WO2020062180A1 - 电机状态监测装置和电机状态监测方法 - Google Patents

电机状态监测装置和电机状态监测方法 Download PDF

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Publication number
WO2020062180A1
WO2020062180A1 PCT/CN2018/108855 CN2018108855W WO2020062180A1 WO 2020062180 A1 WO2020062180 A1 WO 2020062180A1 CN 2018108855 W CN2018108855 W CN 2018108855W WO 2020062180 A1 WO2020062180 A1 WO 2020062180A1
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WO
WIPO (PCT)
Prior art keywords
motor
state
signal
abnormal
measured signal
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PCT/CN2018/108855
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English (en)
French (fr)
Inventor
洪小平
何欢
周立奎
刘祥
黄淮
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2018/108855 priority Critical patent/WO2020062180A1/zh
Priority to CN201880010708.1A priority patent/CN111247443A/zh
Publication of WO2020062180A1 publication Critical patent/WO2020062180A1/zh
Priority to US17/214,912 priority patent/US20210215564A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M1/00—Testing static or dynamic balance of machines or structures
    • G01M1/14—Determining imbalance
    • G01M1/16—Determining imbalance by oscillating or rotating the body to be tested
    • G01M1/22—Determining imbalance by oscillating or rotating the body to be tested and converting vibrations due to imbalance into electric variables
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/02—Details
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M15/00—Testing of engines
    • G01M15/04—Testing internal-combustion engines
    • G01M15/12—Testing internal-combustion engines by monitoring vibrations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/34—Testing dynamo-electric machines

Definitions

  • the present application relates to the field of motor monitoring, and in particular, to a motor condition monitoring device and a motor condition monitoring method.
  • motors play an important role in many fields, such as, but not limited to, drones, robots, electric bicycles, electric cars, industrial equipment, generators, lidar and other products Motors are used to convert between electrical and mechanical energy.
  • the motor may be in a long and unstable load working condition, and the aging problem cannot be ignored.
  • various problems that occur during use can often only be discovered and handled after waiting for obvious failures, such as failure to start and a stuck process.
  • the present application provides a motor condition monitoring device and a motor condition monitoring method, which can timely judge the health status of a motor.
  • a motor condition monitoring device for monitoring a state of a motor.
  • the motor condition monitoring device includes a receiver placed separately from the motor for receiving a measured signal radiated from the motor in a non-contact manner; and a signal processing unit connected to the receiver for The measured signal determines the state of the motor, and generates a state signal indicating the state of the motor.
  • a method for monitoring a state of a motor includes: receiving a measured signal radiated from the motor by using a receiver that is not in contact with the motor; and judging the state of the motor based on the measured signal to generate a state indicating the state of the motor signal.
  • the motor state monitoring device of the present application receives the measured signal radiated by the motor in a non-contact manner, and judges the state of the motor based on the measured signal.
  • the measured signal radiated into the space by the motor can reflect the slight abnormal change of the motor, so that it can be used in the motor. Minor abnormal changes of the motor are detected in time before the health condition deteriorates to avoid further deterioration and damage; and the receiver is placed separately from the motor and is not in contact with the motor, which can prevent abnormal vibrations and magnetic fields caused by the abnormal operation of the motor from causing motor condition monitoring devices. Bad influence and damage.
  • FIG. 1 is a schematic block diagram of an embodiment of a motor condition monitoring device of the present application.
  • FIG. 2 is a schematic block diagram of another embodiment of a motor condition monitoring device of the present application.
  • FIG. 3 shows a flowchart of an embodiment of a motor condition monitoring method of the present application.
  • FIG. 4 is a schematic block diagram of an embodiment of a ranging device of the present application.
  • FIG. 5 shows a schematic block diagram of an embodiment in which a coaxial optical path is used in the ranging device of the present application.
  • the motor condition monitoring device in the embodiment of the present application is used to monitor the state of the motor.
  • the motor condition monitoring device includes a receiver and a signal processing unit.
  • the receiver is placed separately from the motor and is used to receive the measured signal radiated from the motor non-contactly.
  • the signal processing unit is connected to the receiver, and is used for judging the state of the motor according to the measured signal, and generating a state signal indicating the state of the motor.
  • the motor condition monitoring device receives the measured signal radiated by the motor in a non-contact manner, and judges the state of the motor based on the measured signal.
  • the measured signal radiated into the space by the motor can reflect the small abnormal changes of the motor, so that it can be used in the health status of the motor. Minor abnormal changes of the motor should be found in time before deterioration to avoid further deterioration and damage.
  • the receiver is placed separately from the motor and is not in contact with the motor, which can prevent the abnormal vibration and magnetic field caused by the abnormal operation of the motor from causing bad influence and damage to the motor condition monitoring device.
  • a method for monitoring a state of a motor includes: receiving a measured signal radiated from the motor by using a receiver that is not in contact with the motor; and judging the state of the motor based on the measured signal to generate a state indicating the state of the motor signal.
  • FIG. 1 is a schematic block diagram of an embodiment of a motor condition monitoring device 10.
  • the motor state monitoring device 10 is used to monitor the state of the motor 100.
  • the motor 100 can be used in, but not limited to, drones, robots, electric bicycles, electric cars, industrial equipment, generators, lidar, and other products to convert between electrical and mechanical energy.
  • the motor condition monitoring device 10 includes a receiver 11 and a signal processing unit 12.
  • the receiver 11 is placed separately from the motor 100 and is used to receive the measured signal radiated from the motor 100 in a non-contact manner.
  • the signal processing unit 12 is connected to the receiver 11, and is configured to judge the state of the motor 100 according to the measured signal, and generate a status signal indicating the state of the motor 100.
  • the measured signal radiated into the space by the motor 100 can reflect slight abnormal changes of the motor 100.
  • the motor condition monitoring device 10 receives the measured signal radiated from the motor 100 in a non-contact manner, and judges the state of the motor 100 based on the measured signal. In this way, the minute abnormal changes of the motor 100 can be detected in time before the health of the motor 100 deteriorates.
  • the state of 100 is responsive.
  • the motor 100 can be overhauled to avoid further deterioration and damage of the fault, and greatly save overhaul time and improve work efficiency.
  • the receiver 11 is placed separately from the motor 100 and is not in contact with the motor 100, which can prevent the abnormal vibration and magnetic field caused by the abnormal operation of the motor 100 from causing bad influence and damage to the motor condition monitoring device 10.
  • the motor state monitoring device 10 continuously monitors the state of the motor online in real time during the operation of the motor 100. It can accurately grasp the change of the state of the motor over time. It has a positive significance for finding the aging law and technological innovation of the motor, and it can be used in motor production inspection The quality of the motor is checked by monitoring the state of the running motor, which is convenient for inspection.
  • the measured signal includes at least one of an acoustic wave signal and an electromagnetic wave signal.
  • the measured signal includes an acoustic wave signal
  • the acoustic wave signal includes audio acoustic waves, ultrasonic waves, and / or infrasonic waves.
  • the motor 100 will vibrate when it is running, so the motor 100 will radiate acoustic signals.
  • the vibration and the acoustic signal emitted during the operation are kept in a certain stable state.
  • the motor 100 may generate abnormal vibrations and emit abnormal acoustic signals.
  • the rotor magnetic pole of the motor 100 has a strong magnetic force when the distance between the rotor pole and the stator pole is short, and the magnetic force is weak when the rotor pole is far away from the stator pole.
  • the change in the strength of the magnetic force will cause a regular rotation speed of the rotor.
  • the change causes the motor 100 to vibrate and generate an acoustic signal.
  • mechanical wear, material corrosion, etc. may cause the bearing surface of the motor 100 to be uneven, cause abnormal vibration during operation, and generate abnormal acoustic wave signals.
  • the change of the state of the motor will cause a change in the acoustic wave signal radiated by the motor 100.
  • the acoustic wave signal can reflect the state of the motor 100. Therefore, the acoustic wave signal is detected, and the state of the motor 100 can be determined based on the acoustic wave signal.
  • the vibration of the motor 100 mainly reflects the speed of the motor, the mechanical characteristics of the motor, and the wear.
  • the vibration of the motor is also accompanied by the generation of sound waves. Therefore, the health conditions such as the speed of the motor, the mechanical properties of the motor, and wear can be monitored by detecting the sound waves.
  • the small vibration of the motor 100 is difficult to detect by the vibration sensor, and because the bandwidth of the vibration detection is limited, it is difficult to find a suitable vibration sensor to detect the vibration.
  • small vibrations can also generate sonic signals that are easily collected.
  • the change in sonic signals caused by the state of the motor is usually very rapid. Therefore, by detecting the signal of the acoustic wave to monitor the state of the motor 100, it is possible to find minute abnormal changes of the motor 100 in a more timely manner.
  • the frequency of the sound wave signal radiated by the motor 100 can cover a wide range, from infrasound waves to very high-frequency ultrasonic waves. Therefore, it is easy to find a suitable receiver for collecting sound wave signals, and more can be obtained.
  • the acoustic wave signal is transmitted from the motor 100 through the air, and the receiver 11 can receive the acoustic wave signal in a non-contact manner and be separated from the motor 100, so that abnormal vibrations, magnetic fields, etc. generated by the abnormal operation of the motor 100 can be avoided for the receiver 11 and other components Cause bad influence and damage.
  • the receiver 11 can receive a sound wave signal and convert the sound wave signal into an electric signal.
  • the receiver 11 includes a sound wave receiver for receiving a sound wave signal.
  • Acoustic receivers include microphones, accelerometers, vibration sensors, piezoelectric crystals, and / or barometers.
  • the signal processing unit 12 determines a state of the motor 100 according to an electric signal converted by the acoustic wave signal.
  • the measured signal includes an electromagnetic wave signal.
  • the electromagnetic wave signal includes at least one of radio waves, microwaves, infrared rays, visible light, ultraviolet rays, X-rays, and gamma rays.
  • the electromagnetic wave signal includes a power frequency electromagnetic wave signal. Changes in the current and / or voltage of the motor 100 may cause changes in the emission of electromagnetic signals. The motor current and / or voltage can reflect whether the motor 100 is short-circuited, disconnected, abnormal in rotation speed, and some abnormalities caused by mechanical loss. Therefore, the above abnormal state of the motor 100 can be monitored by monitoring the electromagnetic wave signal. When the motor 100 issues a slight abnormality, the current and / or voltage change is not obvious, and the change of the electromagnetic wave signal is relatively large. Thus, by monitoring the electromagnetic wave signal, the minute abnormality of the motor 100 can be found in time.
  • the receiver 11 includes an antenna for receiving an electromagnetic wave signal.
  • the antenna converts the electromagnetic wave signal into an electric signal, and the signal processing unit 12 determines the state of the motor 100 according to the electric signal converted by the electromagnetic wave signal.
  • the antenna is not in contact with the motor 100 and receives electromagnetic wave signals in a non-contact manner without being affected by the vibration of the motor 100 or the like.
  • the electromagnetic wave signal includes infrared rays.
  • a change in temperature of the motor 100 causes a change in the infrared radiation emitted by the motor 100.
  • the temperature of the motor 100 mainly reflects the power consumption and wear of the motor 100. Therefore, the power consumption and wear of the motor 100 can be monitored by monitoring infrared rays. When there is a slight abnormality inside the motor 100, the temperature change is not obvious, but the infrared rays are more obvious. Therefore, by monitoring the infrared rays, the minute abnormality of the motor 100 can be found in time.
  • the receiver 11 includes an infrared receiving tube for receiving infrared rays.
  • the infrared receiving tube converts infrared rays into electrical signals, and the signal processing unit 12 determines the state of the motor 100 according to the electrical signals converted by the infrared rays.
  • the infrared receiving tube is not in contact with the motor 100 and senses infrared rays in a non-contact manner without being affected by the vibration of the motor 100 or the like.
  • the electromagnetic wave signal includes a power frequency electromagnetic wave signal and infrared rays.
  • the receiver 11 receives the power frequency electromagnetic wave signal and infrared rays.
  • the receiver 11 may include an antenna for receiving a power frequency electromagnetic wave signal and an infrared receiving tube for receiving infrared rays.
  • the measured signal includes an acoustic wave signal and an electromagnetic wave signal.
  • the receiver 11 receives the acoustic wave signal and the electromagnetic wave signal, obtains more motor information, judges the state of the motor 100 from different aspects, and judges the motor 100 more accurately. status.
  • the receiver 11 is configured to receive a signal, and the signal includes a measured signal and a noise signal doped in the measured signal, and the signal processing unit 12 is configured to identify the measured signal.
  • the acoustic wave signal received by the receiver 11 includes an acoustic wave signal and a noise signal radiated from the motor 100, and the noise signal is, for example, noise from a device other than the motor 100, the surrounding environment, and the like.
  • the receiver 11 converts the received signals into electrical signals, and the signal processing unit 12 processes the electrical signals, removes the electrical signals corresponding to the noise signals, and identifies the electrical signals corresponding to the measured signal for subsequent further processing and judgment of the state of the motor. In this way, the noise is removed, and the measured signal is retained to avoid the influence of the noise signal on the motor state judgment.
  • the state of the motor 100 includes a normal state and an abnormal state.
  • the signal processing unit 12 can determine whether the motor 100 is in a normal state or an abnormal state by analyzing the measured signals. In some embodiments, when the motor 100 is in an abnormal state, the signal processing unit 12 may determine the type of the abnormal state of the motor 100 and / or the location of the abnormality in the motor 100 according to the measured signal. Types of abnormal states such as unbalanced rotor rotation, abnormal speed, abnormal bearing vibration, abnormal current value, abnormal voltage value, short circuit, open circuit, etc.
  • the parts where the abnormality occurs are, for example, a rotor, a bearing, a coil, and a brush.
  • the signal processing unit 12 is configured to determine the state of the motor according to the frequency spectrum and / or amplitude of the measured signal. When at least one of the measured signal is abnormal in frequency, abnormal in amplitude, and abnormal in phase, or at least two of them are abnormal at the same time, the abnormal state of the motor may be determined. In some embodiments, the signal processing unit 12 is configured to determine the state of the motor according to at least one of a bandwidth, a frequency magnitude, an amplitude magnitude, a frequency spectrum variation, an amplitude variation, a phase magnitude, and a phase variation of the measured signal. .
  • the motor state is abnormal.
  • the frequency of the measured signal is within a normal frequency range and has a certain bandwidth. The bandwidth of the frequency spectrum of the measured signal is inconsistent with the bandwidth in the normal state, and it can be determined that the state of the motor is abnormal.
  • the frequency of the measured signal exceeds the frequency threshold, it can be determined that the motor status is abnormal.
  • the amplitude of the measured signal exceeds the amplitude threshold, you can determine that the motor status is abnormal.
  • the signal processing unit 12 is configured to determine that the state of the motor is abnormal when at least one of the following conditions occurs in the measured signal: at least one frequency spectrum in the normal state of the motor disappears, and the frequency band outside the frequency spectrum in the normal state of the motor has a specific frequency band.
  • the frequency spectrum appears, the same frequency band appears repeatedly, the time spectrum of the frequency spectrum under the normal state of the motor is abnormal, and the phase of the signal in the frequency spectrum is abnormal.
  • the motor state is abnormal.
  • the combination of at least two of the frequency bandwidth, the frequency magnitude, the amplitude magnitude, the frequency spectrum change, the amplitude magnitude change, the phase magnitude, and the phase variance issues an abnormality, it is determined that the motor state is abnormal.
  • the above-mentioned normal state judgment condition may be stored in the normal state knowledge base, and the signal processing unit 12 may extract the normal state judgment condition from the normal state knowledge base.
  • the above-mentioned abnormal state judgment conditions may be stored in the abnormal state knowledge base, and the signal processing unit 12 may extract the abnormal state judgment conditions from the abnormal state knowledge base.
  • the signal processing unit 12 is configured to compare the measured signal with a corresponding signal model to determine the state of the motor.
  • the signal model includes a normal signal model in a normal state of the motor and / or an abnormal signal model in an abnormal state of the motor.
  • the signal processing unit 12 determines whether the state of the motor is normal by comparing the measured signal with a normal signal model. When the measured signal matches the normal signal model, it is determined that the motor status is normal. Otherwise, it is determined that the motor status is abnormal.
  • the measured signal and the abnormal signal model are further compared to determine the type of the abnormality and the location where the abnormality occurs.
  • the signal processing unit 12 may compare the measured signal and the abnormal signal model to determine whether the state of the motor is abnormal. When the measured signal matches the abnormal signal model, it is determined that the motor status is abnormal. Otherwise, it is determined that the motor status is normal. Similarly, the type of the abnormality and the location where the abnormality occurs can be determined by comparing the measured signal and the abnormal signal model. This can quickly determine the state of the motor. In some embodiments, the state of the motor can be determined by combining the state determination conditions and the signal model, so that the health status of the motor can be detected more accurately. Normal signal models can be saved in the normal state knowledge base, and abnormal signal models can be saved in the abnormal state knowledge base.
  • the initial normal state knowledge base and abnormal state knowledge base can be established in advance based on experience.
  • the normal signal model, the normal judgment condition, the abnormal signal model and / or the abnormal judgment condition can be set in advance based on experience, so as to establish the initial normal state knowledge base and abnormal state knowledge base.
  • the normal state knowledge base and the abnormal state knowledge base can be continuously updated.
  • the signal processing unit 12 is configured to update the normal state knowledge base when it is determined that the state of the motor is normal, and add the characteristics of the measured signal corresponding to the normal state of the motor to the normal state knowledge base.
  • the normal state knowledge base includes a normal signal model. And / or normal condition judgment conditions.
  • the signal processing unit 12 is configured to update the abnormal state knowledge base when determining that the motor state is abnormal, and add the characteristics of the measured signal corresponding to the abnormal state of the motor to the abnormal state knowledge base.
  • the abnormal state knowledge base includes an abnormal signal model and / or an abnormal state judgment. condition.
  • the state of the motor cannot be determined based on the information in the normal state knowledge base and the abnormal state knowledge base, for example, the measured signal does not match the normal signal model, it does not match the abnormal model model, and the normal judgment condition and the abnormal judgment condition are not satisfied.
  • you can judge the state of the motor through other auxiliary detection methods such as the detection of voltage, current, vibration, and temperature), and extract the characteristics of the corresponding measured signal, establish the corresponding signal model and / or judgment conditions, and update the corresponding state.
  • the knowledge base is self-learned and updated in this way, and the state knowledge base is constantly improved, so that the state knowledge base is more in line with the characteristics of the corresponding motor, and it is easier and more accurate to detect the health status of the corresponding motor.
  • the signal processing unit 12 is configured to compare a measured signal of a specified frequency band with a signal model of the specified frequency band to determine the state of the motor.
  • the signal processing unit 12 can judge the state of the motor by analyzing the measured signal in a specified frequency band.
  • the frequency band with the characteristics of the signal under test that is more concentrated and obvious can be selected as the specified frequency band.
  • the signal processing unit 12 is configured to compare a full-spectrum measured signal with a full-spectrum signal model to determine the state of the motor.
  • the signal processing unit 12 determines the state of the motor by analyzing the measured signal of the full spectrum. In this way, the state of the motor can be judged more accurately.
  • the signal processing unit 12 may include a device with program-controlled logic processing capabilities, such as a processor, an FPGA, a mechanical calculator, and the like.
  • FIG. 2 is a schematic block diagram of another embodiment of the motor condition monitoring device 20.
  • the motor condition monitoring device 20 shown in FIG. 2 is similar to the motor condition monitoring device 10 shown in FIG. 1.
  • the motor condition monitoring device 20 shown in FIG. 2 further includes a pre-processing unit 21.
  • the receiver 11 converts the measured signal into an electric signal
  • the pre-processing unit 21 is connected between the receiver 11 and the signal processing unit 22.
  • the pre-processing unit 21 is configured to process the electrical signal converted by the receiver 11 to the signal processing unit 22. In this way, the pre-processing unit 21 performs pre-processing on the electric signals, which facilitates the processing unit 22 to further process and analyze the electric signals.
  • the electrical signal generated by the receiver 11 is an analog signal, for example, a microphone converts a sound wave signal into an analog electrical signal.
  • the pre-processing unit 21 includes an analog-to-digital (A-D) conversion module.
  • the analog-to-digital conversion module is configured to convert an analog signal into a digital signal and provide the signal to the signal processing unit 22.
  • the signal processing unit 22 performs processing analysis on the digital signal.
  • the pre-processing unit 21 may perform other processing on the electric signal output by the receiver 11, such as filtering the electric signal, and / or amplifying the electric signal.
  • the pre-processing unit 21 and the receiver 11 are integrated.
  • the pre-processing unit 21 can be combined with the receiver 11 into one device.
  • the analog-to-digital conversion module can be assembled in the housing of the microphone and integrated with the microphone.
  • the pre-processing unit 21 and the receiver 11 are separated from each other.
  • the pre-processing unit 21 and the receiver 11 are independent devices and can be electrically connected through an interface, an electrical connection line, and the like.
  • the motor condition monitoring device 20 further includes an auxiliary detection unit 23 for detecting an auxiliary measured signal different from the measured signal of the motor 100.
  • the signal processing unit 22 is electrically connected to the auxiliary detection unit 23 and is used to assist in determining the state of the motor by using the auxiliary measured signal, so that the state of the motor can be determined more accurately.
  • the auxiliary measured signal includes at least one of current, voltage, vibration, and temperature of the motor 100.
  • the auxiliary detection unit 23 includes at least one of a current detection circuit for detecting a current of the motor 100, a voltage detection circuit for detecting a voltage of the motor 100, a vibration detection device for detecting vibration of the motor 100, and A temperature sensor for detecting the temperature of the motor 100.
  • the current detection circuit and / or the voltage detection circuit are electrically connected to a circuit of the motor 100.
  • the vibration detection device is in direct contact with the motor 100 or is connected to the motor 100 through a rigid element.
  • the vibration detection device includes a vibration sensor, an accelerometer, and / or a gyroscope.
  • the temperature sensor may be in direct contact with the motor 100.
  • the signal processing unit 22 may pass Auxiliary measured signal to judge motor status.
  • the signal processing unit 22 may extract the characteristics of the measured signal corresponding to the auxiliary measured signal at this time, and update the corresponding signal model and / or status judgment conditions.
  • the signal processing unit 22 determines that the state of the motor is normal according to the auxiliary measured signal, it updates the normal signal model and / or the normal state judgment condition in the normal state knowledge base according to the corresponding measured signal.
  • the signal processing unit 22 determines that the state of the motor is abnormal according to the auxiliary measured signal, it updates the abnormal signal model and / or the abnormal state judgment condition in the abnormal state knowledge base according to the corresponding measured signal. In this way, the motor condition monitoring device 20 learns itself during the operation of the motor, updates the judgment model and conditions in time, and improves the efficiency and accuracy of the motor condition detection.
  • the signal processing unit 22 shown in FIG. 2 also has the functions of the signal processing unit 12 shown in FIG. 1, and details are not described herein again.
  • the motor state monitoring device 20 includes a reminder unit 24, which is connected to the signal processing unit 22 and is configured to send a reminder message when the motor state is abnormal, so as to promptly remind the user.
  • the reminding unit 24 can inform the user of the abnormal state information of the motor, for example, the type of the abnormal state, the place where the abnormality is issued, the level of the abnormality, and the like.
  • the reminder unit 24 includes a display and / or a voice player.
  • the reminding unit 24 may output information that the motor status is normal, and inform the user that the motor status is normal and / or related parameters of the motor operation at this time.
  • a ranging device such as a lidar
  • a motor and the above-mentioned motor condition monitoring device.
  • the ranging device is installed on a drone, a robot, or a car. Then the user can be a control system on a drone, robot, or car.
  • FIG. 3 is a flowchart of an embodiment of a motor condition monitoring method 30.
  • the motor state monitoring method 30 is used to monitor the state of the motor.
  • the motor condition monitoring method 30 includes steps 31 and 32.
  • a receiver that is not in contact with the motor is used to receive the measured signal emitted by the motor.
  • the motor may be the motor 100 described above, and the receiver may be the receiver 11 described above.
  • the measured signal includes at least one of an acoustic wave signal and an electromagnetic wave signal.
  • the sound wave signal is received by a sound wave receiver placed separately from the motor.
  • Acoustic receivers include microphones, accelerometers, vibration sensors, piezoelectric crystals, and / or barometers.
  • the electromagnetic wave signal includes at least one of a power frequency electromagnetic wave signal and infrared rays.
  • the power frequency electromagnetic wave signal is received through an antenna placed separately from the motor.
  • infrared rays are received through an infrared receiving tube placed separately from the motor.
  • step 32 the state of the motor is determined according to the measured signal, and a state signal indicating the state of the motor is generated.
  • the signal processing units 12 and 22 described above may perform step 32.
  • the type of abnormal state of the motor and / or the part where the abnormality occurs in the motor are determined according to the measured signal.
  • the state of the motor is determined according to the frequency spectrum and / or amplitude of the measured signal. In one embodiment, the state of the motor is determined according to at least one of a frequency magnitude, an amplitude magnitude, a spectrum variation, an amplitude variation, a phase magnitude, and a phase variation of the measured signal. In one embodiment, the abnormal state of the motor is determined when at least one of the following conditions occurs in the measured signal: at least one frequency spectrum disappears in the normal state of the motor, a specific frequency band appears outside the frequency band in the normal state of the motor, and the same frequency band Repeated occurrence, abnormal timing of the frequency spectrum in the normal state of the motor, and abnormal phase of the signal in the frequency spectrum. Among them, the frequency spectrum outside the normal frequency of the motor has a specific frequency spectrum, which can refer to the frequency spectrum outside the normal frequency of the motor with any frequency spectrum, or the frequency spectrum outside the normal state of the motor. A preset frequency spectrum appears in the frequency band.
  • the measured signal is compared with a corresponding signal model to determine the state of the motor; the signal model includes a normal signal model in a normal state of the motor and / or an abnormal signal model in an abnormal state of the motor.
  • the measured signal of the specified frequency band is compared with the signal model of the specified frequency band to determine the state of the motor.
  • the full-spectrum measured signal and the full-spectrum signal model are compared to determine the state of the motor.
  • the normal state knowledge base is updated when it is determined that the state of the motor is normal, and the characteristics of the measured signal corresponding to the normal state of the motor are added to the normal state knowledge base.
  • the normal state knowledge base includes a normal signal model and / or a normal state judgment. condition.
  • the abnormal state knowledge base is updated when it is determined that the motor state is abnormal, and the characteristics of the measured signal corresponding to the abnormal state of the motor are added to the abnormal state knowledge base.
  • the abnormal state knowledge base includes an abnormal signal model and / or an abnormality. Status judgment conditions.
  • the motor condition monitoring method further includes: detecting an auxiliary measured signal different from the measured signal of the motor; and using the auxiliary measured signal to assist in determining the state of the motor.
  • the auxiliary measured signal different from the measured signal of the detected motor includes at least one of the following: detecting the current of the motor, detecting the voltage of the motor, detecting the vibration of the motor, and detecting the temperature of the motor.
  • the method for monitoring the state of the motor further includes: converting the measured signal into an electric signal, processing the electric signal, and determining the state of the motor according to the processed electric signal.
  • the measured signal is converted into an analog signal; the analog signal is converted into a digital signal. Digital signals are used to process and judge the state of the motor.
  • the motor status monitoring method further includes: sending out a reminder message when the motor status is abnormal.
  • Reminder messages include display messages and / or voice messages.
  • the signal under test is doped with a noise signal
  • the method for monitoring the state of the motor includes identifying the signal under test. Identify the measured signal from the noise signal to avoid the influence of the noise signal on the motor status judgment.
  • the motor condition monitoring device and the motor condition monitoring method provided by the embodiments of the present invention can be applied to a distance measuring device, and the distance measuring device may be an electronic device such as a laser radar, a laser ranging device, or the like.
  • the ranging device is configured to sense external environmental information, such as distance information, azimuth information, reflection intensity information, velocity information, and the like of environmental targets.
  • the distance measuring device can detect the distance between the detection object and the distance measuring device by measuring a time of light propagation between the distance measuring device and the detection object, that is, a time-of-flight (TOF).
  • TOF time-of-flight
  • the ranging device can also detect the distance from the probe to the ranging device by other techniques, such as a ranging method based on phase shift measurement, or a ranging method based on frequency shift measurement. There are no restrictions.
  • the ranging device 100 may include a transmitting circuit 110, a receiving circuit 120, a sampling circuit 130, and an operation circuit 140.
  • the transmitting circuit 110 may transmit a light pulse sequence (for example, a laser pulse sequence).
  • the receiving circuit 120 may receive a light pulse sequence reflected by the detected object, and perform photoelectric conversion on the light pulse sequence to obtain an electric signal.
  • the electric signal may be processed and then output to the sampling circuit 130.
  • the sampling circuit 130 may sample the electrical signal to obtain a sampling result.
  • the arithmetic circuit 140 may determine the distance between the distance measuring device 100 and the detected object based on the sampling result of the sampling circuit 130.
  • the ranging device 100 may further include a control circuit 150, which may control other circuits, for example, may control the working time of each circuit and / or set parameters of each circuit.
  • a control circuit 150 may control other circuits, for example, may control the working time of each circuit and / or set parameters of each circuit.
  • the ranging device shown in FIG. 4 includes a transmitting circuit, a receiving circuit, a sampling circuit, and an arithmetic circuit
  • the embodiments of the present application are not limited thereto.
  • the transmitting circuit, the receiving circuit, the sampling circuit, and the arithmetic The number of any one of the circuits may be at least two.
  • the ranging device 100 may further include a scanning module 160 for changing the laser pulse sequence emitted by the transmitting circuit to change the propagation direction.
  • the module including the transmitting circuit 110, the receiving circuit 120, the sampling circuit 130, and the arithmetic circuit 140, or the module including the transmitting circuit 110, the receiving circuit 120, the sampling circuit 130, the arithmetic circuit 140, and the control circuit 150 may be referred to as a measurement.
  • the distance measuring module 150 may be independent of other modules, such as the scanning module 160.
  • the distance measuring device may use a coaxial optical path, that is, the light beam emitted by the distance measuring device and the reflected light beam share at least part of the optical path in the distance measuring device.
  • the distance measuring device may also use an off-axis optical path, that is, the light beam emitted by the distance measuring device and the reflected light beam are transmitted along different optical paths in the distance measuring device, respectively.
  • FIG. 5 shows a schematic diagram of an embodiment of the distance measuring device of the present invention using a coaxial optical path.
  • the ranging device 100 includes a light transmitting and receiving device 110, and the light transmitting and receiving device 110 includes a light source 103 (including the above-mentioned transmitting circuit), a collimating element 104, a detector 105 (may include the above-mentioned receiving circuit, sampling circuit, and arithmetic circuit) and an optical path change Element 106.
  • the optical transceiver device 110 is configured to transmit a light beam, receive the returned light, and convert the returned light into an electrical signal.
  • the light source 103 is used to emit a light beam. In one embodiment, the light source 103 may emit a laser beam.
  • the laser beam emitted by the light source 103 is a narrow-bandwidth beam with a wavelength outside the visible light range.
  • the collimating element 104 is disposed on the exit light path of the light source, and is used to collimate the light beam emitted from the light source 103 and collimate the light beam emitted from the light source 103 into parallel light.
  • the collimating element is also used to focus at least a portion of the reflected light reflected by the probe.
  • the collimating element 104 may be a collimating lens or other elements capable of collimating a light beam.
  • the transmission light path and the reception light path in the ranging device are combined before the collimation element 104 by the light path changing element 106, so that the transmission light path and the reception light path can share the same collimation element, so that the light path More compact.
  • the light source 103 and the detector 105 may also use respective collimating elements, and the optical path changing element 106 may be disposed behind the collimating elements.
  • the light path changing element may use a small area mirror to Combine the transmitting and receiving optical paths.
  • the light path changing element may also be a reflector with a through hole, wherein the through hole is used to transmit the light emitted from the light source 103, and the reflector is used to reflect the returned light to the detector 105. This can reduce the situation that the bracket of the small mirror can block the return light in the case of using a small mirror.
  • the optical path changing element is offset from the optical axis of the collimating element 104.
  • the light path changing element may also be located on the optical axis of the collimating element 104.
  • the ranging device 100 further includes a scanning module 102.
  • the scanning module 102 is placed on the outgoing light path of the optical transceiver 110.
  • the scanning module 102 is used to change the transmission direction of the collimated light beam 119 emitted by the collimating element 104 and project it to the external environment, and project the return light onto the collimating element 104 .
  • the returned light is focused on the detector 105 via the collimating element 104.
  • the scanning module 102 may include one or more optical elements, such as a lens, a mirror, a prism, a grating, an optical phased array, or any combination thereof.
  • multiple optical elements of the scanning module 102 can rotate around a common axis 109, and each rotating optical element is used to continuously change the propagation direction of the incident light beam.
  • multiple optical elements of the scanning module 102 can be rotated at different rotation speeds.
  • multiple optical elements of the scan module 102 may be rotated at substantially the same rotation speed.
  • multiple optical elements of the scanning module may also rotate around different axes. In some embodiments, multiple optical elements of the scanning module may also rotate in the same direction, or rotate in different directions; or vibrate in the same direction, or vibrate in different directions, which is not limited herein.
  • the scanning module 102 includes a first optical element 114 and a driver 116 connected to the first optical element 114.
  • the driver 116 is configured to drive the first optical element 114 to rotate about the rotation axis 109, so that the first optical element 114 is changed.
  • the first optical element 114 projects the collimated light beam 119 to different directions.
  • the angle between the direction of the collimated light beam 119 after being changed by the first optical element and the rotation axis 109 changes with the rotation of the first optical element 114.
  • the first optical element 114 includes a pair of opposing non-parallel surfaces through which a collimated light beam 119 passes.
  • the first optical element 114 includes a prism whose thickness varies in at least one radial direction. In one embodiment, the first optical element 114 includes a wedge-shaped prism, which is directed toward the straight beam 119 for refraction. In one embodiment, the first optical element 114 is coated with an antireflection coating, and the thickness of the antireflection coating is equal to the wavelength of the light beam emitted by the light source 103, which can increase the intensity of the transmitted light beam.
  • the scanning module 102 further includes a second optical element 115 that rotates around the rotation axis 109.
  • the rotation speed of the second optical element 115 is different from the rotation speed of the first optical element 114.
  • the second optical element 115 is used to change the direction of the light beam projected by the first optical element 114.
  • the second optical element 115 is connected to another driver 117, and the driver 117 drives the second optical element 115 to rotate.
  • the first optical element 114 and the second optical element 115 can be driven by different drivers, so that the rotation speeds of the first optical element 114 and the second optical element 115 are different, so that the collimated light beam 119 is projected into different directions of the external space and can be scanned Large spatial range.
  • the controller 118 controls the drivers 116 and 117 to drive the first optical element 114 and the second optical element 115, respectively.
  • the rotation speeds of the first optical element 114 and the second optical element 115 can be determined according to the area and pattern expected to be scanned in practical applications.
  • Drivers 116 and 117 may include motors or other driving devices.
  • the second optical element 115 includes a pair of opposing non-parallel surfaces through which the light beam passes. In one embodiment, the second optical element 115 includes a prism whose thickness varies in at least one radial direction. In one embodiment, the second optical element 115 includes a wedge-shaped prism. In one embodiment, the second optical element 115 is coated with an antireflection coating, which can increase the intensity of the transmitted light beam.
  • the rotation of the scanning module 102 can project light to different directions, such as directions 111 and 113, so as to scan the space around the ranging device 100.
  • directions 111 and 113 are directions that are projected by the scanning module 102 to scan the space around the ranging device 100.
  • the scanning module 102 receives the return light 112 reflected by the detection object 101 and projects the return light 112 onto the collimating element 104.
  • the collimating element 104 condenses at least a part of the return light 112 reflected by the probe 101.
  • the collimating element 104 is coated with an antireflection coating, which can increase the intensity of the transmitted light beam.
  • the detector 105 and the light source 103 are placed on the same side of the collimating element 104. The detector 105 is used to convert at least a part of the returned light passing through the collimating element 104 into an electrical signal.
  • the light source 103 may include a laser diode through which laser light in the nanosecond range is emitted.
  • the laser pulse emitted by the light source 103 lasts for 10 ns.
  • the laser pulse receiving time may be determined, for example, the laser pulse receiving time is determined by detecting a rising edge time and / or a falling edge time of an electrical signal pulse. In this way, the ranging device 100 can calculate the TOF by using the pulse reception time information and the pulse transmission time information, thereby determining the distance between the detection object 101 and the distance measurement device 100.
  • the motor includes a rotor assembly, a stator assembly, and a positioning assembly that rotate about a rotation axis.
  • the rotor assembly includes an inner wall surrounding the rotating shaft, and the inner wall is formed with a receiving cavity capable of accommodating the prism.
  • the stator assembly is used for driving the rotor assembly to rotate around the rotating shaft.
  • the positioning component is located outside the storage cavity, and is used to restrict the rotor component from rotating around a fixed rotating shaft as a center.
  • the rotor component, the stator component, and the positioning component are generally annular structures, respectively.
  • the stator assembly and the positioning assembly surround the rotor assembly side by side.
  • the positioning assembly includes an annular bearing, and the bearing surrounds the outside of the inner wall.
  • the motor is fixed in a housing
  • the bearing includes an inner ring structure, an outer ring structure, and a rolling body; the inner ring structure is fixed to the outer side of the inner wall, the outer ring structure is fixed to the housing, and the rolling body is located in the inner ring. Between the structure and the outer ring structure, the rolling body is used for rolling connection with the outer ring structure and the inner ring structure, respectively.
  • the distance and orientation detected by the ranging device 100 can be used for remote sensing, obstacle avoidance, mapping, modeling, navigation, and the like.
  • the ranging device according to the embodiment of the present invention can be applied to a mobile platform, and the ranging device can be installed on the platform body of the mobile platform.
  • a mobile platform with a ranging device can measure the external environment, for example, measuring the distance between the mobile platform and an obstacle for obstacle avoidance and other purposes, and performing two-dimensional or three-dimensional mapping on the external environment.
  • the mobile platform includes at least one of an unmanned aerial vehicle, a car, a remotely controlled vehicle, a robot, and a camera.
  • the platform body is the fuselage of the unmanned aerial vehicle.
  • the ranging device is applied to a car
  • the platform body is the body of the car.
  • the car may be a self-driving car or a semi-autonomous car, and there is no limitation here.
  • the platform body is the body of the remote control car.
  • the platform body is a robot.
  • the ranging device is applied to a camera, the platform body is the camera itself.
  • the relevant part may refer to the description of the device embodiment.
  • the method embodiment and the device embodiment complement each other.

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Abstract

一种电机状态监测装置和电机状态监测方法。电机状态监测装置（10）用于监测电机（100）的状态。电机状态监测装置（10）包括接收器（11）和信号处理单元（12）。接收器（11）与电机（100）分开放置，用于非接触式地接收电机（100）辐射出的被测信号。信号处理单元（12）与接收器（11）连接，用于根据被测信号判断电机（100）的状态，产生表示电机（100）的状态的状态信号。

Description

电机状态监测装置和电机状态监测方法 技术领域
本申请涉及电机监测领域，特别涉及一种电机状态监测装置和电机状态监测方法。
背景技术
电机作为动力来源或为其他装置提供动力的装置，在很多领域发挥着重要的作用，例如，但不限于，无人机、机器人、电动自行车、电动汽车、工业设备、发电机、激光雷达等产品中使用电机实现电能和机械能之间的转换。
在实际使用中，电机可能处于长时间、不稳定的负载工作状况下，老化问题不能忽视。而在使用过程中出现的各种问题往往只能等待明显故障，如出现无法启动、运行过程卡转之后，才能被发现和处理。
发明内容
本申请提供一种电机状态监测装置和电机状态监测方法，可以及时判断电机的健康状况。
根据本申请实施例的一个方面，提供一种电机状态监测装置，用于监测电机的状态。所述电机状态监测装置包括：接收器，与所述电机分开放置，用于非接触式地接收所述电机辐射出的被测信号；及信号处理单元，与所述接收器连接，用于根据所述被测信号判断所述电机的状态，产生表示所述电机的状态的状态信号。
根据本申请实施例的另一个方面，提供一种电机状态监测方法，用于监测电机的状态。电机状态监测方法包括：利用与所述电机非接触的接收器接收所述电机辐射出的被测信号；及根据所述被测信号判断所述电机的状态，产生表示所述电机的状态的状态信号。
本申请电机状态监测装置非接触式地接收电机辐射出的被测信号，并根据被测信号判断电机的状态，电机辐射到空间中的被测信号可反应电机微小的异常变化，如此可以在电机健康状况恶化之前及时发现电机微小的异常变化，避免进一步的恶化和损害；并且接收器与电机分开放置，与电机非接触，可以避免电机异常工作产生的异常振动、磁场等对电机状态监测装置造成不好的影响和损害。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1所示为本申请电机状态监测装置的一个实施例的示意框图。
图2所示为本申请电机状态监测装置的另一个实施例的示意框图。
图3所示为本申请电机状态监测方法的一个实施例的流程图。
图4所示为本申请测距装置的一个实施例的示意框图。
图5示所示为本申请测距装置采用同轴光路的一个实施例的示意框图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本申请相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本申请的一些方面相一致的装置和方法的例子。
在本申请使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本申请。在本申请和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。除非另行指出，“前部”、“后部”、“下部”和/或“上部”等类似词语只是为了便于说明，而并非限于一个位置或者一种空间定向。“连接”或者“相连”等类似的词语并非限定于物理的或者机械的连接，而且可以包括电性的连接，不管是直接的还是间接的。“多个”表示至少两个。
本申请实施例的电机状态监测装置用于监测电机的状态。电机状态监测装置包括接收器和信号处理单元。接收器与电机分开放置，用于非接触式地接收电机辐射出的被测信号。信号处理单元与接收器连接，用于根据被测信号判断电机的状态，产生表示电机的状态的状态信号。
电机状态监测装置非接触式地接收电机辐射出的被测信号，并根据 被测信号判断电机的状态，电机辐射到空间中的被测信号可反应电机微小的异常变化，如此可以在电机健康状况恶化之前及时发现电机微小的异常变化，避免进一步的恶化和损害。并且接收器与电机分开放置，与电机非接触，可以避免电机异常工作产生的异常振动、磁场等对电机状态监测装置造成不好的影响和损害。
本申请实施例的电机状态监测方法用于监测电机的状态。电机状态监测方法包括：利用与所述电机非接触的接收器接收所述电机辐射出的被测信号；及根据所述被测信号判断所述电机的状态，产生表示所述电机的状态的状态信号。
下面结合附图，对本申请的电机状态监测装置和电机状态监测方法进行详细说明。在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。
图1所示为电机状态监测装置10的一个实施例的示意框图。电机状态监测装置10用于监测电机100的状态。电机100可以用于，但不限于，无人机、机器人、电动自行车、电动汽车、工业设备、发电机、激光雷达等产品中，实现电能和机械能之间的转换。电机状态监测装置10包括接收器11和信号处理单元12。
接收器11与电机100分开放置，用于非接触式地接收电机100辐射出的被测信号。信号处理单元12与接收器11连接，用于根据被测信号判断电机100的状态，产生表示电机100的状态的状态信号。电机100辐射到空间中的被测信号可反应电机100微小的异常变化。电机状态监测装置10非接触式地接收电机100辐射出的被测信号，并根据被测信号判断电机100的状态，如此可以在电机100健康状况恶化之前及时发现电机100微小的异常变化，对电机100的状态反应灵敏。从而在故障较小时可以对电机100进行检修，避免故障进一步的恶化和损害，且大大节省检修时间，提高工作效率。并且接收器11与电机100分开放置，与电机100非接触， 可以避免电机100异常工作产生的异常振动、磁场等对电机状态监测装置10造成不好的影响和损害。另外，电机状态监测装置10在电机100运转过程中持续地实时在线监测电机状态，可以精确掌握电机状态随时间的变化，对于寻找电机的老化规律、技术创新具有积极意义，而且可以在电机生产检验时通过监测运转的电机的状态来检验电机的质量，从而方便检验。
在一些实施例中，被测信号包括声波信号和电磁波信号中的至少一种。在一个实施例中，被测信号包括声波信号，声波信号包括音频声波、超声波和/或次声波。电机100在运转的时候会有振动，因而电机100会辐射出声波信号。电机100在设计条件下工作时，工作时的振动和所发出的声波信号保持在一定稳定状态。然而，当电机零部件的加工和/或装配误差超出允许的范围，和/或由于长时间工作出现老化磨损等问题时，电机100会产生异常振动，发出异常的声波信号。
在一些情况下，生产时由于个体差异和制造精度，会产生不良品，造成电机100运转时产生异常振动，而产生异常的声波信号。例如，由于电机100的转子制造受到工艺所限，转子机械加工误差，造成运转时由于质量不平衡产生异常振动，而产生异常的声波信号。又例如，转子、轴承和定子等零部件之间的装配误差，也会使得电机100在工作过程中出现异常振动，而产生异常的声波信号。又例如，电机100的转子磁极在和定子磁极距离近时磁性作用力强，而在转子磁极离定子磁极距离远时磁性作用力弱，磁性作用力的强弱变化会导致转子转速发生规律性的变化，使电机100发出振动，而产生声波信号。在一些情况下，例如，机械磨损、材料腐蚀等会造成电机100的轴承表面不平整，运行时引起异常的振动，进而产生异常的声波信号。
电机状态的变化会引起电机100辐射出的声波信号产生变化，声波信号能够体现电机100的状态，因此检测声波信号，根据声波信号可以判断电机100的状态。电机100的振动主要反映电机转速、电机机械特性、 磨损等情况，电机的振动也伴随着声波的产生，因此通过检测声波可以监测电机转速、电机机械特性、磨损等健康状况。电机100微小的振动，通过振动传感器不易检测，而且因振动探测的带宽有限，很难找到合适的振动传感器来检测振动。然而，微小的振动也会产生容易被收集到的声波信号，电机状态引起的声波信号的变化通常是很迅速的。因此通过检测声波信号来监测电机100的状态，可以更及时地发现电机100的微小的异常变化。而且电机100所辐射出的声波信号的频率可以覆盖很宽的范围，从次声波到很高频的超声波都有覆盖，因此可以很容易找到合适的收集声波信号的接收器，而且可以获得更多的信息来判断电机状态。另外，声波信号从电机100中通过空气传播出，接收器11可以通过非接触方式接收声波信号，与电机100分开，从而可以避免电机100异常工作产生的异常振动、磁场等对接收器11等部件造成不好的影响和损害。
接收器11可以接收声波信号，将声波信号转换为电信号。在一些实施例中，接收器11包括声波接收器，用于接收声波信号。声波接收器包括麦克风、加速度计、振动传感器、压电晶体和/或气压计。信号处理单元12根据声波信号转换成的电信号判断电机100的状态。
在另一个实施例中，被测信号包括电磁波信号。在一个实施例中，电磁波信号包括无线电波、微波、红外线、可见光、紫外线、X射线、γ射线中的至少一种。例如，电磁波信号包括工频电磁波信号。电机100的电流和/或电压的变化会引起电磁波信号发出变化。电机电流和/或电压可以反映电机100是否短路、断路、转速异常以及一些因机械损耗造成的异常等，因此通过监测电磁波信号可以监测电机100的上述异常状态。电机100发出微小异常时，电流和/或电压变化不明显，电磁波信号的变化相对较大，如此通过监测电磁波信号可以及时发现电机100的微小异常。
接收器11包括天线，用于接收电磁波信号。天线将电磁波信号转换为电信号，信号处理单元12根据电磁波信号转换成的电信号判断电机100 的状态。天线与电机100不接触，非接触式地接收电磁波信号，不受电机100的振动等影响。
在另一个实施例中，电磁波信号包括红外线。电机100的温度变化会引起电机100辐射出的红外线发生变化。电机100的温度主要反映电机100的功耗和磨损的情况，因此通过监测红外线可以监测电机100的功耗和磨损状况。电机100内部微小异常时，温度变化不明显，然红外线变化较明显，所以通过监测红外线可以及时发现电机100的微小异常。
接收器11包括红外接收管，用于接收红外线。红外接收管将红外线转换为电信号，信号处理单元12根据红外线转换成的电信号判断电机100的状态。红外接收管与电机100不接触，非接触式地感应红外线，不受电机100振动等的影响。
在另一个实施例中，电磁波信号包括工频电磁波信号和红外线，接收器11接收工频电磁波信号和红外线，接收器11可以包括接收工频电磁波信号的天线和接收红外线的红外接收管。通过工频电磁波信号和红外线的检测，获得更多电机信息，可以判断电机100不同方面的状态，且可以更准确地判断电机100的状态。
在另一个实施例中，被测信号包括声波信号和电磁波信号，接收器11接收声波信号和电磁波信号，获得更多的电机信息，从不同的方面判断电机100的状态，更准确地判断电机100的状态。
在一些实施例中，接收器11用于接收信号，信号包括被测信号和掺杂于被测信号中的噪声信号，信号处理单元12用于识别出被测信号。例如，接收器11接收的声波信号中包括电机100辐射出的声波信号和噪声信号，噪声信号例如来自电机100之外的其他装置、周围环境等的噪声。接收器11将接收到的信号均转换为电信号，信号处理单元12处理电信号，将噪声信号对应的电信号去除，识别出被测信号对应的电信号，用于后续进一 步处理和判断电机状态，如此去除噪声，保留被测信号，避免噪声信号对电机状态判断的影响。
电机100的状态包括正常状态和异常状态。信号处理单元12可以通过分析被测信号判断电机100处于正常状态还是异常状态。在一些实施例中，电机100处于异常状态时，信号处理单元12可以根据被测信号判断电机100的异常状态的类型和/或电机100中发生异常的部位。异常状态的类型例如转子转动不平衡、转速异常、轴承振动异常、电流值异常、电压值异常、电路短路、电路断路等。异常发生的部位例如转子、轴承、线圈、电刷等。
在一些实施例中，信号处理单元12用于根据被测信号的频谱和/或幅值，判断电机状态。被测信号的频谱异常、幅值异常、相位异常中的至少一样出现异常或者至少两样同时出现异常时，可以判定电机状态异常。在一些实施例中，信号处理单元12用于根据被测信号的频宽、频率大小、幅值大小、频谱变化、幅值变化、相位大小、相位变化中的至少一项，判断所述电机状态。在一些实施例中，频宽、频率大小、幅值大小、频谱变化、幅值变化、相位大小、相位变化中的至少一个出现异常时，可以判定电机状态异常。在一些实施例中，电机在正常状态下时，被测信号的频率在正常频率范围内，具有一定的频宽。被测信号的频谱的频宽与正常状态下的频宽不一致，可以判定电机状态异常。被测信号的频率超出频率阈值时，可以判定电机状态异常。被测信号的幅值超出幅度阈值时，可以判定电机状态异常。
被测信号的频谱变化与正常状态下的被测信号的频谱变化不一致时，可以判定电机状态异常。在一些实施例中，信号处理单元12用于在被测信号出现以下至少一种情况时判断电机状态异常：电机正常状态下的至少一个频谱消失、电机正常状态下的频谱之外的频段有特定频谱出现、同一频段重复出现、电机正常状态下的频谱出现的时间异常、频谱中信号的 相位出现异常。上述情况中的一个或两个以上出现时，说明被测信号的频谱变化异常，判定电机100处于异常状态。被测信号的幅值变化与正常状态下的幅值变化不一致时，可以判定电机状态异常。在另一些实施例中，频宽、频率大小、幅值大小、频谱变化、幅值变化、相位大小、相位变化中的至少两个的结合发出异常时，判定电机状态异常。
上述正常状态判断条件可以保存于正常状态知识库中，信号处理单元12可以从正常状态知识库中提取正常状态判断条件。上述异常状态判断条件可以保存于异常状态知识库中，信号处理单元12可以从异常状态知识库中提取异常状态判断条件。
在一些实施例中，信号处理单元12用于比较被测信号和对应的信号模型，来判断电机状态。信号模型包括电机正常状态下的正常信号模型和/或电机异常状态下的异常信号模型。在一个实施例中，信号处理单元12通过比对被测信号和正常信号模型，判断电机状态是否正常。在被测信号与正常信号模型匹配时，判定电机状态正常。否则，判定电机状态异常。在一个实施例中，电机状态异常时，进一步比对被测信号与异常信号模型，可以确定异常的类型和异常发生的部位。在另一个实施例中，信号处理单元12可以比对被测信号和异常信号模型，判断电机状态是否异常。在被测信号与异常信号模型匹配时，判定电机状态异常。否则，判定电机状态正常。同样可以通过比对被测信号和异常信号模型，确定异常的类型和异常发生的部位。如此可以快速地判断电机状态。在一些实施例中，可以结合状态判断条件和信号模型，来判断电机状态，如此可以更准确地检测电机健康状况。正常信号模型可以保存于正常状态知识库中，异常信号模型可以保存于异常状态知识库中。
在一个实施例中，可以根据经验预先建立初始的正常状态知识库和异常状态知识库。正常信号模型、正常判断条件、异常信号模型和/或异常判断条件可以根据经验预先设定，如此建立初始的正常状态知识库和异常 状态知识库。在电机状态监测过程中可以不断更新正常状态知识库和异常状态知识库。在一些实施例中，信号处理单元12用于在确定电机状态正常时更新正常状态知识库，将电机状态正常时对应的被测信号的特性加入正常状态知识库，正常状态知识库包括正常信号模型和/或正常状态判断条件。信号处理单元12用于在确定电机状态异常时更新异常状态知识库，将电机状态异常时对应的被测信号的特性加入异常状态知识库，异常状态知识库包括异常信号模型和/或异常状态判断条件。
在根据正常状态知识库和异常状态知识库中的信息不能确定电机状态时，例如，被测信号和正常信号模型不匹配，与异常型号模型也不匹配，且不满足正常判断条件和异常判断条件时，可以通过其他辅助检测手段(例如电压、电流、震动、温度的检测)判断电机的状态，且提取对应的被测信号的特征，建立相应的信号模型和/或判断条件，更新相应的状态知识库，如此进行自我学习和更新，不断完善状态知识库，使状态知识库更符合对应电机的特性，可以更容易更准确地检测对应电机的健康状况。不同电机的机械特性和运行特征等会有差异，不同电机对应的不同状态知识库不断更新后，更能体现不同电机的被测信号的特点，从而使得检测更准确。
在一些实施例中，信号处理单元12用于比较指定频段的被测信号与指定频段的信号模型，来判断电机状态。信号处理单元12可以通过分析指定频段的被测信号来判断电机状态。可以选择被测信号特征比较集中、比较明显的频段作为指定频段。在被测信号信息量较大时，可以更快速地检测电机状态。在另一些实施例中，信号处理单元12用于比较全频谱的被测信号和全频谱的信号模型，来判断电机状态。信号处理单元12通过分析全频谱的被测信号，来判断电机状态。如此可以更准确地判断电机状态。
在一些实施例中，信号处理单元12可以包括具有程控逻辑处理能力的器件，比如处理器、FPGA、机械计算器等。
图2所示为电机状态监测装置20的另一个实施例的示意框图。图2 所示的电机状态监测装置20类似于图1所示的电机状态监测装置10。相比较于图1所示的电机状态监测装置10，图2所示的电机状态监测装置20进一步包括前置处理单元21。接收器11将被测信号转换为电信号，前置处理单元21连接于接收器11和信号处理单元22之间。前置处理单元21用于处理接收器11转换的电信号给信号处理单元22。如此前置处理单元21对电信号进行前置处理，便于处理单元22对电信号进行进一步的处理和分析。
在一些实施例中，接收器11产生的电信号为模拟信号，例如麦克风将声波信号转换为模拟电信号。前置处理单元21包括模数(A-D)转换模块，模数转换模块用于将模拟信号转换为数字信号提供给信号处理单元22。信号处理单元22对数字信号进行处理分析。在其他一些实施例中，前置处理单元21可对接收器11输出的电信号进行其他处理，例如对电信号进行滤波，和/或对电信号进行放大等。
在一些实施例中，前置处理单元21和接收器11为一体。前置处理单元21可以与接收器11组合成一个装置。例如，模数转换模块可以组装于麦克风的外壳内，与麦克风为一体。在另一些实施例中，前置处理单元21和接收器11相互分离。前置处理单元21和接收器11为独立的装置，可以通过接口、电连接线等电连接。
在图2所示的实施例中，电机状态监测装置20还包括辅助检测单元23，用于检测电机100的不同于被测信号的辅助被测信号。信号处理单元22与辅助检测单元23电连接，用于利用辅助被测信号辅助判断电机状态，如此可以更准确地判断电机状态。辅助被测信号包括电机100的电流、电压、震动、温度中的至少一种。相应地，辅助检测单元23包括以下至少一种：用于检测电机100的电流的电流检测电路、用于检测电机100的电压的电压检测电路、用于检测电机100的振动的振动检测装置，和用于检测电机100的温度的温度传感器。电流检测电路和/或电压检测电路电连接于 电机100的电路中。振动检测装置与电机100直接接触，或与电机100通过刚性元件连接。在一些实施例中，振动检测装置包括振动传感器、加速度计和/或陀螺仪。温度传感器可以与电机100直接接触。
在一些实施例中，在被测信号与正常状态知识库和异常状态知识库中的信息均无法匹配，通过正常状态知识库和异常状态知识库均不能判断电机状态时，信号处理单元22可以通过辅助被测信号判断电机状态。信号处理单元22可以提取此时辅助被测信号对应的被测信号的特征，更新相应的信号模型和/或状态判断条件。信号处理单元22根据辅助被测信号判断电机状态正常时，根据对应的被测信号更新正常状态知识库中的正常信号模型和/或正常状态判断条件。类似地，信号处理单元22根据辅助被测信号判断电机状态异常时，根据对应的被测信号更新异常状态知识库中的异常信号模型和/或异常状态判断条件。如此电机状态监测装置20在电机运行过程中自我学习，及时更新判断模型和条件，提高电机状态检测效率和准确率。图2所示的信号处理单元22还具有图1所示的信号处理单元12的功能，在此不再赘述。
在图2所示的实施例中，电机状态监测装置20包括提醒单元24，提醒单元24与信号处理单元22连接，用于在电机状态异常时，发出提醒信息，如此可以及时地提醒用户。提醒单元24可以告知用户电机异常状态信息，例如，异常状态的类型，异常发出的部位，异常的等级等。在一些实施例中，提醒单元24包括显示器和/或语音播放器。在一些实施例中，提醒单元24可以输出电机状态正常的信息，告知用户电机状态正常和/或此时电机运行的相关参数等。可以理解的是，上述提到的用户可以指的是人，也可以是装置、设备或者系统。例如，在一些应用场景中，测距装置(例如激光雷达)中包括电机以及上述的电机状态监测装置。该测距装置设置在无人机、机器儿或者汽车上。那么上述用户可以是无人机、机器人或者汽车上的控制系统。
图3所示为电机状态监测方法30的一个实施例的流程图。电机状态监测方法30用于监测电机的状态。电机状态监测方法30包括步骤31和32。
在步骤31中，利用与电机非接触的接收器接收电机辐射出的被测信号。电机可以是上文所述的电机100，接收器可以是上文所述的接收器11。
被测信号包括声波信号和电磁波信号中的至少一种。在一个实施例中，通过与电机分开放置的声波接收器接收声波信号。声波接收器包括麦克风、加速度计、振动传感器、压电晶体和/或气压计。可选的，电磁波信号包括工频电磁波信号和红外线中的至少一种。在一个实施例中，通过与电机分开放置的天线接收工频电磁波信号。在另一个实施例中，通过与电机分开放置的红外接收管接收红外线。
在步骤32中，根据被测信号判断电机的状态，产生表示电机的状态的状态信号。上文所述的信号处理单元12和22可以执行步骤32。
在一个实施例中，根据被测信号判断电机的异常状态的类型和/或电机中发生异常的部位。
在一个实施例中，根据被测信号的频谱和/或幅值，判断所述电机状态。在一个实施例中，根据被测信号的频率大小、幅值大小、频谱变化、幅值变化、相位大小、相位变化中的至少一项，判断电机状态。在一个实施例中，在被测信号出现以下至少一种情况时判断电机状态异常：电机正常状态下的至少一个频谱消失、电机正常状态下的频谱之外的频段有特定频谱出现，和同一频段重复出现、电机正常状态下的频谱出现的时间异常、频谱中信号的相位出现异常。其中，电机正常状态下的频谱之外的频段有特定频谱出现，可以指的是电机正常状态下的频谱之外的频段有任意频谱出现，也可以指的是电机正常状态下的频谱之外的频段有预设的频谱出现。
在一个实施例中，比较被测信号和对应的信号模型，来判断电机状 态；信号模型包括电机正常状态下的正常信号模型和/或电机异常状态下的异常信号模型。在一个实施例中，比较指定频段的被测信号与指定频段的信号模型，来判断电机状态。在另一个实施例中，比较全频谱的被测信号和全频谱的信号模型，来判断电机状态。
在一个实施例中，在确定电机状态正常时更新正常状态知识库，将电机状态正常时对应的被测信号的特性加入正常状态知识库，正常状态知识库包括正常信号模型和/或正常状态判断条件。在一个实施例中，在确定所述电机状态异常时更新异常状态知识库，将电机状态异常时对应的被测信号的特性加入异常状态知识库，异常状态知识库包括异常信号模型和/或异常状态判断条件。
在另一个实施例中，电机状态监测方法进一步包括：检测电机的不同于被测信号的辅助被测信号；及利用辅助被测信号辅助判断电机状态。检测电机的不同于被测信号的辅助被测信号，包括以下至少一种：检测电机的电流、检测电机的电压、检测电机的振动，和检测电机的温度。
在另一个实施例中，电机状态监测方法进一步包括：将被测信号转换为电信号，处理电信号，根据处理后的电信号判断电机的状态。在一个实施例中，将被测信号转换为模拟信号；将模拟信号转换为数字信号。数字信号用于处理判断电机状态。
在另一个实施例中，电机状态监测方法进一步包括：在电机状态异常时，发出提醒信息。提醒信息包括显示信息和/或语音信息。
在另一个实施例中，被测信号中掺杂噪声信号，电机状态监测方法包括识别出被测信号。从噪声信号中识别出被测信号，避免噪声信号对电机状态判断的影响。
本发明各个实施例提供的电机状态监测装置和电机状态监测方法可以应用于测距装置，该测距装置可以是激光雷达、激光测距设备等电子设 备。在一种实施方式中，测距装置用于感测外部环境信息，例如，环境目标的距离信息、方位信息、反射强度信息、速度信息等。一种实现方式中，测距装置可以通过测量测距装置和探测物之间光传播的时间，即光飞行时间(Time-of-Flight，TOF)，来探测探测物到测距装置的距离。或者，测距装置也可以通过其他技术来探测探测物到测距装置的距离，例如基于相位移动(phase shift)测量的测距方法，或者基于频率移动(frequency shift)测量的测距方法，在此不做限制。
为了便于理解，以下将结合图4所示的测距装置100对测距的工作流程进行举例描述。
如图4所示，测距装置100可以包括发射电路110、接收电路120、采样电路130和运算电路140。
发射电路110可以发射光脉冲序列(例如激光脉冲序列)。接收电路120可以接收经过被探测物反射的光脉冲序列，并对该光脉冲序列进行光电转换，以得到电信号，再对电信号进行处理之后可以输出给采样电路130。采样电路130可以对电信号进行采样，以获取采样结果。运算电路140可以基于采样电路130的采样结果，以确定测距装置100与被探测物之间的距离。
可选地，该测距装置100还可以包括控制电路150，该控制电路150可以实现对其他电路的控制，例如，可以控制各个电路的工作时间和/或对各个电路进行参数设置等。
应理解，虽然图4示出的测距装置中包括一个发射电路、一个接收电路、一个采样电路和一个运算电路，但是本申请实施例并不限于此，发射电路、接收电路、采样电路、运算电路中的任一种电路的数量也可以是至少两个。
一些实现方式中，除了图4所示的电路，测距装置100还可以包括 扫描模块160，用于将发射电路出射的激光脉冲序列改变传播方向出射。
其中，可以将包括发射电路110、接收电路120、采样电路130和运算电路140的模块，或者，包括发射电路110、接收电路120、采样电路130、运算电路140和控制电路150的模块称为测距模块，该测距模块150可以独立于其他模块，例如，扫描模块160。
测距装置中可以采用同轴光路，也即测距装置出射的光束和经反射回来的光束在测距装置内共用至少部分光路。或者，测距装置也可以采用异轴光路，也即测距装置出射的光束和经反射回来的光束在测距装置内分别沿不同的光路传输。图5示出了本发明的测距装置采用同轴光路的一种实施例的示意图。
测距装置100包括光收发装置110，光收发装置110包括光源103(包括上述的发射电路)、准直元件104、探测器105(可以包括上述的接收电路、采样电路和运算电路)和光路改变元件106。光收发装置110用于发射光束，且接收回光，将回光转换为电信号。光源103用于发射光束。在一个实施例中，光源103可发射激光束。可选的，光源103发射出的激光束为波长在可见光范围之外的窄带宽光束。准直元件104设置于光源的出射光路上，用于准直从光源103发出的光束，将光源103发出的光束准直为平行光。准直元件还用于会聚经探测物反射的回光的至少一部分。该准直元件104可以是准直透镜或者是其他能够准直光束的元件。
在图5所示实施例中，通过光路改变元件106来将测距装置内的发射光路和接收光路在准直元件104之前合并，使得发射光路和接收光路可以共用同一个准直元件，使得光路更加紧凑。在其他的一些实现方式中，也可以光源103和探测器105分别使用各自的准直元件，将光路改变元件106设置在准直元件之后。
在图5所示实施例中，由于光源103出射的光束的光束发散角较小， 测距装置所接收到的回光的光束发散角较大，所以光路改变元件可以采用小面积的反射镜来将发射光路和接收光路合并。在其他的一些实现方式中，光路改变元件也可以采用带通孔的反射镜，其中该通孔用于透射光源103的出射光，反射镜用于将回光反射至探测器105。这样可以减小采用小反射镜的情况中小反射镜的支架会对回光的遮挡的情况。
在图5所示实施例中，光路改变元件偏离了准直元件104的光轴。在其他的一些实现方式中，光路改变元件也可以位于准直元件104的光轴上。
测距装置100还包括扫描模块102。扫描模块102放置于光收发装置110的出射光路上，扫描模块102用于改变经准直元件104出射的准直光束119的传输方向并投射至外界环境，并将回光投射至准直元件104。回光经准直元件104汇聚到探测器105上。
在一个实施例中，扫描模块102可以包括一个或多个光学元件，例如，透镜、反射镜、棱镜、光栅、光学相控阵(Optical Phased Array)或上述光学元件的任意组合。在一些实施例中，扫描模块102的多个光学元件可以绕共同的轴109旋转，每个旋转的光学元件用于不断改变入射光束的传播方向。在一个实施例中，扫描模块102的多个光学元件可以以不同的转速旋转。在另一个实施例中，扫描模块102的多个光学元件可以以基本相同的转速旋转。
在一些实施例中，扫描模块的多个光学元件也可以是绕不同的轴旋转。在一些实施例中，扫描模块的多个光学元件也可以是以相同的方向旋转，或以不同的方向旋转；或者沿相同的方向振动，或者沿不同的方向振动，在此不作限制。
在一个实施例中，扫描模块102包括第一光学元件114和与第一光学元件114连接的驱动器116，驱动器116用于驱动第一光学元件114绕 转动轴109转动，使第一光学元件114改变准直光束119的方向。第一光学元件114将准直光束119投射至不同的方向。在一个实施例中，准直光束119经第一光学元件改变后的方向与转动轴109的夹角随着第一光学元件114的转动而变化。在一个实施例中，第一光学元件114包括相对的非平行的一对表面，准直光束119穿过该对表面。在一个实施例中，第一光学元件114包括厚度沿至少一个径向变化的棱镜。在一个实施例中，第一光学元件114包括楔角棱镜，对准直光束119进行折射。在一个实施例中，第一光学元件114上镀有增透膜，增透膜的厚度与光源103发射出的光束的波长相等，能够增加透射光束的强度。
在一个实施例中，扫描模块102还包括第二光学元件115，第二光学元件115绕转动轴109转动，第二光学元件115的转动速度与第一光学元件114的转动速度不同。第二光学元件115用于改变第一光学元件114投射的光束的方向。在一个实施例中，第二光学元件115与另一驱动器117连接，驱动器117驱动第二光学元件115转动。第一光学元件114和第二光学元件115可以由不同的驱动器驱动，使第一光学元件114和第二光学元件115的转速不同，从而将准直光束119投射至外界空间不同的方向，可以扫描较大的空间范围。在一个实施例中，控制器118控制驱动器116和117，分别驱动第一光学元件114和第二光学元件115。第一光学元件114和第二光学元件115的转速可以根据实际应用中预期扫描的区域和样式确定。驱动器116和117可以包括电机或其他驱动装置。
在一个实施例中，第二光学元件115包括相对的非平行的一对表面，光束穿过该对表面。在一个实施例中，第二光学元件115包括厚度沿至少一个径向变化的棱镜。在一个实施例中，第二光学元件115包括楔角棱镜。在一个实施例中，第二光学元件115上镀有增透膜，能够增加透射光束的强度。
扫描模块102旋转可以将光投射至不同的方向，例如方向111和113， 如此对测距装置100周围的空间进行扫描。当扫描模块102投射出的光111打到探测物101时，一部分光被探测物101沿与投射的光111相反的方向反射至测距装置100。扫描模块102接收探测物101反射的回光112，将回光112投射至准直元件104。
准直元件104会聚探测物101反射的回光112的至少一部分。在一个实施例中，准直元件104上镀有增透膜，能够增加透射光束的强度。探测器105与光源103放置于准直元件104的同一侧，探测器105用于将穿过准直元件104的至少部分回光转换为电信号。
在一些实施例中，光源103可以包括激光二极管，通过激光二极管发射纳秒级别的激光。例如，光源103发射的激光脉冲持续10ns。进一步地，可以确定激光脉冲接收时间，例如，通过探测电信号脉冲的上升沿时间和/或下降沿时间确定激光脉冲接收时间。如此，测距装置100可以利用脉冲接收时间信息和脉冲发出时间信息计算TOF，从而确定探测物101到测距装置100的距离。
在一些实施例中，电机包括：围绕转轴旋转的转子组件、定子组件和定位组件。其中，该转子组件包括环绕该转轴的内壁，所述内壁形成有能够容置所述棱镜的收纳腔。该定子组件用于驱动所述转子组件围绕所述转轴转动。该定位组件位于所述收纳腔外侧，用于限制所述转子组件以固定的转轴为中心转动。可选的，转子组件、定子组件和定位组件分别总体呈环状结构。定子组件和定位组件并列环绕在转子组件外侧。可选的，定位组件包括环形的轴承，轴承环绕在内壁外侧。可选的，电机固定在一个壳体内，而且，轴承包括内环结构、外环结构及滚动体；内环结构与内壁外侧相互固定，外环结构与该壳体相互固定，滚动体位于内环结构和外环结构之间，滚动体用于分别与外环结构和内环结构滚动连接。
测距装置100探测到的距离和方位可以用于遥感、避障、测绘、建模、导航等。
在一种实施方式中，本发明实施方式的测距装置可应用于移动平台，测距装置可安装在移动平台的平台本体。具有测距装置的移动平台可对外部环境进行测量，例如，测量移动平台与障碍物的距离用于避障等用途，和对外部环境进行二维或三维的测绘。在某些实施方式中，移动平台包括无人飞行器、汽车、遥控车、机器人、相机中的至少一种。当测距装置应用于无人飞行器时，平台本体为无人飞行器的机身。当测距装置应用于汽车时，平台本体为汽车的车身。该汽车可以是自动驾驶汽车或者半自动驾驶汽车，在此不做限制。当测距装置应用于遥控车时，平台本体为遥控车的车身。当测距装置应用于机器人时，平台本体为机器人。当测距装置应用于相机时，平台本体为相机本身。
对于方法实施例而言，由于其基本对应于装置实施例，所以相关之处参见装置实施例的部分说明即可。方法实施例和装置实施例互为补充。
需要说明的是，在本文中，诸如“第一”和“第二”等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上对本发明实施例所提供的方法和装置进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。
本专利文件披露的内容包含受版权保护的材料。该版权为版权所有人所有。版权所有人不反对任何人复制专利与商标局的官方记录和档案中所存在的该专利文件或者该专利披露。

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  1. 一种电机状态监测装置，用于监测电机的状态，其特征在于，所述电机状态监测装置包括：
    接收器，与所述电机分开放置，用于非接触式地接收所述电机辐射出的被测信号；及
    信号处理单元，与所述接收器连接，用于根据所述被测信号判断所述电机的状态，产生表示所述电机的状态的状态信号。
  2. 根据权利要求1所述的电机状态监测装置，其特征在于，所述被测信号包括声波信号和电磁波信号中的至少一种。
  3. 根据权利要求2所述的电机状态监测装置，其特征在于，所述接收器包括声波接收器，用于接收所述声波信号。
  4. 根据权利要求3所述的电机状态监测装置，其特征在于，所述声波接收器包括麦克风、加速度计、振动传感器、压电晶体和/或气压计。
  5. 根据权利要求2所述的电机状态监测装置，其特征在于，所述电磁波信号包括工频电磁波信号和红外线中的至少一种。
  6. 根据权利要求5所述的电机状态监测装置，其特征在于，所述接收器包括天线，用于接收工频电磁波信号。
  7. 根据权利要求5所述的电机状态监测装置，其特征在于，所述接收器包括红外接收管，用于接收红外线。
  8. 根据权利要求1所述的电机状态监测装置，其特征在于，所述信号处理单元用于根据所述被测信号判断电机的异常状态的类型和/或所述电机中发生异常的部位。
  9. 根据权利要求1所述的电机状态监测装置，其特征在于，所述信号处理单元用于根据所述被测信号的频谱、幅值、相位中的至少一项，判断所述电机状态。
  10. 根据权利要求9所述的电机状态监测装置，其特征在于，所述信 号处理单元用于根据所述被测信号的频宽、频率大小、幅值大小、频谱变化、幅值变化、相位大小、相位变化中的至少一项，判断所述电机状态。
  11. 根据权利要求9所述的电机状态监测装置，其特征在于，所述信号处理单元用于在所述被测信号出现以下至少一种情况时判断电机状态异常：电机正常状态下的至少一个频谱消失、电机正常状态下的频谱之外的频段有特定频谱出现、同一频段重复出现、电机正常状态下的频谱出现的时间异常、频谱中信号的相位出现异常。
  12. 根据权利要求1所述的电机状态监测装置，其特征在于，所述信号处理单元用于比较所述被测信号和对应的信号模型，来判断所述电机状态，所述信号模型包括电机正常状态下的正常信号模型和/或电机异常状态下的异常信号模型。
  13. 根据权利要求12所述的电机状态监测装置，其特征在于，所述信号处理单元用于比较指定频段的所述被测信号与所述指定频段的信号模型，来判断所述电机状态。
  14. 根据权利要求12所述的电机状态监测装置，其特征在于，所述信号处理单元用于比较全频谱的所述被测信号和全频谱的信号模型，来判断所述电机状态。
  15. 根据权利要求12所述的电机状态监测装置，其特征在于，所述信号处理单元用于在确定所述电机状态正常时更新正常状态知识库，将电机状态正常时对应的所述被测信号的特性加入正常状态知识库，所述正常状态知识库包括正常信号模型和/或正常状态判断条件。
  16. 根据权利要求12所述的电机状态监测装置，其特征在于，所述信号处理单元用于在确定所述电机状态异常时更新异常状态知识库，将电机状态异常时对应的所述被测信号的特性加入异常状态知识库，所述异常状态知识库包括异常信号模型和/或异常状态判断条件。
  17. 根据权利要求1所述的电机状态监测装置，其特征在于，所述电机状态监测装置包括辅助检测单元，用于检测所述电机的不同于所述被测 信号的辅助被测信号，所述信号处理单元与所述辅助检测单元电连接，用于利用所述辅助被测信号辅助判断所述电机状态。
  18. 根据权利要求17所述的电机状态监测装置，其特征在于，所述辅助检测单元包括以下至少一种：用于检测所述电机的电流的电流检测电路、用于检测所述电机的电压的电压检测电路、用于检测所述电机的振动的振动检测装置，和用于检测所述电机的温度的温度传感器。
  19. 根据权利要求1所述的电机状态监测装置，其特征在于，所述接收器将所述被测信号转换为电信号，所述电机状态监测装置包括连接于所述接收器和所述信号处理单元之间的前置处理单元，所述前置处理单元用于处理所述接收器转换的电信号给所述信号处理单元。
  20. 根据权利要求19所述的电机状态监测装置，其特征在于，所述接收器产生的电信号为模拟信号，所述前置处理单元包括模数转换模块，所述模数转换模块用于将所述模拟信号转换为数字信号提供给所述信号处理单元。
  21. 根据权利要求20所述的电机状态监测装置，其特征在于，所述前置处理单元和所述接收器为一体。
  22. 根据权利要求20所述的电机状态监测装置，其特征在于，所述前置处理单元和所述接收器相互分离。
  23. 根据权利要求1所述的电机状态监测装置，其特征在于，所述电机状态监测装置包括提醒单元，所述提醒单元与所述信号处理单元连接，用于在所述电机状态异常时，发出提醒信息。
  24. 根据权利要求23所述的电机状态监测装置，其特征在于，所述提醒单元包括显示器和/或语音播放器。
  25. 根据权利要求1所述的电机状态监测装置，其特征在于，所述接收器用于接收信号，所述信号包括所述被测信号和掺杂于所述被测信号中的噪声信号，所述信号处理单元用于识别出所述被测信号。
  26. 一种电机状态监测方法，用于监测电机的状态，其特征在于，所 述电机状态监测方法包括：
    利用与所述电机非接触的接收器接收所述电机辐射出的被测信号；及
    根据所述被测信号判断所述电机的状态，产生表示所述电机的状态的状态信号。
  27. 根据权利要求26所述的电机状态监测方法，其特征在于，所述被测信号包括声波信号和电磁波信号中的至少一种。
  28. 根据权利要求27所述的电机状态监测方法，其特征在于，所述非接触式地接收所述电机辐射出的被测信号，包括：通过与所述电机分开放置的声波接收器接收所述声波信号。
  29. 根据权利要求28所述的电机状态监测方法，其特征在于，所述声波接收器包括麦克风、加速度计、振动传感器、压电晶体和/或气压计。
  30. 根据权利要求27所述的电机状态监测方法，其特征在于，所述电磁波信号包括工频电磁波信号和红外线中的至少一种。
  31. 根据权利要求30所述的电机状态监测方法，其特征在于，所述非接触式地接收所述电机辐射出的被测信号，包括：通过与所述电机分开放置的天线接收工频电磁波信号。
  32. 根据权利要求30所述的电机状态监测方法，其特征在于，所述非接触式地接收所述电机辐射出的被测信号，包括：通过与所述电机分开放置的红外接收管接收红外线。
  33. 根据权利要求26所述的电机状态监测方法，其特征在于，所述根据所述被测信号判断所述电机的状态，包括：根据所述被测信号判断电机的异常状态的类型和/或所述电机中发生异常的部位。
  34. 根据权利要求26所述的电机状态监测方法，其特征在于，所述根据所述被测信号判断所述电机的状态，包括：根据所述被测信号的频谱、幅值、相位中的至少一项，判断所述电机状态。
  35. 根据权利要求34所述的电机状态监测方法，其特征在于，所述根据所述被测信号的频谱、幅值、相位中的至少一项，判断所述电机状态， 包括：根据所述被测信号的频率大小、幅值大小、频谱变化、幅值变化、相位大小、相位变化中的至少一项，判断所述电机状态。
  36. 根据权利要求34所述的电机状态监测方法，其特征在于，所述根据所述被测信号的频谱和/或幅值，判断所述电机状态，包括：
    在所述被测信号出现以下至少一种情况时判断电机状态异常：电机正常状态下的至少一个频谱消失、电机正常状态下的频谱之外的频段有特定频谱出现、和同一频段重复出现、电机正常状态下的频谱出现的时间异常、频谱中信号的相位出现异常。
  37. 根据权利要求26所述的电机状态监测方法，其特征在于，所述根据所述被测信号判断所述电机的状态，包括：
    比较所述被测信号和对应的信号模型，来判断所述电机状态；
    所述信号模型包括电机正常状态下的正常信号模型和/或电机异常状态下的异常信号模型。
  38. 根据权利要求37所述的电机状态监测方法，其特征在于，所述比较所述被测信号和对应的信号模型，来判断所述电机状态，包括：
    比较指定频段的所述被测信号与所述指定频段的信号模型，来判断所述电机状态。
  39. 根据权利要求37所述的电机状态监测方法，其特征在于，所述比较所述被测信号和对应的信号模型，来判断所述电机状态，包括：
    比较全频谱的所述被测信号和全频谱的信号模型，来判断所述电机状态。
  40. 根据权利要求37所述的电机状态监测方法，其特征在于，所述电机状态监测方法包括：在确定所述电机状态正常时更新正常状态知识库，将电机状态正常时对应的所述被测信号的特性加入正常状态知识库，所述正常状态知识库包括正常信号模型和/或正常状态判断条件。
  41. 根据权利要求37所述的电机状态监测方法，其特征在于，所述电机状态监测方法包括：在确定所述电机状态异常时更新异常状态知识库， 将电机状态异常时对应的所述被测信号的特性加入异常状态知识库，所述异常状态知识库包括异常信号模型和/或异常状态判断条件。
  42. 根据权利要求26所述的电机状态监测方法，其特征在于，所述电机状态监测方法包括：
    检测所述电机的不同于所述被测信号的辅助被测信号；及
    利用所述辅助被测信号辅助判断所述电机状态。
  43. 根据权利要求42所述的电机状态监测方法，其特征在于，所述检测所述电机的不同于所述被测信号的辅助被测信号，包括以下至少一种：检测所述电机的电流、检测所述电机的电压、检测所述电机的振动，和检测所述电机的温度。
  44. 根据权利要求26所述的电机状态监测方法，其特征在于，所述根据所述被测信号判断所述电机的状态，包括：将所述被测信号转换为电信号，处理所述电信号，根据处理后的所述电信号判断所述电机的状态。
  45. 根据权利要求44所述的电机状态监测方法，其特征在于，所述将所述被测信号转换为电信号，包括：将所述被测信号转换为模拟信号；
    所述处理所述电信号，包括：将所述模拟信号转换为数字信号。
  46. 根据权利要求26所述的电机状态监测方法，其特征在于，所述电机状态监测方法包括：在所述电机状态异常时，发出提醒信息。
  47. 根据权利要求46所述的电机状态监测方法，其特征在于，所述提醒信息包括显示信息和/或语音信息。
  48. 根据权利要求26所述的电机状态监测方法，其特征在于，所述被测信号中掺杂噪声信号，所述电机状态监测方法包括识别出所述被测信号。
  49. 一种测距装置，其特征在于，包括扫描模块、如权利要求1至25任一项所述的电机状态监测装置；
    所述扫描模块包括电机和厚度不均匀的棱镜，所述电机用于带动所述棱镜转动；
    所述电机状态监测装置用于监测所述电机的状态。
  50. 根据权利要求49所述的测距装置，其特征在于，所述测距装置还包括：
    测距模块，用于向所述扫描模块发射激光脉冲，所述转动的棱镜用于改变所述激光脉冲的传输方向后出射，经待测目标反射回的激光脉冲经过所述扫描模块后入射至所述测距模块，所述测距模块还用于根据反射回的激光脉冲确定所述待测目标与所述测距装置的距离。
  51. 根据权利要求49或50所述的测距装置，其特征在于，所述电机包括：
    围绕转轴旋转的转子组件，包括环绕所述转轴的内壁，所述内壁形成有能够容置所述棱镜的收纳腔；
    定子组件，用于驱动所述转子组件围绕所述转轴转动；及
    定位组件，位于所述收纳腔外侧，用于限制所述转子组件以固定的转轴为中心转动。
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