WO2020248160A1 - 可移动平台的编码器的故障检测方法、设备及存储介质 - Google Patents

可移动平台的编码器的故障检测方法、设备及存储介质 Download PDF

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Publication number
WO2020248160A1
WO2020248160A1 PCT/CN2019/090889 CN2019090889W WO2020248160A1 WO 2020248160 A1 WO2020248160 A1 WO 2020248160A1 CN 2019090889 W CN2019090889 W CN 2019090889W WO 2020248160 A1 WO2020248160 A1 WO 2020248160A1
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Prior art keywords
motor
encoder
rotation state
detected
movable platform
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PCT/CN2019/090889
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English (en)
French (fr)
Inventor
龚鼎
陈超彬
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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 CN201980012485.7A priority Critical patent/CN111742194A/zh
Priority to PCT/CN2019/090889 priority patent/WO2020248160A1/zh
Publication of WO2020248160A1 publication Critical patent/WO2020248160A1/zh

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    • 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
    • G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00

Definitions

  • the embodiment of the present invention relates to the field of mobile robots, and in particular to a method, equipment and storage medium for detecting a fault of an encoder of a movable platform.
  • a movable platform for example, a movable platform (such as an unmanned aerial vehicle, an unmanned vehicle, etc.) is usually installed with a power system, and the power system is used to provide power for the movable platform to move.
  • the power system usually includes a motor, which is the main source of power for the movable platform.
  • the purpose of controlling the movement speed of the movable platform can be achieved by controlling the motor speed.
  • the motor controller is also called a motor driver, and the motor controller can be used to drive the motor to rotate.
  • the motor controller is usually provided with an encoder, and the encoder can be used to detect the rotation angle and rotation speed of the motor.
  • the encoder may be damaged to varying degrees, which will cause various malfunctions of the encoder, such as installation failure, measurement failure, etc.
  • the prior art cannot accurately detect encoder faults.
  • the embodiment of the present invention provides a method, equipment and storage medium for detecting a fault of an encoder of a movable platform, so as to improve the accuracy of detecting the fault of the encoder.
  • the first aspect of the embodiments of the present invention is to provide a method for detecting a malfunction of an encoder of a movable platform, which is applied to a control device of the movable platform, and the movable platform includes a method for providing mobile A power motor, a motor driver for driving the motor to rotate, and an encoder for detecting the rotation state of the motor; the method includes:
  • the second aspect of the embodiments of the present invention is to provide a control device for a movable platform.
  • the movable platform includes a motor for providing moving power to the movable platform, a motor driver for driving the motor to rotate, and a An encoder for detecting the rotation state of the motor;
  • the control device includes: a memory, a processor, and a communication interface;
  • the memory is used to store program codes
  • the processor calls the program code, and when the program code is executed, is used to perform the following operations:
  • the third aspect of the embodiments of the present invention is to provide a movable platform, including:
  • a motor driver that drives the motor to rotate
  • the fourth aspect of the embodiments of the present invention is to provide a computer-readable storage medium having a computer program stored thereon, and the computer program is executed by a processor to implement the method described in the first aspect.
  • the first control instruction for controlling the rotation of the motor is sent to the motor driver of the movable platform through the control device of the movable platform, and
  • the rotation state of the motor detected by the encoder in the movable platform is acquired, and according to the rotation state of the motor detected by the encoder, Performing fault detection on the encoder can detect faults that cannot be detected by hardware detection compared to the prior art only by detecting the hardware of the encoder, thereby improving the accuracy of the encoder fault detection.
  • Figure 1 is a schematic diagram of an application scenario provided by an embodiment of the present invention.
  • Figure 2 is a schematic structural diagram of a power system provided by an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of another power system provided by an embodiment of the present invention.
  • FIG. 4 is a flowchart of a method for detecting a fault of an encoder of a movable platform provided by an embodiment of the present invention
  • FIG. 5 is a flowchart of a method for detecting a fault in an encoder of a movable platform according to another embodiment of the present invention.
  • FIG. 6 is a flowchart of a method for detecting a fault in an encoder of a movable platform according to another embodiment of the present invention.
  • FIG. 7 is a schematic diagram of a user interface provided by an embodiment of the present invention.
  • Fig. 8 is a structural diagram of a control device of a movable platform provided by an embodiment of the present invention.
  • 11 mobile robot; 12: user terminal; 70: user interface;
  • 71 mobile robot; 72: current position; 73: target position;
  • a component when a component is said to be “fixed to” another component, it can be directly on the other component or a central component may also exist. When a component is considered to be “connected” to another component, it can be directly connected to another component or there may be a centered component at the same time.
  • the embodiment of the present invention provides a fault detection method for an encoder of a movable platform.
  • the method is applied to the control equipment of the movable platform, and the movable platform includes a motor for providing moving power to the movable platform, a motor driver for driving the motor to rotate, and a motor for detecting the motor. Encoder in rotating state.
  • the movable platform described in this embodiment may specifically be a movable robot, a movable car, an unmanned vehicle, a drone, and the like.
  • a schematic description is given below by taking the mobile robot 11 shown in FIG. 1 as an example.
  • the mobile robot 11 can be controlled by a user terminal 12.
  • the user can send a control instruction to the mobile robot 11 through the user terminal 12, and the mobile robot 11 moves according to the control instruction.
  • This embodiment does not limit the product form of the user terminal 12, and the user terminal 12 may specifically be a smart phone, a tablet computer, a notebook computer, etc.
  • the mobile robot 11 includes 4 motors, each motor is connected to a wheel, each motor can drive the wheel connected to it to rotate, when the wheel rotates, the mobile robot 11 moves, that is, the motor
  • the movable robot 11 can be provided with moving power.
  • the movement of the movable robot 11 includes at least one of translation and rotation of the movable robot 11.
  • the mobile robot 11 also includes a motor driver that drives the motor to rotate, and the motor driver may specifically be a motor controller, an electronic speed regulator, or the like.
  • the motor driver is respectively connected with the four motors, and the motor driver is used to control the rotation of the four motors.
  • the mobile robot 11 may also include multiple motor drivers, for example, one motor is connected to one motor driver.
  • the number of motors or wheels is not limited to four, for example, it can be three, six, eight, etc.
  • the mobile robot 11 may also include an encoder for detecting the rotation state of the motor.
  • the encoder can be understood as a sensor that can detect the rotation state of the motor, for example, the rotation angle, the rotation speed, the number of rotations and other parameters.
  • the encoder may specifically be at least one of a Hall sensor and a photoelectric code disc, where the Hall sensor includes a linear Hall sensor, a switch-type Hall sensor, and the like.
  • the encoder may be integrated in the motor driver.
  • the motor driver may include 4 encoders, and the 4 encoders correspond to the 4 motors one to one, and each encoder The device is used to detect the rotation state of a motor.
  • the encoder may be integrated in the motor, for example, each of the 4 motors includes an encoder.
  • the encoder may not be integrated in the motor and/or the motor driver, but is provided separately.
  • the mobile robot 11 includes 4 encoders, the 4 encoders and the 4 encoders. Each motor has a one-to-one correspondence, and each encoder can be connected to a motor and the motor driver, as shown in Figure 3.
  • Fig. 4 is a flowchart of a method for detecting a fault of an encoder of a movable platform provided by an embodiment of the present invention.
  • the fault detection method for the encoder of the movable platform provided in this embodiment can be applied to the control device of the movable platform.
  • the control device of the mobile robot 11 may specifically be a device that controls the movement of the mobile robot 11, and the control device may specifically be a chassis master control as shown in FIGS. 2 and 3.
  • the chassis master control can be communicatively connected with the motor driver.
  • the chassis master control can also be communicatively connected with the user terminal.
  • the user terminal and the chassis master can communicate directly, or they can communicate through other communication devices or network elements.
  • other communication devices or network elements forward user instructions sent by the user terminal to the chassis master.
  • the user instruction may be a user instruction generated by the user through the user terminal for controlling the movement of the movable robot 11.
  • the method in this embodiment may include:
  • Step S401 Send a first control instruction for controlling the rotation of the motor to the motor driver.
  • the chassis master control After receiving the user instruction sent by the user terminal, the chassis master control converts the user instruction into a first control instruction for controlling the rotation of the motor.
  • the user instruction is used to control the speed and/or angular velocity of the mobile robot 11, and the chassis main control determines the user's desired speed of the chassis and/or the user's desired angular speed of the chassis according to the user instruction, wherein, The desired speed is the speed at which the user expects the chassis to translate.
  • the desired angular velocity is the angular velocity at which the user expects the chassis to rotate.
  • the chassis master control uses the inverse kinematics equation to determine the speed of the movable robot 11 to reach the desired speed and/or to make the speed of the mobile robot 11 reach the desired speed and/or the desired angular speed of the user to the chassis according to the user's desired speed of the chassis.
  • the angular velocity of the movable robot 11 reaches the desired angular velocity, and the target rotational speed of each of the four motors of the chassis of the movable robot 11 needs to be reached.
  • the chassis master control sends a first control instruction for controlling the rotation of the four motors to the motor driver according to the target speed that each of the four motors needs to achieve, so that the motor driver drives each of the four motors Rotate so that each of the four motors reaches a corresponding target speed.
  • Step S402 In a process in which the motor driver drives the motor to rotate according to the first control instruction, obtain the rotation state of the motor detected by the encoder.
  • the encoder corresponding to each motor can detect the rotation state of the motor.
  • the rotation state of the motor includes at least one of the following: a rotation angle of the motor, a rotation speed of the motor, and a number of rotations of the motor.
  • the motor driver can obtain the rotation state of the corresponding motor detected by each encoder, and send the rotation state of each motor to the chassis master.
  • Step S403 Perform fault detection on the encoder according to the rotation state of the motor detected by the encoder.
  • the chassis master control After the chassis master control receives the rotation state of each motor, it performs fault detection on each encoder according to the rotation state of the corresponding motor detected by each encoder. For example, when the motor driver drives each of the four motors to rotate according to the first control instruction, the encoder corresponding to each motor can detect the rotation speed of the motor in real time. After the motor driver finishes executing the first control instruction, the chassis main control performs fault detection on the encoder corresponding to the motor by comparing the rotation speed of the motor with the target rotation speed of the motor.
  • the encoder corresponding to the motor is determined normal.
  • the control device of the movable platform sends a first control instruction for controlling the rotation of the motor to the motor driver of the movable platform, and when the motor driver drives the motor to rotate according to the first control instruction, Obtain the rotation state of the motor detected by the encoder in the movable platform, and perform fault detection on the encoder according to the rotation state of the motor detected by the encoder.
  • the hardware detection of the encoder can detect faults that cannot be detected by the hardware detection, which improves the accuracy of the encoder fault detection.
  • FIG. 5 is a flowchart of a method for detecting a fault of an encoder of a movable platform according to another embodiment of the present invention. As shown in FIG. 5, based on the foregoing embodiment, the method further includes: generating the first control instruction, wherein the first control instruction is used to indicate the target rotation state of the motor.
  • the chassis master control can detect the current rotation state of the motor through the encoder at the current moment, and generate a first control instruction based on the current rotation state of the motor, and the first control instruction is used to indicate the target rotation state of the motor.
  • said method before said generating said first control instruction, said method further includes: receiving a trigger instruction sent by a user terminal; said generating said first control instruction includes: generating a trigger instruction according to said trigger instruction.
  • the first control command for controlling the rotation of the motor.
  • a user interface is displayed on the user terminal, and the user interface includes preset keys or buttons.
  • the user terminal sends a trigger instruction to the chassis master, and After receiving the trigger instruction, the chassis main control generates a first control instruction for controlling the rotation of the motor according to the trigger instruction.
  • the chassis master control generates a first control instruction for controlling the motor to rotate 360 degrees according to the trigger instruction, and sends the first control instruction to the motor driver.
  • the chassis The main control obtains the rotation state of the motor detected by the encoder corresponding to the motor, for example, the rotation angle, and further, performs fault detection on the encoder according to the rotation angle of the motor detected by the encoder.
  • the performing fault detection on the encoder according to the rotation state of the motor detected by the encoder includes: according to the rotation state of the motor detected by the encoder and the target rotation state of the motor , Perform fault detection on the encoder.
  • the chassis master control when the chassis master control detects the fault of the encoder according to the rotation angle of the motor detected by the encoder, it can use the rotation angle of the motor detected by the encoder and the target rotation angle of the motor, which is 360 Degree, fault detection of the encoder.
  • the performing fault detection on the encoder according to the rotation state of the motor and the target rotation state of the motor detected by the encoder includes:
  • Step S501 Determine the deviation between the rotation state of the motor detected by the encoder and the target rotation state of the motor.
  • the chassis master determines the deviation between the rotation angle of the motor detected by the encoder and the target rotation angle of the motor.
  • Step S502 If the deviation is less than or equal to a preset value, it is determined that the encoder has no fault.
  • the encoder can detect the rotation angle of the motor more accurately, and then determine the encoder No failure occurred.
  • Step S503 If the deviation is greater than a preset value, it is determined that the encoder is malfunctioning.
  • the encoder cannot accurately detect the rotation angle of the motor, and it is determined that the encoder is not malfunctioning .
  • the present embodiment is schematically illustrated by taking the deviation between the rotation angle of the motor detected by the encoder and the target rotation angle of the motor as an example.
  • the first generated by the chassis master control A control command can also be a command to control the motor to rotate a preset number of turns. At this time, the deviation is between the number of revolutions of the motor detected by the encoder and the target number of revolutions of the motor, that is, the preset number of revolutions. The deviation.
  • the first control command generated by the chassis master control may also be a command to control the motor to rotate at a preset speed. At this time, the deviation is the rotation speed of the motor detected by the encoder and the The target rotation speed of the motor is the deviation between the preset rotation speeds.
  • the motor driver drives the motor to rotate according to the first control instruction and passes
  • the deviation between the rotation state of the motor detected by the encoder and the target rotation state of the motor, the fault detection of the encoder may have a certain control error, but it does not affect the encoder to a certain extent. Failure detection.
  • the motor driver drives the motor to rotate according to the first control instruction.
  • the motor driver drives the motor to rotate according to the first control instruction.
  • the embodiment of the present invention provides a fault detection method for an encoder of a movable platform.
  • Fig. 6 is a flowchart of a method for detecting a fault of an encoder of a movable platform according to another embodiment of the present invention. As shown in FIG. 6, on the basis of the foregoing embodiment, the method further includes: receiving a second control instruction sent by the user terminal for controlling the movable platform; and determining the second control instruction according to the second control instruction The target heading and/or target position information of the movable platform; according to the target heading and/or target position information of the movable platform, a first control instruction for controlling the rotation of the motor is generated.
  • Figure 7 shows a schematic diagram of a user interface provided by this embodiment, where 70 represents the user interface, 71 represents the movable robot, 72 represents the current position of the movable robot, and the user can control the movable robot along the sliding operation. Move in the direction indicated by the arrow to the target position indicated by 73.
  • the user terminal generates a second control instruction for controlling the mobile robot according to the user's sliding operation, and sends the second control instruction to the chassis master control of the mobile robot.
  • the chassis master control receives the second control instruction, it determines the target heading and/or target position information of the mobile robot according to the second control instruction.
  • the target heading may be the direction corresponding to the dashed arrow.
  • the target location information may specifically be location information corresponding to the target location 73.
  • the chassis master control generates a first control instruction for controlling the rotation of the motor of the mobile robot according to the target heading and/or target position information of the mobile robot, and sends the first control instruction to the mobile robot
  • the motor driver enables the motor driver to drive the motor to rotate according to the first control command.
  • the obtaining the rotation state of the motor detected by the encoder during the process in which the motor driver drives the motor to rotate according to the first control instruction includes: In the process of driving the motor to rotate by the control instruction, the rotation state of the motor detected by the encoder and the sensing data of the motion sensor configured on the movable platform are acquired.
  • the mobile robot may further include a motion sensor, and the motion sensor may be a sensor other than an encoder.
  • the motion sensor includes at least one of the following: an inertial measurement unit (IMU), a visual-inertial odometry (VIO), and a global positioning system (Global Positioning System, GPS).
  • IMU inertial measurement unit
  • VIO visual-inertial odometry
  • GPS Global Positioning System
  • the encoder can detect the rotation state of the motor in real time, and the motion sensor can output sensing data in real time.
  • the chassis master control can not only obtain the rotation state of the motor detected by the encoder, but also obtain the sensing data of the motion sensor.
  • the chassis master control can determine the heading and/or position information of the movable robot according to the sensing data of the motion sensor. In this embodiment, it can be assumed that the heading and/or position information of the movable robot determined according to the sensing data of the motion sensor is reliable.
  • the performing fault detection on the encoder based on the rotation state of the motor detected by the encoder includes: performing a fault detection on the motor based on the rotation state detected by the encoder and the sensor data.
  • the encoder performs fault detection.
  • the chassis main control When the chassis main control performs fault detection on the encoder based on the rotation state of the motor detected by the encoder, specifically, it can perform fault detection on the encoder based on the rotation state of the motor detected by the encoder and the sensor data of the motion sensor.
  • the encoder performs fault detection.
  • the performing fault detection on the encoder according to the rotation state of the motor and the sensor data detected by the encoder includes:
  • Step S601 Perform a matching operation on the rotation state of the motor detected by the encoder and the sensor data.
  • the performing a matching operation on the rotation state of the motor detected by the encoder and the sensing data includes: converting the sensing data into a reference rotation state of the motor; determining The deviation between the reference rotation state and the rotation state of the motor detected by the encoder; if the deviation is less than or equal to a preset value, the rotation state of the motor detected by the encoder and The sensing data matches; if the deviation is greater than a preset value, it is determined that the rotation state of the motor detected by the encoder does not match the sensing data.
  • the chassis master control determines the heading and/or position information of the movable robot according to the sensing data of the motion sensor. Further, according to the heading and/or position information of the mobile robot, an inverse kinematics equation is used to determine the reference rotation state of the motor corresponding to the heading and/or position information, for example, the rotation speed and/or angle that the motor should generate. Further, the deviation between the reference rotation state of the motor and the rotation state of the motor detected by the encoder is determined. If the deviation is less than or equal to the preset value, it means that the detection error of the encoder is not large relative to the detection error of the motion sensor. At this time, it can be determined that the rotation state of the motor detected by the encoder matches the sensing data of the motion sensor. . If the deviation is greater than the preset value, it means that the detection error of the encoder is larger than that of the motion sensor. At this time, it can be determined that the rotation state of the motor detected by the encoder does not match the sensing data of the motion sensor.
  • Step S602 When it is determined that the rotation state of the motor detected by the encoder matches the sensor data, it is determined that the encoder does not have a fault.
  • the chassis master determines that the rotation state of the motor detected by the encoder matches the sensing data of the motion sensor, it can be determined that the encoder does not have a fault.
  • Step S603 When it is determined that the rotation state of the motor detected by the encoder does not match the sensor data, it is determined that the encoder has a fault.
  • the chassis master determines that the rotation state of the motor detected by the encoder does not match the sensing data of the motion sensor, it can be determined that the encoder is malfunctioning.
  • the operating conditions and motion status of the mobile robot may cause a certain error in the fault detection of the encoder.
  • the mobile robot can be controlled in a standard operating mode. In this case, for example, the mobile robot is controlled to be horizontal, slow, and the wheels are not slipping. In some other embodiments, the user can also put the mobile robot in an environment with moderate friction.
  • This embodiment uses the sensing data of the motion sensor as a reference to perform a matching operation on the rotation state of the motor detected by the encoder and the sensing data.
  • the embodiment of the present invention provides a fault detection method for an encoder of a movable platform.
  • the movable platform further includes: an electrical signal acquisition circuit, the electrical signal acquisition circuit is used to acquire the electrical parameters of the encoder; the method further includes: acquiring the electrical signal acquisition The electrical parameters of the encoder collected by the circuit; the sending of the first control instruction for controlling the rotation of the motor to the motor driver includes: when the electrical parameters of the encoder are abnormal, sending to the motor driver Send a first control instruction for controlling the rotation of the motor.
  • the mobile robot as described above further includes: an electrical signal acquisition circuit connected to the encoder, the electrical signal acquisition circuit can collect electrical parameters of the encoder, and the chassis master controls the encoder During fault detection, the electrical parameters of the encoder collected by the electrical signal acquisition circuit can be obtained first. When the electrical parameters of the encoder are abnormal, the chassis master control can determine that the encoder's hardware may be faulty. Further, the The chassis master control sends the first control instruction for controlling the rotation of the motor to the motor driver of the mobile robot, that is, executes the steps S401 to S403 as described above. Alternatively, when the electrical parameters of the encoder are normal, the chassis master control can also perform steps S401 to S403 as described above.
  • the method further includes: when the electrical parameter of the encoder is abnormal, sending the encoder fault prompt information to the user terminal.
  • the chassis master control when the chassis master control obtains the electrical parameters of the encoder collected by the electrical signal collection circuit and determines that the electrical parameters of the encoder are abnormal, it sends the encoder fault prompt information to the user terminal.
  • the user can trigger the chassis master control to execute the steps S401 to S403 as described above according to the encoder fault prompt information.
  • the chassis master when the chassis master determines that the electrical parameters of the encoder are abnormal, it can also send the identification information of the motor corresponding to the faulty encoder, such as a serial number, to the user terminal, so that the user can pass the steps described above in time S401-Step S403 performs secondary verification on the encoder or directly replaces it.
  • the method further includes: sending the rotation state of the motor detected by the encoder to the user terminal.
  • the chassis master can send the motor's rotation state detected by the encoder to the user terminal, and the user terminal receives After the rotation state of the motor is reached, the rotation state of the motor can be displayed on the user interface, for example, the rotation process and the final angle of the motor can be displayed.
  • the user terminal may also display prompt information on the user interface to prompt the user to confirm whether the angle is normal. If the user confirms that the angle is normal, click the confirmation button or button on the user interface to complete the fault detection of the encoder. If the user confirms that the angle is not normal, the user can also click the retry button or button on the user interface to retest the encoder.
  • the method further includes: sending a fault detection result of the encoder to the user terminal .
  • the fault detection result may also be sent to the user terminal .
  • the chassis master control may only send the rotation state of the motor detected by the encoder to the user terminal, or only send the fault detection result of the encoder to the user terminal.
  • the user interface may also display prompt information for prompting the user to manually rotate the motor.
  • the prompt information is used to prompt the user to manually rotate the motor 360 degrees, that is, one circle.
  • the user manually rotates the motor according to the prompt information.
  • the encoder corresponding to the motor detects the rotation state of the motor, for example, the rotation angle, and sends the rotation angle to the user terminal through the chassis master control, so that The user interface can display the rotation angle of the motor.
  • the user terminal can determine the deviation between the rotation angle of the motor detected by the encoder and 360 degrees. If the deviation is greater than the preset value, it is determined that the encoder is faulty. If it is less than or equal to the preset value, it is determined that the encoder is not malfunctioning. It can be understood that a certain rotation error may be introduced by manually rotating the motor, but it does not affect the fault detection of the encoder to a certain extent.
  • the user terminal after the user terminal completes the fault detection of the encoder, it can also display the fault detection result on the user interface, or display the final rotation angle of the motor detected by the encoder on the user interface, and prompt The user confirms whether the final rotation angle of the motor is normal. If it is normal, the fault detection of the encoder is completed, if it is not normal, the user can also perform fault detection on the encoder again.
  • the electrical parameters of the encoder are collected by the electrical signal acquisition circuit.
  • the hardware failure of the encoder can also be detected.
  • further information is sent to the mobile platform.
  • the motor driver sends a first control instruction for controlling the rotation of the motor, and when the motor driver drives the motor to rotate according to the first control instruction, obtains the rotation state of the motor detected by the encoder in the movable platform , And perform fault detection on the encoder according to the rotation state of the motor detected by the encoder, which further improves the accuracy of the encoder fault detection.
  • the rotation state of the motor detected by the encoder is sent to the user terminal, and/or the fault detection result is sent to the user terminal, so that the user can find the faulty encoder in time and adopt the corresponding Protection measures improve the safety of the movable platform.
  • the embodiment of the present invention provides a fault detection method for an encoder of a movable platform.
  • the method further includes: if the encoder fails, determining whether the movable platform is also equipped with a motion sensor that is in a correct working state and is used to output position information and/or speed information; If the movable platform is equipped with the motion sensor, the encoder fault prompt information is sent to the user terminal.
  • the movable robot may be provided with a reliable motion sensor as described above, or it may not be provided with the motion sensor.
  • the chassis master control determines that the encoder is malfunctioning according to the method described above, it can also determine whether the mobile robot is equipped with a motion sensor that is in a correct working state and is used to output position information and/or speed information. If the mobile robot is equipped with the motion sensor, it means that the mobile robot can move normally according to the motion sensor even if the encoder fails. At this time, the chassis master can send encoder fault prompt information to the user terminal.
  • the control device does not need to control the motor according to the rotation state of the motor detected by the encoder, continue to control the rotation of the motor;
  • the movable platform is not equipped with the motion sensor, and the control device needs to control the motor according to the rotation state of the motor detected by the encoder, and then control the motor to stop rotating.
  • the chassis master control When the mobile robot is not equipped with the motion sensor, it is necessary to determine whether the chassis master control needs to control the motor according to the rotation state of the motor detected by the encoder, for example, to determine whether the chassis master control needs to be based on the encoding
  • the rotation state of the motor detected by the encoder performs closed-loop control. If the mobile robot is not equipped with the motion sensor, the chassis master control does not need to perform closed-loop control based on the rotation state of the motor detected by the encoder. Control, the chassis main control can continue to control the rotation of the 4 motors.
  • the chassis master control needs to perform closed-loop control according to the rotation state of the motor detected by the encoder, then when the encoder fails, the chassis master control needs Restrict the rotation of the four motors, for example, control the rotation of the four motors to avoid the problem that the chassis master control uses the wrong encoder feedback information to control the motors due to the encoder failure, and further Improve the security of the movable platform.
  • the embodiment of the present invention provides a control device of a movable platform.
  • the movable platform includes a motor for providing moving power to the movable platform, a motor driver for driving the motor to rotate, and an encoder for detecting the rotation state of the motor;
  • FIG. 8 is an embodiment of the present invention The structure diagram of the control device of the movable platform provided is shown in FIG. 8.
  • the control device 80 includes: a memory 81, a processor 82 and a communication interface 83; the memory 81 is used to store program codes; and the processor 82 calls the The program code, when the program code is executed, is used to perform the following operations: send a first control instruction for controlling the rotation of the motor to the motor driver through the communication interface 83; in the motor driver according to the first control In the process of instructing to drive the motor to rotate, obtain the rotation state of the motor detected by the encoder; and perform fault detection on the encoder according to the rotation state of the motor detected by the encoder.
  • the rotation state of the motor includes at least one of the following: a rotation angle of the motor, a rotation speed of the motor, and a number of rotations of the motor.
  • the processor 82 is further configured to: generate the first control instruction, where the first control instruction is used to indicate the target rotation state of the motor;
  • the rotation state of the motor when performing fault detection on the encoder, is specifically used to: fault the encoder according to the rotation state of the motor detected by the encoder and the target rotation state of the motor Detection.
  • the processor 82 when the processor 82 performs fault detection on the encoder according to the rotation state of the motor detected by the encoder and the target rotation state of the motor, it is specifically configured to: determine that the encoder detects The deviation between the rotational state of the motor and the target rotational state of the motor; if the deviation is less than or equal to the preset value, it is determined that the encoder is not malfunctioning; if the deviation is greater than the preset value , It is determined that the encoder is faulty.
  • the processor 82 before the processor 82 generates the first control instruction, it is further configured to: receive a trigger instruction sent by the user terminal through the communication interface 83; when the processor 82 generates the first control instruction, it is specifically configured to: The trigger instruction generates the first control instruction for controlling the rotation of the motor.
  • the processor 82 acquires the rotation state of the motor detected by the encoder during the process in which the motor driver drives the motor to rotate according to the first control instruction, it is specifically configured to: In the process of the motor driver driving the motor to rotate according to the first control instruction, acquiring the rotation state of the motor detected by the encoder and the sensing data of the motion sensor configured on the movable platform; processing;
  • the encoder 82 performs fault detection on the encoder according to the rotation state of the motor detected by the encoder, it is specifically used to: according to the rotation state of the motor detected by the encoder and the sensor Data, fault detection of the encoder.
  • the processor 82 when the processor 82 performs fault detection on the encoder according to the rotation state of the motor and the sensor data detected by the encoder, it is specifically configured to: Perform a matching operation between the rotation state of the motor and the sensor data; when it is determined that the rotation state of the motor detected by the encoder matches the sensor data, it is determined that the encoder does not have a fault; when When it is determined that the rotation state of the motor detected by the encoder does not match the sensor data, it is determined that the encoder is malfunctioning.
  • the processor 82 when the processor 82 performs a matching operation on the rotation state of the motor detected by the encoder and the sensor data, it is specifically configured to: convert the sensor data into a reference rotation of the motor State; determine the deviation between the reference rotation state and the rotation state of the motor detected by the encoder; if the deviation is less than or equal to a preset value, determine the motor detected by the encoder If the deviation is greater than a preset value, it is determined that the rotation state of the motor detected by the encoder does not match the sensing data.
  • the processor 82 is further configured to: receive a second control instruction for controlling the movable platform sent by the user terminal through the communication interface 83; and determine the target of the movable platform according to the second control instruction Heading and/or target position information; according to the target heading and/or target position information of the movable platform, a first control instruction for controlling the rotation of the motor is generated.
  • the movable platform further includes: an electrical signal collection circuit, the electrical signal collection circuit is used to collect the electrical parameters of the encoder; the processor 82 is also used to: obtain the electrical signal collected by the electrical signal collection circuit The electrical parameters of the encoder; when the processor 82 sends the first control instruction for controlling the rotation of the motor to the motor driver through the communication interface 83, it is specifically used to: when the electrical parameters of the encoder are abnormal, The first control instruction for controlling the rotation of the motor is sent to the motor driver through the communication interface 83.
  • an electrical signal collection circuit is used to collect the electrical parameters of the encoder
  • the processor 82 is also used to: obtain the electrical signal collected by the electrical signal collection circuit The electrical parameters of the encoder; when the processor 82 sends the first control instruction for controlling the rotation of the motor to the motor driver through the communication interface 83, it is specifically used to: when the electrical parameters of the encoder are abnormal, The first control instruction for controlling the rotation of the motor is sent to the motor driver through the communication interface 83.
  • the processor 82 is further configured to: when the electrical parameters of the encoder are abnormal, send the encoder fault prompt information to the user terminal through the communication interface 83.
  • the processor 82 is further configured to: if the encoder fails, determine whether the movable platform is also equipped with a motion sensor that is in a correct working state and is used to output position information and/or speed information; The movable platform is configured with the motion sensor, and then the encoder fault prompt information is sent to the user terminal.
  • the processor 82 is further configured to: if the movable platform is not equipped with the motion sensor, and the control device does not need to control the motor according to the rotation state of the motor detected by the encoder , Continue to control the rotation of the motor; if the movable platform is not equipped with the motion sensor, and the control device needs to control the motor according to the rotation state of the motor detected by the encoder, control The motor stops rotating.
  • the motion sensor includes at least one of the following: an inertial measurement unit IMU, a visual inertial odometer VIO, and a global positioning system GPS.
  • IMU inertial measurement unit
  • VIO visual inertial odometer
  • GPS global positioning system
  • the processor 82 obtains the rotation state of the motor detected by the encoder, it is further configured to: send the rotation state of the motor detected by the encoder to the user through the communication interface 83 terminal.
  • the processor 82 after the processor 82 performs fault detection on the encoder according to the rotation state of the motor detected by the encoder, it is further configured to: send the fault detection result of the encoder through the communication interface 83 To the user terminal.
  • control device provided in the embodiment of the present invention are similar to those in the foregoing embodiment, and are not repeated here.
  • the control device of the movable platform sends a first control instruction for controlling the rotation of the motor to the motor driver of the movable platform, and when the motor driver drives the motor to rotate according to the first control instruction, Obtain the rotation state of the motor detected by the encoder in the movable platform, and perform fault detection on the encoder according to the rotation state of the motor detected by the encoder.
  • the hardware detection of the encoder can detect faults that cannot be detected by the hardware detection, which improves the accuracy of the encoder fault detection.
  • the embodiment of the present invention provides a movable platform.
  • the movable platform includes: a body; a motor for providing the movable platform with moving power; a motor driver for driving the rotation of the motor; an encoder for detecting the rotation state of the motor; and the above embodiments
  • the control equipment can execute the above-mentioned fault detection method of the encoder of the movable platform, and the specific process and implementation principle are as described above, and will not be repeated here.
  • this embodiment also provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the method for detecting a malfunction of an encoder of a movable platform described in the foregoing embodiment.
  • the disclosed device and method may be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components can be combined or It can be integrated into another system, or some features can be ignored or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • the functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above-mentioned integrated unit may be implemented in the form of hardware, or may be implemented in the form of hardware plus software functional units.
  • the above-mentioned integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium.
  • the above-mentioned software functional unit is stored in a storage medium and includes several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor execute the method described in the various embodiments of the present invention. Part of the steps.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .

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Abstract

一种可移动平台（11,71）的编码器的故障检测方法、设备及存储介质。可移动平台（11,71）的控制设备向可移动平台的电机驱动器发送用于控制电机转动的第一控制指令（S401），并在电机驱动器根据第一控制指令驱动电机转动的过程中，获取可移动平台（11,71）中的编码器检测到的电机的转动状态（S402），并根据编码器检测到的电机的转动状态，对编码器进行故障检测（S403），相比于现有技术只通过对编码器的硬件检测，能够检测出硬件检测无法检测到的故障，提高了对编码器故障检测的精度。

Description

可移动平台的编码器的故障检测方法、设备及存储介质 技术领域
本发明实施例涉及可移动机器人领域，尤其涉及一种可移动平台的编码器的故障检测方法、设备及存储介质。
背景技术
现有技术中可移动平台，例如，可移动平台(例如无人飞行器、无人车等)通常安装有动力系统，动力系统用于提供动力，以供可移动平台移动。该动力系统通常包括电机，电机是可移动平台主要的动力来源。通过控制电机转速可达到控制可移动平台运动速度的目的。电机控制器也叫电机驱动器，该电机控制器可用于驱动电机转动。
该电机控制器中通常设置有编码器，该编码器可用于检测电机的转动角度和转动速度。在可移动平台使用的过程中，编码器可能会受到不同程度的损伤，这样会导致编码器出现各种各样的故障，例如安装故障、测量故障等。而现有技术无法对编码器故障进行精确的检测。
发明内容
本发明实施例提供一种可移动平台的编码器的故障检测方法、设备及存储介质，以提高对编码器故障检测的精度。
本发明实施例的第一方面是提供一种可移动平台的编码器的故障检测方法，应用于所述可移动平台的控制设备，所述可移动平台包括用于给所述可移动平台提供移动的动力的电机、驱动所述电机转动的电机驱动器和用于检测所述电机的转动状态的编码器；所述方法包括：
向所述电机驱动器发送用于控制所述电机转动的第一控制指令；
在所述电机驱动器根据所述第一控制指令驱动所述电机转动的过程中，获取所述编码器检测到的所述电机的转动状态；
根据所述编码器检测到的所述电机的转动状态，对所述编码器进行故障检测。
本发明实施例的第二方面是提供一种可移动平台的控制设备，所述可移动平台包括用于给所述可移动平台提供移动的动力的电机、驱动所述电机转动的电机驱动器和用于检测所述电机的转动状态的编码器；
所述控制设备包括：存储器、处理器和通讯接口；
所述存储器用于存储程序代码；
所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以下操作：
通过所述通讯接口向所述电机驱动器发送用于控制所述电机转动的第一控制指令；
在所述电机驱动器根据所述第一控制指令驱动所述电机转动的过程中，获取所述编码器检测到的所述电机的转动状态；
根据所述编码器检测到的所述电机的转动状态，对所述编码器进行故障检测。
本发明实施例的第三方面是提供一种可移动平台，包括：
机身；
用于给所述可移动平台提供移动的动力的电机；
驱动所述电机转动的电机驱动器；
用于检测所述电机的转动状态的编码器；
以及第二方面所述的控制设备。
本发明实施例的第四方面是提供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以实现第一方面所述的方法。
本实施例提供的可移动平台的编码器的故障检测方法、设备及存储介质，通过该可移动平台的控制设备向该可移动平台的电机驱动器发送用于控制电机转动的第一控制指令，并在该电机驱动器根据该第一控制指令驱动该电机转动的过程中，获取该可移动平台中的编码器检测到的该电机的转动状态，并根据该编码器检测到的该电机的转动状态，对该编码器进行故障检测，相比于现有技术只通过对编码器的硬件检测，能够检测出硬件检测无法检测到的故障，提高了对编码器故障检测的精度。
附图说明
为了更清楚地说明本发明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一简单地介绍，显而易见地，下面描述中的附图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性的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例提供的应用场景的示意图；
图2为本发明实施例提供的一种动力系统的结构示意图；
图3为本发明实施例提供的另一种动力系统的结构示意图；
图4为本发明实施例提供的可移动平台的编码器的故障检测方法的流程图；
图5为本发明另一实施例提供的可移动平台的编码器的故障检测方法的流程图；
图6为本发明另一实施例提供的可移动平台的编码器的故障检测方法的流程图；
图7为本发明实施例提供的一种用户界面的示意图；
图8为本发明实施例提供的可移动平台的控制设备的结构图。
附图标记：
11：可移动机器人；    12：用户终端；     70：用户界面；
71：可移动机器人；      72：当前位置；     73：目标位置；
80：控制设备；           81：存储器；       82：处理器；
83：通讯接口。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，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，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。
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发明的 技术领域的技术人员通常理解的含义相同。本文中在本发明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，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
本发明实施例提供一种可移动平台的编码器的故障检测方法。该方法应用于所述可移动平台的控制设备，所述可移动平台包括用于给所述可移动平台提供移动的动力的电机、驱动所述电机转动的电机驱动器和用于检测所述电机的转动状态的编码器。
本实施例所述的可移动平台具体可以是可移动机器人、可移动小车、无人驾驶车辆、无人机等。下面以如图1所示的可移动机器人11为例进行示意性说明。如图1所示，该可移动机器人11可以由用户终端12进行控制。例如，用户可通过用户终端12向可移动机器人11发送控制指令，可移动机器人11根据该控制指令进行移动。本实施例并不限定用户终端12的产品形态，该用户终端12具体可以是智能手机、平板电脑、笔记本电脑等。
如图2所示，该可移动机器人11包括4个电机，每个电机与一个轮子连接，每个电机可以带动与其连接的轮子转动，轮子转动时，可移动机器人11移动，也就是说，电机可以给可移动机器人11提供移动的动力，具体的，可移动机器人11移动包括可移动机器人11平移和转动中的至少一种。另外，该可移动机器人11还包括驱动电机转动的电机驱动器，该电机驱动器具体可以是电机控制器、电子调速器等。该电机驱动器与该4个电机分别连接，该电机驱动器用于控制该4个电机转动。在其他实施例中，该可移动机器人11还可以包括多个电机驱动器，例如，一个电机连接有一个电机驱动器。此外，电机或轮子的个数也不限于是4个，例如，可以是3个、6个、8个等。此外，该可移动机器人11还可以包括编码器，该编码器用于检测电机的转动状态。该编码器可以理解为一种能够检测电机的转动状态，例如，转动角度、转动速度、转动圈数等参数的传感器。该编码器具体可以是霍尔传感器、光电码盘中的至少一种，其中，霍尔传 感器包括线性的霍尔传感器和开关式霍尔传感器等。
在一种可能的实现方式中，该编码器可以集成在该电机驱动器中，例如，该电机驱动器中可包括4个编码器，该4个编码器和该4个电机一一对应，每个编码器用于检测一个电机的转动状态。
在另一种可能的实现方式中，编码器可以集成在电机中，例如，4个电机中每个电机包括一个编码器。
在又一种可能的实现方式中，编码器可以不集成在电机和/或电机驱动器中，而是单独设置，例如，该可移动机器人11包括4个编码器，该4个编码器和该4个电机一一对应，每个编码器可以连接一个电机、以及该电机驱动器，如图3所示。
图4为本发明实施例提供的可移动平台的编码器的故障检测方法的流程图。本实施例提供的可移动平台的编码器的故障检测方法可应用于该可移动平台的控制设备。以如上所述的可移动机器人11为例，可移动机器人11的控制设备具体可以是控制可移动机器人11移动的设备，该控制设备具体可以是如图2和图3所示的底盘主控。该底盘主控可以与该电机驱动器通信连接，另外，该底盘主控还可以与用户终端通信连接。该用户终端和该底盘主控可以直接进行通信，也可以通过其他的通信设备或网元进行通信，例如，其他通信设备或网元将该用户终端发送的用户指令转发给该底盘主控。其中，该用户指令可以是用户通过该用户终端生成的用于控制可移动机器人11运动的用户指令。如图4所示，本实施例中的方法，可以包括：
步骤S401、向所述电机驱动器发送用于控制所述电机转动的第一控制指令。
例如，该底盘主控接收到用户终端发送的用户指令后，将该用户指令转换为控制电机转动的第一控制指令。可选的，该用户指令用于控制可移动机器人11的速度和/或角速度，该底盘主控根据该用户指令确定该用户对底盘的期望速度和/或该用户对底盘的期望角速度，其中，该期望速度是该用户期望底盘平移的速度。该期望角速度是该用户期望底盘转动的角速度。进一步，该底盘主控根据该用户对底盘的期望速度和/或该用户对底盘的期望角速度，采用逆运动学方程可确定出为了使可移动机器人11的速 度达到该期望速度和/或为了使可移动机器人11的角速度达到该期望角速度，该可移动机器人11的底盘的4个电机中每个电机需要达到的目标转速。该底盘主控根据该4个电机中每个电机需要达到的目标转速，向电机驱动器发送用于控制该4个电机转动的第一控制指令，使得电机驱动器驱动该4个电机中的每个电机转动，以使得该4个电机中的每个电机达到相应的目标转速。
步骤S402、在所述电机驱动器根据所述第一控制指令驱动所述电机转动的过程中，获取所述编码器检测到的所述电机的转动状态。
在该电机驱动器根据该第一控制指令驱动4个电机中的每个电机转动的过程中，每个电机对应的编码器可检测该电机的转动状态。可选的，所述电机的转动状态包括如下至少一种：所述电机的转动角度、所述电机的转动速度、所述电机的转动圈数。该电机驱动器可获取每个编码器检测到的相应电机的转动状态，并将每个电机的转动状态发送给底盘主控。
步骤S403、根据所述编码器检测到的所述电机的转动状态，对所述编码器进行故障检测。
当该底盘主控接收到每个电机的转动状态后，根据每个编码器检测到的相应电机的转动状态，对每个编码器进行故障检测。例如，在该电机驱动器根据该第一控制指令驱动4个电机中的每个电机转动的过程中，每个电机对应的编码器可实时检测该电机的转动速度。当该电机驱动器执行完该第一控制指令后，该底盘主控通过比较该电机的转动速度和该电机的目标转速，对该电机对应的编码器进行故障检测。具体的，如果该电机对应的编码器检测到的该电机的转动速度相对于该电机的目标转速的偏差较大，则确定该电机对应的编码器出现故障，否则，确定该电机对应的编码器正常。
本实施例通过该可移动平台的控制设备向该可移动平台的电机驱动器发送用于控制电机转动的第一控制指令，并在该电机驱动器根据该第一控制指令驱动该电机转动的过程中，获取该可移动平台中的编码器检测到的该电机的转动状态，并根据该编码器检测到的该电机的转动状态，对该编码器进行故障检测，相比于现有技术只通过对编码器的硬件检测，能够检测出硬件检测无法检测到的故障，提高了对编码器故障检测的精度。
本发明实施例提供一种可移动平台的编码器的故障检测方法。图5为本发明另一实施例提供的可移动平台的编码器的故障检测方法的流程图。如图5所示，在上述实施例的基础上，所述方法还包括：生成所述第一控制指令，其中，所述第一控制指令用于指示所述电机的目标转动状态。
例如，该底盘主控可在当前时刻通过编码器检测电机的当前转动状态，并根据该电机的当前转动状态，生成第一控制指令，该第一控制指令用于指示该电机的目标转动状态。
在本实施例中，所述生成所述第一控制指令之前，所述方法还包括：接收用户终端发送的触发指令；所述生成所述第一控制指令，包括：根据所述触发指令生成用于控制所述电机转动的所述第一控制指令。
例如，该用户终端上显示有用户界面，该用户界面包括预设按键或按钮，当该用户点击该用户界面上的预设按键或按钮时，该用户终端向该底盘主控发送触发指令，该底盘主控接收到该触发指令后，根据该触发指令生成用于控制电机转动的第一控制指令。例如，该底盘主控根据该触发指令生成用于控制电机转动360度的第一控制指令，并将该第一控制指令发送给电机驱动器，在该电机驱动器驱动该电机转动的过程中，该底盘主控获取该电机对应的编码器检测到的该电机的转动状态，例如，转动角度，进一步，根据该编码器检测到的该电机的转动角度，对该编码器进行故障检测。
所述根据所述编码器检测到的所述电机的转动状态，对所述编码器进行故障检测，包括：根据所述编码器检测到的所述电机的转动状态和所述电机的目标转动状态，对所述编码器进行故障检测。
例如，该底盘主控根据该编码器检测到的该电机的转动角度，对该编码器进行故障检测时,可根据该编码器检测到的该电机的转动角度和该电机的目标转动角度即360度，对该编码器进行故障检测。
可选的，所述根据所述编码器检测到的所述电机的转动状态和所述电机的目标转动状态，对所述编码器进行故障检测，包括：
步骤S501、确定所述编码器检测到的所述电机的转动状态与所述电机的目标转动状态之间的偏差。
例如，底盘主控确定该编码器检测到的该电机的转动角度和该电机的目标转动角度之间的偏差。
步骤S502、若所述偏差小于或等于预设值，则确定所述编码器未出现故障。
如果该编码器检测到的该电机的转动角度和该电机的目标转动角度之间的偏差小于或等于预设值，说明该编码器能够较为准确的检测出电机的转动角度，则确定该编码器未出现故障。
步骤S503、若所述偏差大于预设值，则确定所述编码器出现故障。
如果该编码器检测到的该电机的转动角度和该电机的目标转动角度之间的偏差大于预设值，说明该编码器不能准确的检测出电机的转动角度，则确定该编码器未出现故障。
可以理解，本实施例是以该编码器检测到的该电机的转动角度和该电机的目标转动角度之间的偏差为例进行示意性说明的，在其他实施例中，底盘主控生成的第一控制指令还可以是控制电机转动预设圈数的指令，此时，该偏差为该编码器检测到的该电机的转动圈数和该电机的目标转动圈数即该预设圈数之间的偏差。或者，在另外一些实施例中，底盘主控生成的第一控制指令还可以是控制电机以预设转速转动的指令，此时，该偏差为该编码器检测到的该电机的转动速度和该电机的目标转动速度即该预设转速之间的偏差。
需要说明的是，通过生成用于指示该电机的目标转动状态的第一控制指令，并将该第一控制指令发送给电机驱动器，使得该电机驱动器根据该第一控制指令驱动电机转动，并通过该编码器检测到的该电机的转动状态与该电机的目标转动状态之间的偏差，对该编码器进行故障检测，可能会存在一定的控制误差，但是在一定程度上并不影响对编码器的故障检测。
本实施例通过生成用于指示该电机的目标转动状态的第一控制指令，并将该第一控制指令发送给电机驱动器，使得该电机驱动器根据该第一控制指令驱动电机转动，在该电机驱动器驱动该电机转动的过程中，获取该电机对应的编码器检测到的该电机的转动状态，并根据该编码器检测到的该电机的转动状态与该电机的目标转动状态之间的偏差，通过该偏差可以准确的反映出该编码器是否出现故障，因此，进一步提高了对编码器故障 检测的精度。
本发明实施例提供一种可移动平台的编码器的故障检测方法。图6为本发明另一实施例提供的可移动平台的编码器的故障检测方法的流程图。如图6所示，在上述实施例的基础上，所述方法还包括：接收用户终端发送的用于控制所述可移动平台的第二控制指令；根据所述第二控制指令，确定所述可移动平台的目标航向和/或目标位置信息；根据所述可移动平台的目标航向和/或目标位置信息，生成用于控制所述电机转动的第一控制指令。
如图7所示为本实施例提供的一种用户界面的示意图，其中，70表示用户界面，71表示可移动机器人，72表示可移动机器人的当前位置，用户可通过滑动操作控制可移动机器人沿着箭头所示的方向移动到73所示的目标位置。相应的，该用户终端根据用户的滑动操作生成用于控制可移动机器人的第二控制指令，并将该第二控制指令发送给该可移动机器人的底盘主控。当该底盘主控接收到该第二控制指令后，根据该第二控制指令确定该可移动机器人的目标航向和/或目标位置信息，具体的，该目标航向具体可以是与虚线箭头对应的方向，该目标位置信息具体可以是与目标位置73对应的位置信息。进一步，该底盘主控根据该可移动机器人的目标航向和/或目标位置信息，生成控制该可移动机器人的电机转动的第一控制指令，并将该第一控制指令发送给该可移动机器人的电机驱动器，使得该电机驱动器根据该第一控制指令驱动电机转动。
所述在所述电机驱动器根据所述第一控制指令驱动所述电机转动的过程中，获取所述编码器检测到的所述电机的转动状态，包括：在所述电机驱动器根据所述第一控制指令驱动所述电机转动的过程中，获取所述编码器检测到的所述电机的转动状态和所述可移动平台上配置的运动传感器的传感数据。
在本实施例中，该可移动机器人还可以包括运动传感器，该运动传感器可以是除编码器之外的传感器。可选的，所述运动传感器包括如下至少一种：惯性测量单元(Inertial measurement unit，IMU)、视觉惯性里程计(visual-inertial odometry，VIO)、全球定位系统(Global Positioning System，GPS)。
当电机驱动器根据该第一控制指令驱动电机转动的过程中，编码器可以实时检测电机的转动状态，该运动传感器可实时输出传感数据。相应的，当电机驱动器根据该第一控制指令驱动电机转动的过程中，该底盘主控不仅可以获取到该编码器检测到的电机的转动状态，还可以获取到该运动传感器的传感数据。该底盘主控可根据该运动传感器的传感数据，确定该可移动机器人的航向和/或位置信息。在本实施例中，可以假定根据该运动传感器的传感数据确定的该可移动机器人的航向和/或位置信息是可靠的。
所述根据所述编码器检测到的所述电机的转动状态，对所述编码器进行故障检测，包括：根据所述编码器检测到的所述电机的转动状态和所述传感数据，对所述编码器进行故障检测。
当底盘主控根据该编码器检测到的电机的转动状态对该编码器进行故障检测时，具体的，可根据该编码器检测到的电机的转动状态和该运动传感器的传感数据，对该编码器进行故障检测。
可选的，所述根据所述编码器检测到的所述电机的转动状态和所述传感数据，对所述编码器进行故障检测，包括：
步骤S601、对所述编码器检测到的所述电机的转动状态和所述传感数据进行匹配运算。
可选的，所述对所述编码器检测到的所述电机的转动状态和所述传感数据进行匹配运算，包括：将所述传感数据转换为所述电机的参考转动状态；确定所述参考转动状态与所述编码器检测到的所述电机的转动状态之间的偏差；若所述偏差小于或等于预设值，则确定所述编码器检测到的所述电机的转动状态和所述传感数据匹配；若所述偏差大于预设值，则确定所述编码器检测到的所述电机的转动状态和所述传感数据不匹配。
例如，该底盘主控根据该运动传感器的传感数据，确定该可移动机器人的航向和/或位置信息。进一步，根据该可移动机器人的航向和/或位置信息，采用逆运动学方程确定出与该航向和/或位置信息对应的电机的参考转动状态，例如，电机应该产生的转速和/或转角。进一步，确定该电机的参考转动状态与该编码器检测到的电机的转动状态之间的偏差。如果该偏差小于或等于预设值，说明编码器的检测误差相对于运动传感器的检测误差并不大，此时可确定该编码器检测到的电机的转动状态和该运动传感 器的传感数据匹配。如果该偏差大于预设值，说明编码器的检测误差相对于运动传感器的检测误差较大，此时可确定该编码器检测到的电机的转动状态和该运动传感器的传感数据不匹配。
步骤S602、当确定所述编码器检测到的所述电机的转动状态和所述传感数据匹配时，确定所述编码器未出现故障。
例如，当该底盘主控确定该编码器检测到的电机的转动状态和该运动传感器的传感数据匹配时，可确定该编码器未出现故障。
步骤S603、当确定所述编码器检测到的所述电机的转动状态和所述传感数据不匹配时，确定所述编码器出现故障。
例如，当该底盘主控确定该编码器检测到的电机的转动状态和该运动传感器的传感数据不匹配时，可确定该编码器出现故障。
可以理解的是，在本实施例中，可移动机器人的工况和运动状态可能会对编码器的故障检测产生一定的误差，为了减小该误差，可以将该可移动机器人控制在标准的工况下，例如，将该可移动机器人控制在水平、慢速、轮子不打滑的状态下。在其他一些实施例中，用户还可以将该可移动机器人至于摩擦力适中的环境下。
本实施例通过将运动传感器的传感数据作为参考，对所述编码器检测到的所述电机的转动状态和所述传感数据进行匹配运算，当确定所述编码器检测到的所述电机的转动状态和所述传感数据匹配时，确定所述编码器未出现故障，当确定所述编码器检测到的所述电机的转动状态和所述传感数据不匹配时，确定所述编码器出现故障，不仅提高了对编码器故障检测的精度，还提高对编码器故障检测的灵活性。
本发明实施例提供一种可移动平台的编码器的故障检测方法。在上述实施例的基础上，所述可移动平台还包括：电信号采集电路，所述电信号采集电路用于采集所述编码器的电参数；所述方法还包括：获取所述电信号采集电路采集的所述编码器的电参数；所述向所述电机驱动器发送用于控制所述电机转动的第一控制指令，包括：当所述编码器的电参数异常时，向所述电机驱动器发送用于控制所述电机转动的第一控制指令。
例如，如上所述的可移动机器人还包括：电信号采集电路，该电信号 采集电路与编码器连接，该电信号采集电路可以采集该编码器的电参数，该底盘主控对该编码器进行故障检测时，可先获取该电信号采集电路采集的该编码器的电参数，当该编码器的电参数异常时，该底盘主控可确定该编码器的硬件可能出现了故障，进一步，该底盘主控向该可移动机器人的电机驱动器发送用于控制电机转动的第一控制指令，即执行如上所述的步骤S401-步骤S403。或者，当该编码器的电参数正常时，该底盘主控也可执行如上所述的步骤S401-步骤S403。
另外，所述方法还包括：当所述编码器的电参数异常时，向用户终端发送编码器故障提示信息。
例如，当底盘主控获取该电信号采集电路采集的该编码器的电参数，并确定该编码器的电参数异常时，向该用户终端发送编码器故障提示信息。用户根据该编码器故障提示信息可触发底盘主控执行如上所述的步骤S401-步骤S403。在其他实施例中，该底盘主控确定该编码器的电参数异常时，还可以将故障的编码器对应的电机的标识信息，例如编号发送给用户终端，使得用户及时通过如上所述的步骤S401-步骤S403对该编码器进行二次验证或直接更换。
此外，所述获取所述编码器检测到的所述电机的转动状态之后，所述方法还包括：将所述编码器检测到的所述电机的转动状态发送给所述用户终端。
例如，当该电机驱动器根据该第一控制指令驱动该电机转动的过程中，该底盘主控可以将其获取到的由编码器检测到的该电机的转动状态发送给用户终端，该用户终端接收到该电机的转动状态后，可在用户界面上可以显示该电机的转动状态，例如，显示该电机转动的进程和最终的角度。另外，该用户终端还可以在该用户界面上显示提示信息，以提示用户确认该角度是否正常。如果该用户确认该角度正常，则点击该用户界面上的确认按键或按钮完成对编码器的故障检测。如果该用户确认该角度不正常，则该用户还可以点击该用户界面上的重试按键或按钮对编码器进行重新检测。
此外，所述根据所述编码器检测到的所述电机的转动状态，对所述编码器进行故障检测之后，所述方法还包括：将所述编码器的故障检测结果 发送给所述用户终端。
例如，当该底盘主控通过该编码器检测到的该电机的转动状态与该电机的目标转动状态之间的偏差，对该编码器进行故障检测之后，还可以将故障检测结果发送给用户终端。
在一些实施例中，该底盘主控可以只将编码器检测到的电机的转动状态发送给用户终端，或者，只将编码器的故障检测结果发送给用户终端。
在其他一些实施例中，该用户界面还可以显示用于提示用户手动转动电机的提示信息，例如，该提示信息用于提示用户手动转动电机360度即一圈。用户根据该提示信息手动转动电机，在该电机转动的过程中，该电机对应的编码器检测该电机的转动状态，例如，转动角度，并通过底盘主控将该转动角度发送给用户终端，使得该用户界面可显示该电机的转动角度。
当用户手动转动电机结束后，该用户终端可确定该编码器检测到的该电机的转动角度与360度之间的偏差，如果该偏差大于预设值，则确定该编码器故障，如果该偏差小于或等于预设值，则确定该编码器未出现故障。可以理解，通过手动转动电机可能会引入一定的转动误差，但在一定程度上不影响对编码器的故障检测。
此外，当该用户终端对该编码器故障检测完成后，还可以将故障检测结果显示在该用户界面上，或者，将编码器检测到的电机的最终转动角度显示在该用户界面上，并提示用户确认该电机的最终转动角度是否正常。若正常，则完成对编码器的故障检测，若不正常，则该用户还可以重新对该编码器进行故障检测。
本实施例通过电信号采集电路采集编码器的电参数，根据该编码器的电参数还可以对该编码器的硬件故障进行检测，在该编码器硬件故障时，进一步，向该可移动平台的电机驱动器发送用于控制电机转动的第一控制指令，并在该电机驱动器根据该第一控制指令驱动该电机转动的过程中，获取该可移动平台中的编码器检测到的该电机的转动状态，并根据该编码器检测到的该电机的转动状态，对该编码器进行故障检测，进一步提高了对编码器故障检测的精度。另外，将所述编码器检测到的所述电机的转动状态发送给所述用户终端，和/或，将故障检测结果发送给用户终端，以 便用户能够及时发现故障的编码器，并采用相应的保护措施，提高了可移动平台的安全性。
本发明实施例提供一种可移动平台的编码器的故障检测方法。在上述实施例的基础上，所述方法还包括：若所述编码器出现故障，确定所述可移动平台是否还配置有工作状态正确且用于输出位置信息和/或速度信息的运动传感器；若所述可移动平台配置有所述运动传感器，则向用户终端发送编码器故障提示信息。
例如，可移动机器人上可能设置有如上所述的可靠的运动传感器，也有可能未设置有该运动传感器。当该底盘主控根据如上所述的方法，确定出编码器出现故障时，还可以确定该可移动机器人是否配置有工作状态正确且用于输出位置信息和/或速度信息的运动传感器。若该可移动机器人配置有该运动传感器，则说明即使在该编码器故障的情况下，该可移动机器人也可以根据该运动传感器正常移动。此时，该底盘主控可以向用户终端发送编码器故障提示信息。
若所述可移动平台未配置有所述运动传感器，且所述控制设备不需要根据所述编码器检测到的所述电机的转动状态控制所述电机，则继续控制所述电机转动；若所述可移动平台未配置有所述运动传感器，且所述控制设备需要根据所述编码器检测到的所述电机的转动状态控制所述电机，则控制所述电机停止转动。
当该可移动机器人未配置有该运动传感器时，则需要确定该底盘主控是否需要根据编码器检测到的所述电机的转动状态控制所述电机，例如，确定该底盘主控是否需要根据编码器检测到的所述电机的转动状态进行闭环控制，如果在该可移动机器人未配置有该运动传感器的情况下，该底盘主控不需要根据编码器检测到的所述电机的转动状态进行闭环控制，则该底盘主控可以继续控制该4个电机转动。如果在该可移动机器人未配置有该运动传感器的情况下，该底盘主控需要根据编码器检测到的所述电机的转动状态进行闭环控制，则当该编码器故障时，该底盘主控需要限制该4个电机转动，例如，控制该4个电机停止转动，以避免由于编码器故障，导致该底盘主控采用错误的编码器反馈信息控制电机造成的可移动平台 无法安全移动的问题，进一步提高了可移动平台的安全性。
本发明实施例提供一种可移动平台的控制设备。所述可移动平台包括用于给所述可移动平台提供移动的动力的电机、驱动所述电机转动的电机驱动器和用于检测所述电机的转动状态的编码器；图8为本发明实施例提供的可移动平台的控制设备的结构图，如图8所示，该控制设备80包括：存储器81、处理器82和通讯接口83；存储器81用于存储程序代码；处理器82，调用所述程序代码，当程序代码被执行时，用于执行以下操作：通过通讯接口83向所述电机驱动器发送用于控制所述电机转动的第一控制指令；在所述电机驱动器根据所述第一控制指令驱动所述电机转动的过程中，获取所述编码器检测到的所述电机的转动状态；根据所述编码器检测到的所述电机的转动状态，对所述编码器进行故障检测。
可选的，所述电机的转动状态包括如下至少一种：所述电机的转动角度、所述电机的转动速度、所述电机的转动圈数。
可选的，处理器82还用于：生成所述第一控制指令，其中，所述第一控制指令用于指示所述电机的目标转动状态；处理器82根据所述编码器检测到的所述电机的转动状态，对所述编码器进行故障检测时，具体用于：根据所述编码器检测到的所述电机的转动状态和所述电机的目标转动状态，对所述编码器进行故障检测。
可选的，处理器82根据所述编码器检测到的所述电机的转动状态和所述电机的目标转动状态，对所述编码器进行故障检测时，具体用于：确定所述编码器检测到的所述电机的转动状态与所述电机的目标转动状态之间的偏差；若所述偏差小于或等于预设值，则确定所述编码器未出现故障；若所述偏差大于预设值，则确定所述编码器出现故障。
可选的，处理器82生成所述第一控制指令之前，还用于：通过通讯接口83接收用户终端发送的触发指令；处理器82生成所述第一控制指令时，具体用于：根据所述触发指令生成用于控制所述电机转动的所述第一控制指令。
可选的，处理器82在所述电机驱动器根据所述第一控制指令驱动所述电机转动的过程中，获取所述编码器检测到的所述电机的转动状态时， 具体用于：在所述电机驱动器根据所述第一控制指令驱动所述电机转动的过程中，获取所述编码器检测到的所述电机的转动状态和所述可移动平台上配置的运动传感器的传感数据；处理器82根据所述编码器检测到的所述电机的转动状态，对所述编码器进行故障检测时，具体用于：根据所述编码器检测到的所述电机的转动状态和所述传感数据，对所述编码器进行故障检测。
可选的，处理器82根据所述编码器检测到的所述电机的转动状态和所述传感数据，对所述编码器进行故障检测时，具体用于：对所述编码器检测到的所述电机的转动状态和所述传感数据进行匹配运算；当确定所述编码器检测到的所述电机的转动状态和所述传感数据匹配时，确定所述编码器未出现故障；当确定所述编码器检测到的所述电机的转动状态和所述传感数据不匹配时，确定所述编码器出现故障。
可选的，处理器82对所述编码器检测到的所述电机的转动状态和所述传感数据进行匹配运算时，具体用于：将所述传感数据转换为所述电机的参考转动状态；确定所述参考转动状态与所述编码器检测到的所述电机的转动状态之间的偏差；若所述偏差小于或等于预设值，则确定所述编码器检测到的所述电机的转动状态和所述传感数据匹配；若所述偏差大于预设值，则确定所述编码器检测到的所述电机的转动状态和所述传感数据不匹配。
可选的，处理器82还用于：通过通讯接口83接收用户终端发送的用于控制所述可移动平台的第二控制指令；根据所述第二控制指令，确定所述可移动平台的目标航向和/或目标位置信息；根据所述可移动平台的目标航向和/或目标位置信息，生成用于控制所述电机转动的第一控制指令。
可选的，所述可移动平台还包括：电信号采集电路，所述电信号采集电路用于采集所述编码器的电参数；处理器82还用于：获取所述电信号采集电路采集的所述编码器的电参数；处理器82通过通讯接口83向所述电机驱动器发送用于控制所述电机转动的第一控制指令时，具体用于：当所述编码器的电参数异常时，通过通讯接口83向所述电机驱动器发送用于控制所述电机转动的第一控制指令。
可选的，处理器82还用于：当所述编码器的电参数异常时，通过通 讯接口83向用户终端发送编码器故障提示信息。
可选的，处理器82还用于：若所述编码器出现故障，确定所述可移动平台是否还配置有工作状态正确且用于输出位置信息和/或速度信息的运动传感器；若所述可移动平台配置有所述运动传感器，则向用户终端发送编码器故障提示信息。
可选的，处理器82还用于：若所述可移动平台未配置有所述运动传感器，且所述控制设备不需要根据所述编码器检测到的所述电机的转动状态控制所述电机，则继续控制所述电机转动；若所述可移动平台未配置有所述运动传感器，且所述控制设备需要根据所述编码器检测到的所述电机的转动状态控制所述电机，则控制所述电机停止转动。
可选的，所述运动传感器包括如下至少一种：惯性测量单元IMU、视觉惯性里程计VIO、全球定位系统GPS。
可选的，处理器82获取所述编码器检测到的所述电机的转动状态之后，还用于：通过通讯接口83将所述编码器检测到的所述电机的转动状态发送给所述用户终端。
可选的，处理器82根据所述编码器检测到的所述电机的转动状态，对所述编码器进行故障检测之后，还用于：通过通讯接口83将所述编码器的故障检测结果发送给所述用户终端。
本发明实施例提供的控制设备的具体原理和实现方式均与上述实施例类似，此处不再赘述。
本实施例通过该可移动平台的控制设备向该可移动平台的电机驱动器发送用于控制电机转动的第一控制指令，并在该电机驱动器根据该第一控制指令驱动该电机转动的过程中，获取该可移动平台中的编码器检测到的该电机的转动状态，并根据该编码器检测到的该电机的转动状态，对该编码器进行故障检测，相比于现有技术只通过对编码器的硬件检测，能够检测出硬件检测无法检测到的故障，提高了对编码器故障检测的精度。
本发明实施例提供一种可移动平台。该可移动平台包括：机身；用于给所述可移动平台提供移动的动力的电机；驱动所述电机转动的电机驱动器；用于检测所述电机的转动状态的编码器；以及上述实施例所述的控制 设备。该控制设备可执行如上所述的可移动平台的编码器的故障检测方法，具体过程与实现原理如上所述，此处不再赘述。
另外，本实施例还提供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以实现上述实施例所述的可移动平台的编码器的故障检测方法。
在本发明所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。
上述以软件功能单元的形式实现的集成的单元，可以存储在一个计算机可读取存储介质中。上述软件功能单元存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(processor)执行本发明各个实施例所述方法的部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
本领域技术人员可以清楚地了解到，为描述的方便和简洁，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功 能分配由不同的功能模块完成，即将装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。上述描述的装置的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (34)

  1. 一种可移动平台的编码器的故障检测方法，其特征在于，所述可移动平台包括用于给所述可移动平台提供移动的动力的电机、驱动所述电机转动的电机驱动器和用于检测所述电机的转动状态的编码器，所述方法包括：
    向所述电机驱动器发送用于控制所述电机转动的第一控制指令；
    在所述电机驱动器根据所述第一控制指令驱动所述电机转动的过程中，获取所述编码器检测到的所述电机的转动状态；
    根据所述编码器检测到的所述电机的转动状态，对所述编码器进行故障检测。
  2. 根据权利要求1所述的方法，其特征在于，所述电机的转动状态包括如下至少一种：
    所述电机的转动角度、所述电机的转动速度、所述电机的转动圈数。
  3. 根据权利要求1或2所述的方法，其特征在于，所述方法还包括：
    生成所述第一控制指令，其中，所述第一控制指令用于指示所述电机的目标转动状态；
    所述根据所述编码器检测到的所述电机的转动状态，对所述编码器进行故障检测，包括：
    根据所述编码器检测到的所述电机的转动状态和所述电机的目标转动状态，对所述编码器进行故障检测。
  4. 根据权利要求3所述的方法，其特征在于，所述根据所述编码器检测到的所述电机的转动状态和所述电机的目标转动状态，对所述编码器进行故障检测，包括：
    确定所述编码器检测到的所述电机的转动状态与所述电机的目标转动状态之间的偏差；
    若所述偏差小于或等于预设值，则确定所述编码器未出现故障；
    若所述偏差大于预设值，则确定所述编码器出现故障。
  5. 根据权利要求3或4所述的方法，其特征在于，所述生成所述第一控制指令之前，所述方法还包括：
    接收用户终端发送的触发指令；
    所述生成所述第一控制指令，包括：
    根据所述触发指令生成用于控制所述电机转动的所述第一控制指令。
  6. 根据权利要求1或2所述的方法，其特征在于，所述在所述电机驱动器根据所述第一控制指令驱动所述电机转动的过程中，获取所述编码器检测到的所述电机的转动状态，包括：
    在所述电机驱动器根据所述第一控制指令驱动所述电机转动的过程中，获取所述编码器检测到的所述电机的转动状态和所述可移动平台上配置的运动传感器的传感数据；
    所述根据所述编码器检测到的所述电机的转动状态，对所述编码器进行故障检测，包括：
    根据所述编码器检测到的所述电机的转动状态和所述传感数据，对所述编码器进行故障检测。
  7. 根据权利要求6所述的方法，其特征在于，所述根据所述编码器检测到的所述电机的转动状态和所述传感数据，对所述编码器进行故障检测，包括：
    对所述编码器检测到的所述电机的转动状态和所述传感数据进行匹配运算；
    当确定所述编码器检测到的所述电机的转动状态和所述传感数据匹配时，确定所述编码器未出现故障；
    当确定所述编码器检测到的所述电机的转动状态和所述传感数据不匹配时，确定所述编码器出现故障。
  8. 根据权利要求7所述的方法，其特征在于，所述对所述编码器检测到的所述电机的转动状态和所述传感数据进行匹配运算，包括：
    将所述传感数据转换为所述电机的参考转动状态；
    确定所述参考转动状态与所述编码器检测到的所述电机的转动状态之间的偏差；
    若所述偏差小于或等于预设值，则确定所述编码器检测到的所述电机的转动状态和所述传感数据匹配；
    若所述偏差大于预设值，则确定所述编码器检测到的所述电机的转动状态和所述传感数据不匹配。
  9. 根据权利要求6-8任一项所述的方法，其特征在于，所述方法还包括：
    接收用户终端发送的用于控制所述可移动平台的第二控制指令；
    根据所述第二控制指令，确定所述可移动平台的目标航向和/或目标位置信息；
    根据所述可移动平台的目标航向和/或目标位置信息，生成用于控制所述电机转动的第一控制指令。
  10. 根据权利要求1-9任一项所述的方法，其特征在于，所述可移动平台还包括：电信号采集电路，所述电信号采集电路用于采集所述编码器的电参数；
    所述方法还包括：
    获取所述电信号采集电路采集的所述编码器的电参数；
    所述向所述电机驱动器发送用于控制所述电机转动的第一控制指令，包括：
    当所述编码器的电参数异常时，向所述电机驱动器发送用于控制所述电机转动的第一控制指令。
  11. 根据权利要求10所述的方法，其特征在于，所述方法还包括：
    当所述编码器的电参数异常时，向用户终端发送编码器故障提示信息。
  12. 根据权利要求1-11任一项所述的方法，其特征在于，所述方法还包括：
    若所述编码器出现故障，确定所述可移动平台是否还配置有工作状态正确且用于输出位置信息和/或速度信息的运动传感器；
    若所述可移动平台配置有所述运动传感器，则向用户终端发送编码器故障提示信息。
  13. 根据权利要求12所述的方法，其特征在于，所述方法还包括：
    若所述可移动平台未配置有所述运动传感器，且所述控制设备不需要根据所述编码器检测到的所述电机的转动状态控制所述电机，则继续控制所述电机转动；
    若所述可移动平台未配置有所述运动传感器，且所述控制设备需要根据所述编码器检测到的所述电机的转动状态控制所述电机，则控制所述电 机停止转动。
  14. 根据权利要求6-9、12、13任一项所述的方法，其特征在于，所述运动传感器包括如下至少一种：
    惯性测量单元IMU、视觉惯性里程计VIO、全球定位系统GPS。
  15. 根据权利要求1-14任一项所述的方法，其特征在于，所述获取所述编码器检测到的所述电机的转动状态之后，所述方法还包括：将所述编码器检测到的所述电机的转动状态发送给用户终端。
  16. 根据权利要求1-15任一项所述的方法，其特征在于，所述根据所述编码器检测到的所述电机的转动状态，对所述编码器进行故障检测之后，所述方法还包括：
    将所述编码器的故障检测结果发送给用户终端。
  17. 一种可移动平台的控制设备，其特征在于，所述可移动平台包括用于给所述可移动平台提供移动的动力的电机、驱动所述电机转动的电机驱动器和用于检测所述电机的转动状态的编码器；
    所述控制设备包括：存储器、处理器和通讯接口；
    所述存储器用于存储程序代码；
    所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以下操作：
    通过所述通讯接口向所述电机驱动器发送用于控制所述电机转动的第一控制指令；
    在所述电机驱动器根据所述第一控制指令驱动所述电机转动的过程中，获取所述编码器检测到的所述电机的转动状态；
    根据所述编码器检测到的所述电机的转动状态，对所述编码器进行故障检测。
  18. 根据权利要求17所述的控制设备，其特征在于，所述电机的转动状态包括如下至少一种：
    所述电机的转动角度、所述电机的转动速度、所述电机的转动圈数。
  19. 根据权利要求17或18所述的控制设备，其特征在于，所述处理器还用于：
    生成所述第一控制指令，其中，所述第一控制指令用于指示所述电机 的目标转动状态；
    所述处理器根据所述编码器检测到的所述电机的转动状态，对所述编码器进行故障检测时，具体用于：
    根据所述编码器检测到的所述电机的转动状态和所述电机的目标转动状态，对所述编码器进行故障检测。
  20. 根据权利要求19所述的控制设备，其特征在于，所述处理器根据所述编码器检测到的所述电机的转动状态和所述电机的目标转动状态，对所述编码器进行故障检测时，具体用于：
    确定所述编码器检测到的所述电机的转动状态与所述电机的目标转动状态之间的偏差；
    若所述偏差小于或等于预设值，则确定所述编码器未出现故障；
    若所述偏差大于预设值，则确定所述编码器出现故障。
  21. 根据权利要求19或20所述的控制设备，其特征在于，所述处理器生成所述第一控制指令之前，还用于：
    通过所述通讯接口接收用户终端发送的触发指令；
    所述处理器生成所述第一控制指令时，具体用于：
    根据所述触发指令生成用于控制所述电机转动的所述第一控制指令。
  22. 根据权利要求17或18所述的控制设备，其特征在于，所述处理器在所述电机驱动器根据所述第一控制指令驱动所述电机转动的过程中，获取所述编码器检测到的所述电机的转动状态时，具体用于：
    在所述电机驱动器根据所述第一控制指令驱动所述电机转动的过程中，获取所述编码器检测到的所述电机的转动状态和所述可移动平台上配置的运动传感器的传感数据；
    所述处理器根据所述编码器检测到的所述电机的转动状态，对所述编码器进行故障检测时，具体用于：
    根据所述编码器检测到的所述电机的转动状态和所述传感数据，对所述编码器进行故障检测。
  23. 根据权利要求22所述的控制设备，其特征在于，所述处理器根据所述编码器检测到的所述电机的转动状态和所述传感数据，对所述编码器进行故障检测时，具体用于：
    对所述编码器检测到的所述电机的转动状态和所述传感数据进行匹配运算；
    当确定所述编码器检测到的所述电机的转动状态和所述传感数据匹配时，确定所述编码器未出现故障；
    当确定所述编码器检测到的所述电机的转动状态和所述传感数据不匹配时，确定所述编码器出现故障。
  24. 根据权利要求23所述的控制设备，其特征在于，所述处理器对所述编码器检测到的所述电机的转动状态和所述传感数据进行匹配运算时，具体用于：
    将所述传感数据转换为所述电机的参考转动状态；
    确定所述参考转动状态与所述编码器检测到的所述电机的转动状态之间的偏差；
    若所述偏差小于或等于预设值，则确定所述编码器检测到的所述电机的转动状态和所述传感数据匹配；
    若所述偏差大于预设值，则确定所述编码器检测到的所述电机的转动状态和所述传感数据不匹配。
  25. 根据权利要求22-24任一项所述的控制设备，其特征在于，所述处理器还用于：
    通过所述通讯接口接收用户终端发送的用于控制所述可移动平台的第二控制指令；
    根据所述第二控制指令，确定所述可移动平台的目标航向和/或目标位置信息；
    根据所述可移动平台的目标航向和/或目标位置信息，生成用于控制所述电机转动的第一控制指令。
  26. 根据权利要求17-25任一项所述的控制设备，其特征在于，所述可移动平台还包括：电信号采集电路，所述电信号采集电路用于采集所述编码器的电参数；
    所述处理器还用于：
    获取所述电信号采集电路采集的所述编码器的电参数；
    所述处理器通过所述通讯接口向所述电机驱动器发送用于控制所述 电机转动的第一控制指令时，具体用于：
    当所述编码器的电参数异常时，通过所述通讯接口向所述电机驱动器发送用于控制所述电机转动的第一控制指令。
  27. 根据权利要求26所述的控制设备，其特征在于，所述处理器还用于：
    当所述编码器的电参数异常时，通过所述通讯接口向用户终端发送编码器故障提示信息。
  28. 根据权利要求17-27任一项所述的控制设备，其特征在于，所述处理器还用于：
    若所述编码器出现故障，确定所述可移动平台是否还配置有工作状态正确且用于输出位置信息和/或速度信息的运动传感器；
    若所述可移动平台配置有所述运动传感器，则向用户终端发送编码器故障提示信息。
  29. 根据权利要求28所述的控制设备，其特征在于，所述处理器还用于：
    若所述可移动平台未配置有所述运动传感器，且所述控制设备不需要根据所述编码器检测到的所述电机的转动状态控制所述电机，则继续控制所述电机转动；
    若所述可移动平台未配置有所述运动传感器，且所述控制设备需要根据所述编码器检测到的所述电机的转动状态控制所述电机，则控制所述电机停止转动。
  30. 根据权利要求22-25、28、29任一项所述的控制设备，其特征在于，所述运动传感器包括如下至少一种：
    惯性测量单元IMU、视觉惯性里程计VIO、全球定位系统GPS。
  31. 根据权利要求17-30任一项所述的控制设备，其特征在于，所述处理器获取所述编码器检测到的所述电机的转动状态之后，还用于：
    通过所述通讯接口将所述编码器检测到的所述电机的转动状态发送给用户终端。
  32. 根据权利要求17-31任一项所述的控制设备，其特征在于，所述处理器根据所述编码器检测到的所述电机的转动状态，对所述编码器进行 故障检测之后，还用于：
    通过所述通讯接口将所述编码器的故障检测结果发送给用户终端。
  33. 一种可移动平台，其特征在于，包括：
    机身；
    用于给所述可移动平台提供移动的动力的电机；
    驱动所述电机转动的电机驱动器；
    用于检测所述电机的转动状态的编码器；
    以及权利要求17-32任一项所述的控制设备。
  34. 一种计算机可读存储介质，其特征在于，其上存储有计算机程序，所述计算机程序被处理器执行以实现权利要求1-16任一项所述的方法。
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