CN109313439A - Holder method for testing reliability and device - Google Patents
Holder method for testing reliability and device Download PDFInfo
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- CN109313439A CN109313439A CN201780027072.7A CN201780027072A CN109313439A CN 109313439 A CN109313439 A CN 109313439A CN 201780027072 A CN201780027072 A CN 201780027072A CN 109313439 A CN109313439 A CN 109313439A
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- Prior art keywords
- holder
- working shaft
- indicate
- posture
- control parameter
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- 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
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B43/00—Testing correct operation of photographic apparatus or parts thereof
-
- 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
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
-
- 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
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manufacturing & Machinery (AREA)
- Transportation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
A kind of holder method for testing reliability and device, holder method for testing reliability include: input control parameter, and holder is made to adjust posture (S202) according to control parameter；Obtain the operational data (S204) that holder is fed back in adjustment posture；And operational data compares with corresponding preset threshold, the working condition (S206) of holder is determined according to comparison result.Holder method for testing reliability can test the functional reliability of holder.
Description
Technical field
This disclosure relates to detection technique field, in particular to a kind of pair of holder carry out the method for reliability test with
Device.
Background technique
Holder is the support equipment of installation, fixed video camera, and position setting and stability support can be provided for video camera.
Common holder can be divided into an axis holder, two axis holders and three axis holders by freedom of motion, can be divided by control mode
Fixed holder and electric platform.
Fig. 1 is a kind of structural schematic diagram of three axis electric platforms.With reference to Fig. 1, holder mainly may include the first axial electrode
It is solid with first axle armshaft, the second axial electrode and the second axis armshaft, third axial electrode and third axis armshaft, holder pedestal and camera
Determine component.Motor control assembly and power supply unit are provided in holder pedestal, for controlling the movement of three motors, camera
Inertial measurement component is provided in fixation member, for measuring the feedback signal of holder gesture stability.
In actual operation, holder generally requires to run under a variety of climatic environments for a long time, and the prior art lacks pair
The method that holder carries out reliability test is unfavorable for improving holder quality and improving for research and development providing data support, therefore, need
Want a kind of holder method for testing reliability.
It should be noted that information is only used for reinforcing the reason to the background of the disclosure disclosed in above-mentioned background technology part
Solution, therefore may include the information not constituted to the prior art known to persons of ordinary skill in the art.
Summary of the invention
The disclosure is designed to provide holder reliability test, for being overcome at least to a certain extent due to related skill
One or more problems caused by the limitation and defect of art.
According to the first aspect of the embodiments of the present disclosure, a kind of holder method for testing reliability is provided, comprising: input control ginseng
Number makes holder adjust posture according to the control parameter；Obtain the operational data that the holder is fed back in the adjustment posture；
And the operational data compares with corresponding preset threshold, the working condition of the holder is determined according to comparison result.
In a kind of exemplary embodiment of the disclosure, the control parameter includes: to be used to indicate the ginseng of selected working shaft
The slewing area of several, the described working shaft and the velocity of rotation of the working shaft.
In a kind of exemplary embodiment of the disclosure, the operational data includes: the rotation of each working shaft of the holder
Number of total coils, rotation total angle, rotational angular velocity, motor output electric current, signal intelligence, targeted attitude, practical posture and reality
Error between posture and targeted attitude.
In a kind of exemplary embodiment of the disclosure, further includes: control environment temperature during the test in default model
Enclose interior variation.
In a kind of exemplary embodiment of the disclosure, the working condition that holder is determined according to comparison result include with
Lower arbitrary steps: the rotational angular velocity of a working shaft and the target angular velocity determined based on the control parameter in the holder
When error is greater than the first preset threshold, the first definitive result is exported with the bearing or motor that indicate the working shaft and exception occurs；?
When the motor output current anomaly of a working shaft increases in the holder, the second result is exported to indicate to rub suffered by the working shaft
Power is wiped to increase；When interrupting or falling frame occur in the communication of a working shaft in the holder, third result is exported to indicate the work
The slip ring of axis occurs abnormal；And a working shaft occurs crazy when turning in the holder, exports the 4th result to indicate the cloud
The encoder of platform occurs abnormal.
According to the second aspect of an embodiment of the present disclosure, a kind of holder RTA reliability test assembly is provided, comprising: state modulator mould
Block is used for input control parameter, and holder is made to adjust posture according to the control parameter；Data acquisition module, it is described for obtaining
The operational data that holder is fed back in the adjustment posture；And state determining module, for by the operational data with it is corresponding
Preset threshold compare, the working condition of the holder is determined according to comparison result.
In a kind of exemplary embodiment of the disclosure, the control parameter includes: to be used to indicate the ginseng of selected working shaft
The slewing area of several, the described working shaft and the velocity of rotation of the working shaft.
In a kind of exemplary embodiment of the disclosure, the operational data includes: the rotation of each working shaft of the holder
Number of total coils, rotation total angle, rotational angular velocity, motor output electric current, signal intelligence, targeted attitude, practical posture and reality
Error between posture and targeted attitude.
In a kind of exemplary embodiment of the disclosure, further includes: environmental control module, for controlling during the test
Environment temperature changes within a preset range.
In a kind of exemplary embodiment of the disclosure, the state determining module includes following any unit: first really
Order member, for the rotational angular velocity of a working shaft in the holder and the target angular velocity determined based on the control parameter
When error is greater than the first preset threshold, the first definitive result is exported with the bearing or motor that indicate the working shaft and exception occurs；The
Two determination units, for exporting the second result to refer to when the motor output current anomaly of a working shaft increases in the holder
Show that frictional force suffered by the working shaft increases；Third determination unit, in the holder working shaft communication occur in
When breaking or falling frame, third result is exported to indicate that it is abnormal that the slip ring of the working shaft occurs；And the 4th determination unit, in institute
When stating in holder a working shaft and crazy turn occur, the 4th result is exported to indicate that it is abnormal that the encoder of the holder occurs.
According to the third aspect of an embodiment of the present disclosure, a kind of holder RTA reliability test assembly is provided, comprising: memory；With
And the processor of memory belonging to being coupled to, the processor is configured to the instruction based on storage in the memory, holds
Holder method for testing reliability of the row as described in above-mentioned any one.
According to a fourth aspect of embodiments of the present disclosure, a kind of computer readable storage medium is provided, program is stored thereon with,
The holder method for testing reliability as described in above-mentioned any one is realized when the program is executed by processor.
The holder method for testing reliability that the disclosure provides is by obtaining holder default in default ambient temperature range
Operational data under running parameter, and operational data and threshold value are compared, each component service life of holder can be tested
And holder continuous working period, improve holder product export qualification rate.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The disclosure can be limited.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and together with specification for explaining the principles of this disclosure.It should be evident that the accompanying drawings in the following description is only the disclosure
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 schematically shows a kind of structural schematic diagram of three axis electric platforms.
Fig. 2 schematically shows the flow chart of holder method for testing reliability in disclosure exemplary embodiment.
Fig. 3 schematically shows a kind of block diagram of holder RTA reliability test assembly in one exemplary embodiment of the disclosure.
Fig. 4 schematically shows the box of another holder RTA reliability test assembly in one exemplary embodiment of the disclosure
Figure.
Specific embodiment
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be with a variety of shapes
Formula is implemented, and is not understood as limited to example set forth herein；On the contrary, thesing embodiments are provided so that the disclosure will more
Fully and completely, and by the design of example embodiment comprehensively it is communicated to those skilled in the art.Described feature, knot
Structure or characteristic can be incorporated in any suitable manner in one or more embodiments.In the following description, it provides perhaps
More details fully understand embodiment of the present disclosure to provide.It will be appreciated, however, by one skilled in the art that can
It is omitted with technical solution of the disclosure one or more in the specific detail, or others side can be used
Method, constituent element, device, step etc..In other cases, be not shown in detail or describe known solution to avoid a presumptuous guest usurps the role of the host and
So that all aspects of this disclosure thicken.
In addition, attached drawing is only the schematic illustrations of the disclosure, identical appended drawing reference indicates same or similar portion in figure
Point, thus repetition thereof will be omitted.Some block diagrams shown in the drawings are functional entitys, not necessarily necessary and object
The entity managed or be logically independent is corresponding.These functional entitys can be realized using software form, or in one or more
These functional entitys are realized in hardware module or integrated circuit, or in heterogeneous networks and/or processor device and/or microcontroller
These functional entitys are realized in device.
Disclosure example embodiment is described in detail with reference to the accompanying drawing.
Fig. 2 schematically shows the flow chart of holder method for testing reliability in disclosure exemplary embodiment.
With reference to Fig. 2, holder method for testing reliability 200 may include:
Step S202, input control parameter make holder adjust posture according to the control parameter.
Step S204 obtains the operational data that the holder is fed back in the adjustment posture.
The operational data is compared with corresponding preset threshold, determines the cloud according to comparison result by step S206
The working condition of platform.
Before step S202, computer can be connect and be communicated with cloud platform control system by communication interface.It is logical
Believe that interface includes but is not limited to USB communication interface, I2C interface, wired network interface, radio network interface, blue tooth interface or red
External tapping.The disclosure is not particularly limited communication mode.
In a kind of exemplary embodiment of the disclosure, cradle head control parameter may include being used to indicate selected working shaft
The velocity of rotation of parameter, the slewing area of the working shaft and the working shaft.
Wherein, the range for selecting working shaft includes uniaxial and multiaxis.For example, can choose in three axis to three axis holders
Three any one axis, any two axis or simultaneous selection axis are controlled.The slewing area of working shaft may include working
All subranges within the scope of axis extreme rotational.The velocity of rotation of working shaft can be set to working shaft extreme rotational speed or less
All velocities of rotation.
In a kind of exemplary embodiment of the disclosure, the control parameter has multiple groups.Due to the mesh of holder reliability
Mark include test holder maximal work ability and test holder on a preset condition based can no-failure operation, therefore to different
Different test parameters can be set in test target.
For example, multiple groups test parameter can be respectively set for each axis when testing holder maximal work ability.For one
For a axis, its extreme rotational range and/or extreme rotational speed can be inputted to test its maximal work ability, it can be to same
The combination of one axis input multiple groups slewing area and velocity of rotation is to test its maximal work time；It, can for multiple axis
Cooperated with inputting the combination of the multiple groups slewing area and velocity of rotation of multiple axis with the work for testing multiple axis, can also be inputted
Maximal work ability of the corresponding extreme rotational range and/or extreme rotational speed of multiple axis to test under multiple axis cooperations.
When test holder on a preset condition based can no-failure operation when, multiple groups holder appearance can be inputted within a preset time
State control parameter, these control parameters can be the parameter under holder works normally, and also may include the limit of each axis of holder
Running parameter.In some exemplary embodiments, can also repeatedly input identical control parameter makes each axis of holder repeat work
Make, to carry out testing fatigue to holder.To sum up, test holder ability to work parameter can there are many, art technology
Personnel can self-setting according to the actual situation.
After cloud platform control system receives control parameter signal, i.e., controllable motor operating, so that multiple axis rotations are controlled,
Holder is set to carry out pose adjustment.In some embodiments, during cloud platform control system control holder progress pose adjustment not
New control parameter signal is received, until holder just receives control parameter signal after reaching preset posture again, control holder is again
Secondary carry out pose adjustment.
In step S204, the operational data that the holder is fed back in the adjustment posture is obtained.
During the test, cloud platform control system can continuously or temporally put detection holder by the detection device of itself
Work in every data, and these operational datas are sent to by computer by communication interface.
In a kind of exemplary embodiment of the disclosure, the operational data includes: that the rotation of each working shaft of holder is always enclosed
Number, rotation total angle, rotational angular velocity, motor output electric current, signal intelligence, targeted attitude, practical posture and practical posture
Error between targeted attitude.
Wherein, each axis rotation number of total coils of cloud platform control system record and rotation total angle can be used for judging each axis work
Make fatigue strength and whether controllable；The rotational angular velocity of each axis can be used for judging whether bearing, motor have during rotation
Abnormal damage；Each motor output electric current can be used for judging whether the frictional force of each axis changes；Communication normal condition can be used
In judging whether slip ring damages.Error between targeted attitude, practical posture and practical posture and targeted attitude can be used for
Judge whether the operation of holder is normal, and wherein targeted attitude is obtained by cloud platform control system according to angular speed and angle calculation.
In some other embodiment, different holder operational datas can be obtained according to the difference of test item, as long as
It is able to reflect out the working condition of holder.
In step S206, the operational data is compared with corresponding preset threshold, according to comparison result determination
The working condition of holder.
Different threshold values can be arranged according to test purpose difference to every a kind of operational data.
For example, the rotation number of total coils threshold value of settable each axis, to be corresponded in the number of total coils that turns for judging an axis more than it
Crazy turn of holder is judged when threshold value.Wherein, refer to that the error between the targeted attitude of holder and practical posture is greater than threshold value for crazy turn
Time is continued above preset time.If holder occurs crazy turn, it is abnormal to may determine that the encoder of holder occurs, leads to holder
Jacobian matrix calculate it is out of joint.The target angular velocity and threshold value of settable each axis, thus in the reality for judging each axis
Angular speed and target angular velocity error judge that the devices such as bearing, motor have abnormal damage during rotation when being more than threshold value.It can
Current of electric threshold value is arranged, to judge that the axis frictional force increases when judging that current of electric increases suddenly.It can also pass through
Judge whether communication occurs interrupting or judging situations such as falling frame whether communication is normal, to judge slip ring whether during rotation
It is damaged.If necessary to test other operational datas of holder, different operational datas can be arranged according to the actual situation
Different judgment threshold, to judge the working condition of holder.
After test, if operational data is in threshold range, it can be determined that holder is working properly.
In a kind of exemplary embodiment of the disclosure, further includes: control environment temperature during the test in default model
Enclose interior variation.
In order to test the maximal work ability or service life of holder, holder work can be made to exist by controlling environment temperature
At a temperature of limit Design use environment, and to holder input gesture stability parameter, acquisition holder operational data.For example, when design
When use environment temperature is -40 DEG C~+80 DEG C, holder can be tested under -40 DEG C or+80 DEG C of environment temperature,
Controllable environment temperature changes between -40 DEG C~+80 DEG C, and tests during temperature change holder.
In order to test holder on a preset condition based can no-failure operation, can control environment temperature makes holder in default temperature
Continuous work preset time in range is spent, and when the operational data for judging holder is no more than threshold value under above-mentioned preset condition
Judge holder can no-failure operation on a preset condition based, to judge that holder is up-to-standard.
The holder method for testing reliability that the disclosure provides is by obtaining holder default in default ambient temperature range
Operational data under running parameter, and operational data and threshold value are compared, each component service life of holder can be tested
And holder continuous working period, improve holder product export qualification rate.
Corresponding to above method embodiment, the disclosure also provides a kind of holder RTA reliability test assembly, can be used for executing
Above method embodiment.
Fig. 3 is a kind of block diagram of holder RTA reliability test assembly in one exemplary embodiment of the disclosure.With reference to Fig. 3,
Holder RTA reliability test assembly 300 may include: parameter control module 301, is used for input control parameter, makes holder according to
Control parameter adjusts posture；Data acquisition module 302, the work number fed back in the adjustment posture for obtaining the holder
According to；And state determining module 303, for the operational data to compare with corresponding preset threshold, according to comparison result
Determine the working condition of the holder.
In a kind of exemplary embodiment of the disclosure, the control parameter includes: to be used to indicate the ginseng of selected working shaft
The slewing area of several, the described working shaft and the velocity of rotation of the working shaft.
In a kind of exemplary embodiment of the disclosure, the operational data includes: the rotation of each working shaft of the holder
Number of total coils, rotation total angle, rotational angular velocity, motor output electric current, signal intelligence, targeted attitude, practical posture and reality
Error between posture and targeted attitude.
In a kind of exemplary embodiment of the disclosure, further includes: environmental control module, for controlling during the test
Environment temperature changes within a preset range.
In a kind of exemplary embodiment of the disclosure, the state determining module 303 includes following any unit (in figure
Be not shown): the first determination unit, in the holder rotational angular velocity of a working shaft with based on the control parameter it is true
When fixed target angular velocity error is greater than the first preset threshold, the first definitive result is exported to indicate the bearing or electricity of the working shaft
Machine occurs abnormal；Second determination unit, for exporting when the motor output current anomaly of a working shaft increases in the holder
Second result is to indicate that frictional force suffered by the working shaft increases；Third determination unit, for a working shaft in the holder
Communication when occurring interrupting or falling frame, export third result to indicate that it is abnormal that the slip ring of the working shaft occurs；And the 4th determine
Unit, for when crazy turn occurs in a working shaft in the holder, the 4th result of output to be gone out with the encoder for indicating the holder
It is now abnormal.
In a kind of exemplary embodiment of the disclosure, the holder gesture stability parameter has multiple groups.
Since each function of device 300 has been described in detail in its corresponding embodiment of the method, the disclosure in this not
It repeats again.
According to one aspect of the disclosure, a kind of holder RTA reliability test assembly is provided, comprising: memory；And coupling
To the processor of affiliated memory, the processor is configured to the instruction based on storage in the memory, executes as above
State method described in any one.
The processor of device in the embodiment executes the concrete mode of operation in the related holder reliability test
Detailed description is performed in the embodiment of method, no detailed explanation will be given here.
Fig. 4 is a kind of block diagram of device 400 shown according to an exemplary embodiment.In one embodiment, device 400
It can be the terminal devices such as computer, smart phone, tablet computer.
Referring to Fig. 4, device 400 may include following one or more components: processing component 402, memory 404, power supply
Component 406, multimedia component 408 and communication component 416.
The integrated operation of the usual control device 400 of processing component 402, it is such as associated with data communication and record operation
Operation etc..Processing component 402 may include one or more processors 418 to execute instruction, to complete above-mentioned method
All or part of the steps.In addition, processing component 402 may include one or more modules, convenient for processing component 402 and other groups
Interaction between part.
Memory 404 is configured as storing various types of data to support the operation in device 400.These data are shown
Example includes the instruction of any application or method for operating on device 400.Memory 404 can be by any kind of
Volatibility or non-volatile memory device or their combination are realized, such as static random access memory (SRAM), electrically erasable
Except programmable read only memory (EEPROM), Erasable Programmable Read Only Memory EPROM (EPROM), programmable read only memory
(PROM), read-only memory (ROM), magnetic memory, flash memory, disk or CD.One is also stored in memory 404
Or multiple modules, which is configured to be executed by the one or more processors 418, any of the above-described to complete
All or part of step in shown method.
Power supply module 406 provides electric power for the various assemblies of device 400.Power supply module 406 may include power management system
System, one or more power supplys and other with for device 400 generate, manage, and distribute the associated component of electric power.
Multimedia component 408 includes the screen of one output interface of offer between described device 400 and user.One
In a little embodiments, screen may include liquid crystal display (LCD) and touch panel (TP).If screen includes touch panel, screen
Curtain may be implemented as touch screen, to receive input signal from the user.Touch panel includes one or more touch sensings
Device is to sense the gesture on touch, slide, and touch panel.The touch sensor can not only sense touch or sliding action
Boundary, but also detect duration and pressure associated with the touch or slide operation.
Communication component 416 is configured to facilitate the communication of wired or wireless way between device 400 and other equipment.Device
400 can access the wireless network based on communication standard, such as WiFi, 2G or 3G or their combination.In an exemplary implementation
In example, communication component 416 receives broadcast singal or broadcast related information from external broadcasting management system via broadcast channel.
In one exemplary embodiment, the communication component 416 further includes near-field communication (NFC) module, to promote short range communication.Example
Such as, NFC module can be based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra wide band (UWB) technology,
Bluetooth (BT) technology and other technologies are realized.
In the exemplary embodiment, device 400 can be believed by one or more application specific integrated circuit (ASIC), number
Number processor (DSP), digital signal processing appts (DSPD), programmable logic device (PLD), field programmable gate array
(FPGA), controller, microcontroller, microprocessor or other electronic components are realized, for executing the above method.
In a kind of exemplary embodiment of the disclosure, a kind of computer readable storage medium is additionally provided, is stored thereon
There is program, the holder method for testing reliability as described in above-mentioned any one is realized when which is executed by processor.The calculating
Machine readable storage medium storing program for executing for example can be the provisional and non-transitorycomputer readable storage medium for including instruction.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to its of the disclosure
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or
Person's adaptive change follows the general principles of this disclosure and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope of the disclosure and design are wanted by right
It asks and points out.
Industrial applicibility
The holder method for testing reliability that the embodiment of the present disclosure provides, by obtaining holder in default ambient temperature range
Operational data under default running parameter, and operational data and threshold value are compared, each component that can test holder makes
With service life and holder continuous working period, holder product export qualification rate is improved.
Claims (12)
1. a kind of holder method for testing reliability characterized by comprising
Input control parameter makes holder adjust posture according to the control parameter；
Obtain the operational data that the holder is fed back in the adjustment posture；And
The operational data is compared with corresponding preset threshold, the working condition of the holder is determined according to comparison result.
2. holder method for testing reliability according to claim 1, wherein the control parameter includes: to be used to indicate institute
Select the velocity of rotation of the parameter of working shaft, the slewing area of the working shaft and the working shaft.
3. holder method for testing reliability according to claim 1, wherein the operational data includes: that the holder is each
Rotation number of total coils, rotation total angle, rotational angular velocity, the motor of working shaft export electric current, signal intelligence, targeted attitude, reality
Error between posture and practical posture and targeted attitude.
4. holder method for testing reliability according to claim 1, further includes:
Control environment temperature changes within a preset range during the test.
5. holder method for testing reliability according to claim 1-4, wherein described determine according to comparison result
The working condition of holder includes following arbitrary steps:
The rotational angular velocity of a working shaft and the target angular velocity error determined based on the control parameter are big in the holder
When the first preset threshold, the first definitive result is exported with the bearing or motor that indicate the working shaft and exception occurs；
When the motor output current anomaly of a working shaft increases in the holder, the second result is exported to indicate the working shaft institute
The frictional force received increases；
When interrupting or falling frame occur in the communication of a working shaft in the holder, third result is exported to indicate the cunning of the working shaft
Ring occurs abnormal；And
When crazy turn occurs in a working shaft in the holder, the 4th result is exported to indicate that it is different that the encoder of the holder occurs
Often.
6. a kind of holder RTA reliability test assembly characterized by comprising
Parameter control module is used for input control parameter, and holder is made to adjust posture according to the control parameter；
Data acquisition module, the operational data fed back in the adjustment posture for obtaining the holder；And
State determining module determines institute according to comparison result for comparing the operational data with corresponding preset threshold
State the working condition of holder.
7. holder RTA reliability test assembly according to claim 6, wherein the control parameter includes: to be used to indicate institute
Select the velocity of rotation of the parameter of working shaft, the slewing area of the working shaft and the working shaft.
8. holder RTA reliability test assembly according to claim 6, wherein the operational data includes: that the holder is each
Rotation number of total coils, rotation total angle, rotational angular velocity, the motor of working shaft export electric current, signal intelligence, targeted attitude, reality
Error between posture and practical posture and targeted attitude.
9. holder RTA reliability test assembly according to claim 6, further includes:
Environmental control module changes within a preset range for controlling environment temperature during the test.
10. according to the described in any item holder RTA reliability test assemblies of claim 6-9, wherein the state determining module packet
Include following any unit:
First determination unit is determined for the rotational angular velocity of a working shaft in the holder and based on the control parameter
When target angular velocity error is greater than the first preset threshold, the first definitive result of output is gone out with the bearing or motor that indicate the working shaft
It is now abnormal；
Second determination unit, for exporting the second knot when the motor output current anomaly of a working shaft increases in the holder
Fruit is to indicate that frictional force suffered by the working shaft increases；
Third determination unit when interrupting or falling frame occur in the communication for a working shaft in the holder, exports third result
To indicate that it is abnormal that the slip ring of the working shaft occurs；And
4th determination unit, for exporting the 4th result to indicate the cloud when crazy turn occurs in a working shaft in the holder
The encoder of platform occurs abnormal.
11. a kind of holder RTA reliability test assembly, comprising:
Memory；And
The processor of memory belonging to being coupled to, the processor is configured to the instruction based on storage in the memory,
Execute holder method for testing reliability as claimed in claims 1-5.
12. a kind of computer readable storage medium, is stored thereon with program, realized when which is executed by processor as right is wanted
Seek holder method for testing reliability described in 1-5.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/094915 WO2019019152A1 (en) | 2017-07-28 | 2017-07-28 | Reliability testing method and device for cradle head |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109313439A true CN109313439A (en) | 2019-02-05 |
Family
ID=65040910
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780027072.7A Pending CN109313439A (en) | 2017-07-28 | 2017-07-28 | Holder method for testing reliability and device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109313439A (en) |
| WO (1) | WO2019019152A1 (en) |
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| CN110471459A (en) * | 2019-07-17 | 2019-11-19 | 深圳市金大智能创新科技有限公司 | A kind of holder auto-calibration equipment and method |
| CN112327946A (en) * | 2020-11-09 | 2021-02-05 | 国网山东省电力公司威海供电公司 | Holder control method and system based on optimal attitude path |
| CN113168192A (en) * | 2020-08-07 | 2021-07-23 | 深圳市大疆创新科技有限公司 | Detection method of holder, stability-increasing holder, movable platform and storage medium |
| CN113365919A (en) * | 2020-06-23 | 2021-09-07 | 深圳市大疆创新科技有限公司 | Test equipment, test method and flight test system |
| CN113433928A (en) * | 2021-07-15 | 2021-09-24 | 上海智能网联汽车技术中心有限公司 | Precision verification system and method suitable for roadside intelligent tripod head |
| CN113795798A (en) * | 2020-07-20 | 2021-12-14 | 深圳市大疆创新科技有限公司 | Holder, holder performance evaluation method and device and movable platform |
| CN113835028A (en) * | 2021-09-15 | 2021-12-24 | 深圳创维－Rgb电子有限公司 | Automatic detection method for holder motor, terminal and computer readable storage medium |
| CN114167902A (en) * | 2021-12-03 | 2022-03-11 | 重庆市亿飞智联科技有限公司 | Holder control method, holder control device, control equipment and storage medium |
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