the Lackier ⁇ system in the pre-commissioning at the manufacturer can not be completely true to reality, which affects the validity of this test phase.
  • test phase a test of the paint shop in the context of commissioning at the customer conventionally takes place.
  • a disadvantage of this test phase is, on the one hand, that the testing of the control programs delays the commissioning time, i. the commissioning period is extended.
  • software errors in this test phase can be eliminated only with considerable effort.
  • extreme operating conditions can not be tested in this test phase as this could possibly lead to disruption or damage.
  • the invention is therefore based on the object, a possible lent simple and meaningful testing of control programs to allow a paint shop.
  • the invention comprises the general technical teaching not to test the control programs of a paint shop or of another robot installation in the real robot installation, but in a test installation which substantially corresponds in function and construction to the real robot installation, whereby peripheral components of the robot installation are replaced by a Modeling device are simulated.
  • This offers the advantage that the simulated or modeled peripheral components do not have to be present in the test system.
  • the real robot installation does not necessarily have to be a painting installation, as described in the background of the prior art. Rather, the inventive principle is also applicable to other robot systems that are controlled by control programs.
  • the simulated or modeled peripheral components may, for example, be a conveyor system which transports components (eg motor vehicle body components) through the robot system in a robot system (eg a paint shop).
  • components eg motor vehicle body components
  • a robot system eg a paint shop
  • test facility is an air- conditioning optimization unit in a painting booth of a paint shop.
  • the compressed air ⁇ supply the robot system is simulated by the Modell istseinrich ⁇ or modeled.
  • the test operation also takes place without the real robots of the robot system, which are then also simulated or modeled by the modeling device as peripheral components.
  • the simulated or modeled peripheral components can be sensors (eg position sensors which measure the axis positions of robot members of the robots) or actuators (eg axis motors).
  • the invention is not limited to the examples described above in terms of the simulated peripheral components. Rather, the term of a peripheral component used in the context of the invention encompasses all components of a robot system which directly or indirectly influence the operation of the robot system and therefore must either be present in real terms within a test or at least be simulated or modeled.
  • the structure of the test facility largely corresponds to the real robot installation. Therefore, the test facility preferably has several robot controls, which each contain a control program and robot controls correspond to the real robot system.
  • the test system preferably has at least one control unit (eg a programmable logic controller) in order to coordinate the various robot controls, wherein the central control unit likewise contains a control program and corresponds to a control unit of the real robot system.
  • the test system preferably has a first data bus which connects the robot controllers to one another and / or to the control unit, wherein the first data bus corresponds to a data bus of the real robot system.
  • the modeling device is connected to the first data bus and simulates peripheral components of the real robot system so that the control programs can be tested without the real peripheral components.
  • the test facility preferably has a graphics computer which serves to visualize the robots of the robot installation, the graphics computer in the test installation corresponding to a graphics computer in the real robot installation.
  • the graphics calculator in the test facility is preferably connected to the robot controls and receives axis values from the robot controls, the axis values representing the position of the individual robot axes of the real or simulated or modeled robots, so that the graphing calculator displays the simulated movements of the robots on a screen can.
  • a robot visualization software running on the graphic computer, it is thus possible All robots of the modeled plant are visualized fullygraphically in a three-dimensional representation on a conventional personal computer (PC) with their movements, so that the robot visualization software can fully motivate the movements of the individual robots.
  • PC personal computer
  • the test plant a control computer for controlling and monitoring the simulated robot system or the test system, wherein the control computer is preferably connected to the control unit and with the individual Ro ⁇ boter horrept, for example via the first data bus or another data bus.
  • the control computer preferably includes a visualization software, as with ⁇ play as INTOUCH TM, WINNCC TM, ZENON TM or EcoScreenWEB TM, the visualization software provides a graphical user interface ⁇ .
  • the aforementioned first data bus is preferably a field bus which preferably connects the robot controls to each other and to the modeling device as well as to the control unit (e.g., PLC).
  • a second data bus (for example Ethernet) is preferably provided, which connects the robot controllers to one another and to the control unit as well as to the operating computer and the graphics computer.
  • test system according to the invention preferably manages without the robots that are present in the real robot system. This offers the advantage that the structure of the invention
  • Test facility is greatly simplified.
  • the influence of the real robots on the operation of the paint shop must therefore be modeled or simulated in the context of the test facility.
  • the control program of Robot controls simulates sensors and actuators contained in the robots.
  • a modeling device which simulates or models the respective robot, is connected to the robot controllers in the test system.
  • the test facility for each robot controller of the real robot system contains exactly one corresponding robot controller, so that the structure of the test apparatus essentially corresponds to the structure of the real robot system.
  • the test system contains only a single robot controller, on which runs a multi-robotic software that can simulate a control of all the robots of the real robot system.
  • the invention includes also drive a corresponding testvér ⁇ be modeled in the peripheral components of the real robot system so that the test procedure without the real peripheral component manages.
  • test procedures can be specified within the scope of the test method according to the invention, wherein a specific time sequence of operator inputs can take place in succession within the scope of the predetermined test procedures and / or the operating states resulting therefrom can be run through. In this way it is also possible to detect possible errors which occur only in the case of a specific chronological sequence of operator inputs and / or operating states resulting therefrom.
  • the test method according to the invention is also particularly suitable for training and documentation purposes.
  • the future operating personnel of the robot system can be made familiar with the robot system and its operating behavior, without the simulated or modeled peripheral components (eg robots) having to be present in reality.
  • a trainer can specifically activate certain error conditions of the robot system and then observe the reaction of the operating personnel. In this way, the future operating personnel can also be prepared for specific cases of errors.
  • the test method according to the invention is also suitable for documentation purposes, if, for example, a technical editor creates a user manual for the paint shop. The technical editor can then set specific operating states in the test system and then create screenshots which are included in the operating instructions of the robot system.
  • Figure 1 is a schematic representation of an inventive
  • FIG. 2 shows a modification of the test system according to FIG. 1, wherein the robots of the paint shop are each represented by a motor vehicle. simulating or simulating the
  • FIG. 3 shows a modification of the test installation according to FIG. 1, wherein the test installation has only a single robot control with a multi-robotic software
  • FIG. 4 shows the test method according to the invention in the form of a
  • FIG. 5 shows the use of the test method according to the invention in
  • FIG. 6 shows a flow chart which clarifies the use of the test method according to the invention for documentation purposes, as well as FIG
  • FIG. 7 shows the conventional painting installation according to the prior art described at the outset.
  • FIG. 1 shows an exemplary embodiment of a test system according to the invention for testing control software for a paint shop, the test facility largely corresponding in structure and mode of operation to the real paint shop, as shown in FIG. 7 and already described above. To avoid repetition, reference is therefore made to the above description of the painting, wherein the same reference numerals are used for corresponding details or components.
  • a special feature of the test system is that instead of the peripheral components 5, a modeling device 9 is provided, wherein the modeling device 9 simulates or models the real peripheral components 5 and thereby with replaced in the context of the test facility.
  • the modeling device 9 simulates or models the real peripheral components 5 and thereby with replaced in the context of the test facility.
  • the real peripheral components 5 need not be present in the test facility.
  • the control software can be tested simultaneously with real and simulated or modeled peripheral components.
  • test system compared to the real painting plant is that the robot controls 2.1, 2.2, 2.n not with the real robots 1.1, 1.2,
  • FIG. 2 shows a modification of the test installation according to FIG. 1, so that reference is made to the above description to avoid repetition, the same reference numbers being used for corresponding details.
  • a special feature of this exemplary embodiment is that the robot controllers 2.1, 2.2, 2.n are each connected to a modeling device 10.1, 10.2, 10n, the individual modeling devices 10.1, 10.2, 10n each one of the real robots 1.1,
  • FIG. 3 shows a further modification of the test system according to FIG. 1, so that reference is made to the above description to avoid repetition, the same reference numerals being used for corresponding details.
  • a special feature of this embodiment is that the robot controller 2 is the only robot controller, wherein on the robot controller 2 runs a multi-robotic software that simulates the behavior of the various robots 1.1, 1.2, ln the paint shop.
  • FIG. 4 shows the test method according to the invention in the form of a simplified flow chart.
  • a first step S1 first the control programs for the robot controllers 2.1, 2.2, 2.n and for the central control unit 4 (eg PLC) are developed according to the order-specific requirements of the respective customer.
  • the visualization on the operating computer 6 usually also contains a task-specific adapted software that he ⁇ provides and must be tested.
  • step S2 the developed control programs are then loaded onto the program memories of the robot controllers 2.1, 2.2, 2.n and the central control unit 4 (e.g., SPS) to subsequently test the control programs in the test equipment, which is done in a step S3.
  • the central control unit 4 e.g., SPS
  • the testers then check as part of the test procedure in a step S4 whether the test result is in order.
  • the testers are not the program developers.
  • FIG. 5 shows the use of the test method according to the invention as part of a training operation for training the future operating personnel of the paint shop.
  • a trainer selects a fault condition and activates the fault condition in the test facility. It should be noted that the present description contains only the testing of the operators, but not the previous training on the test facility, which also takes place.
  • step S2 the trainer then observes the response of the operator to the behavior of the test equipment.
  • step S3 it is then checked whether the response of the operator to the error condition was correct.
  • the trainer gives the future operator a positive feedback in a step S4.
  • the trainer gives the future operator negative feedback in a step S5 to improve the responsiveness of the future operator.
  • step S6 it is then checked whether the training is completed. If this is the case, the training operation is terminated. Otherwise, the training operation continues with the step Sl.
  • FIG. 6 shows the use of the test method according to the invention for documentation purposes.
  • a technical editor sets a specific operating state of the test system in order to be able to document this.
  • a step S2 the technical editor then creates a screen printout in the desired operating state in order to be able to adopt the screen printout into a technical documentation (for example a user manual of the paint shop).
  • a technical documentation for example a user manual of the paint shop.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
EP11701202A 2010-01-21 2011-01-17 Testanlage zum testen von steuerprogrammen für eine roboteranlage Ceased EP2526489A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010005308A DE102010005308A1 (de) 2010-01-21 2010-01-21 Testanlage zum Testen von Steuerprogrammen für eine Roboteranlage
PCT/EP2011/000169 WO2011088979A1 (de) 2010-01-21 2011-01-17 Testanlage zum testen von steuerprogrammen für eine roboteranlage

Publications (1)

Publication Number Publication Date
EP2526489A1 true EP2526489A1 (de) 2012-11-28

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP11701202A Ceased EP2526489A1 (de) 2010-01-21 2011-01-17 Testanlage zum testen von steuerprogrammen für eine roboteranlage

Country Status (8)

Country Link
US (1) US9436172B2 (zh)
EP (1) EP2526489A1 (zh)
JP (1) JP5692877B2 (zh)
CN (1) CN102939592B (zh)
CA (1) CA2789811C (zh)
DE (1) DE102010005308A1 (zh)
MX (1) MX2012008478A (zh)
WO (1) WO2011088979A1 (zh)

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Publication number Priority date Publication date Assignee Title
CN110928275A (zh) * 2019-12-12 2020-03-27 重庆长安新能源汽车科技有限公司 多控制器联合hil台架报文丢帧故障注入测试系统及方法
CN110928275B (zh) * 2019-12-12 2022-07-01 重庆长安新能源汽车科技有限公司 多控制器联合hil台架报文丢帧故障注入测试系统及方法

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JP2013517151A (ja) 2013-05-16
CA2789811C (en) 2016-10-11
CA2789811A1 (en) 2011-07-28
CN102939592B (zh) 2016-05-18
JP5692877B2 (ja) 2015-04-01
DE102010005308A1 (de) 2011-07-28
MX2012008478A (es) 2012-09-21
WO2011088979A1 (de) 2011-07-28
US9436172B2 (en) 2016-09-06
US20130060378A1 (en) 2013-03-07

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