WO2020133471A1 - 转动角度的检测方法及装置 - Google Patents

转动角度的检测方法及装置 Download PDF

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Publication number
WO2020133471A1
WO2020133471A1 PCT/CN2018/125770 CN2018125770W WO2020133471A1 WO 2020133471 A1 WO2020133471 A1 WO 2020133471A1 CN 2018125770 W CN2018125770 W CN 2018125770W WO 2020133471 A1 WO2020133471 A1 WO 2020133471A1
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WO
WIPO (PCT)
Prior art keywords
rotation angle
motor shaft
actual
angle
value
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2018/125770
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English (en)
French (fr)
Inventor
白熹
范文华
王马林
熊友军
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Ubtech Robotics Corp
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Ubtech Robotics Corp
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Publication date
Application filed by Ubtech Robotics Corp filed Critical Ubtech Robotics Corp
Priority to US16/626,519 priority Critical patent/US11346648B2/en
Priority to PCT/CN2018/125770 priority patent/WO2020133471A1/zh
Publication of WO2020133471A1 publication Critical patent/WO2020133471A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/24—Measuring arrangements characterised by the use of mechanical techniques for measuring angles or tapers; for testing the alignment of axes
    • 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
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
    • G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by control of velocity, acceleration or deceleration
    • 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
    • G01D3/00—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups
    • G01D3/028—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups mitigating undesired influences, e.g. temperature, pressure
    • G01D3/036—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups mitigating undesired influences, e.g. temperature, pressure on measuring arrangements themselves
    • 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
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/24471—Error correction
    • G01D5/24485—Error correction using other sensors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • 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
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41036—Position error in memory, lookup table for correction actual position

Definitions

  • the invention relates to the technical field of measurement and control, in particular to a method and a device for detecting a rotation angle.
  • the servo is a position (angle) servo driver, which is suitable for the control system that needs the angle to change continuously and can be maintained.
  • the steering gear one of the main tasks is to be able to accurately control the rotation angle of the output shaft.
  • the control of the output shaft rotation angle of the steering gear its accuracy depends on the detection accuracy of the real-time rotation angle of the output shaft, which means that the output shaft can be completed by the control system only if the real-time rotation angle of the output shaft is accurately calculated. Accurate control of angle.
  • the traditional angle detection method for the output shaft of the steering gear is usually to directly detect the rotation angle of the output shaft through the angle sensor installed on the output shaft of the steering gear.
  • the error of the angle sensor itself will be directly introduced to the output shaft.
  • the control of the corners makes it difficult to bring precise control effects.
  • the embodiments of the present invention provide a method and a device for detecting a rotation angle, which can improve the measurement accuracy of the rotation angle of the output shaft of the rotating mechanism and make the output control of the rotating mechanism more accurate.
  • a rotation angle detection method is applied to a rotating mechanism.
  • the rotating mechanism includes a motor shaft, a transmission component, and an output shaft.
  • the output torque of the motor shaft acts on the output shaft through the transmission component and drives the
  • a first angle sensor is provided at the motor shaft of the rotating mechanism to detect the first rotation angle of the motor shaft
  • a second angle sensor is provided at the output shaft of the rotating mechanism to detect The second rotation angle of the output shaft; the method includes:
  • the method before calculating the estimated value of the rotation angle of the motor shaft during the rotation process according to the second rotation angle, the method further includes:
  • the estimated value of the real-time rotation angle of the motor shaft is determined based on the second rotation angle and the correspondence relationship between the rotation angle of the motor shaft and the output shaft.
  • the calculating the estimated value of the rotation angle of the motor shaft during the rotation according to the second rotation angle includes:
  • the estimated value of the rotation angle is determined.
  • the determining the actual range of the rotation angle of the motor shaft according to the estimated value of the rotation angle and the detection error of the second angle sensor includes:
  • the actual range of the rotation angle of the motor shaft is determined according to the estimated value of the rotation angle and the sum and difference of the measurement error values.
  • the estimated rotation angle includes an estimated rotation number and a real-time estimated rotation angle
  • the determining the optional value of the rotation angle of the motor shaft based on the relative relationship between the first rotation angle and the estimated rotation angle includes:
  • the selectable values of the rotation angle include a first rotation angle, a second rotation angle, and a third rotation angle
  • the determination of the actual rotation angle of the motor shaft by the value within the actual range of the rotation angle of the motor shaft among the selectable values of the rotation angle includes:
  • determining the actual rotation angle of the output shaft according to the actual rotation angle of the motor shaft includes:
  • a rotation angle detection device including:
  • the rotation angle estimation module is used to calculate the rotation angle estimation value of the motor shaft during the rotation process according to the second rotation angle
  • An actual range determining module configured to determine the actual range of the rotation angle of the motor shaft according to the estimated value of the rotation angle and the detection error of the second angle sensor;
  • An angle calculation module configured to determine an optional value of the rotation angle of the motor shaft based on the relative relationship between the first rotation angle and the estimated value of the rotation angle
  • the angle screening module is used to determine the actual rotation angle of the motor shaft based on the value of the actual rotation angle of the motor shaft that falls within the optional value of the rotation angle, and according to the actual rotation angle of the motor shaft Determine the actual rotation angle of the output shaft.
  • a terminal includes a memory and a processor.
  • a computer program is stored in the memory.
  • the processor is caused to perform the steps of the foregoing method.
  • a computer-readable storage medium having stored thereon a computer program, which when executed by a processor implements the steps of the above method.
  • a first angle sensor is provided at the motor shaft of the rotating mechanism to detect the first rotation angle of the motor shaft
  • a second angle sensor is provided at the output shaft of the rotating mechanism to detect The second rotation angle of the output shaft; calculate the estimated value of the rotation angle of the motor shaft during the rotation according to the second rotation angle; determine the actual range of the rotation angle of the motor shaft according to the estimated value of the rotation angle and the detection error of the second angle sensor; Determine the optional value of the rotation angle of the motor shaft based on the relative relationship between the first rotation angle and the estimated value of the rotation angle; determine the actual rotation of the motor shaft based on the value of the optional range of the rotation angle that falls within the actual range of the rotation angle of the motor shaft Angle, and the actual rotation angle of the output shaft is determined according to the actual rotation angle of the motor shaft.
  • FIG. 1 is a schematic diagram of an application environment of a method for detecting a rotation angle in an embodiment
  • FIG. 2 is a flowchart of a method for detecting a rotation angle in an embodiment
  • FIG. 3 is a flowchart of a method for detecting a rotation angle in another embodiment
  • FIG. 4 is a schematic diagram of the correspondence relationship between the rotation angle of the motor shaft and the output shaft in an embodiment
  • FIG. 5 is a flowchart of a method for detecting a rotation angle in another embodiment
  • FIG. 6 is a flowchart of a method for detecting a rotation angle in another embodiment
  • FIG. 7 is a structural block diagram of a rotation angle detection device in an embodiment.
  • FIG. 1 is a schematic diagram of an application environment of a method for detecting a rotation angle in an embodiment.
  • the method for detecting a rotation angle is applied to a rotating mechanism.
  • the rotating mechanism may specifically be a steering gear or other devices having a rotating shaft.
  • the steering gear includes a motor shaft, a transmission component, and an output shaft.
  • the output torque of the motor shaft acts on the output shaft through the transmission component, and drives the output shaft to rotate.
  • a first angle sensor 110 is provided at the location for detecting the first rotation angle of the motor shaft, and a second angle sensor 120 is provided on the output shaft of the steering gear for detecting the second rotation angle of the output shaft.
  • the angle sensor is connected to the transmission shaft and can be matched with the transmission shaft. When the transmission shaft rotates, the angle sensor will automatically count.
  • FIG. 2 is a flowchart of a method for detecting a rotation angle in an embodiment.
  • the detection method of the rotation angle in this embodiment is described by taking the operation on the servo as shown in FIG. 1 as an example.
  • the detection method of the rotation angle can improve the measurement accuracy of the rotation angle of the output shaft of the rotating mechanism, so that the rotation The output control of the mechanism is more precise.
  • the method for detecting the rotation angle includes the following steps 202 to 208:
  • Step 202 Calculate the estimated value of the rotation angle of the motor shaft during the rotation process according to the second rotation angle.
  • a second angle sensor is provided on the output shaft of the steering gear to detect the second rotation angle of the output shaft.
  • the estimated rotation angle of the motor shaft during rotation refers to the cumulative rotation angle of the motor shaft.
  • the angle sensor Since the angle sensor returns a periodic change after each revolution, but the number of turns of the servo's output shaft from the starting position is usually not saved when the servo system stops working, so based on the servo There is a determined transmission ratio between the output shaft and the motor shaft, and the second rotation angle of the output shaft can be detected by the second angle sensor to calculate the estimated value of the rotation angle of the motor shaft during the rotation process. It ensures that the system can still calculate the number of rotations of the motor shaft in real time without storing the number of rotations of the motor shaft.
  • Step 204 Determine the actual range of the rotation angle of the motor shaft according to the estimated rotation angle and the detection error of the second angle sensor.
  • the calculated rotation angle estimation value needs to consider the measurement error value of the second detection sensor.
  • the actual range of the rotation angle of the motor shaft can be determined by summing the estimated value of the rotation angle and the measurement error value and subtracting the estimated value of the rotation angle and the measurement error value.
  • Step 206 Determine an optional value of the rotation angle of the motor shaft based on the relative relationship between the first rotation angle and the estimated rotation angle.
  • a first angle sensor is provided on the motor shaft of the steering gear to detect the first rotation angle of the motor shaft.
  • the optional value of the rotation angle of the motor shaft refers to the possibility value of the actual rotation angle of the motor shaft during the rotation, and the optional value of the rotation angle falls within the actual range of the rotation angle of the motor shaft.
  • the calculation result of the number of rotations of the motor shaft will have an error of ⁇ 1 compared with the actual value, that is, the actual number of rotations of the motor shaft and the estimated value of the number of rotations of the motor shaft will exist With an error of ⁇ 1, under the condition of considering this error, the possibility value of the actual rotation angle of the motor shaft during rotation can be determined.
  • the actual rotation angle on the motor shaft can be determined, and then the rotation angle of the output shaft can be converted by the transmission ratio of the transmission component, which can reduce the influence of the error of the angle sensor on the measurement accuracy of the rotation angle of the output shaft .
  • Step 208 Determine the actual rotation angle of the motor shaft based on the value of the rotation angle that falls within the actual range of the rotation angle of the motor shaft from the selectable values of the rotation angle, and determine the actual rotation angle of the motor shaft The actual rotation angle of the output shaft.
  • the actual rotation angle of the motor shaft is calculated based on the actual number of rotations of the motor shaft and the first rotation angle, so The optional value of the rotation angle of the motor shaft has three values in three cases.
  • the transmission ratio of the output torque of the transmission component to the motor shaft is obtained, and the actual rotation angle of the motor shaft is divided by the transmission ratio to obtain the actual rotation angle of the output shaft.
  • the rotation angle detection method calculates the estimated value of the rotation angle of the motor shaft during the rotation process according to the second rotation angle; the rotation angle of the motor shaft is determined according to the estimated value of the rotation angle and the detection error of the second angle sensor
  • the actual range based on the relative relationship between the first rotation angle and the estimated rotation angle, determine the optional value of the rotation angle of the motor shaft; determine the motor shaft based on the value of the actual range of the rotation angle that falls within the optional angle of the rotation angle of the motor shaft
  • the actual rotation angle of the output shaft is determined according to the actual rotation angle of the motor shaft.
  • the method before calculating the cumulative rotation angle of the motor shaft during the rotation process according to the second rotation angle, that is, before step 202, the method further includes:
  • Step 302 Calculate the correspondence between the rotation angle of the motor shaft and the output shaft according to the transmission ratio of the transmission component.
  • the transmission component can be understood as a reduction mechanism, and the rotation output of the motor shaft is mechanically transmitted through the reduction mechanism of the intermediate process to finally become the rotation output of the steering gear output shaft.
  • Each transmission component has a determined transmission ratio, and the rotation angle correspondence relationship between the motor shaft and the output shaft can be calculated according to the transmission ratio.
  • FIG. 4 it is a schematic diagram of the correspondence relationship between the rotation angle of the motor shaft and the output shaft in an embodiment.
  • both point A on the motor shaft and point B on the output shaft are at the 0° position; when the motor shaft rotates 360° clockwise, point A returns to the zero position and the output shaft Turn counterclockwise to the 90° position, which is the state shown in position 2; when the motor shaft continues to rotate clockwise, and rotate to the angle 180°, point B rotates to 135°, which is the state shown in position 3.
  • every 360° rotation of the motor shaft corresponds to the corresponding rotation angle of the output shaft
  • Step 304 Determine an estimated value of the number of rotations of the motor shaft based on the second rotation angle and the correspondence between the rotation angles of the motor shaft and the output shaft.
  • the reading of the second angle sensor ⁇ f 135°.
  • k' is the value obtained by performing the rounding operation after dividing the reading value ⁇ f of the second angle sensor by R ⁇ , that is, the calculated estimated rotation number of the motor shaft relative to the initial position.
  • Step 306 Determine an estimated value of the real-time rotation angle of the motor shaft based on the second rotation angle and the correspondence between the rotation angles of the motor shaft and the output shaft.
  • the estimated value of the real-time rotation angle of the motor shaft refers to the current rotation angle of the motor shaft obtained through calculation, which can be specifically calculated by dividing the second rotation angle and the corresponding relationship and performing a residual operation calculation.
  • the method for detecting the rotation angle provided by this embodiment can improve the measurement accuracy of the rotation angle of the output shaft of the rotating mechanism, greatly reduce the impact on the overall error of the system due to the accuracy error of the angle sensor, and control the output of the rotating mechanism more accurate.
  • the calculation of the estimated value of the rotation angle of the motor shaft during rotation according to the second rotation angle includes: according to the product of the estimated number of rotations and 360°, The product of the estimated real-time rotation angle and the transmission ratio is added to determine the estimated rotation angle.
  • the second angle sensor readings accumulated angle ⁇ f for the motor shaft ⁇ 'rf do the calculation:
  • ⁇ 'rf 360 ⁇ k'+ M ⁇ *N.
  • k' is the estimated value of the number of rotations of the motor shaft
  • M ⁇ is the estimated value of the real-time rotation angle of the motor shaft
  • N is the transmission ratio.
  • the actual range of the rotation angle of the motor shaft is determined according to the estimated value of the rotation angle and the detection error of the second angle sensor, that is, step 204 includes:
  • Step 502 Obtain the measurement error value of the second angle sensor.
  • Each angle sensor has a standard measurement error value when it is shipped from the factory, so the measurement error value of the second angle sensor can be obtained by querying the factory parameters of the sensor.
  • Step 504 Determine the actual range of the rotation angle of the motor shaft according to the estimated value of the rotation angle, the sum and the difference of the measurement error values.
  • a second angle sensor measurement error is ⁇ ⁇
  • the 'range of actual rotational angle ⁇ r of the motor shaft is located:
  • k' is the estimated value of the number of rotations of the motor shaft
  • M ⁇ is the estimated value of the real-time rotation angle of the motor shaft
  • N is the transmission ratio
  • ⁇ ⁇ is the measurement error value
  • step 206 the determination of an optional value of the rotation angle of the motor shaft based on the relative relationship between the first rotation angle and the estimated rotation angle, that is, step 206 includes:
  • Step 602 Determine the correspondence between the estimated value of the number of rotations and the actual number of rotations of the motor shaft.
  • the detection error of the angle sensor due to the detection error of the angle sensor, there is a possibility that a deviation occurs when the measured value of the second angle sensor is used to estimate the number of rotations of the motor shaft, and the measurement accuracy of the angle sensor may be determined by querying factory parameters.
  • the angle sensor is a precision instrument, and its detection error is usually not too large.
  • each 360° rotation of the motor shaft corresponds to the corresponding relationship of the output shaft rotation angle
  • Step 604 Convert the angle value according to the first rotation angle and the actual number of rotations to obtain the optional value of the rotation angle.
  • the possibility value of the actual rotation angle of the motor shaft during rotation can be determined.
  • the first angle sensor reading value ⁇ 'f actual rotational angle of the motor shaft is ⁇ ' calculated r:
  • the actual rotation angle of the motor shaft is determined by a value that falls within the actual range of the rotation angle of the motor shaft among the optional values of the rotation angle, that is, step 208 includes: calculating The magnitudes of the first rotation angle, the second rotation angle, and the third rotation angle determine the optional value of any rotation angle that falls within the actual range of the rotation angle as the actual rotation angle of the motor shaft.
  • the selectable values of the rotation angle include a first rotation angle, a second rotation angle, and a third rotation angle, which respectively represent the values of the estimated rotation number of the motor shaft and the actual rotation number in three different situations, and the There are only one rotation angle and only one rotation angle can fall within the actual range of the rotation angle of the motor shaft, and any optional value of the rotation angle that falls within the actual range of the rotation angle of the motor shaft is determined as the actual value of the motor shaft Rotation angle.
  • the actual rotation angle of the output shaft is determined according to the actual rotation angle of the motor shaft, that is, step 208 further includes: obtaining a transmission ratio of the output torque of the transmission component to the motor shaft, and The actual rotation angle of the motor shaft is divided by the transmission ratio to obtain the actual rotation angle of the output shaft.
  • the number of rotations corresponding to this value at this time is the exact number of rotations, and the corresponding calculated output shaft rotation angle is also the accurate output shaft rotation angle.
  • the actual rotation angle of the output shaft is calculated, where ⁇ 'r is the actual rotation angle of the motor shaft, and N is the transmission ratio.
  • the actual rotation angle of the motor shaft is due to the error value of the first angle sensor, which may introduce a rotation angle error of ⁇ ⁇ .
  • the rotation angle error is reduced to ⁇ ( ⁇ ⁇ /N). Therefore, through the detection method of the rotation angle, the influence on the overall error of the system due to the measurement error of the angle sensor is greatly reduced, so that the rotating mechanism can achieve higher control accuracy.
  • the above detection method of the rotation angle can improve the measurement accuracy of the rotation angle of the output shaft of the rotating mechanism, greatly reduce the influence on the overall error of the system due to the accuracy error of the angle sensor, and make the output control of the rotating mechanism more accurate.
  • steps in FIGS. 2-3 and 4-6 described above are displayed in order according to the arrows, the steps are not necessarily executed in the order indicated by the arrows. Unless clearly stated in this article, the execution of these steps is not strictly limited in order, and these steps may be executed in other orders. Furthermore, at least some of the steps in FIGS. 2-3 and 4-6 may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but may be executed at different times, The execution order of these sub-steps or stages is not necessarily sequential, but may be executed in turn or alternately with at least a part of other steps or sub-steps or stages of other steps.
  • a rotation angle detection device includes a rotation angle estimation module 710, an actual range determination module 720, an angle calculation module 730, and an angle screening module 740.
  • the rotation angle estimation module 710 is used to calculate the rotation angle estimation value of the motor shaft during the rotation process according to the second rotation angle.
  • the actual range determining module 720 is used to determine the actual range of the rotation angle of the motor shaft according to the estimated value of the rotation angle and the detection error of the second angle sensor.
  • the angle calculation module 730 is used to determine an optional value of the rotation angle of the motor shaft based on the relative relationship between the first rotation angle and the estimated value of the rotation angle.
  • the angle screening module 740 is used to determine the actual rotation angle of the motor shaft based on the value of the actual rotation angle of the motor shaft in the optional value of the rotation angle, and according to the actual rotation angle of the motor shaft Determine the actual rotation angle of the output shaft.
  • the above-mentioned rotation angle detection device can improve the measurement accuracy of the rotation angle of the output shaft of the rotation mechanism, greatly reduce the influence on the overall error of the system due to the accuracy error of the angle sensor, and make the output control of the rotation mechanism more accurate.
  • Each module in the above detection device for the rotation angle may be implemented in whole or in part by software, hardware, or a combination thereof.
  • the above modules may be embedded in the hardware form or independent of the processor in the computer device, or may be stored in the memory in the computer device in the form of software so that the processor can call and execute the operations corresponding to the above modules.
  • each module in the rotation angle detection device may be in the form of a computer program.
  • the computer program can be run on a terminal or a server.
  • the program module composed of the computer program can be stored in the memory of the terminal or the server.
  • An embodiment of the present application further provides a terminal.
  • the terminal includes a memory and a processor.
  • a computer program is stored in the memory.
  • the processor is executed as described in the foregoing embodiments Rotation angle detection method.
  • the embodiments of the present application also provide a computer-readable storage medium.
  • One or more non-volatile computer-readable storage media containing computer-executable instructions, when the computer-executable instructions are executed by one or more processors, causing the processors to execute as described in the above embodiments Describe the detection method of the rotation angle.
  • An embodiment of the present application also provides a computer program product.
  • a computer program product containing instructions, when it runs on a computer, causes the computer to execute the rotation angle detection method described in the above embodiments.
  • the computer program product includes one or more computer instructions.
  • the computer may be a general-purpose computer, a dedicated computer, a computer network, or other programmable devices.
  • the computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium.
  • the computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device including a server, a data center, and the like integrated with one or more available media.
  • the usable medium may be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, Solid State Disk (SSD)), or the like.

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  • General Physics & Mathematics (AREA)
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  • Manufacturing & Machinery (AREA)
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  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
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Abstract

一种舵机的转动角度的检测方法及装置，方法包括：根据第二转动角度计算电机轴在转动过程中的转动角度估算值（S202）；根据转动角度估算值结合第二角度传感器（120）的检测误差，确定电机轴的转动角度的实际范围（S204）；基于第一转动角度与转动角度估算值的相对关系，确定电机轴的转动角度可选值（S206）；基于转动角度可选值中落入电机轴的转动角度的实际范围的值，确定电机轴的实际转动角度，并根据电机轴的实际转动角度确定输出轴的实际转动角度（S208）。通过方法，可以提升对于旋转机构输出轴的转动角度的测量精度，大大减小了由于角度传感器精度误差而导致的对系统整体误差的影响，使旋转机构的输出控制更精确。

Description

转动角度的检测方法及装置 技术领域
本发明涉及测控技术领域，尤其涉及一种转动角度的检测方法及装置。
背景技术
舵机是一种位置(角度)伺服的驱动器，适用于需要角度不断变化并可以保持的控制系统。对于舵机而言，主要的工作之一就是能够准确地控制输出轴的转角。对于舵机的输出轴转角的控制，其精确与否取决于对输出轴实时转角的检测精度，也即是说在准确计算出输出轴的实时转角的前提下，才能通过控制系统完成对于输出轴角度的精确控制。
传统的对于舵机输出轴的角度检测方法，通常是通过安装在舵机的输出轴上的角度传感器直接检测输出轴的旋转角度，这种方案中，角度传感器自身的误差会直接引入到对于输出转角的控制上，导致难以带来精确的控制效果。
发明内容
本发明实施例提供一种转动角度的检测方法及装置，可以提升对于旋转机构输出轴的转动角度的测量精度，使旋转机构的输出控制更精确。
一种转动角度的检测方法，应用于旋转机构，所述旋转机构包括电机轴、传动部件和输出轴，所述电机轴的输出扭矩经过所述传动部件作用于所述输出轴，并带动所述输出轴转动，在所述旋转机构的电机轴处设置第一角度传感器，用于检测所述电机轴的第一转动角度，在所述旋转机构的输出轴上设置第二角度传感器，用于检测所述输出轴的第二转动角度；所方法包括：
根据所述第二转动角度计算所述电机轴在转动过程中的转动角度估算值；
根据所述转动角度估算值结合所述第二角度传感器的检测误差，确定所述电机轴的转动角度的实际范围；
基于所述第一转动角度与所述转动角度估算值的相对关系，确定所述电机轴的转动角度可选值；
基于所述转动角度可选值中落入所述电机轴的转动角度的实际范围的值，确定所述电机轴的实际转动角度，并根据所述电机轴的实际转动角度确定所述输出轴的实际转动角度。
可选的，在其中一个实施例中，在所述根据所述第二转动角度计算所述电机轴在转动过程中的转动角度估算值之前，还包括：
根据所述传动部件的传动比计算所述电机轴与输出轴的转动角度对应关系；
基于所述第二转动角度结合所述电机轴与输出轴的转动角度对应关系，确定所述电机轴的转动圈数估算值；
基于所述第二转动角度结合所述电机轴与输出轴的转动角度对应关系，确定所述电机轴的实时转动角度估算值。
可选的，在其中一个实施例中，所述根据所述第二转动角度计算所述电机轴在转动过程中的转动角度估算值，包括：
将所述转动圈数估计值与360°的乘积、所述实时转动角度估算值与传动比的乘积求和后，确定所述转动角度估算值。
可选的，在其中一个实施例中，所述根据所述转动角度估算值结合所述第二角度传感器的检测误差，确定所述电机轴的转动角度的实际范围，包括：
获取所述第二角度传感器的测量误差值；
根据所述转动角度估算值、测量误差值的求和值与求差值，确定所述电机轴的转动角度的实际范围。
可选的，在其中一个实施例中，所述转动角度估算值包括转动圈数估算值与实时转动角度估算值；
所述基于所述第一转动角度与所述转动角度估算值的相对关系，确定所述电机轴的转动角度可选值，包括：
确定所述转动圈数估算值与所述电机轴的实际转动圈数的对应关系；
根据所述第一转动角度与所述实际转动圈数进行角度值转换，得到所述转动角度可选值。
可选的，在其中一个实施例中，所述转动角度可选值包括第一转动角度、第二转动角度和第三转动角度；
所述基于所述转动角度可选值中落入所述电机轴的转动角度的实际范围的值，确定所述电机轴的实际转动角度，包括：
计算所述第一转动角度、第二转动角度和第三转动角度的大小，将落入所述转动角度的实际范围的任一转动角度可选值确定为所述电机轴的实际转动角度。
可选的，在其中一个实施例中，根据所述电机轴的实际转动角度确定所述输出轴的实际转动角度，包括：
获取所述传动部件对于所述电机轴的输出扭矩的传动比，将所述电机轴的实际转动角度除以所述传动比，得到所述输出轴的实际转动角度。
一种转动角度的检测装置，包括：
转动角度估算模块，用于根据第二转动角度计算电机轴在转动过程中的转动角度估算值；
实际范围确定模块，用于根据所述转动角度估算值结合第二角度传感器的检测误差，确定所述电机轴的转动角度的实际范围；
角度计算模块，用于基于第一转动角度与所述转动角度估算值的相对关系，确定所述电机轴的转动角度可选值；
角度筛选模块，用于基于所述转动角度可选值中落入所述电机轴的转动角度的实际范围的值，确定所述电机轴的实际转动角度，并根据所述电机轴的实际转动角度确定输出轴的实际转动角度。
一种终端，包括存储器及处理器，所述存储器中储存有计算机程序，所述计算机程序被所述处理器执行时，使得所述处理器执行上述的方法的步骤。
一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现上述的方法的步骤。
实施本发明实施例，将具有如下有益效果：
上述转动角度的检测方法及装置，通过在旋转机构的电机轴处设置第一角度传感器，用于检测电机轴的第一转动角度，在旋转机构的输出轴上设置第二角度传感器，用于检测输出轴的第二转动角度；根据第二转动角度计算电机轴在转动过程中的转动角度估算值；根据转动角度估算值结合第二角度传感器的检测误差，确定电机轴的转动角度的实际范围；基于第一转动角度与转动角度估算值的相对关系，确定电机轴的转动角度可选值；基于转动角度可选值中落入电机轴的转动角度的实际范围的值，确定电机轴的实际转动角度，并根据电机轴的实际转动角度确定输出轴的实际转动角度。通过上述方法，可以提升对于旋转机构输出轴的转动角度的测量精度，大大减小了由于角度传感器精度误差而导致的对系统整体误差的影响，使旋转机构的输出控制更精确。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术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发明的一些实施例，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。
其中：
图1为一个实施例中转动角度的检测方法的应用环境示意图；
图2为一个实施例中转动角度的检测方法的流程图；
图3为另一个实施例中转动角度的检测方法的流程图；
图4为一个实施例中电机轴与输出轴的转动角度对应关系示意图；
图5为另一个实施例中转动角度的检测方法的流程图；
图6为另一个实施例中转动角度的检测方法的流程图；
图7为一个实施例中转动角度的检测装置的结构框图。
具体实施方式
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本文中在本申请的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在限制本申请。可以理解，本申请所使用的术语“第一”、“第二”等可在本文中用于描述各种元件，但这些元件不受这些术语限制。这些术语仅用于将第一个元件与另一个元件区分。举例来说，在不脱离本申请的范围的情况下，可以将第一元件称为第二元件，且类似地，可将第二元件称为第一元件。第一元件和第二元件两者都是元器件，但其不是同一元器件。
图1为一个实施例中转动角度的检测方法的应用环境示意图，该转动角度的检测方法应用于旋转机构中，旋转机构具体可以是舵机，还可以是其他具有转动轴的器件。如图1所示，该舵机包括电机轴、传动部件和输出轴，电机轴的输出扭矩经过所述传动部件作用于所述输出轴，并带动所述输出轴转动，在舵机的电机轴处设置第一角度传感器110，用于检测电机轴的第一转动角度，在舵机的输出轴上设置第二角度传感器120，用于检测输出轴的第二转动角度。
具体的，将角度传感器连接到传动轴上，可以配合传动轴，当传动轴转动时，角度传感器会自动计数。
图2为一个实施例中转动角度的检测方法的流程图。本实施例中的转动角度的检测方法，以运行于如图1所示的舵机上为例进行描述，该转动角度的检测方法，可以提升对于旋转机构输出轴的转动角度的测量精度，使旋转机构的输出控制更精确。如图2所示，该转动角度的检测方法包括以下步骤202～步 骤208：
步骤202：根据所述第二转动角度计算所述电机轴在转动过程中的转动角度估算值。
其中，在舵机的输出轴上设置第二角度传感器，可以检测输出轴的第二转动角度。电机轴在转动过程中的转动角度估算值指的是电机轴的累计转动角度。
由于角度传感器在每旋转一周后，传感器返回的数据做周期性的变化，但舵机的输出轴从起始位置转过的圈数通常在舵机系统停止工作时不被保存，因此基于舵机的输出轴与电机轴存在确定的传动比，通过第二角度传感器检测输出轴的第二转动角度，即可计算电机轴在转动过程中的转动角度估算值。保证了系统在不对电机轴转动圈数进行记忆保存的前提下依然能够实时计算出电机轴的转动圈数。
步骤204：根据所述转动角度估算值结合所述第二角度传感器的检测误差，确定所述电机轴的转动角度的实际范围。
由于第二角度传感器本身存在检测误差，因此计算的转动角度估算值需要考虑第二检测传感器的测量误差值。具体的，将转动角度估算值与测量误差值进行求和、以及将转动角度估算值与测量误差值进行求差，可以确定电机轴的转动角度的实际范围。
步骤206：基于所述第一转动角度与所述转动角度估算值的相对关系，确定所述电机轴的转动角度可选值。
其中，在舵机的电机轴上设置第一角度传感器，可以检测电机轴的第一转动角度。电机轴的转动角度可选值指的是电机轴在转动过程中的实际转动角度的可能性值，该转动角度可选值落入电机轴的转动角度的实际范围中。
具体的，根据实际测量数据，对于电机轴的转动圈数的计算结果与实际值相比会存在±1的误差，也即电机轴的实际转动圈数与电机轴的转动圈数估算值会存在±1的误差，则在考虑该误差条件下，可以确定电机轴在转动过程中的实际转动角度的可能性值。
进一步的，通过设置第一角度传感器，可以确定电机轴上的实际转动角度，再通过传动部件的传动比折算输出轴的转动角度，可以降低角度传感器的误差对于输出轴转动角度的测量精度的影响。
步骤208：基于所述转动角度可选值中落入所述电机轴的转动角度的实际范围的值，确定所述电机轴的实际转动角度，并根据所述电机轴的实际转动角度确定所述输出轴的实际转动角度。
其中，该电机轴的转动角度可选值中，只有一个值能够落入电机轴的转动角度的实际范围中。具体的，由于电机轴的转动圈数的计算结果与实际值相比会存在±1的误差，而电机轴的实际转动角度根据电机轴的实际转动圈数与第一转动角度计算得出，因此电机轴的转动角度可选值在三种情况下存在三个值，通过确定落入电机轴的转动角度的实际范围中的转动角度可选值，即可确定电机轴的实际转动角度。
进一步的，获取传动部件对于电机轴的输出扭矩的传动比，将电机轴的实际转动角度除以传动比，可以得到输出轴的实际转动角度。
本实施例提供的转动角度的检测方法，根据第二转动角度计算电机轴在转动过程中的转动角度估算值；根据转动角度估算值结合第二角度传感器的检测误差，确定电机轴的转动角度的实际范围；基于第一转动角度与转动角度估算值的相对关系，确定电机轴的转动角度可选值；基于转动角度可选值中落入电机轴的转动角度的实际范围的值，确定电机轴的实际转动角度，并根据电机轴的实际转动角度确定输出轴的实际转动角度。通过上述方法，可以提升对于旋转机构输出轴的转动角度的测量精度，大大减小了由于角度传感器精度误差而导致的对系统整体误差的影响，使旋转机构的输出控制更精确。
如图3所示，在一个实施例中，在所述根据所述第二转动角度计算所述电机轴在转动过程中的累积转动角度之前，也即步骤202之前，还包括：
步骤302：根据所述传动部件的传动比计算所述电机轴与输出轴的转动角度对应关系。
具体的，传动部件可以理解为减速机构，电机轴的旋转输出通过中间过程的减速机构机械传递最终成为舵机输出轴的旋转输出。每个传动部件具有确定的传动比，根据传动比可以计算电机轴与输出轴的转动角度对应关系。
举例来说，如图4所示，为一个实施例中电机轴与输出轴的转动角度对应关系示意图，图中左侧小圆为电机轴、右侧大圆为输出轴，传动部件的传动比N＝4。在位置1所示状态下，电机轴上的A点和输出轴上的B点都处于0°位置；当电机轴顺时针转动一圈360°时，A点重新回到零点位置，同时输出轴逆时针转动到90°位置，也即位置2所示状态；当电机轴继续顺时针转动，转动到角度180°时，B点转动到135°，也即位置3所示状态。那么对于这个传动比为4的系统，电机轴每旋转360°对应于输出轴的转动角度的对应关系
Figure PCTCN2018125770-appb-000001
步骤304：基于所述第二转动角度结合所述电机轴与输出轴的转动角度对应关系，确定所述电机轴的转动圈数估算值。
例如，请继续参阅图4，在位置3时，第二角度传感器的读数θ f＝135°。可以通过k'＝INT(θ f/R θ)来初步估算此时电机轴相对于起始位置转过的圈数，可以计算得k'＝INT(135/90)＝1。其中，k'为第二角度传感器的读数值θ f与R θ相除后做取整操作得到的值，也即计算得到的电机轴相对于初始位置的转动圈数估算值。
步骤306：基于所述第二转动角度结合所述电机轴与输出轴的转动角度对应关系，确定所述电机轴的实时转动角度估算值。
其中，电机轴的实时转动角度估算值指的是通过计算得到的电机轴当前的转动角度，具体可以通过对第二转动角度与对应关系进行相除后做求余操作计算得到。例如，引入参数M θ，M θ是第二角度传感器读数值θ f与R θ相除后做求余操作得到的值，M θ＝θ fmod R θ。
本实施例提供的转动角度的检测方法，可以提升对于旋转机构输出轴的转动角度的测量精度，大大减小了由于角度传感器精度误差而导致的对系统整体 误差的影响，使旋转机构的输出控制更精确。
在一个实施例中，所述根据所述第二转动角度计算所述电机轴在转动过程中的转动角度估算值，也即步骤202包括：根据所述转动圈数估计值与360°的乘积，加上所述实时转动角度估算值与传动比的乘积，确定所述转动角度估算值。
举例说明，通过第二角度传感器的读数值θ f对于电机轴的累积转角θ' rf做计算：
Figure PCTCN2018125770-appb-000002
可计算得到θ' rf＝360×k'+M θ＊N。其中，k'为电机轴的转动圈数估算值，M θ为电机轴的实时转动角度估算值，N为传动比。
如图5所示，在一个实施例中，所述根据所述转动角度估算值结合所述第二角度传感器的检测误差，确定所述电机轴的转动角度的实际范围，也即步骤204包括：
步骤502：获取所述第二角度传感器的测量误差值。
其中，每个角度传感器在出厂时都具有标准的测量误差值，因此第二角度传感器的测量误差值可以通过查询传感器的出厂参数获得。
步骤504：根据所述转动角度估算值、测量误差值的求和值与求差值，确定所述电机轴的转动角度的实际范围。
举例来说，在考虑第二角度传感器的检测误差的情况下，设第二角度传感器的测量误差值为Δ θ，则电机轴的实际转动角度θ' r所处的范围为：
(360×k'+M θ＊N-Δ θ×N)<θ' r<(360×k'+M θ＊N+Δ θ×N)
其中，k'为电机轴的转动圈数估算值，M θ为电机轴的实时转动角度估算值，N为传动比，Δ θ为测量误差值。
如图6所示，在一个实施例中，所述基于所述第一转动角度与所述转动角 度估算值的相对关系，确定所述电机轴的转动角度可选值，也即步骤206包括：
步骤602：确定所述转动圈数估算值与所述电机轴的实际转动圈数的对应关系。
具体的，由于角度传感器存在检测误差，通过第二角度传感器的测量值对电机轴的转动圈数进行估算会存在出现偏差的可能性，可以通过查询出厂参数确定角度传感器的测量精度。角度传感器为精密仪器，通常其检测误差不会太大。
举例说明，假设角度传感器的测量精度为1°，在传动比N＝4的旋转机构中，电机轴每旋转360°对应于输出轴的转动角度的对应关系
Figure PCTCN2018125770-appb-000003
Figure PCTCN2018125770-appb-000004
当输出轴实际转动到180°位置时，考虑第二角度传感器的检测误差，其读数可能是179°～181°，若此时第二角度传感器的读数为179°，则通过k'＝INT(θ f/R θ)计算出的转动圈数估算值为1，与实际转动圈数2相差-1；同理，当输出轴实际转动到179°位置时，考虑第二角度传感器的检测误差，其读数可能是178°～180°，若此时第二角度传感器的读数为180°，则通过k'＝INT(θ f/R θ)计算出的转动圈数估算值为2，与实际转动圈数1相差1。
因此，在以下范围内：
Figure PCTCN2018125770-appb-000005
其中，P是任意整数。对于电机轴的转动圈数的计算结果与实际值相比会存在±1的误差，也即电机轴的实际转动圈数与电机轴的转动圈数估算值会存在±1的误差。也即电机轴的实际转动圈数k与电机轴的转动圈数估算值k'存在三种可能的对应关系：k＝k'-1、k＝k'、k＝k'+1。
步骤604：根据所述第一转动角度与所述实际转动圈数进行角度值转换，得到所述转动角度可选值。
在考虑该误差条件下，可以确定电机轴在转动过程中的实际转动角度的可 能性值。例如，通过第一角度传感器的读数值θ' f对于电机轴的实际转动角度θ' r进行计算：
θ' r＝360×k+θ' f
其中k为电机轴的实际转动圈数，分别将电机轴的实际转动圈数k与电机轴的转动圈数估算值k'存在的三种对应关系代入到θ' r＝360×k+θ' f中，得到θ' r对应的三种可能值θ 1，θ 2，θ 3。
在一个实施例中，所述基于所述转动角度可选值中落入所述电机轴的转动角度的实际范围的值，确定所述电机轴的实际转动角度，也即步骤208包括：计算所述第一转动角度、第二转动角度和第三转动角度的大小，将落入所述转动角度的实际范围的任一转动角度可选值确定为所述电机轴的实际转动角度。
具体的，转动角度可选值包括第一转动角度、第二转动角度和第三转动角度，分别表示电机轴的转动圈数估算值与实际转动圈数处于三种不同情况下的值，且该转动角度可选值中有且只有一个转动角度能够落入电机轴的转动角度的实际范围内，将落入电机轴的转动角度的实际范围的任一个转动角度可选值确定为电机轴的实际转动角度。
在一个实施例中，根据所述电机轴的实际转动角度确定所述输出轴的实际转动角度，也即步骤208还包括：获取所述传动部件对于所述电机轴的输出扭矩的传动比，将所述电机轴的实际转动角度除以所述传动比，得到所述输出轴的实际转动角度。
当确定电机轴的实际转动角度时，此时这个值对应的转动圈数即为准确的转动圈数，对应的计算的输出轴转动角度也为准确的输出轴转动角度。例如，根据公式
θ r＝θ' r/N
计算得到输出轴的实际转动角度，其中，θ' r为电机轴的实际转动角度，N为传动比。
电机轴的实际转动角度由于第一角度传感器的误差值存在，可能会引入 ±Δ θ的转动角度误差，那么在输出端由于传动机构具有传动比的原因，该转动角度误差就被缩小为±(Δ θ/N)。因此，通过该转动角度的检测方法，大大减小了由于角度传感器测量误差而导致的对系统整体误差的影响，使旋转机构能达到更高的控制精度。
上述转动角度的检测方法，可以提升对于旋转机构输出轴的转动角度的测量精度，大大减小了由于角度传感器精度误差而导致的对系统整体误差的影响，使旋转机构的输出控制更精确。
应该理解的是，虽然上述图2-3、图4-6中的各个步骤按照箭头的指示依次显示，但是这些步骤并不是必然按照箭头指示的顺序依次执行。除非本文中有明确的说明，这些步骤的执行并没有严格的顺序限制，这些步骤可以以其它的顺序执行。而且，图2-3、图4-6中的至少一部分步骤可以包括多个子步骤或者多个阶段，这些子步骤或者阶段并不必然是在同一时刻执行完成，而是可以在不同的时刻执行，这些子步骤或者阶段的执行顺序也不必然是依次进行，而是可以与其它步骤或者其它步骤的子步骤或者阶段的至少一部分轮流或者交替地执行。
如图7所示，在一个实施例中，提供了一种转动角度的检测装置，该装置包括转动角度估算模块710、实际范围确定模块720、角度计算模块730和角度筛选模块740。
转动角度估算模块710用于根据第二转动角度计算电机轴在转动过程中的转动角度估算值。
实际范围确定模块720用于根据所述转动角度估算值结合第二角度传感器的检测误差，确定所述电机轴的转动角度的实际范围。
角度计算模块730用于基于第一转动角度与所述转动角度估算值的相对关系，确定所述电机轴的转动角度可选值。
角度筛选模块740用于基于所述转动角度可选值中落入所述电机轴的转动角度的实际范围的值，确定所述电机轴的实际转动角度，并根据所述电机轴 的实际转动角度确定输出轴的实际转动角度。
上述转动角度的检测装置，可以提升对于旋转机构输出轴的转动角度的测量精度，大大减小了由于角度传感器精度误差而导致的对系统整体误差的影响，使旋转机构的输出控制更精确。
关于转动角度的检测装置的具体限定可以参见上文中对于转动角度的检测方法的限定，在此不再赘述。上述转动角度的检测装置中的各个模块可全部或部分通过软件、硬件及其组合来实现。上述各模块可以硬件形式内嵌于或独立于计算机设备中的处理器中，也可以以软件形式存储于计算机设备中的存储器中，以便于处理器调用执行以上各个模块对应的操作。
本申请实施例中提供的转动角度的检测装置中的各个模块的实现可为计算机程序的形式。该计算机程序可在终端或服务器上运行。该计算机程序构成的程序模块可存储在终端或服务器的存储器上。该计算机程序被处理器执行时，实现本申请实施例中所描述的转动角度的检测方法的步骤。
本申请实施例还提供了一种终端，该终端包括存储器及处理器，存储器中储存有计算机程序，该计算机程序被处理器执行时，使得所述处理器执行如上述各实施例中所描述的转动角度的检测方法。
本申请实施例还提供了一种计算机可读存储介质。一个或多个包含计算机可执行指令的非易失性计算机可读存储介质，当所述计算机可执行指令被一个或多个处理器执行时，使得所述处理器执行如上述各实施例中所描述的转动角度的检测方法。
本申请实施例还提供了一种计算机程序产品。一种包含指令的计算机程序产品，当其在计算机上运行时，使得计算机执行上述各实施例中所描述的转动角度的检测方法。
在上述实施例中，可以全部或部分的通过软件、硬件、固件或者其任意组合来实现。当使用软件程序实现时，可以全部或部分地以计算机程序产品的形式实现。所述计算机程序产品包括一个或多个计算机指令。在计算机上加载和 执行所述计算机程序指令时，全部或部分地产生按照本发明实施例所述的流程或功能。所述计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。所述计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输。所述计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质，(例如，软盘、硬盘、磁带)、光介质(例如，DVD)、或半导体介质(例如固态硬盘Solid State Disk(SSD))等。
以上所揭露的仅为本发明较佳实施例而已，当然不能以此来限定本发明之权利范围，因此依本发明权利要求所作的等同变化，仍属本发明所涵盖的范围。

Claims (10)

  1. 一种转动角度的检测方法，应用于旋转机构，所述旋转机构包括电机轴、传动部件和输出轴，所述电机轴的输出扭矩经过所述传动部件作用于所述输出轴，并带动所述输出轴转动，其特征在于，在所述旋转机构的电机轴处设置第一角度传感器，用于检测所述电机轴的第一转动角度，在所述旋转机构的输出轴上设置第二角度传感器，用于检测所述输出轴的第二转动角度；所方法包括：
    根据所述第二转动角度计算所述电机轴在转动过程中的转动角度估算值；
    根据所述转动角度估算值结合所述第二角度传感器的检测误差，确定所述电机轴的转动角度的实际范围；
    基于所述第一转动角度与所述转动角度估算值的相对关系，确定所述电机轴的转动角度可选值；
    基于所述转动角度可选值中落入所述电机轴的转动角度的实际范围的值，确定所述电机轴的实际转动角度，并根据所述电机轴的实际转动角度确定所述输出轴的实际转动角度。
  2. 根据权利要求1所述的方法，其特征在于，在所述根据所述第二转动角度计算所述电机轴在转动过程中的转动角度估算值之前，还包括：
    根据所述传动部件的传动比计算所述电机轴与输出轴的转动角度对应关系；
    基于所述第二转动角度结合所述电机轴与输出轴的转动角度对应关系，确定所述电机轴的转动圈数估算值；
    基于所述第二转动角度结合所述电机轴与输出轴的转动角度对应关系，确定所述电机轴的实时转动角度估算值。
  3. 根据权利要求2所述的方法，其特征在于，所述根据所述第二转动角度计算所述电机轴在转动过程中的转动角度估算值，包括：
    根据所述转动圈数估计值与360°的乘积，加上所述实时转动角度估算值 与传动比的乘积，确定所述转动角度估算值。
  4. 根据权利要求1所述的方法，其特征在于，所述根据所述转动角度估算值结合所述第二角度传感器的检测误差，确定所述电机轴的转动角度的实际范围，包括：
    获取所述第二角度传感器的测量误差值；
    根据所述转动角度估算值、测量误差值的求和值与求差值，确定所述电机轴的转动角度的实际范围。
  5. 根据权利要求2所述的方法，其特征在于，所述转动角度估算值包括转动圈数估算值与实时转动角度估算值；
    所述基于所述第一转动角度与所述转动角度估算值的相对关系，确定所述电机轴的转动角度可选值，包括：
    确定所述转动圈数估算值与所述电机轴的实际转动圈数的对应关系；
    根据所述第一转动角度与所述实际转动圈数进行角度值转换，得到所述转动角度可选值。
  6. 根据权利要求5所述的方法，其特征在于，所述转动角度可选值包括第一转动角度、第二转动角度和第三转动角度；
    所述基于所述转动角度可选值中落入所述电机轴的转动角度的实际范围的值，确定所述电机轴的实际转动角度，包括：
    计算所述第一转动角度、第二转动角度和第三转动角度的大小，将落入所述转动角度的实际范围内的任一转动角度可选值确定为所述电机轴的实际转动角度。
  7. 根据权利要求1所述的方法，其特征在于，根据所述电机轴的实际转动角度确定所述输出轴的实际转动角度，包括：
    获取所述传动部件对于所述电机轴的输出扭矩的传动比，将所述电机轴的实际转动角度除以所述传动比，得到所述输出轴的实际转动角度。
  8. 一种转动角度的检测装置，其特征在于，包括：
    转动角度估算模块，用于根据第二转动角度计算电机轴在转动过程中的转动角度估算值；
    实际范围确定模块，用于根据所述转动角度估算值结合第二角度传感器的检测误差，确定所述电机轴的转动角度的实际范围；
    角度计算模块，用于基于第一转动角度与所述转动角度估算值的相对关系，确定所述电机轴的转动角度可选值；
    角度筛选模块，用于基于所述转动角度可选值中落入所述电机轴的转动角度的实际范围的值，确定所述电机轴的实际转动角度，并根据所述电机轴的实际转动角度确定输出轴的实际转动角度。
  9. 一种终端，其特征在于，包括存储器及处理器，所述存储器中储存有计算机程序，所述计算机程序被所述处理器执行时，使得所述处理器执行如权利要求1至7中任一项所述的方法的步骤。
  10. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求1至7中任一项所述的方法的步骤。
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