CN109975700A - Steering engine abnormal state detection method and device, terminal device and medium - Google Patents
Steering engine abnormal state detection method and device, terminal device and medium Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
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Abstract
The invention is suitable for the technical field of drivers, and provides a method, a device, terminal equipment and a medium for detecting the abnormal state of a steering engine, wherein the method comprises the following steps: detecting a first electrical parameter output by a first steering engine in real time, wherein the first steering engine is a steering engine to be detected; comparing the first electrical parameter with a second electrical parameter, wherein the second electrical parameter is an electrical parameter reference value; if the first electrical parameter does not exceed the second electrical parameter, determining that the first steering engine is in a normal state; and if the first electrical parameter exceeds the second electrical parameter, determining that the first steering engine is in an abnormal state. The steering engine can automatically detect whether the output electric parameter exceeds the pre-stored electric parameter reference value or not under the scene that the power analyzer does not detect the output efficiency in real time, so that whether the steering engine is abnormal or not is effectively and accurately determined, the detection cost of the abnormal state of the steering engine is reduced, and the detection efficiency is improved.
Description
Technical field
The invention belongs to Drive technology field more particularly to a kind of detection method, device, the terminals of steering engine abnormality
Equipment and medium.
Background technique
The delivery efficiency of small-sized steering machine is always to measure an important indicator of steering engine yields.In steering engine research and development, assembling
Before, user would generally set the target delivery efficiency an of steering engine.If after steering engine is completed, delivery efficiency cannot reach
Target delivery efficiency, then in practical applications, the steering engine often have more high energy consumption, thus can reduce its service life.Cause
This, usually all can carry out delivery efficiency detection to steering engine in industry, to ensure that delivery efficiency meets the condition of target delivery efficiency
Under, just the steering engine is launched to production application environment, steering engine is otherwise will be considered to and is in abnormality, pause is launched.
Traditional steering engine abnormal state detection method, be directly measured by power analyzer steering engine input power and
Output power calculates the delivery efficiency of steering engine, and then root again further according to obtained input power and output power is measured
Identified according to the matching state of delivery efficiency and target delivery efficiency whether steering engine abnormal, the non-defective unit of identification steering engine whether.However,
Such detection method must be based on power analyzer and just be able to achieve, and the price of power analyzer is extremely expensive, consequently leads to
The method that power analyzer detects steering engine abnormality usually can only be applied to the development phase of steering engine, during steering engine volume production
Often ignore because of condition deficiency or cost reason and detection operation is carried out to steering engine.Therefore, the prior art can not meet cost
It is required that while, efficiently and accurately detect steering engine with the presence or absence of abnormal.
Summary of the invention
In view of this, the embodiment of the invention provides a kind of detection method of steering engine abnormality, device, terminal device and
Medium, to solve the problems, such as efficiently and accurately detect whether steering engine is abnormal in the prior art.
The first aspect of the embodiment of the present invention provides a kind of detection method of steering engine abnormality, comprising:
First electrical parameter of the first steering engine of real-time detection output, first steering engine are steering engine to be detected；
First electrical parameter is compared with the second electrical parameter, second electrical parameter is electrical parameter a reference value；
If first electrical parameter is no more than second electrical parameter, it is determined that first steering engine is in normal condition；
If first electrical parameter is more than second electrical parameter, it is determined that first steering engine is in abnormality.
The second aspect of the embodiment of the present invention provides a kind of detection device of steering engine abnormality, comprising:
Detection unit, for the first electrical parameter of the first steering engine of real-time detection output, first steering engine is rudder to be detected
Machine；
Comparing unit, for comparing first electrical parameter with the second electrical parameter, second electrical parameter is electricity ginseng
Number a reference value；
First determination unit, if being no more than second electrical parameter for first electrical parameter, it is determined that described first
Steering engine is in normal condition；
Second determination unit, if being more than second electrical parameter for first electrical parameter, it is determined that first rudder
Machine is in abnormality.
The third aspect of the embodiment of the present invention provides a kind of terminal device, including memory, processor and is stored in
In the memory and the computer program that can run on the processor, when the processor executes the computer program
The step of realizing the detection method such as above-mentioned first aspect steering engine abnormality.
The fourth aspect of the embodiment of the present invention provides a kind of computer readable storage medium, the computer-readable storage
Media storage has computer program, which is characterized in that such as above-mentioned first party is realized when the computer program is executed by processor
The step of detection method of face steering engine abnormality.
In the embodiment of the present invention, in the detection process of steering engine abnormality, as long as obtaining what steering engine itself exported in real time
Electrical parameter just can judge whether the electrical parameter that current time is exported is more than electrical parameter a reference value；If the electrical parameter of output is super
Electrical parameter a reference value is crossed, then can determine that steering engine is in abnormality.Due to steering engine output electrical parameter can be current value or
Person's voltage value, and these electrical parameters can be facilitated by cheap current sensor, simply measure to obtain, thus realize
Under the scene that no power analyzer carrys out real-time detection delivery efficiency, also efficiently and accurately whether steering engine can be determined
There are exceptions, therefore, reduce the testing cost of steering engine abnormality.Simultaneously as steering engine can voluntarily detect the electricity of output
The match condition of parameter and electrical parameter a reference value, it is thus achieved that the automatic identification of abnormality, middle compared with the existing technology to use
Family by method of the external power analyzer of conducting wire to detect steering engine abnormality for, improve detection efficiency.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the implementation flow chart of the detection method of steering engine abnormality provided in an embodiment of the present invention；
Fig. 2 be another embodiment of the present invention provides steering engine abnormality detection method implementation flow chart；
Fig. 3 be another embodiment of the present invention provides steering engine abnormality detection method S201 specific implementation flow
Figure；
Fig. 4 is the implementation flow chart of the detection method for the steering engine abnormality that further embodiment of this invention provides；
Fig. 5 is the structural block diagram of the detection device of steering engine abnormality provided in an embodiment of the present invention；
Fig. 6 is the schematic diagram of terminal device provided in an embodiment of the present invention.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
Referring to Figure 1, Fig. 1 is the implementation flow chart of the detection method of steering engine abnormality provided in an embodiment of the present invention.
Implementation process as shown in Figure 1 includes step S101 to S104, and the realization principle of each step is specific as follows:
S101: the first electrical parameter of the first steering engine of real-time detection output, first steering engine are steering engine to be detected.
Steering engine is the driver of a kind of position, angle servo, and it is suitable for angles to need constantly to change and can keep
The continued fixed control system of angle.For example, can be used for carrying out direction to telecontrolled models such as the arm of anthropomorphic robot and legs
Control, it can also be used to which elevating control is carried out to the vehicle window in the large scale equipments such as automobile.
In the embodiment of the present invention, current sensor is preset on the output end of steering engine.Current sensor can be experienced tested
The information of electric current, and the information experienced can be will test, it is for conversion into the electric signal for meeting certain standard needs according to certain rules
Or the information output of other required forms, to obtain the current value of steering engine output.Wherein, the electric current of steering engine output end is defaulted in
Sensor includes but is not limited to current divider, electromagnetic current transducer and electronic current mutual inductor etc..
Particularly, the output resistance passed through based on the obtained current value of measurement and the current value, can calculate steering engine
The voltage value of output.
In the embodiment of the present invention, in order to detect a current steering engine with the presence or absence of abnormal quality, need in each difference
At the time of, the electrical parameter of steering engine output is detected respectively.The electrical parameter of steering engine output indicates the current value or electricity of steering engine output
Pressure value is obtained in real time by preset above-mentioned current sensor.
Preferably, in order to improve the detection accuracy of current value and voltage value, the current sense of steering engine output end is defaulted in
The resistance precision of device is less than or equal to preset threshold, which for example can be 0.1% or 0.5%.
S102: first electrical parameter is compared with the second electrical parameter, and second electrical parameter is electrical parameter a reference value.
In the embodiment of the present invention, acquisition prestores the second electrical parameter being stored in steering engine, second electrical parameter and steering engine
Accessory parameter and target delivery efficiency are related.
Target delivery efficiency is defeated for the minimum that the pre-set steering engine of user should have under production application environment
Efficiency out.The accessory parameter of steering engine includes operational mode, load weight and the steering engine model of steering engine.Wherein, the operation of steering engine
Mode includes velocity mode, torque mode and mode position.
In the embodiment of the present invention, user obtains the accessory parameter and target delivery efficiency of steering engine, and is joined according to the accessory
Several and target delivery efficiency, calculates when the delivery efficiency of steering engine reaches target delivery efficiency, the current value of steering engine output
Or the size of the voltage value of output.
Specifically, when the delivery efficiency of steering engine reaches target delivery efficiency, it is calculated by the following formula steering engine output
Current value I:
In above-mentioned formula, P is the output power of steering engine, and B is magnetic induction intensity, F for drive motor gear operation when institute
The torque of generation, L are the length of the electrical conductor of cutting magnetic field when drive motor operates, and V is the running speed of steering engine.Wherein,
The output power P of steering engine can calculate acquisition according to the amount input power of steering engine and target delivery efficiency；Steering engine it is specified
The length L and arithmetic speed V of the electrical conductor of cutting magnetic field when input power, magnetic induction density B, drive motor operating
It is directly read in the accessory parameter of steering engine；Generated torque F can be according to current time rudder when the gear operation of drive motor
The load parameter of machine is determined such as load weight.
After the specific value for determining the parameters such as above-mentioned P, B, F, L and V, above-mentioned formula (1) is substituted into, to calculate
Out when the delivery efficiency of steering engine reaches target delivery efficiency, the current value of steering engine output, and the current value based on the output, meter
It calculates when the delivery efficiency of steering engine reaches target delivery efficiency, the voltage value of steering engine output.
In the embodiment of the present invention, the voltage value or current value export to the steering engine that user precomputes is stored, with
As the electrical parameter a reference value in steering engine.
In order to distinguish the electrical parameter for the steering engine output that real-time detection obtains and when to reach target defeated for the delivery efficiency of steering engine
Out when efficiency, in the embodiment of the present invention, the electrical parameter for the steering engine output that real-time detection obtains is known as the electrical parameter of steering engine output
First electrical parameter, when the delivery efficiency of steering engine is reached target delivery efficiency, the electrical parameter of steering engine output is known as the second electrical parameter.
When the triggering of abnormal state detection event, the second pre-stored electrical parameter is read.If the second electrical parameter read
For voltage reference value, then the first voltage value that current time is detected is compared with the second voltage value；If reading
The second electrical parameter arrived is current reference value, then the first current value detected current time and second current value into
Row compares.
Illustratively, above-mentioned to compare the first electrical parameter and second electrical parameter, it specifically includes:
Judge the first electrical parameter whether more than the second electrical parameter.If the first electrical parameter and the second electrical parameter are no more than the second electricity
Parameter thens follow the steps S103；Otherwise, step S104 is executed.
S103: if first electrical parameter is no more than second electrical parameter, it is determined that first steering engine is in normal
State.
S104: if first electrical parameter is more than second electrical parameter, it is determined that first steering engine is in abnormal shape
State.
Due to when the first electrical parameter is more than the second electrical parameter, according to current first electrical parameter detected and according to upper
Stating real-time delivery efficiency that formula (1) is calculated will be different from target delivery efficiency, is unable to reach steering engine in normal shape
The lower output demand that should reach of state.Accordingly, it is determined that steering engine is in abnormality at this time, which belongs to non-defective unit.Conversely, determining
Steering engine is in abnormality at this time, which belongs to substandard products.
In as an embodiment of the present invention, after above-mentioned S105, further includes:
It controls the indicator light being set on first steering engine and issues alarm signal.
It in the embodiment of the present invention, is detecting that steering engine is when in an abnormal state, is triggering alarm command, to be referred to based on the alarm
It enables, controls the indicator light being set on steering engine and issue alarm signal.Alarm signal includes but is not limited to lamp bright signal, optical flare letter
Number and audio signal etc..
When administrative staff receive alarm signal, it can recognize that current steering engine is in abnormality, it therefore, will be into one
The abnormal cause of step investigation steering engine is simultaneously debugged, and executes above-mentioned S101 to S104 to return to after the completion of debugging.
In the embodiment of the present invention, determining that steering engine is when in an abnormal state, by controlling the instruction being set on steering engine
Lamp issues alarm signal, and steering engine is notified the abnormality that real-time detection goes out in time to administrative staff, so that management
While personnel can obtain testing result, the troubleshooting efficiency of abnormal steering engine is improved.
Preferably, it when detecting that steering engine is in normal condition, controls another indicator light being set on steering engine and issues in advance
Determine the standby signal of color.Standby signal includes but is not limited to lamp bright signal, optical flare signal and audio signal etc., and this is mentioned
Show that signal and above-mentioned steering engine are when in an abnormal state, the standby signal that indicator light is issued is different.
As an implementation example of the invention, when steering engine is when in an abnormal state, indicator light A should issue feux rouges letter
Number, indicator light B should not issue standby signal.However, if be provided only with indicator light A on steering engine, and indicator light A break down and
Red signal light can not be issued, then user can think that steering engine is in normal condition due to indicator light A does not issue red signal light, thus
There is the generation of the case where testing result output error.By the way that indicator light A and indicator light B is arranged simultaneously on steering engine, ensure that
As long as steering engine self-test is completed, user just can the signal condition based on indicator light any on steering engine accurately determine testing result,
Even if indicator light A breaks down and can not issue red signal light, but as long as user sees indicator light B also without issuing prompt letter
Number, it just can know that steering engine is in abnormality and abnormal condition indirectly, while it can be found that indicator light A breaks down, therefore,
Steering engine abnormal state detection method provided in an embodiment of the present invention improves the output accuracy rate of testing result.
In the embodiment of the present invention, according to the accessory parameter and target delivery efficiency of steering engine to be detected, it can will determine
Electrical parameter a reference value, such as current reference value or voltage reference value, prestore and are stored in steering engine, so that in steering engine abnormality
Detection process in, as long as obtaining the electrical parameter that exports in real time of steering engine itself, just can judge the electrical parameter of current time output
It whether is more than electrical parameter a reference value；If the electrical parameter of output is more than electrical parameter a reference value, it can determine that steering engine is in abnormal shape
State.Since the electrical parameter of steering engine output can be current value or voltage value, and these electrical parameters pass through cheap electric current
Sensor can facilitate, simply measure to obtain, it is thus achieved that carrying out real-time detection delivery efficiency in no power analyzer
Under scene, it also can efficiently and accurately determine that steering engine with the presence or absence of exception, therefore, reduces the detection of steering engine abnormality
Cost.Simultaneously as steering engine can voluntarily detect the electrical parameter of output and the match condition of electrical parameter a reference value, it is thus achieved that
The automatic identification of abnormality, middle user detects steering engine exception shape by the external power analyzer of conducting wire compared with the existing technology
For the method for state, detection efficiency is improved.
On the basis of above-described embodiment, as another embodiment of the invention, to the acquisition side of the second electrical parameter
Formula, which is done, further to be limited.Refer to Fig. 2, Fig. 2 shows another embodiment of the present invention provides steering engine abnormality detection
The implementation process of method, details are as follows:
S201: the second electrical parameter of the second steering engine output is obtained, and second electrical parameter is stored；Wherein, institute
The load weight for stating the connection of the second steering engine is equal with the load weight that first steering engine connects.
Before carrying out abnormal state detection to steering engine to be detected, user joins the accessory for choosing one and steering engine to be detected
The identical another steering engine of number.For the ease of the steering engine and the accessory parameter phase that selects in advance of detection needed for distinguishing current time
Same another steering engine, is known as the first steering engine for the steering engine of detection needed for current time, and the accessory parameter selected in advance is identical
Another steering engine be known as the second steering engine.
In the embodiment of the present invention, the operational mode of the first steering engine and the second steering engine is velocity mode.Velocity mode it
Under, steering engine will be operated with preset constant speed.
User measures the delivery efficiency of the second steering engine by power analyzer, and judges whether the delivery efficiency is defeated with target
Efficiency matches out.If mismatching, user chooses another second steering engine identical with the accessory parameter of steering engine to be detected again
Afterwards, the delivery efficiency of second steering engine is measured again by power analyzer.When the delivery efficiency and mesh for detecting the second steering engine
When marking delivery efficiency matching, the electrical parameter of the second steering engine of current time output is obtained, and on the electrical parameter of the output is determined as
It states needs and stores the second electrical parameter into the first steering engine.
S202: first electrical parameter is compared with the second electrical parameter, and second electrical parameter is electrical parameter a reference value.
S203: if first electrical parameter is no more than second electrical parameter, it is determined that first steering engine is in normal
State.
S204: if first electrical parameter is more than second electrical parameter, it is determined that first steering engine is in abnormal shape
State.
S205: if first electrical parameter and second electrical parameter mismatch, it is determined that first steering engine is in different
Normal state.
The step realization principle that do not mention in the embodiment of the present invention is identical as the step realization principle in above-described embodiment, because
This is no longer repeated one by one.
Since the factory amount parameter of steering engine accessory is usually all theoretical reference value, in true application environment it is different surely
It is enough very to obtain identical parameter, therefore, in the embodiment of the present invention, by measuring the accessory parameter phase with steering engine to be detected
With and meet target delivery efficiency the output of the second steering engine electrical parameter, and using the electrical parameter as needing to be stored in the first rudder
Electrical parameter a reference value in machine can be based on really detecting obtained ginseng so that the first steering engine is during abnormal state detection
Output electrical parameter is examined to judge itself whether to meet efficiency output and require, therefore, by by the first electrical parameter of the first steering engine
Compared with the second electrical parameter obtained in the embodiment of the present invention, relative to be based on above-mentioned formula (1) obtained second
Electrical parameter for comparing, can more be met practical, more accurate comparison result, thus improve steering engine exception
The Detection accuracy of state.
In as an embodiment of the present invention, Fig. 3 shows the inspection of steering engine abnormality provided in an embodiment of the present invention
The specific implementation flow of survey method S201, details are as follows:
S2011: the speed of service for controlling first steering engine and second steering engine is identical.
It stores by the second electrical parameter of the second steering engine to the first steering engine, is referred to according to the operational mode adjusting received
It enables, sets velocity mode for the operational mode of the first steering engine, to guarantee that the first steering engine, can during abnormal state detection
It is consistent with the operational mode of the second steering engine, and guarantees that the first steering engine is identical as the speed of service of the second steering engine.
In the first steering engine, by preset pressure sensor, the pressure value detected on output shaft, and base are obtained
In preset algorithm, load value corresponding to the pressure value is calculated, is born with detecting that the first steering engine is attached on output shaft
Loading capacity.
While user obtains the second steering engine delivery efficiency by power analyzer, the second steering engine is recorded on output shaft
Attached load weight.The load weight can be quiescent value, and it is performed additional on its output shaft to be also possible to user
Load value.The load weight and the second electrical parameter are stored together into the first steering engine.
In the embodiment of the present invention, the first steering engine is enabled to read its pre-stored load weight.
S2012: when the load weight for detecting that the load weight of the first steering engine connection is connect with second steering engine
When identical, start the real-time detection to the first electrical parameter of the first steering engine.
If the load weight that current time real-time detection obtains is different from the pre-stored load weight of the second steering engine, send out
Prompt information out, the load weight connected on the output shaft of the first steering engine with prompting user to increase or reduce are realized to first
The adjustment of the load weight of steering engine.
If the load weight that current time real-time detection obtains is identical as the pre-stored load weight of the second steering engine, open
The detection function of dynamic the first electrical parameter to the first steering engine.Preferably, the first electrical parameter real-time detection obtained is showed in rudder
In the display screen that machine is connected.
In the embodiment of the present invention, by the load for detecting that the load weight of the first steering engine connection is connect with the second steering engine
When weight is identical, start the real-time detection to the first electrical parameter of the first steering engine, so that user is without the defeated of triggering steering engine manually
Electrical parameters detection function out realizes the automation of steering engine abnormal state detection, reduces cumbersome degree；By enabling the first rudder
It is identical that machine and the second steering engine run on the speed of service of both velocity mode and control, load weight, ensure that based on the second rudder
Second electrical parameter of machine during judging whether the first steering engine is in abnormality, can be reduced brought by other factors
It influences, realizes being uniformly controlled for variable, improve the accuracy of test result.
As another embodiment of the invention, Fig. 4 shows the inspection of steering engine abnormality provided in an embodiment of the present invention
The implementation process of survey method, details are as follows:
S401: the first electrical parameter of the first steering engine of real-time detection output, first steering engine are steering engine to be detected.
S402: in preset duration, multi collect is carried out to first electrical parameter, to obtain width in the preset duration
It is worth maximum first electrical parameter.
S403: the first electrical parameter of the amplitude maximum and second electrical parameter are compared.
S404: if the first electrical parameter of the amplitude maximum is no more than second electrical parameter, it is determined that first steering engine
In normal condition.
S405: if the first electrical parameter of the amplitude maximum is more than second electrical parameter, it is determined that at first steering engine
In abnormality.
In the embodiment of the present invention, persistently detect the first electrical parameter of the first steering engine, therefore, preset one section of duration it
It is interior, multiple first electrical parameters will be obtained.According to the numerical values recited for exporting each electrical parameter, to obtained each first electrical parameter into
Row sequence processing, to filter out maximum first electrical parameter of numerical value.If the first electrical parameter of the amplitude maximum is no more than pre-
Second electrical parameter of storage, it is determined that the first steering engine is in normal condition.If the first electrical parameter of the amplitude maximum is more than to prestore
Second electrical parameter of storage, it is determined that the first steering engine is in abnormality.
Preferably, during the second electrical parameter of above-mentioned the second steering engine of acquisition, equally preset one section of duration it
It is interior, persistently the second electrical parameter of the second steering engine is detected.According to the second electrical parameter corresponding to each acquisition moment, generate
Second electrical parameter curve.Meanwhile the first electrical parameter according to corresponding to each acquisition moment, generate the first electrical parameter curve.It will
Whether first electrical parameter curve and the second electrical parameter Drawing of Curve detect the first electrical parameter curve with second in grid coordinate system
Electrical parameter curve intersection.
If the first electrical parameter curve and the second electrical parameter curve intersection determine that the first steering engine is in abnormality；If the
One electrical parameter curve and the second electrical parameter curve are non-intersecting, and the first electrical parameter curve is present in below the second electrical parameter curve,
Then determine that the first steering engine is in normal condition.
In the embodiment of the present invention, the of the first steering engine is judged based on the maximum value of the first electrical parameter each in preset duration
Whether one electrical parameter is more than the second electrical parameter, when so that the first steering engine being only stable at normal condition, can just obtain its normal shape
The testing result of state；As long as it is more than the second electrical parameter that the first electrical parameter, which occurs, in any moment of first steering engine in preset duration
The case where, can also export the testing result of its abnormality, this improves the stability of steering engine abnormal state detection result with
And accuracy.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, each process
Execution sequence should be determined by its function and internal logic, the implementation process without coping with the embodiment of the present invention constitutes any limit
It is fixed.
Corresponding to the detection method of steering engine abnormality described in foregoing embodiments, Fig. 5 shows the embodiment of the present invention and mentions
The structural block diagram of the detection device of the steering engine abnormality of confession illustrates only related to the embodiment of the present invention for ease of description
Part.
Referring to Fig. 5, which includes:
Detection unit 51, for the first electrical parameter of the first steering engine of real-time detection output, first steering engine is to be detected
Steering engine.
Comparing unit 52, for comparing first electrical parameter with the second electrical parameter, second electrical parameter is electricity
Parameter reference value.
First determination unit 53, if being no more than second electrical parameter for first electrical parameter, it is determined that described the
One steering engine is in normal condition.
Second determination unit 54, if being more than second electrical parameter for first electrical parameter, it is determined that described first
Steering engine is in abnormality.
Optionally, the detection device of the steering engine abnormality further include:
First acquisition unit 55, for obtain the second steering engine output the second electrical parameter, and by second electrical parameter into
Row storage.
Wherein, the load weight of the second steering engine connection is equal with the load weight that first steering engine connects.
Optionally, the detection device of the steering engine abnormality further include:
Second acquisition unit 56, for obtaining second electrical parameter for prestoring and being stored in first steering engine.
Optionally, the detection unit 51 includes:
Subelement is controlled, the speed of service for controlling first steering engine and second steering engine is identical.
Detection sub-unit, for what is connect when the load weight for detecting the first steering engine connection with second steering engine
When load weight is identical, start the real-time detection to the first electrical parameter of the first steering engine.
Optionally, the comparing unit 52 is specifically used for:
In preset duration, multi collect is carried out to first electrical parameter, to obtain in the preset duration amplitude most
Big first electrical parameter, and the first electrical parameter of the amplitude maximum and second electrical parameter are compared.
Optionally, first electrical parameter includes current value or voltage value.
Optionally, the detection device of the steering engine abnormality further include:
Alarm unit 57 issues alarm signal for controlling the indicator light being set on first steering engine.
In the embodiment of the present invention, in the detection process of steering engine abnormality, as long as obtaining what steering engine itself exported in real time
Electrical parameter just can judge whether the electrical parameter that current time is exported is more than electrical parameter a reference value；If the electrical parameter of output is super
Electrical parameter a reference value is crossed, then can determine that steering engine is in abnormality.Due to steering engine output electrical parameter can be current value or
Person's voltage value, and these electrical parameters can be facilitated by cheap current sensor, simply measure to obtain, thus realize
Under the scene that no power analyzer carrys out real-time detection delivery efficiency, also efficiently and accurately whether steering engine can be determined
There are exceptions, therefore, reduce the testing cost of steering engine abnormality.Simultaneously as steering engine can voluntarily detect the electricity of output
The match condition of parameter and electrical parameter a reference value, it is thus achieved that the automatic identification of abnormality, middle compared with the existing technology to use
Family by method of the external power analyzer of conducting wire to detect steering engine abnormality for, improve detection efficiency.
Fig. 6 is the schematic diagram for the terminal device that one embodiment of the invention provides.As shown in fig. 6, the terminal of the embodiment is set
Standby 6 include: processor 60, memory 61 and are stored in the meter that can be run in the memory 61 and on the processor 60
Calculation machine program 62, such as the detection program of steering engine abnormality.The realization when processor 60 executes the computer program 62
Step in the detection method embodiment of above-mentioned each steering engine abnormality, such as step 101 shown in FIG. 1 is to 105.Alternatively,
The processor 60 realizes the function of each module/unit in above-mentioned each Installation practice, example when executing the computer program 62
The function of unit 51 to 57 as shown in Figure 5.
Illustratively, the computer program 62 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 61, and are executed by the processor 60, to complete the present invention.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the computer program 62 in the terminal device 6 is described.
The terminal device 6 can be the calculating such as desktop PC, notebook, palm PC and cloud server and set
It is standby.The terminal device may include, but be not limited only to, processor 60, memory 61.It will be understood by those skilled in the art that Fig. 6
The only example of terminal device 6 does not constitute the restriction to terminal device 6, may include than illustrating more or fewer portions
Part perhaps combines certain components or different components, such as the terminal device can also include input-output equipment, net
Network access device, bus etc..
Alleged processor 60 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 61 can be the internal storage unit of the terminal device 6, such as the hard disk or interior of terminal device 6
It deposits.The memory 61 is also possible to the External memory equipment of the terminal device 6, such as be equipped on the terminal device 6
Plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card dodge
Deposit card (Flash Card) etc..Further, the memory 61 can also both include the storage inside list of the terminal device 6
Member also includes External memory equipment.The memory 61 is for storing needed for the computer program and the terminal device
Other programs and data.The memory 61 can be also used for temporarily storing the data that has exported or will export.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above system
The specific work process of middle unit, module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed device/terminal device and method, it can be with
It realizes by another way.For example, device described above/terminal device embodiment is only schematical, for example, institute
The division of module or unit is stated, only a kind of logical function partition, there may be another division manner in actual implementation, such as
Multiple units or components can be combined or can be integrated into another system, or some features can be ignored or not executed.Separately
A bit, shown or discussed mutual coupling or direct-coupling or communication connection can be through some interfaces, device
Or the INDIRECT COUPLING or communication connection of unit, it can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or
In use, can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-mentioned implementation
All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on
The step of stating each embodiment of the method.Wherein, the computer program includes computer program code, the computer program
Code can be source code form, object identification code form, executable file or certain intermediate forms etc..Computer-readable Jie
Matter may include: can carry the computer program code any entity or device, recording medium, USB flash disk, mobile hard disk,
Magnetic disk, CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that described
The content that computer-readable medium includes can carry out increasing appropriate according to the requirement made laws in jurisdiction with patent practice
Subtract, such as does not include electric carrier signal and electricity according to legislation and patent practice, computer-readable medium in certain jurisdictions
Believe signal.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution should all
It is included within protection scope of the present invention.
Claims (16)
1. a kind of detection method of steering engine abnormality characterized by comprising
First electrical parameter of the first steering engine of real-time detection output, first steering engine are steering engine to be detected；
First electrical parameter is compared with the second electrical parameter, second electrical parameter is electrical parameter a reference value；
If first electrical parameter is no more than second electrical parameter, it is determined that first steering engine is in normal condition；
If first electrical parameter is more than second electrical parameter, it is determined that first steering engine is in abnormality.
2. detection method as described in claim 1, which is characterized in that the acquisition of second electrical parameter, comprising:
The second electrical parameter of the second steering engine output is obtained, and second electrical parameter is stored；
Wherein, the load weight of the second steering engine connection is equal with the load weight that first steering engine connects.
3. detection method as described in claim 1, which is characterized in that the acquisition of second electrical parameter, comprising:
Acquisition prestores second electrical parameter being stored in first steering engine.
4. detection method as claimed in claim 2, which is characterized in that the first electricity ginseng of the first steering engine of real-time detection output
Number, comprising:
The speed of service for controlling first steering engine and second steering engine is identical；
When the load weight for detecting the first steering engine connection is identical as the load weight that second steering engine connects, starting
To the real-time detection of the first electrical parameter of the first steering engine.
5. such as the described in any item detection methods of Claims 1-4, which is characterized in that described by first electrical parameter and the
Two electrical parameters compare, comprising:
In preset duration, multi collect is carried out to first electrical parameter, to obtain amplitude maximum in the preset duration
First electrical parameter, and the first electrical parameter of the amplitude maximum and second electrical parameter are compared.
6. such as the described in any item detection methods of Claims 1-4, which is characterized in that first electrical parameter includes current value
Or voltage value.
7. such as the described in any item detection methods of Claims 1-4, which is characterized in that at the determination first steering engine
After abnormality, further includes:
It controls the indicator light being set on first steering engine and issues alarm signal.
8. a kind of detection device of steering engine abnormality characterized by comprising
Detection unit, for the first electrical parameter of the first steering engine of real-time detection output, first steering engine is steering engine to be detected；
Comparing unit, for comparing first electrical parameter with the second electrical parameter, second electrical parameter is electrical parameter base
Quasi- value；
First determination unit, if being no more than second electrical parameter for first electrical parameter, it is determined that first steering engine
In normal condition；
Second determination unit, if being more than second electrical parameter for first electrical parameter, it is determined that at first steering engine
In abnormality.
9. detection device as claimed in claim 8, which is characterized in that further include:
First acquisition unit for obtaining the second electrical parameter of the second steering engine output, and second electrical parameter is stored；
Wherein, the load weight of the second steering engine connection is equal with the load weight that first steering engine connects.
10. detection device as claimed in claim 8, which is characterized in that further include:
Second acquisition unit, for obtaining second electrical parameter for prestoring and being stored in first steering engine.
11. detection device as claimed in claim 9, which is characterized in that the detection unit includes:
Subelement is controlled, the speed of service for controlling first steering engine and second steering engine is identical；
Detection sub-unit, for when the load for detecting that the load weight of the first steering engine connection is connect with second steering engine
When weight is identical, start the real-time detection to the first electrical parameter of the first steering engine.
12. such as the described in any item detection devices of claim 8 to 11, which is characterized in that the comparing unit is specifically used for:
In preset duration, multi collect is carried out to first electrical parameter, to obtain amplitude maximum in the preset duration
First electrical parameter, and the first electrical parameter of the amplitude maximum and second electrical parameter are compared.
13. such as the described in any item detection devices of claim 8 to 11, which is characterized in that first electrical parameter includes electric current
Value or voltage value.
14. such as the described in any item detection devices of claim 8 to 11, which is characterized in that further include:
Alarm unit issues alarm signal for controlling the indicator light being set on first steering engine.
15. a kind of terminal device, including memory, processor and storage are in the memory and can be on the processor
The computer program of operation, which is characterized in that the processor realizes such as claim 1 to 7 when executing the computer program
The step of any one the method.
16. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of any one of such as claim 1 to 7 of realization the method.
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