WO2019019152A1 - 云台可靠性测试方法与装置 - Google Patents

云台可靠性测试方法与装置 Download PDF

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Publication number
WO2019019152A1
WO2019019152A1 PCT/CN2017/094915 CN2017094915W WO2019019152A1 WO 2019019152 A1 WO2019019152 A1 WO 2019019152A1 CN 2017094915 W CN2017094915 W CN 2017094915W WO 2019019152 A1 WO2019019152 A1 WO 2019019152A1
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WIPO (PCT)
Prior art keywords
pan
tilt
working
axis
reliability testing
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PCT/CN2017/094915
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English (en)
French (fr)
Inventor
钟志勇
苏铁
洪宏彬
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深圳市大疆创新科技有限公司
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Priority to PCT/CN2017/094915 priority Critical patent/WO2019019152A1/zh
Priority to CN201780027072.7A priority patent/CN109313439A/zh
Publication of WO2019019152A1 publication Critical patent/WO2019019152A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
    • G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
    • B64F5/60—Testing or inspecting aircraft components or systems
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B43/00—Testing correct operation of photographic apparatus or parts thereof
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/24—Pc safety
    • G05B2219/24065—Real time diagnostics

Definitions

  • the present disclosure relates to the field of detection technology, and in particular, to a method and apparatus for performing reliability testing on a gimbal.
  • the pan/tilt is a supporting device for mounting and fixing the camera, which can provide position setting and stability support for the camera.
  • the commonly used pan/tilt can be divided into one-axis pan/tilt, two-axis pan-tilt and three-axis pan/tilt according to the degree of freedom of motion. According to the control method, it can be divided into fixed pan/tilt and electric pan/tilt.
  • the pan/tilt head may mainly include a first shaft electrode and a first shaft arm, a second shaft electrode and a second shaft arm, a third shaft electrode and a third shaft arm, a pan/tilt base, and a camera fixing member.
  • a motor control device and a power supply unit are provided in the base of the pan/tilt for controlling the movement of the three motors, and an inertial measurement component is disposed in the camera fixing component for measuring the feedback signal of the attitude control of the pan/tilt.
  • the gimbal In actual work, the gimbal often needs to operate in a variety of climates for a long time, and the prior art lacks the method of reliability testing of the gimbal, which is not conducive to improving the quality of the gimbal and providing data support for R&D improvement. A cloud platform reliability test method is needed.
  • a method for testing a pan-tilt reliability includes: inputting a control parameter, causing the pan-tilt to adjust a posture according to the control parameter; and acquiring, by the pan-tilt, feedback in the adjusted posture Working data; and comparing the working data with a corresponding preset threshold, and determining an operating state of the pan/tilt based on the comparison result.
  • control parameter includes a parameter for indicating a selected working axis, a range of rotation of the working shaft, and a rotational speed of the working shaft.
  • the working data includes: a total number of revolutions of the working axes of the gimbal, a total rotation angle, a rotational angular velocity, a motor output current, a communication condition, a target posture, and an actual posture. And the error between the actual pose and the target pose.
  • the method further includes: controlling the ambient temperature to vary within a preset range during the testing.
  • the determining, according to the comparison result, the working state of the pan/tilt includes any of the following steps: a rotational angular velocity of a working axis in the pan/tilt and a target angular velocity error determined based on the control parameter
  • the first preset threshold is greater than the first predetermined threshold
  • the first determination result is output to indicate that the bearing or the motor of the working shaft is abnormal
  • the second result is output to indicate that the frictional force of the working shaft is increased
  • the communication of a working axis in the pan/tilt is interrupted or dropped, the output is
  • the third result is an abnormality indicating the slip ring of the working axis
  • a fourth result is output to indicate that the encoder of the pan/tilt is abnormal.
  • a cloud platform reliability testing apparatus includes: a parameter control module, configured to input a control parameter, so that the pan/tilt adjusts a posture according to the control parameter; and a data acquisition module, configured to acquire The working data fed back by the pan/tilt in the adjustment posture; and a state determining module, configured to compare the working data with a corresponding preset threshold, and determine an operating state of the pan/tilt based on the comparison result.
  • control parameter includes a parameter for indicating a selected working axis, a range of rotation of the working shaft, and a rotational speed of the working shaft.
  • the working data includes: a total number of revolutions of the working axes of the gimbal, a total rotation angle, a rotational angular velocity, a motor output current, a communication condition, a target posture, and an actual posture. And the error between the actual pose and the target pose.
  • the method further includes: an environmental control module, configured to control the ambient temperature to change within a preset range during the testing.
  • the state determination module includes any one of: a first determining unit, a rotational angular velocity of a working axis in the pan/tilt, and a target angular velocity determined based on the control parameter
  • the first determination result is output to indicate that the bearing or the motor of the working shaft is abnormal
  • the second determining unit is configured to: when the motor output current of a working axis in the pan/tilt is abnormally increased, Outputting a second result to indicate that the friction force of the working shaft is increased; and a third determining unit, configured to output a third result to indicate the working axis when communication of a working axis in the pan/tilt is interrupted or dropped The slip ring is abnormal; and a fourth determining unit is configured to output a fourth result to indicate that the encoder of the pan/tilt is abnormal when a working axis of the pan/tilt is mad.
  • a pan/tilt reliability testing apparatus comprising: a memory; and a processor coupled to the associated memory, the processor being configured to be based on an instruction stored in the memory, Performing the pan/tilt reliability test method according to any of the above.
  • a computer readable storage medium having stored thereon a program, the program being executed by a processor to implement the pan/tilt reliability test method according to any one of the above.
  • the PTZ reliability test method provided by the present disclosure can test the service life of each component of the gimbal by obtaining the work data of the gimbal under the preset working parameters within a preset ambient temperature range, and comparing the work data with the threshold value. Yuntai continued working hours and improved the pass rate of Yuntai products.
  • Fig. 1 schematically shows a schematic structural view of a three-axis electric pan/tilt head.
  • FIG. 2 schematically shows a flowchart of a pan/tilt reliability test method in an exemplary embodiment of the present disclosure.
  • FIG. 3 is a block diagram schematically showing a pan/tilt reliability testing apparatus in an exemplary embodiment of the present disclosure.
  • FIG. 4 is a block diagram schematically showing another pan/tilt reliability testing device in an exemplary embodiment of the present disclosure.
  • FIG. 2 schematically shows a flowchart of a pan/tilt reliability test method in an exemplary embodiment of the present disclosure.
  • the PTZ reliability test method 200 may include:
  • Step S202 inputting a control parameter, so that the pan/tilt adjusts the posture according to the control parameter.
  • Step S204 Acquire working data fed back by the pan/tilt in the adjustment posture.
  • Step S206 comparing the working data with a corresponding preset threshold, and determining an operating state of the pan/tilt based on the comparison result.
  • the computer can connect to and communicate with the pan-tilt control system through the communication interface.
  • Communication interfaces include, but are not limited to, a USB communication interface, an I 2 C interface, a wired network interface, a wireless network interface, a Bluetooth interface, or an infrared interface. The present disclosure does not specifically limit the communication method.
  • the pan/tilt control parameter may include a parameter for indicating a selected work axis, a range of rotation of the work axis, and a rotational speed of the work axis.
  • the range of the selected working axis includes single axis and multiple axes. For example, for a three-axis pan/tilt, you can choose any of the three axes. For one axis, any two axes or three axes at the same time for control.
  • the range of rotation of the working shaft can include all subranges within the limit of rotation of the working shaft.
  • the rotational speed of the working shaft can be set to all rotational speeds below the limit rotational speed of the working shaft.
  • control parameters have a plurality of groups. Since the target of the reliability of the gimbal includes testing the ultimate working capacity of the gimbal and whether the test gimbal can work without failure under the preset conditions, different test parameters can be set for different test targets.
  • multiple sets of test parameters can be set for each axis.
  • attitude control parameters of the pan/tilt can be input within a preset time.
  • These control parameters may be parameters under normal working of the gimbal, and may also include pan/tilt.
  • the limit operating parameters of the axes may also be repeatedly input to repeatedly work on each axis of the gimbal to perform fatigue testing on the gimbal.
  • there are many parameters for testing the working ability of the gimbal and those skilled in the art can set them according to actual conditions.
  • the PTZ control system can control the motor operation, thereby controlling the rotation of multiple axes, and making the attitude adjustment of the gimbal.
  • the PTZ control system does not receive a new control parameter signal during the attitude adjustment of the PTZ, until the PTZ reaches the preset posture, and then re-receives the control parameter signal to control the PTZ to perform posture adjustment again.
  • step S204 the work data fed back by the pan/tilt in the adjustment posture is acquired.
  • the PTZ control system can detect the work data of the PTZ through its own detection device continuously or by time, and send the work data to the computer through the communication interface.
  • the working data includes: a total number of revolutions of the working axes of the gimbal, a total rotation angle, a rotational angular velocity, a motor output current, a communication condition, a target posture, an actual posture, and an actual The error between the pose and the target pose.
  • the total number of rotations of each axis recorded by the PTZ control system and the total rotation angle can be used to judge the working fatigue of each axis and whether it is controllable; the angular velocity of each axis can be used to judge whether the bearing and the motor are in the process of rotation. Abnormal damage; the output current of each motor can be used to judge whether the friction of each axis changes; the normal communication condition can be used to judge whether the slip ring is damaged.
  • the target attitude, the actual attitude, and the error between the actual attitude and the target attitude can be used to determine whether the operation of the gimbal is normal.
  • the target attitude is calculated by the PTZ control system based on the angular velocity and the angle.
  • different pan/tilt work data may be obtained according to different test items, as long as the working state of the pan/tilt head can be reflected.
  • step S206 the working data is compared with a corresponding preset threshold, and the working state of the pan/tilt is determined according to the comparison result.
  • Different thresholds can be set for each type of work data depending on the purpose of the test.
  • the total turning number threshold of each axis can be set, so that the pan/tilt is judged when it is judged that the total number of revolutions of one axis exceeds its corresponding threshold.
  • the crazy turn means that the time between the target posture and the actual posture of the gimbal is greater than the threshold for more than the preset time. If the gimbal goes crazy, it can be judged that the encoder of the gimbal is abnormal, which causes the Jacquard matrix of the gimbal to calculate a problem.
  • the target angular velocity of each axis and the threshold value can be set, so that when the actual angular velocity and the target angular velocity error of each axis exceed the threshold value, it is judged that the bearing, the motor and the like have abnormal damage during the rotation.
  • the motor current threshold can be set to determine that the friction of the shaft increases when it is judged that the motor current suddenly increases. It is also possible to judge whether the communication is normal or not by judging whether the communication is interrupted or dropped, thereby judging whether the slip ring is damaged during the rotation. If you need to test other work data of the PTZ, you can set different judgment thresholds for different work data according to the actual situation, so as to judge the working status of the PTZ.
  • the method further includes: controlling the ambient temperature to vary within a preset range during the testing.
  • the gimbal can be operated at the extreme design and use ambient temperature by controlling the ambient temperature, and the attitude control parameters are input to the gimbal to obtain the working data of the gimbal.
  • the ambient temperature is designed to be -40°C to +80°C
  • the pan/tilt can be tested at an ambient temperature of -40°C or +80°C, or the ambient temperature can be controlled from -40°C to +80°C. Change between and test the gimbal during temperature changes.
  • the ambient temperature can be controlled so that the gimbal can continuously work for a preset time within the preset temperature range, and the working data of the gimbal is determined not to be under the above preset conditions.
  • the threshold value is exceeded, it is judged that the gimbal can work without failure under the preset conditions, thereby judging that the gimbal quality is qualified.
  • the PTZ reliability test method provided by the present disclosure can test the service life of each component of the gimbal by obtaining the work data of the gimbal under the preset working parameters within a preset ambient temperature range, and comparing the work data with the threshold value. Yuntai continued working hours and improved the pass rate of Yuntai products.
  • the present disclosure further provides a pan/tilt reliability testing device, which can be used to implement the foregoing method embodiments.
  • the PTZ reliability testing device 300 may include: a parameter control module 301, configured to input a control parameter, so that the PTZ adjusts the posture according to the control parameter; and a data obtaining module 302, configured to acquire the PTZ in the The working data fed back in the adjustment posture is described; and the state determining module 303 is configured to compare the working data with a corresponding preset threshold, and determine an operating state of the pan/tilt based on the comparison result.
  • control parameter includes a parameter for indicating a selected working axis, a range of rotation of the working shaft, and a rotational speed of the working shaft.
  • the working data includes: a total number of revolutions of the working axes of the gimbal, a total rotation angle, a rotational angular velocity, a motor output current, a communication condition, a target posture, and an actual posture. And the error between the actual pose and the target pose.
  • the method further includes: an environmental control module, configured to control the ambient temperature to change within a preset range during the testing.
  • the state determining module 303 includes any of the following units (not shown): a first determining unit for rotating angular velocity of a working axis in the pan/tilt and based on When the target angular velocity error determined by the control parameter is greater than the first preset threshold, the first determination result is output to indicate that the bearing or the motor of the working shaft is abnormal; and the second determining unit is configured to be in the working axis of the pan/tilt When the motor output current is abnormally increased, the second result is output to indicate that the frictional force of the working shaft is increased; and the third determining unit is configured to output when the communication of the working axis in the pan/tilt is interrupted or dropped.
  • a third result is an abnormality indicating a slip ring of the working axis; and a fourth determining unit is configured to output a fourth result to indicate an abnormality of the encoder of the pan/tilt when a working axis of the pan/tilt is mad .
  • the pan/tilt attitude control parameter has a plurality of groups.
  • a pan/tilt reliability testing apparatus comprising: a memory; and a processor coupled to the associated memory, the processor being configured to perform an operation as described above based on an instruction stored in the memory
  • FIG. 4 is a block diagram of an apparatus 400, according to an exemplary embodiment.
  • device 400 can be a terminal device such as a computer, smart phone, tablet, or the like.
  • apparatus 400 can include one or more of the following components: processing component 402, memory 404, power component 406, multimedia component 408, and communication component 416.
  • Processing component 402 typically controls the overall operations of device 400, such as operations associated with data communications and recording operations, and the like.
  • Processing component 402 can include one or more processors 418 to execute instructions to perform all or part of the steps described above.
  • processing component 402 can include one or more modules to facilitate interaction between component 402 and other components.
  • Memory 404 is configured to store various types of data to support operation at device 400. Examples of such data include instructions for any application or method operating on device 400.
  • Memory 404 can be implemented by any type of volatile or non-volatile storage device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable. Programmable Read Only Memory (EPROM), Programmable Read Only Memory (PROM), Read Only Memory (ROM), Magnetic Memory, Flash Memory, Disk or Optical Disk. Also stored in memory 404 is one or more modules configured to be executed by the one or more processors 418 to perform all or part of the steps of any of the methods described above.
  • SRAM static random access memory
  • EEPROM electrically erasable programmable read only memory
  • EPROM Electrically erasable programmable Read Only Memory
  • PROM Programmable Read Only Memory
  • ROM Read Only Memory
  • Magnetic Memory Flash Memory
  • Disk Disk
  • Optical Disk Also stored in memory 404
  • Power component 406 provides power to various components of device 400.
  • Power component 406 can include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for device 400.
  • the multimedia component 408 includes a screen between the device 400 and the user that provides an output interface.
  • the screen can include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touch screen to receive input signals from the user.
  • the touch panel includes one or more touch sensors to sense touches, slides, and gestures on the touch panel. The touch sensor may sense not only the boundary of the touch or sliding action, but also the duration and pressure associated with the touch or slide operation.
  • Communication component 416 is configured to facilitate wired or wireless communication between device 400 and other devices.
  • the device 400 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof.
  • communication component 416 receives broadcast signals or broadcast associated information from an external broadcast management system via a broadcast channel.
  • the communication component 416 also includes a near field communication (NFC) module to facilitate short range communication.
  • NFC near field communication
  • the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.
  • RFID radio frequency identification
  • IrDA infrared data association
  • UWB ultra-wideband
  • Bluetooth Bluetooth
  • device 400 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable A gate array (FPGA), controller, microcontroller, microprocessor, or other electronic component implementation for performing the above methods.
  • ASICs application specific integrated circuits
  • DSPs digital signal processors
  • DSPDs digital signal processing devices
  • PLDs programmable logic devices
  • FPGA field programmable A gate array
  • controller microcontroller, microprocessor, or other electronic component implementation for performing the above methods.
  • a computer readable storage medium having stored thereon a program, the program being executed by a processor to implement a PTZ reliability test according to any of the above method.
  • the computer readable storage medium can be, for example, a temporary and non-transitory computer readable storage medium including instructions.
  • the pan/tilt reliability test method provided by the embodiment of the present disclosure can test various parts of the gimbal by obtaining the work data of the pan/tilt under the preset working parameters within a preset ambient temperature range, and comparing the work data with the threshold value.
  • the service life and the continuous working time of the gimbal will increase the factory pass rate of the Yuntai products.

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Abstract

一种云台可靠性测试方法与装置，云台可靠性测试方法包括：输入控制参数，使云台根据控制参数调整姿态(S202)；获取云台在调整姿态中反馈的工作数据(S204)；以及将工作数据与对应的预设阈值相比较，根据比较结果确定云台的工作状态(S206)。云台可靠性测试方法可以测试云台的工作可靠性。

Description

云台可靠性测试方法与装置 技术领域
本公开涉及检测技术领域，具体而言，涉及一种对云台进行可靠性测试的方法与装置。
背景技术
云台是安装、固定摄像机的支撑设备，可以为摄像机提供位置设定与稳定性支撑。常用的云台按运动自由度可以分为一轴云台、二轴云台与三轴云台，按控制方式可以分为固定云台和电动云台。
图1是一种三轴电动云台的结构示意图。参考图1，云台主要可以包括第一轴电极与第一轴轴臂、第二轴电极与第二轴轴臂、第三轴电极与第三轴轴臂、云台基座以及相机固定部件。在云台基座中设置有电机控制装置以及供电单元，用于控制三个电机的运动，相机固定部件中设置有惯性测量元件，用于测量云台姿态控制的反馈信号。
在实际工作中，云台往往需要长时间在多种气候环境下运行，而现有技术缺少对云台进行可靠性测试的方法，不利于提高云台质量以及为研发改进提供数据支持，因此，需要一种云台可靠性测试方法。
需要说明的是，在上述背景技术部分公开的信息仅用于加强对本公开的背景的理解，因此可以包括不构成对本领域普通技术人员已知的现有技术的信息。
发明内容
本公开的目的在于提供云台可靠性测试，用于至少在一定程度上克服由于相关技术的限制和缺陷而导致的一个或多个问题。
根据本公开实施例的第一方面，提供一种云台可靠性测试方法，包括：输入控制参数，使云台根据所述控制参数调整姿态；获取所述云台在所述调整姿态中反馈的工作数据；以及将所述工作数据与对应的预设阈值相比较，根据比较结果确定所述云台的工作状态。
在本公开的一种示例性实施例中，所述控制参数包括：用于指示所选工作轴的参数、所述工作轴的转动范围以及所述工作轴的转动速度。
在本公开的一种示例性实施例中，所述工作数据包括：所述云台各工作轴的转动总圈数、转动总角度、转动角速度、电机输出电流、通信情况、目标姿态、实际姿态以及实际姿态与目标姿态之间的误差。
在本公开的一种示例性实施例中，还包括：在测试过程中控制环境温度在预设范围内变化。
在本公开的一种示例性实施例中，所述根据比较结果确定云台的工作状态包括以下任意步骤：在所述云台中一工作轴的转动角速度与基于所述控制参数确定的目标角速度误差大于第一预设阈值时，输出第一确定结果以指示该工作轴的轴承或电机出现异常；在所述 云台中一工作轴的电机输出电流异常增大时，输出第二结果以指示该工作轴所受的摩擦力增大；在所述云台中一工作轴的通信出现中断或掉帧时，输出第三结果以指示该工作轴的滑环出现异常；以及在所述云台中一工作轴出现疯转时，输出第四结果以指示所述云台的编码器出现异常。
根据本公开实施例的第二方面，提供一种云台可靠性测试装置，包括：参数控制模块，用于输入控制参数，使云台根据所述控制参数调整姿态；数据获取模块，用于获取所述云台在所述调整姿态中反馈的工作数据；以及状态确定模块，用于将所述工作数据与对应的预设阈值相比较，根据比较结果确定所述云台的工作状态。
在本公开的一种示例性实施例中，所述控制参数包括：用于指示所选工作轴的参数、所述工作轴的转动范围以及所述工作轴的转动速度。
在本公开的一种示例性实施例中，所述工作数据包括：所述云台各工作轴的转动总圈数、转动总角度、转动角速度、电机输出电流、通信情况、目标姿态、实际姿态以及实际姿态与目标姿态之间的误差。
在本公开的一种示例性实施例中，还包括：环境控制模块，用于在测试过程中控制环境温度在预设范围内变化。
在本公开的一种示例性实施例中，所述状态确定模块包括以下任意单元：第一确定单元，用于在所述云台中一工作轴的转动角速度与基于所述控制参数确定的目标角速度误差大于第一预设阈值时，输出第一确定结果以指示该工作轴的轴承或电机出现异常；第二确定单元，用于在所述云台中一工作轴的电机输出电流异常增大时，输出第二结果以指示该工作轴所受的摩擦力增大；第三确定单元，用于在所述云台中一工作轴的通信出现中断或掉帧时，输出第三结果以指示该工作轴的滑环出现异常；以及第四确定单元，用于在所述云台中一工作轴出现疯转时，输出第四结果以指示所述云台的编码器出现异常。
根据本公开实施例的第三方面，提供一种云台可靠性测试装置，包括：存储器；以及耦合到所属存储器的处理器，所述处理器被配置为基于存储在所述存储器中的指令，执行如上述任意一项所述的云台可靠性测试方法。
根据本公开实施例的第四方面，提供一种计算机可读存储介质，其上存储有程序，该程序被处理器执行时实现如上述任意一项所述的云台可靠性测试方法。
本公开提供的云台可靠性测试方法通过在预设环境温度范围内获取云台在预设工作参数下的工作数据，并将工作数据与阈值进行对比，可以测试云台的各部件使用寿命以及云台持续工作时间，提高云台产品出厂合格率。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本公开。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本公开的实施例， 并与说明书一起用于解释本公开的原理。显而易见地，下面描述中的附图仅仅是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1示意性示出一种三轴电动云台的结构示意图。
图2示意性示出本公开示例性实施例中云台可靠性测试方法的流程图。
图3示意性示出本公开一个示例性实施例中一种云台可靠性测试装置的方框图。
图4示意性示出本公开一个示例性实施例中另一种云台可靠性测试装置的方框图。
具体实施方式
现在将参考附图更全面地描述示例实施方式。然而，示例实施方式能够以多种形式实施，且不应被理解为限于在此阐述的范例；相反，提供这些实施方式使得本公开将更加全面和完整，并将示例实施方式的构思全面地传达给本领域的技术人员。所描述的特征、结构或特性可以以任何合适的方式结合在一个或更多实施方式中。在下面的描述中，提供许多具体细节从而给出对本公开的实施方式的充分理解。然而，本领域技术人员将意识到，可以实践本公开的技术方案而省略所述特定细节中的一个或更多，或者可以采用其它的方法、组元、装置、步骤等。在其它情况下，不详细示出或描述公知技术方案以避免喧宾夺主而使得本公开的各方面变得模糊。
此外，附图仅为本公开的示意性图解，图中相同的附图标记表示相同或类似的部分，因而将省略对它们的重复描述。附图中所示的一些方框图是功能实体，不一定必须与物理或逻辑上独立的实体相对应。可以采用软件形式来实现这些功能实体，或在一个或多个硬件模块或集成电路中实现这些功能实体，或在不同网络和/或处理器装置和/或微控制器装置中实现这些功能实体。
下面结合附图对本公开示例实施方式进行详细说明。
图2示意性示出本公开示例性实施例中云台可靠性测试方法的流程图。
参考图2，云台可靠性测试方法200可以包括：
步骤S202，输入控制参数，使云台根据所述控制参数调整姿态。
步骤S204，获取所述云台在所述调整姿态中反馈的工作数据。
步骤S206，将所述工作数据与对应的预设阈值相比较，根据比较结果确定所述云台的工作状态。
在步骤S202之前，计算机可以通过通信接口与云台控制系统连接并进行通信。通信接口包括但不限于USB通信接口、I2C接口、有线网络接口、无线网络接口、蓝牙接口或红外接口。本公开对通信方式不作特殊限定。
在本公开的一种示例性实施例中，云台控制参数可以包括用于指示所选工作轴的参数、所述工作轴的转动范围以及所述工作轴的转动速度。
其中，选择工作轴的范围包括单轴和多轴。例如，对三轴云台可以选择三个轴中的任 意一个轴、任意两个轴或同时选择三个轴进行控制。工作轴的转动范围可以包括在工作轴极限转动范围内的所有子范围。工作轴的转动速度可以设置为工作轴极限转动速度以下的所有转动速度。
在本公开的一种示例性实施例中，所述控制参数具有多组。由于云台可靠性的目标包括测试云台极限工作能力以及测试云台在预设条件下能否无故障工作，因此对不同的测试目标，可以设置不同的测试参数。
例如，当测试云台极限工作能力时，可以为每个轴分别设置多组测试参数。对于一个轴而言，可以输入其极限转动范围和/或极限转动速度以测试其极限工作能力，可以对同一个轴输入多组转动范围和转动速度的组合以测试其极限工作时间；对于多个轴而言，可以输入多个轴的多组转动范围和转动速度的的组合以测试多个轴的工作配合，也可以输入多个轴的对应的极限转动范围和/或极限转动速度以测试多个轴配合下的极限工作能力。
当测试云台在预设条件下能否无故障工作时，可以在预设时间内输入多组云台姿态控制参数，这些控制参数可以是云台正常工作下的参数，也可以包括云台每个轴的极限工作参数。在一些示例性实施例中，也可以重复输入相同的控制参数使云台各个轴重复工作，以对云台进行疲劳测试。总而言之，测试云台工作能力的参数可以有多种，本领域技术人员可以根据实际情况自行设置。
云台控制系统接收到控制参数信号后，即可控制电机运转，从而控制多个轴转动，使云台进行姿态调整。在一些实施例中，云台控制系统控制云台进行姿态调整的过程中不接收新的控制参数信号，直至云台达到预设姿态后才重新接收控制参数信号，控制云台再次进行姿态调整。
在步骤S204，获取所述云台在所述调整姿态中反馈的工作数据。
在测试过程中，云台控制系统可以通过自身的检测装置连续或按时间点检测云台各项工作数据，并通过通信接口将这些工作数据发送给计算机。
在本公开的一种示例性实施例中，所述工作数据包括：云台各工作轴的转动总圈数、转动总角度、转动角速度、电机输出电流、通信情况、目标姿态、实际姿态以及实际姿态与目标姿态之间的误差。
其中，云台控制系统记录的各轴转动总圈数以及转动总角度可以用于判断各轴工作疲劳度以及是否可控；各轴的转动角速度可以用于判断轴承、电机在转动过程中是否有异常损坏；各电机输出电流可以用于判断各轴的摩擦力是否有变化；通信正常情况可以用于判断滑环是否损坏。目标姿态、实际姿态以及实际姿态与目标姿态之间的误差可以用于判断云台的运行是否正常，其中目标姿态由云台控制系统根据角速度以及角度计算得出。
在其他一些实施例中，可以根据测试项目的不同获取不同的云台工作数据，只要能够反映出云台的工作状态即可。
在步骤S206，将所述工作数据与对应的预设阈值相比较，根据比较结果确定所述云台的工作状态。
可以对每一类工作数据根据测试目的不同设置不同的阈值。
例如，可设置各轴的转动总圈数阈值，从而在判断一个轴的转总圈数超过其对应阈值时判断云台疯转。其中，疯转是指云台的目标姿态与实际姿态之间的误差大于阈值的时间持续超过预设时间。如果云台出现疯转，则可以判断云台的编码器出现异常，导致云台的雅克比矩阵计算出了问题。可设置各轴的目标角速度以及阈值，从而在判断各轴的实际角速度与目标角速度误差超过阈值时判断轴承、电机等器件在转动过程中有异常损坏。可以设置电机电流阈值，从而在判断电机电流突然增大时判断该轴摩擦力增大。也可以通过判断通信是否出现中断或掉帧等情况判断通信是否正常，从而判断滑环是否在转动过程中受到损坏。如果需要测试云台的其他工作数据，可以根据实际情况对不同的工作数据设置不同的判断阈值，从而判断云台的工作状态。
在测试结束后，如果工作数据均在阈值范围内，可以判断云台工作正常。
在本公开的一种示例性实施例中，还包括：在测试过程中控制环境温度在预设范围内变化。
为了测试云台的极限工作能力或使用寿命，可以通过控制环境温度使云台工作在极限设计使用环境温度下，并对云台输入姿态控制参数、获取云台工作数据。例如，当设计使用环境温度为-40℃～+80℃时，可以在-40℃或+80℃的环境温度下对云台进行测试，也可控制环境温度在-40℃～+80℃之间变化，并在温度变化期间对云台进行测试。
为了测试云台在预设条件下能否无故障工作，可以控制环境温度使云台在预设温度范围内连续工作预设时间，并在判断云台的工作数据在上述预设条件下均不超过阈值时判断云台能够在预设条件下无故障工作，从而判断云台质量合格。
本公开提供的云台可靠性测试方法通过在预设环境温度范围内获取云台在预设工作参数下的工作数据，并将工作数据与阈值进行对比，可以测试云台的各部件使用寿命以及云台持续工作时间，提高云台产品出厂合格率。
对应于上述方法实施例，本公开还提供一种云台可靠性测试装置，可以用于执行上述方法实施例。
图3是本公开一个示例性实施例中一种云台可靠性测试装置的方框图。参考图3，云台可靠性测试装置300可以包括：参数控制模块301，用于输入控制参数，使云台根据所述控制参数调整姿态；数据获取模块302，用于获取所述云台在所述调整姿态中反馈的工作数据；以及状态确定模块303，用于将所述工作数据与对应的预设阈值相比较，根据比较结果确定所述云台的工作状态。
在本公开的一种示例性实施例中，所述控制参数包括：用于指示所选工作轴的参数、所述工作轴的转动范围以及所述工作轴的转动速度。
在本公开的一种示例性实施例中，所述工作数据包括：所述云台各工作轴的转动总圈数、转动总角度、转动角速度、电机输出电流、通信情况、目标姿态、实际姿态以及实际姿态与目标姿态之间的误差。
在本公开的一种示例性实施例中，还包括：环境控制模块，用于在测试过程中控制环境温度在预设范围内变化。
在本公开的一种示例性实施例中，所述状态确定模块303包括以下任意单元(图中未示出)：第一确定单元，用于在所述云台中一工作轴的转动角速度与基于所述控制参数确定的目标角速度误差大于第一预设阈值时，输出第一确定结果以指示该工作轴的轴承或电机出现异常；第二确定单元，用于在所述云台中一工作轴的电机输出电流异常增大时，输出第二结果以指示该工作轴所受的摩擦力增大；第三确定单元，用于在所述云台中一工作轴的通信出现中断或掉帧时，输出第三结果以指示该工作轴的滑环出现异常；以及第四确定单元，用于在所述云台中一工作轴出现疯转时，输出第四结果以指示所述云台的编码器出现异常。
在本公开的一种示例性实施例中，所述云台姿态控制参数具有多组。
由于装置300的各功能已在其对应的方法实施例中予以详细说明，本公开于此不再赘述。
根据本公开的一个方面，提供一种云台可靠性测试装置，包括：存储器；以及耦合到所属存储器的处理器，所述处理器被配置为基于存储在所述存储器中的指令，执行如上述任意一项所述的方法。
该实施例中的装置的处理器执行操作的具体方式已经在有关该云台可靠性测试方法的实施例中执行了详细描述，此处将不做详细阐述说明。
图4是根据一示例性实施例示出的一种装置400的框图。在一个实施例中，装置400可以是计算机、智能手机、平板电脑等终端设备。
参照图4，装置400可以包括以下一个或多个组件：处理组件402，存储器404，电源组件406，多媒体组件408，以及通信组件416。
处理组件402通常控制装置400的整体操作，诸如与数据通信以及记录操作相关联的操作等。处理组件402可以包括一个或多个处理器418来执行指令，以完成上述的方法的全部或部分步骤。此外，处理组件402可以包括一个或多个模块，便于处理组件402和其他组件之间的交互。
存储器404被配置为存储各种类型的数据以支持在装置400的操作。这些数据的示例包括用于在装置400上操作的任何应用程序或方法的指令。存储器404可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，如静态随机存取存储器(SRAM)，电可擦除可编程只读存储器(EEPROM)，可擦除可编程只读存储器(EPROM)，可编程只读存储器(PROM)，只读存储器(ROM)，磁存储器，快闪存储器，磁盘或光盘。存储器404中还存储有一个或多个模块，该一个或多个模块被配置成由该一个或多个处理器418执行，以完成上述任一所示方法中的全部或者部分步骤。
电源组件406为装置400的各种组件提供电力。电源组件406可以包括电源管理系统，一个或多个电源，及其他与为装置400生成、管理和分配电力相关联的组件。
多媒体组件408包括在所述装置400和用户之间的提供一个输出接口的屏幕。在一些实施例中，屏幕可以包括液晶显示器(LCD)和触摸面板(TP)。如果屏幕包括触摸面板，屏幕可以被实现为触摸屏，以接收来自用户的输入信号。触摸面板包括一个或多个触摸传感器以感测触摸、滑动和触摸面板上的手势。所述触摸传感器可以不仅感测触摸或滑动动作的边界，而且还检测与所述触摸或滑动操作相关的持续时间和压力。
通信组件416被配置为便于装置400和其他设备之间有线或无线方式的通信。装置400可以接入基于通信标准的无线网络，如WiFi，2G或3G，或它们的组合。在一个示例性实施例中，通信组件416经由广播信道接收来自外部广播管理系统的广播信号或广播相关信息。在一个示例性实施例中，所述通信组件416还包括近场通信(NFC)模块，以促进短程通信。例如，在NFC模块可基于射频识别(RFID)技术，红外数据协会(IrDA)技术，超宽带(UWB)技术，蓝牙(BT)技术和其他技术来实现。
在示例性实施例中，装置400可以被一个或多个应用专用集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理设备(DSPD)、可编程逻辑器件(PLD)、现场可编程门阵列(FPGA)、控制器、微控制器、微处理器或其他电子元件实现，用于执行上述方法。
在本公开的一种示例性实施例中，还提供了一种计算机可读存储介质，其上存储有程序，该程序被处理器执行时实现如上述任意一项所述的云台可靠性测试方法。该计算机可读存储介质例如可以为包括指令的临时性和非临时性计算机可读存储介质。
本领域技术人员在考虑说明书及实践这里公开的发明后，将容易想到本公开的其它实施方案。本申请旨在涵盖本公开的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本公开的一般性原理并包括本公开未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本公开的真正范围和构思由权利要求指出。
工业实用性
本公开实施例提供的云台可靠性测试方法，通过在预设环境温度范围内获取云台在预设工作参数下的工作数据，并将工作数据与阈值进行对比，可以测试云台的各部件使用寿命以及云台持续工作时间，提高云台产品出厂合格率。

Claims (12)

  1. 一种云台可靠性测试方法，包括：
    输入控制参数，使云台根据所述控制参数调整姿态；
    获取所述云台在所述调整姿态中反馈的工作数据；以及
    将所述工作数据与对应的预设阈值相比较，根据比较结果确定所述云台的工作状态。
  2. 根据权利要求1所述的云台可靠性测试方法，其中，所述控制参数包括：用于指示所选工作轴的参数、所述工作轴的转动范围以及所述工作轴的转动速度。
  3. 根据权利要求1所述的云台可靠性测试方法，其中，所述工作数据包括：所述云台各工作轴的转动总圈数、转动总角度、转动角速度、电机输出电流、通信情况、目标姿态、实际姿态以及实际姿态与目标姿态之间的误差。
  4. 根据权利要求1所述的云台可靠性测试方法，还包括：
    在测试过程中控制环境温度在预设范围内变化。
  5. 根据权利要求1-4任一项所述的云台可靠性测试方法，其中所述根据比较结果确定云台的工作状态包括以下任意步骤：
    在所述云台中一工作轴的转动角速度与基于所述控制参数确定的目标角速度误差大于第一预设阈值时，输出第一确定结果以指示该工作轴的轴承或电机出现异常；
    在所述云台中一工作轴的电机输出电流异常增大时，输出第二结果以指示该工作轴所受的摩擦力增大；
    在所述云台中一工作轴的通信出现中断或掉帧时，输出第三结果以指示该工作轴的滑环出现异常；以及
    在所述云台中一工作轴出现疯转时，输出第四结果以指示所述云台的编码器出现异常。
  6. 一种云台可靠性测试装置，其特征在于，包括：
    参数控制模块，用于输入控制参数，使云台根据所述控制参数调整姿态；
    数据获取模块，用于获取所述云台在所述调整姿态中反馈的工作数据；以及
    状态确定模块，用于将所述工作数据与对应的预设阈值相比较，根据比较结果确定所述云台的工作状态。
  7. 根据权利要求6所述的云台可靠性测试装置，其中，所述控制参数包括：用于指示所选工作轴的参数、所述工作轴的转动范围以及所述工作轴的转动速度。
  8. 根据权利要求6所述的云台可靠性测试装置，其中，所述工作数据包括：所述云台各工作轴的转动总圈数、转动总角度、转动角速度、电机输出电流、通信情况、目标姿态、实际姿态以及实际姿态与目标姿态之间的误差。
  9. 根据权利要求6所述的云台可靠性测试装置，还包括：
    环境控制模块，用于在测试过程中控制环境温度在预设范围内变化。
  10. 根据权利要求6-9任一项所述的云台可靠性测试装置，其中，所述状态确定模块包括以下任意单元：
    第一确定单元，用于在所述云台中一工作轴的转动角速度与基于所述控制参数确定的目标角速度误差大于第一预设阈值时，输出第一确定结果以指示该工作轴的轴承或电机出现异常；
    第二确定单元，用于在所述云台中一工作轴的电机输出电流异常增大时，输出第二结果以指示该工作轴所受的摩擦力增大；
    第三确定单元，用于在所述云台中一工作轴的通信出现中断或掉帧时，输出第三结果以指示该工作轴的滑环出现异常；以及
    第四确定单元，用于在所述云台中一工作轴出现疯转时，输出第四结果以指示所述云台的编码器出现异常。
  11. 一种云台可靠性测试装置，包括：
    存储器；以及
    耦合到所属存储器的处理器，所述处理器被配置为基于存储在所述存储器中的指令，执行如权利要求1-5所述的云台可靠性测试方法。
  12. 一种计算机可读存储介质，其上存储有程序，该程序被处理器执行时实现如权利要求1-5所述的云台可靠性测试方法。
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