CN113009457B - Method and device for determining whether laser radar has faults, processor and vehicle - Google Patents
Method and device for determining whether laser radar has faults, processor and vehicle Download PDFInfo
- Publication number
- CN113009457B CN113009457B CN202110218709.9A CN202110218709A CN113009457B CN 113009457 B CN113009457 B CN 113009457B CN 202110218709 A CN202110218709 A CN 202110218709A CN 113009457 B CN113009457 B CN 113009457B
- Authority
- CN
- China
- Prior art keywords
- signal
- range
- laser radar
- preset
- duration
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
- G01S7/4972—Alignment of sensor
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The application provides a method and a device for determining whether a laser radar fails or not, a processor and a vehicle, wherein the method comprises the following steps: acquiring a first signal of the running laser radar in real time, wherein the first signal comprises a first sound signal and/or a first vibration signal; acquiring a preset signal range, wherein the preset signal range comprises a first preset signal range and a second preset signal range, the first preset signal range is a range formed by a maximum sound signal and a minimum sound signal of the laser radar under the condition of no fault, and the second preset signal range is a range formed by a maximum vibration signal and a minimum vibration signal of the laser radar under the condition of no fault; and determining whether the laser radar has faults according to the first signal and the preset signal range. The method can pre-judge whether the laser radar has faults, ensures that the potential faults of the laser radar can be found in time, facilitates subsequent investigation and maintenance, and avoids the problem of safety accidents caused by the faults of the laser radar.
Description
Technical Field
The present disclosure relates to the field of lidar, and in particular, to a method and apparatus for determining whether a lidar has a fault, a computer readable storage medium, a processor, an electronic device, and a vehicle.
Background
Currently, mechanical LIDAR (Light-Detection-And-ranging) is used on unmanned vehicles in a large amount, but if the mechanical LIDAR is used for a long time in a severe running environment of the vehicle, damage is easy to occur, and dangerous accidents are caused. Therefore, a method for monitoring the working condition of the mechanical LIDAR in real time is needed to ensure the safety and reliability of the unmanned system.
The above information disclosed in the background section is only for enhancement of understanding of the background art from the technology described herein and, therefore, may contain some information that does not form the prior art that is already known in the country to a person of ordinary skill in the art.
Disclosure of Invention
The main objective of the present application is to provide a method, a device, a computer readable storage medium, a processor, an electronic device and a vehicle for determining whether a laser radar fails, so as to solve the problem that the working condition of a mechanical laser radar cannot be monitored in real time in the prior art.
According to an aspect of an embodiment of the present invention, there is provided a method for determining whether a laser radar fails, including: acquiring a first signal of the running laser radar in real time, wherein the first signal comprises a first sound signal and/or a first vibration signal; acquiring a preset signal range, wherein the preset signal range comprises a first preset signal range and/or a second preset signal range, the first preset signal range is a range formed by a maximum sound signal and a minimum sound signal of the laser radar under the condition of no fault, and the second preset signal range is a range formed by a maximum vibration signal and a minimum vibration signal of the laser radar under the condition of no fault; and determining whether the laser radar has faults according to the first signal and the preset signal range.
Optionally, acquiring, in real time, the first signal of the running lidar includes: acquiring a first original signal of the laser radar in operation in real time; and carrying out preset processing on the first original signal to obtain the first signal, wherein the preset processing comprises filtering processing.
Optionally, performing predetermined processing on the first original signal to obtain the first signal, including: converting the first original signal into a digital signal by adopting an analog-to-digital converter; and filtering the digital signal to obtain the first signal.
Optionally, before converting the first original signal into a digital signal using an analog-to-digital converter, the method further comprises: and carrying out signal conditioning on the first original signal to obtain a standard signal.
Optionally, filtering the digital signal to obtain the first signal, including: filtering the digital signal to obtain a time domain signal; and carrying out Fourier transform on the time domain signal to obtain a frequency domain signal, wherein the time domain signal and the frequency domain signal form the first signal.
Optionally, acquiring the predetermined signal range includes: acquiring a plurality of second signals of the running laser radar under the fault-free condition, wherein the second signals comprise second sound signals and/or second vibration signals; determining a maximum signal and a minimum signal according to a plurality of the second signals, wherein the maximum signal comprises the maximum sound signal and/or the maximum vibration signal, and the minimum signal comprises the minimum sound signal and/or the minimum vibration signal; and determining the natural frequency of the signal of the laser radar in the fault-free condition, the amplitude range of the natural frequency and the duration range of the signal according to the maximum signal and the minimum signal, wherein the natural frequency, the amplitude range and the duration range form the preset signal range.
Optionally, acquiring a plurality of second signals of the operating lidar in the absence of a fault, including: acquiring a plurality of second original signals of the running laser radar under the fault-free condition; and carrying out preset processing on the plurality of second original signals to obtain a plurality of second signals, wherein the preset processing comprises filtering processing.
Optionally, determining whether the laser radar fails according to the first signal and the predetermined signal range includes: analyzing the time domain signal to determine the duration of the time domain signal; analyzing the frequency domain signal, and determining the natural frequency of the frequency domain signal and the amplitude corresponding to the natural frequency; determining whether the lidar is faulty based on the duration, the natural frequency, the amplitude, and the predetermined signal range.
Optionally, determining whether the lidar is faulty according to the duration, the natural frequency, the amplitude, and the predetermined signal range includes: determining whether the duration, the natural frequency, and the amplitude meet one of the following first predetermined conditions: the duration is not within the duration range, the natural frequency is not the same as the natural frequency of the signal, and the amplitude is not within the amplitude range; determining that the lidar is malfunctioning if the duration, the natural frequency, and the amplitude satisfy one of the first predetermined conditions.
Optionally, before determining whether the lidar is malfunctioning based on the first signal and the predetermined signal range, the method further comprises: determining an early warning signal range according to the preset signal range, wherein the early warning signal range comprises an amplitude early warning range and a duration early warning range, the amplitude range comprises the amplitude early warning range, and the duration range comprises the duration early warning range; determining whether the duration and the amplitude meet one of the following second predetermined conditions: the amplitude is not in the amplitude early warning range, and the duration is not in the duration early warning range; and sending out an early warning signal under the condition that the duration and the amplitude meet one of the second preset conditions.
According to another aspect of the embodiment of the present invention, there is also provided a device for determining whether a laser radar has a fault, including: a first acquisition unit for acquiring a first signal of the laser radar in operation in real time, wherein the first signal comprises a first sound signal and/or a first vibration signal; a second acquisition unit configured to acquire a predetermined signal range, where the predetermined signal range includes a first predetermined signal range and/or a second predetermined signal range, the first predetermined signal range is a range formed by a maximum sound signal and a minimum sound signal of the lidar under a fault-free condition, and the second predetermined signal range is a range formed by a maximum vibration signal and a minimum vibration signal of the lidar under a fault-free condition; and the first determining unit is used for determining whether the laser radar has faults according to the first signal and the preset signal range.
According to still another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein the program performs any one of the methods.
According to still another aspect of the embodiment of the present invention, there is further provided a processor, where the processor is configured to execute a program, where the program executes any one of the methods.
According to an aspect of an embodiment of the present invention, there is also provided an electronic device including: one or more processors, memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising instructions for performing any of the methods.
According to still another aspect of the embodiment of the present invention, there is also provided a vehicle including: a vehicle body; a lidar located on the vehicle body; the fault determining device of the laser radar is used for executing any one of the methods.
In the method for determining whether the laser radar has a fault or not, first, a first signal of the laser radar in operation is obtained in real time, wherein the first signal comprises a first sound signal and/or a first vibration signal; then, acquiring a preset signal range, wherein the preset signal range comprises a first preset signal range and/or a second preset signal range, the first preset signal range is a range formed by a maximum sound signal and a minimum sound signal of the laser radar under the condition of no fault, and the second preset signal range is a range formed by a maximum vibration signal and a minimum vibration signal of the laser radar under the condition of no fault; finally, determining whether the laser radar has faults according to the first signal and the preset signal range. According to the method, first signals of the running laser radar are acquired in real time, a preset signal range is acquired, then whether the laser radar has faults or not is determined according to the first signals and the preset signal range, namely, the signals in the running laser radar are compared with the signal range under the condition that the laser radar has no faults, and whether data in the running laser radar are in the preset range is determined, so that whether the laser radar has faults or not can be prejudged, real-time monitoring of working conditions of the laser radar is guaranteed, potential faults of the laser radar can be found in time, follow-up checking and overhauling of the laser radar are facilitated, and the problem of safety accidents caused by the faults of the laser radar is avoided.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
FIG. 1 illustrates a flow chart of a method of determining whether a lidar is malfunctioning according to an embodiment of the present application;
fig. 2 shows a schematic diagram of a determination device of whether a lidar has failed according to an embodiment of the present application.
Detailed Description
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the present application described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Furthermore, in the description and in the claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.
As described in the background art, in order to solve the problem that the working condition of the mechanical lidar cannot be monitored in real time in the prior art, in an exemplary embodiment of the present application, a method, an apparatus, a computer readable storage medium, a processor, an electronic device and a vehicle for determining whether the lidar fails are provided.
According to the embodiment of the application, a method for determining whether a laser radar fails is provided.
Fig. 1 is a flowchart of a method of determining whether a lidar is malfunctioning according to an embodiment of the present application. As shown in fig. 1, the method comprises the steps of:
step S101, acquiring a first signal of a laser radar in operation in real time, wherein the first signal comprises a first sound signal and/or a first vibration signal;
step S102, acquiring a preset signal range, wherein the preset signal range comprises a first preset signal range and/or a second preset signal range, the first preset signal range is a range formed by a maximum sound signal and a minimum sound signal of the laser radar under the condition of no fault, and the second preset signal range is a range formed by a maximum vibration signal and a minimum vibration signal of the laser radar under the condition of no fault;
Step S103, determining whether the laser radar has faults according to the first signal and the preset signal range.
In the method for determining whether the laser radar has a fault, first, a first signal of the running laser radar is acquired in real time, wherein the first signal comprises a first sound signal and/or a first vibration signal; then, acquiring a preset signal range, wherein the preset signal range comprises a first preset signal range and/or a second preset signal range, the first preset signal range is a range formed by a maximum sound signal and a minimum sound signal of the laser radar under the condition of no fault, and the second preset signal range is a range formed by a maximum vibration signal and a minimum vibration signal of the laser radar under the condition of no fault; finally, determining whether the laser radar has faults according to the first signal and the preset signal range. According to the method, first signals of the running laser radar are acquired in real time, a preset signal range is acquired, then whether the laser radar has faults or not is determined according to the first signals and the preset signal range, namely, the signals in the running laser radar are compared with the signal range under the condition that the laser radar has no faults, and whether data in the running laser radar are in the preset range is determined, so that whether the laser radar has faults or not can be prejudged, real-time monitoring of the working condition of the laser radar is guaranteed, potential faults of the laser radar can be found in time, follow-up checking and overhauling of the laser radar are facilitated, and the problem of safety accidents caused by the faults of the laser radar is avoided.
In the practical application process, the laser radar is a mechanical laser radar, the mechanical laser radar is not damaged suddenly and cannot work normally when in work, and a long period of latency exists before the mechanical laser radar cannot work completely.
In the practical application process, the first vibration signal is a vibration signal generated by rotation or vibration of a mechanical component in the laser radar in the operation process of the laser radar.
In a specific embodiment, the first sound signal and/or the first vibration signal generated by the lidar during operation is acquired in real time by mounting a Micro-Electro-Mechanical System (MEMS) or Micro-acoustic sensor (Microphone Sensor) on the housing of the lidar. Of course, the person skilled in the art may also acquire the first signal in real time by other devices mounted on the lidar or by any method known in the art.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowcharts, in some cases the steps illustrated or described may be performed in an order other than that illustrated herein.
In one embodiment of the present application, acquiring a first signal of an operating lidar in real time includes: acquiring a first original signal of the laser radar in operation in real time; and carrying out preset processing on the first original signal to obtain the first signal, wherein the preset processing comprises filtering processing. In this embodiment, the obtained first original signal is filtered to obtain a first signal, so that interference of noise of surrounding environment where the laser radar is located, vibration of a vehicle body and other external signals can be suppressed, the obtained first signal is ensured to be accurate, a result of whether the laser radar is in failure or not is ensured to be accurate according to the first signal, and further an accurate determination result is obtained.
In a specific embodiment of the present application, the filtering process may be performed by a finite length impulse response (Finite Impulse Response, FIR) filter, may be performed by a Gao Jiexin lattice filter, may be performed by a low-pass filter, but is not limited to a finite length impulse response filter, a Gao Jiexin lattice filter, and a low-pass filter, may be performed by any type of filter in the prior art, and is not limited to filtering by a filter, and may be performed by any filtering method in the prior art.
In yet another embodiment of the present application, performing a predetermined process on the first original signal to obtain the first signal includes: converting the first original signal into a digital signal by adopting an analog-to-digital converter; and filtering the digital signal to obtain the first signal. In this embodiment, the first original signal is converted into the digital signal by the analog-to-digital converter, and then the digital signal is subjected to filtering processing, so that interference of noise, vehicle body vibration and the like of the environment where the laser radar is located on the first signal of the laser radar is further suppressed or even avoided, the obtained first signal is further ensured to be more accurate, and whether the laser radar fails or not is further ensured to be accurately determined according to the first signal and the preset signal range.
In another embodiment of the present application, before the converting the first original signal into the digital signal by using an analog-to-digital converter, the method further includes: and carrying out signal conditioning on the first original signal to obtain a standard signal. In this embodiment, signal conditioning is performed on the first original signal to obtain a standard signal, so that subsequent predetermined processing on the standard signal is further facilitated, and meanwhile, it is further ensured that the first signal obtained subsequently according to the standard signal is more accurate.
In still another embodiment of the present application, filtering the digital signal to obtain the first signal includes: filtering the digital signal to obtain a time domain signal; and performing Fourier transform on the time domain signal to obtain a frequency domain signal, wherein the time domain signal and the frequency domain signal form the first signal. In this embodiment, the digital signal is filtered to obtain a time domain signal, and the time domain signal is fourier transformed to obtain a frequency domain signal, which further facilitates subsequent analysis of the time-varying condition of the signal of the lidar according to the time domain signal, and further facilitates subsequent analysis of the frequency-dependent characteristic of the signal of the lidar according to the frequency domain signal.
In the practical application process, a digital processor may be used to process the time domain signal to obtain the frequency domain signal. Of course, other ways of obtaining the frequency domain signal may be used by those skilled in the art.
In one embodiment of the present application, obtaining a predetermined signal range includes: acquiring a plurality of second signals of the running laser radar under the fault-free condition, wherein the second signals comprise second sound signals and/or second vibration signals; determining a maximum signal and a minimum signal according to the plurality of second signals, wherein the maximum signal comprises the maximum sound signal and/or the maximum vibration signal, and the minimum signal comprises the minimum sound signal and/or the minimum vibration signal; and determining the natural frequency of the signal of the laser radar in the fault-free condition, the amplitude range of the natural frequency and the duration range of the signal according to the maximum signal and the minimum signal, wherein the natural frequency, the amplitude range and the duration range form the preset signal range. In this embodiment, first, a plurality of second signals of the lidar under the condition of no fault are acquired, and according to the plurality of second signals, the maximum signal and the minimum signal can be determined more accurately and simply, so that the natural frequency of the signal, the amplitude range of the natural frequency and the duration range of the signal of the lidar under the condition of no fault are obtained more accurately.
In yet another embodiment of the present application, obtaining a plurality of second signals of the operating lidar under no fault conditions includes: acquiring a plurality of second original signals of the running laser radar under the fault-free condition; and performing predetermined processing on the plurality of second original signals to obtain a plurality of second signals, wherein the predetermined processing comprises filtering processing. In the embodiment, the second original signals of the laser radar under the condition of no faults are subjected to preset processing, so that the more accurate second signals can be obtained, the more accurate preset signal range can be further obtained according to the second signals, and the follow-up more accurate determination of whether the laser radar has faults or not can be further ensured.
In another embodiment of the present application, determining whether the laser radar fails according to the first signal and the predetermined signal range includes: analyzing the time domain signal to determine the duration of the time domain signal; analyzing the frequency domain signal to determine the natural frequency of the frequency domain signal and the amplitude corresponding to the natural frequency; determining whether the lidar is faulty based on the duration, the natural frequency, the amplitude, and the predetermined signal range. In this embodiment, according to the obtained duration, the natural frequency, the amplitude and the duration, the natural frequency and the amplitude of the laser radar in a predetermined signal range in a normal operation process of the laser radar, it is further ensured that whether the laser radar fails or not is accurately and simply determined, and further the problem that the working condition of the mechanical laser radar cannot be monitored in real time in the prior art is further solved.
In yet another embodiment of the present application, determining whether the lidar is malfunctioning based on the duration, the natural frequency, the amplitude, and the predetermined signal range includes: determining whether said duration, said natural frequency, and said amplitude meet one of the following first predetermined conditions: the duration is not within the duration range, the natural frequency is not the same as the natural frequency of the signal, and the amplitude is not within the amplitude range; and determining that the lidar is malfunctioning if the duration, the natural frequency, and the amplitude satisfy one of the first predetermined conditions. In this embodiment, the duration is not within the duration range, the natural frequency is not identical to the natural frequency of the signal, and the amplitude is not within the amplitude range, so that when one of the first predetermined conditions is satisfied, it can be more accurately determined whether the laser radar fails, and further the problem that the working condition of the mechanical laser radar cannot be monitored in real time in the prior art is solved.
In one embodiment of the present application, before determining whether the lidar fails according to the first signal and the predetermined signal range, the method further includes: determining an early warning signal range according to the preset signal range, wherein the early warning signal range comprises an amplitude early warning range and a duration early warning range, the amplitude range comprises the amplitude early warning range, and the duration range comprises the duration early warning range, namely the early warning signal range is a signal range obtained by tightly shrinking the preset signal range; determining whether said duration and said amplitude meet one of the following second predetermined conditions: the amplitude is not in the amplitude early warning range, and the duration is not in the duration early warning range; and sending out an early warning signal when the duration and the amplitude meet one of the second preset conditions. In this embodiment, when the amplitude is not within the amplitude early warning range or the duration is not within the duration early warning range, that is, when one of the second predetermined conditions is satisfied, an early warning signal is sent out, so that a warning effect can be achieved, a user is reminded of paying attention to the working condition of the laser radar on the vehicle, and the laser radar is checked if necessary, so that the safe and reliable performance of the vehicle driving is further ensured.
The embodiment of the application also provides a device for determining whether the laser radar has a fault, and the device for determining whether the laser radar has a fault can be used for executing the method for determining whether the laser radar has a fault. The following describes a device for determining whether a laser radar provided in an embodiment of the present application has a fault.
Fig. 2 is a schematic diagram of a determination device of whether a lidar according to an embodiment of the present application has failed. As shown in fig. 2, the apparatus includes:
a first acquisition unit 10 for acquiring, in real time, a first signal of the operating lidar, the first signal including a first sound signal and/or a first vibration signal;
a second acquisition unit 20 configured to acquire a predetermined signal range including a first predetermined signal range and/or a second predetermined signal range, the first predetermined signal range being a range formed by a maximum sound signal and a minimum sound signal of the lidar in a case where there is no fault, and the second predetermined signal range being a range formed by a maximum vibration signal and a minimum vibration signal of the lidar in a case where there is no fault;
A first determining unit 30, configured to determine whether the laser radar fails according to the first signal and the predetermined signal range.
In the determining device for determining whether the laser radar has a fault, the first acquiring unit is used for acquiring a first signal of the running laser radar in real time, wherein the first signal comprises a first sound signal and/or a first vibration signal; the second acquisition unit is used for acquiring a preset signal range, wherein the preset signal range comprises a first preset signal range and/or a second preset signal range, the first preset signal range is a range formed by a maximum sound signal and a minimum sound signal of the laser radar under the condition of no fault, and the second preset signal range is a range formed by a maximum vibration signal and a minimum vibration signal of the laser radar under the condition of no fault; the first determining unit is used for determining whether the laser radar has faults according to the first signal and the preset signal range. In the determining device, the first acquiring unit and the second acquiring unit are used for acquiring the first signal and the preset signal range of the running laser radar respectively, the first determining unit is used for determining whether the laser radar has faults according to the first signal and the preset signal range, namely, the signal range of the laser radar in operation is compared with the signal range of the laser radar under the condition of no faults, and whether the data in the operation of the laser radar is in the preset range is determined, so that whether the laser radar has faults or not can be prejudged, the real-time monitoring of the working condition of the laser radar is ensured, the potential faults of the laser radar can be found timely, the follow-up investigation and maintenance of the laser radar are facilitated, and the problem of safety accidents caused by the faults of the laser radar is avoided.
In the practical application process, the laser radar is a mechanical laser radar, the mechanical laser radar is not damaged suddenly and cannot work normally when in work, and a long period of latency exists before the mechanical laser radar cannot work completely.
In the practical application process, the first vibration signal is a vibration signal generated by rotation or vibration of a mechanical component in the laser radar in the operation process of the laser radar.
In a specific embodiment, the first sound signal and/or the first vibration signal generated by the lidar during operation is acquired in real time by mounting a Micro-Electro-Mechanical System (MEMS) or Micro-acoustic sensor (Microphone Sensor) on the housing of the lidar. Of course, the person skilled in the art may also acquire the first signal in real time by other devices mounted on the lidar or by any method known in the art.
In an embodiment of the present application, the first obtaining unit further includes a first obtaining module and a predetermined processing module, where the first obtaining module is configured to obtain, in real time, a first original signal of the running lidar; the predetermined processing module is used for performing predetermined processing on the first original signal to obtain the first signal, and the predetermined processing comprises filtering processing. In this embodiment, the obtained first original signal is filtered to obtain a first signal, so that interference of noise of surrounding environment where the laser radar is located, vibration of a vehicle body and other external signals can be suppressed, the obtained first signal is ensured to be accurate, a result of whether the laser radar is in failure or not is ensured to be accurate according to the first signal, and further an accurate determination result is obtained.
In a specific embodiment of the present application, the filtering process may be performed by a finite length impulse response (Finite Impulse Response, FIR) filter, may be performed by a Gao Jiexin lattice filter, may be performed by a low-pass filter, but is not limited to a finite length impulse response filter, a Gao Jiexin lattice filter, and a low-pass filter, may be performed by any type of filter in the prior art, and is not limited to filtering by a filter, and may be performed by any filtering method in the prior art.
In yet another embodiment of the present application, the predetermined processing module further includes a conversion sub-module and a filtering processing sub-module, where the conversion sub-module is configured to convert the first original signal into a digital signal by using an analog-to-digital converter; the filtering processing sub-module is used for filtering the digital signal to obtain the first signal. In this embodiment, the first original signal is converted into the digital signal by the analog-to-digital converter, and then the digital signal is subjected to filtering processing, so that interference of noise, vehicle body vibration and the like of the environment where the laser radar is located on the first signal of the laser radar is further suppressed or even avoided, the obtained first signal is further ensured to be more accurate, and whether the laser radar fails or not is further ensured to be accurately determined according to the first signal and the preset signal range.
In another embodiment of the present application, before the analog-to-digital converter is used to convert the first original signal into the digital signal, the apparatus further includes a signal conditioning unit, configured to perform signal conditioning on the first original signal to obtain a standard signal, so that a subsequent predetermined processing on the standard signal is further facilitated, and meanwhile, it is further ensured that the subsequent first signal obtained according to the standard signal is more accurate.
In yet another embodiment of the present application, the filtering processing sub-module further includes a filtering sub-module and a transforming sub-module, where the filtering sub-module is configured to filter the digital signal to obtain a time domain signal; the transformation submodule is used for carrying out Fourier transformation on the time domain signal to obtain a frequency domain signal, and the time domain signal and the frequency domain signal form the first signal. In this embodiment, the digital signal is filtered to obtain a time domain signal, and the time domain signal is fourier transformed to obtain a frequency domain signal, which further facilitates subsequent analysis of the time-varying condition of the signal of the lidar according to the time domain signal, and further facilitates subsequent analysis of the frequency-dependent characteristic of the signal of the lidar according to the frequency domain signal.
In the practical application process, a digital processor may be used to process the time domain signal to obtain the frequency domain signal. Of course, other ways of obtaining the frequency domain signal may be used by those skilled in the art.
In an embodiment of the present application, the second obtaining unit further includes a second obtaining module, a first determining module, and a second determining module, where the second obtaining module is configured to obtain a plurality of second signals of the operating lidar under a fault-free condition, where the second signals include a second sound signal and/or a second vibration signal; the first determining module is used for determining a maximum signal and a minimum signal according to a plurality of the second signals, wherein the maximum signal comprises the maximum sound signal and/or the maximum vibration signal, and the minimum signal comprises the minimum sound signal and/or the minimum vibration signal; the second determining module is used for determining the natural frequency, the amplitude range of the natural frequency and the duration range of the signal of the laser radar under the fault-free condition according to the maximum signal and the minimum signal, wherein the natural frequency, the amplitude range and the duration range form the preset signal range. In this embodiment, first, a plurality of second signals of the lidar under the condition of no fault are acquired, and according to the plurality of second signals, the maximum signal and the minimum signal can be determined more accurately and simply, so that the natural frequency of the signal, the amplitude range of the natural frequency and the duration range of the signal of the lidar under the condition of no fault are obtained more accurately.
In yet another embodiment of the present application, the second obtaining module further includes an obtaining sub-module and a predetermined processing sub-module, where the obtaining sub-module is configured to obtain a plurality of second original signals of the operating lidar under a fault-free condition; the predetermined processing sub-module is used for performing predetermined processing on the plurality of second original signals to obtain a plurality of second signals, and the predetermined processing comprises filtering processing. In the embodiment, the second original signals of the laser radar under the condition of no faults are subjected to preset processing, so that the more accurate second signals can be obtained, the more accurate preset signal range can be further obtained according to the second signals, and the follow-up more accurate determination of whether the laser radar has faults or not can be further ensured.
In yet another embodiment of the present application, the first determining unit further includes a third determining module, a fourth determining module, and a fifth determining module, where the third determining module is configured to analyze the time domain signal and determine a duration of the time domain signal; the fourth determining module is used for analyzing the frequency domain signal and determining the natural frequency of the frequency domain signal and the amplitude corresponding to the natural frequency; and a fifth determining module for determining whether the laser radar has a fault according to the duration, the natural frequency, the amplitude and the predetermined signal range. In this embodiment, according to the obtained duration, the natural frequency, the amplitude and the duration, the natural frequency and the amplitude of the laser radar in a predetermined signal range in a normal operation process of the laser radar, it is further ensured that whether the laser radar fails or not is accurately and simply determined, and further the problem that the working condition of the mechanical laser radar cannot be monitored in real time in the prior art is further solved.
In an embodiment of the present application, the fifth determining module further includes a first determining submodule and a second determining submodule, where the first determining submodule is configured to determine whether the duration, the natural frequency, and the amplitude meet one of the following first predetermined conditions: the duration is not within the duration range, the natural frequency is not the same as the natural frequency of the signal, and the amplitude is not within the amplitude range; the second determination submodule is used for determining that the laser radar fails in the case that the duration, the natural frequency and the amplitude meet one of the first preset conditions. In this embodiment, the duration is not within the duration range, the natural frequency is not identical to the natural frequency of the signal, and the amplitude is not within the amplitude range, so that when one of the first predetermined conditions is satisfied, it can be more accurately determined whether the laser radar fails, and further the problem that the working condition of the mechanical laser radar cannot be monitored in real time in the prior art is solved.
In yet another embodiment of the present application, before determining whether the laser radar fails according to the first signal and the predetermined signal range, the apparatus further includes a second determining unit, a third determining unit, and a sending unit, where the second determining unit is configured to determine, according to the predetermined signal range, an early warning signal range, where the early warning signal range includes an amplitude early warning range and a duration early warning range, where the amplitude range includes the amplitude early warning range, and where the duration range includes the duration early warning range, that is, where the early warning signal range is a signal range obtained by pinching the predetermined signal range; the third determining unit is configured to determine whether the duration and the amplitude meet one of the following second predetermined conditions: the amplitude is not in the amplitude early warning range, and the duration is not in the duration early warning range; the sending unit is used for sending out an early warning signal when the duration time and the amplitude value meet one of the second preset conditions. In this embodiment, when the amplitude is not within the amplitude early warning range or the duration is not within the duration early warning range, that is, when one of the second predetermined conditions is satisfied, an early warning signal is sent out, so that a warning effect can be achieved, a user is reminded of paying attention to the working condition of the laser radar on the vehicle, and the laser radar is checked if necessary, so that the safe and reliable performance of the vehicle driving is further ensured.
The device for determining whether the laser radar has faults comprises a processor and a memory, wherein the first acquisition unit, the second acquisition unit, the first determination unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor includes a kernel, and the kernel fetches the corresponding program unit from the memory. The inner core can be provided with one or more than one, and the problem that the working condition of the mechanical laser radar cannot be monitored in real time in the prior art is solved by adjusting the parameters of the inner core.
The memory may include volatile memory, random Access Memory (RAM), and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), among other forms in computer readable media, the memory including at least one memory chip.
An embodiment of the present invention provides a computer-readable storage medium having stored thereon a program which, when executed by a processor, implements the above-described method of determining whether a laser radar has failed.
The embodiment of the invention provides a processor, which is used for running a program, wherein the determining method for determining whether the laser radar has faults or not is executed when the program runs.
The embodiment of the invention also provides electronic equipment, which further comprises: the apparatus comprises one or more processors, memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising instructions for performing any of the methods described above.
The embodiment of the invention also provides a vehicle, which comprises: a vehicle body; a laser radar located on the vehicle body; the fault determining device of the laser radar is used for executing any one of the methods.
The vehicle comprises a vehicle body, a laser radar arranged on the vehicle body and a fault determining device of the laser radar, wherein the fault determining device of the laser radar can execute any fault determining method of the laser radar.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program stored in the memory and capable of running on the processor, wherein the processor realizes at least the following steps when executing the program:
step S101, acquiring a first signal of a laser radar in operation in real time, wherein the first signal comprises a first sound signal and/or a first vibration signal;
step S102, acquiring a preset signal range, wherein the preset signal range comprises a first preset signal range and/or a second preset signal range, the first preset signal range is a range formed by a maximum sound signal and a minimum sound signal of the laser radar under the condition of no fault, and the second preset signal range is a range formed by a maximum vibration signal and a minimum vibration signal of the laser radar under the condition of no fault;
step S103, determining whether the laser radar has faults according to the first signal and the preset signal range.
The device herein may be a server, PC, PAD, cell phone, etc.
The present application also provides a computer program product adapted to perform a program initialized with at least the following method steps when executed on a data processing device:
Step S101, acquiring a first signal of a laser radar in operation in real time, wherein the first signal comprises a first sound signal and/or a first vibration signal;
step S102, acquiring a preset signal range, wherein the preset signal range comprises a first preset signal range and/or a second preset signal range, the first preset signal range is a range formed by a maximum sound signal and a minimum sound signal of the laser radar under the condition of no fault, and the second preset signal range is a range formed by a maximum vibration signal and a minimum vibration signal of the laser radar under the condition of no fault;
step S103, determining whether the laser radar has faults according to the first signal and the preset signal range.
In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology content may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:
1) In the method for determining whether the laser radar has faults or not, first, a first signal of the running laser radar is obtained in real time, wherein the first signal comprises a first sound signal and/or a first vibration signal; then, acquiring a preset signal range, wherein the preset signal range comprises a first preset signal range and/or a second preset signal range, the first preset signal range is a range formed by a maximum sound signal and a minimum sound signal of the laser radar under the condition of no fault, and the second preset signal range is a range formed by a maximum vibration signal and a minimum vibration signal of the laser radar under the condition of no fault; finally, determining whether the laser radar has faults according to the first signal and the preset signal range. According to the method, first signals of the running laser radar are acquired in real time, a preset signal range is acquired, then whether the laser radar has faults or not is determined according to the first signals and the preset signal range, namely, the signals in the running laser radar are compared with the signal range under the condition that the laser radar has no faults, and whether data in the running laser radar are in the preset range is determined, so that whether the laser radar has faults or not can be prejudged, real-time monitoring of the working condition of the laser radar is guaranteed, potential faults of the laser radar can be found in time, follow-up checking and overhauling of the laser radar are facilitated, and the problem of safety accidents caused by the faults of the laser radar is avoided.
2) In the determining device for determining whether the laser radar has a fault or not, the first acquiring unit is used for acquiring a first signal of the running laser radar in real time, wherein the first signal comprises a first sound signal and/or a first vibration signal; the second acquisition unit is used for acquiring a preset signal range, wherein the preset signal range comprises a first preset signal range and/or a second preset signal range, the first preset signal range is a range formed by a maximum sound signal and a minimum sound signal of the laser radar under the condition of no fault, and the second preset signal range is a range formed by a maximum vibration signal and a minimum vibration signal of the laser radar under the condition of no fault; the first determining unit is used for determining whether the laser radar has faults according to the first signal and the preset signal range. In the determining device, the first acquiring unit and the second acquiring unit are used for acquiring the first signal and the preset signal range of the running laser radar respectively, the first determining unit is used for determining whether the laser radar has faults according to the first signal and the preset signal range, namely, the signal range of the laser radar in operation is compared with the signal range of the laser radar under the condition of no faults, and whether the data in the operation of the laser radar is in the preset range is determined, so that whether the laser radar has faults or not can be prejudged, the real-time monitoring of the working condition of the laser radar is ensured, the potential faults of the laser radar can be found timely, the follow-up investigation and maintenance of the laser radar are facilitated, and the problem of safety accidents caused by the faults of the laser radar is avoided.
3) In the method, first signals of the running laser radar and a preset signal range are acquired in real time, then whether the laser radar breaks down or not is determined according to the first signals and the preset signal range, namely, the signals in the running laser radar are compared with the signal range of the laser radar under the condition of no fault, and whether data in the running laser radar are in the preset range is determined, so that whether the laser radar breaks down or not can be prejudged, real-time monitoring on working conditions of the laser radar is guaranteed, potential faults of the laser radar can be timely found, follow-up troubleshooting and overhaul of the laser radar are facilitated, and safety accidents caused by the laser radar faults are avoided.
The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.
Claims (11)
1. A method for determining whether a laser radar has failed, comprising:
acquiring a first signal of the running laser radar in real time, wherein the first signal comprises a first sound signal and/or a first vibration signal;
acquiring a preset signal range, wherein the preset signal range comprises a first preset signal range and/or a second preset signal range, the first preset signal range is a range formed by a maximum sound signal and a minimum sound signal of the laser radar under the condition of no fault, and the second preset signal range is a range formed by a maximum vibration signal and a minimum vibration signal of the laser radar under the condition of no fault;
determining whether the laser radar fails according to the first signal and the preset signal range, and acquiring the first signal of the running laser radar in real time, wherein the method comprises the following steps:
acquiring a first original signal of the laser radar in operation in real time;
performing a predetermined process on the first original signal to obtain the first signal, the predetermined process including a filtering process,
performing predetermined processing on the first original signal to obtain the first signal, including:
converting the first original signal into a digital signal by adopting an analog-to-digital converter;
Filtering the digital signal to obtain the first signal,
filtering the digital signal to obtain the first signal, including:
filtering the digital signal to obtain a time domain signal;
performing Fourier transform on the time domain signal to obtain a frequency domain signal, wherein the time domain signal and the frequency domain signal form the first signal,
determining whether the laser radar has a fault according to the first signal and the predetermined signal range, including:
analyzing the time domain signal to determine the duration of the time domain signal;
analyzing the frequency domain signal, and determining the natural frequency of the frequency domain signal and the amplitude corresponding to the natural frequency;
determining whether the lidar is faulty based on the duration, the natural frequency, the amplitude, and the predetermined signal range.
2. The method of claim 1, wherein prior to converting the first raw signal to a digital signal using an analog-to-digital converter, the method further comprises:
and carrying out signal conditioning on the first original signal to obtain a standard signal.
3. The method of claim 1, wherein obtaining a predetermined signal range comprises:
Acquiring a plurality of second signals of the running laser radar under the fault-free condition, wherein the second signals comprise second sound signals and/or second vibration signals;
determining a maximum signal and a minimum signal according to a plurality of the second signals, wherein the maximum signal comprises the maximum sound signal and/or the maximum vibration signal, and the minimum signal comprises the minimum sound signal and/or the minimum vibration signal;
and determining the natural frequency of the signal of the laser radar in the fault-free condition, the amplitude range of the natural frequency and the duration range of the signal according to the maximum signal and the minimum signal, wherein the natural frequency, the amplitude range and the duration range form the preset signal range.
4. A method according to claim 3, wherein acquiring a plurality of second signals of the operating lidar in the absence of a fault comprises:
acquiring a plurality of second original signals of the running laser radar under the fault-free condition;
and carrying out preset processing on the plurality of second original signals to obtain a plurality of second signals, wherein the preset processing comprises filtering processing.
5. The method of claim 1, wherein determining whether the lidar is malfunctioning based on the duration, the natural frequency, the amplitude, and the predetermined signal range comprises:
Determining whether the duration, the natural frequency, and the amplitude meet one of the following first predetermined conditions: the duration is not within the duration range, the natural frequency is not the same as the natural frequency of the signal, and the amplitude is not within the amplitude range;
determining that the lidar is malfunctioning if the duration, the natural frequency, and the amplitude satisfy one of the first predetermined conditions.
6. The method of claim 5, wherein prior to determining whether the lidar is malfunctioning based on the first signal and the predetermined signal range, the method further comprises:
determining an early warning signal range according to the preset signal range, wherein the early warning signal range comprises an amplitude early warning range and a duration early warning range, the amplitude range comprises the amplitude early warning range, and the duration range comprises the duration early warning range;
determining whether the duration and the amplitude meet one of the following second predetermined conditions: the amplitude is not in the amplitude early warning range, and the duration is not in the duration early warning range;
And sending out an early warning signal under the condition that the duration and the amplitude meet one of the second preset conditions.
7. A device for determining whether a laser radar has failed, comprising:
a first acquisition unit for acquiring a first signal of the laser radar in operation in real time, wherein the first signal comprises a first sound signal and/or a first vibration signal;
a second acquisition unit configured to acquire a predetermined signal range, where the predetermined signal range includes a first predetermined signal range and/or a second predetermined signal range, the first predetermined signal range is a range formed by a maximum sound signal and a minimum sound signal of the lidar under a fault-free condition, and the second predetermined signal range is a range formed by a maximum vibration signal and a minimum vibration signal of the lidar under a fault-free condition;
a first determining unit configured to determine whether the laser radar has failed based on the first signal and the predetermined signal range,
the first acquisition unit further comprises a first acquisition module and a preset processing module, wherein the first acquisition module is used for acquiring a first original signal of the laser radar in operation in real time; the predetermined processing module is used for carrying out predetermined processing on the first original signal to obtain the first signal, the predetermined processing comprises filtering processing,
The preset processing module further comprises a conversion sub-module and a filtering processing sub-module, wherein the conversion sub-module is used for converting the first original signal into a digital signal by adopting an analog-to-digital converter; the filtering processing sub-module is used for filtering the digital signal to obtain the first signal,
the filtering processing submodule further comprises a filtering submodule and a transformation submodule, wherein the filtering submodule is used for filtering the digital signal to obtain a time domain signal; the transformation submodule is used for carrying out Fourier transformation on the time domain signal to obtain a frequency domain signal, the time domain signal and the frequency domain signal form the first signal,
the first determining unit further comprises a third determining module, a fourth determining module and a fifth determining module, wherein the third determining module is used for analyzing the time domain signal and determining the duration time of the time domain signal; the fourth determining module is used for analyzing the frequency domain signal and determining the inherent frequency of the frequency domain signal and the amplitude corresponding to the inherent frequency; and a fifth determining module is used for determining whether the laser radar has faults according to the duration time, the natural frequency, the amplitude value and the preset signal range.
8. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored program, wherein the program performs the method of any one of claims 1 to 6.
9. A processor for running a program, wherein the program when run performs the method of any one of claims 1 to 6.
10. An electronic device, comprising: one or more processors, memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising instructions for performing the method of any of claims 1-6.
11. A vehicle, characterized by comprising:
a vehicle body;
a lidar located on the vehicle body;
fault determining means of the lidar for performing the method of any of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110218709.9A CN113009457B (en) | 2021-02-26 | 2021-02-26 | Method and device for determining whether laser radar has faults, processor and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110218709.9A CN113009457B (en) | 2021-02-26 | 2021-02-26 | Method and device for determining whether laser radar has faults, processor and vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113009457A CN113009457A (en) | 2021-06-22 |
| CN113009457B true CN113009457B (en) | 2023-07-28 |
Family
ID=76386486
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110218709.9A Active CN113009457B (en) | 2021-02-26 | 2021-02-26 | Method and device for determining whether laser radar has faults, processor and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113009457B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102778358A (en) * | 2012-06-04 | 2012-11-14 | 上海东锐风电技术有限公司 | Failure prediction model establishing method and system as well as fan monitoring pre-warning system and method |
| CN108021026A (en) * | 2017-11-10 | 2018-05-11 | 明阳智慧能源集团股份公司 | A kind of wind power generating set fault pre-alarming and control parameter method for on-line optimization |
| CN111247443A (en) * | 2018-09-29 | 2020-06-05 | 深圳市大疆创新科技有限公司 | Motor state monitoring device and motor state monitoring method |
| CN112219128A (en) * | 2018-06-07 | 2021-01-12 | 三菱电机株式会社 | Radar device, failure detection method for radar device, and operation method for radar device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004177350A (en) * | 2002-11-28 | 2004-06-24 | Denso Corp | Radar equipment for vehicle |
-
2021
- 2021-02-26 CN CN202110218709.9A patent/CN113009457B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102778358A (en) * | 2012-06-04 | 2012-11-14 | 上海东锐风电技术有限公司 | Failure prediction model establishing method and system as well as fan monitoring pre-warning system and method |
| CN108021026A (en) * | 2017-11-10 | 2018-05-11 | 明阳智慧能源集团股份公司 | A kind of wind power generating set fault pre-alarming and control parameter method for on-line optimization |
| CN112219128A (en) * | 2018-06-07 | 2021-01-12 | 三菱电机株式会社 | Radar device, failure detection method for radar device, and operation method for radar device |
| CN111247443A (en) * | 2018-09-29 | 2020-06-05 | 深圳市大疆创新科技有限公司 | Motor state monitoring device and motor state monitoring method |
Non-Patent Citations (2)
| Title |
|---|
| 基于小波包能量谱的天气雷达伺服电机故障预警系统研究;李建明 等;《河北科技大学学报》;20100630;第31卷(第3期);第233-235、286页 * |
| 雷达传动齿轮状态监测技术应用研究;杨斌 等;《现代雷达》;20200117;第1-5页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113009457A (en) | 2021-06-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108731921B (en) | Equipment connecting piece fault monitoring method and system | |
| CN108845912B (en) | Service interface calls the alarm method of failure and calculates equipment | |
| EP2160682B1 (en) | Electronic card able to execute a command originating from a simulation system and a command originating from a diagnostic module and associated simulation method | |
| CN110133500B (en) | Motor online monitoring and fault precursor diagnosis system and method based on multi-layer architecture | |
| CN104122094A (en) | Method and device for diagnosing abnormal sound fault of engine | |
| CN113009457B (en) | Method and device for determining whether laser radar has faults, processor and vehicle | |
| CN109029999A (en) | Fault Diagnosis of Roller Bearings based on enhanced modulation double-spectrum analysis | |
| KR102598458B1 (en) | Apparatus and method for detecting fault of planetary gearbox using cepstrum-based signal analysis | |
| CN112446389A (en) | Fault judgment method and device | |
| CN113392874B (en) | Abnormal state diagnosis method and device for rail vehicle and terminal equipment | |
| CN111220379B (en) | Fault diagnosis method and device for traction motor transmission system | |
| KR101490471B1 (en) | System and method for measuring and diagnosing signal | |
| EP3552033A1 (en) | Installation for diagnosis of an electric machine | |
| CN114639391A (en) | Mechanical failure prompting method and device, electronic equipment and storage medium | |
| JP2023115288A (en) | Fault detection method, fault detection system, vehicle, electronic equipment and storage medium | |
| CN108266364B (en) | Electric pump load over-low fault diagnosis method and device | |
| KR101752298B1 (en) | Health monitoring apparatus based on configuration information and method thereof | |
| CN106708585A (en) | Method and system for grabbing hard disk SMART log through RAID card under Linux system | |
| CN111428691A (en) | Chip debugging method, chip debugging device, storage medium and processor | |
| CN115824646A (en) | Self-test circuit and method for checking the integrity of a signal passing through a signal path | |
| CN113306510B (en) | Method and device for monitoring radar state, vehicle, storage medium and processor | |
| KR20200058718A (en) | System and method for automotive data conversion for data testing based on ttcn-3, recording medium for performing the method | |
| CN111145386A (en) | Method, equipment and medium for managing vehicle computer data based on block chain | |
| JP4661853B2 (en) | Fault analysis system, method, and program | |
| CN111008096B (en) | Redundant IO module, control method and device, storage medium and electronic equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |