Control method and device of three-axis turntable, terminal equipment and storage medium

Abstract

The application is suitable for the technical field of computer application, and provides a control method and device of a three-axis turntable and terminal equipment, comprising: obtaining a target product project identifier corresponding to a measured product, wherein the measured product refers to a product tested in the three-axis turntable; then obtaining target motion posture configuration data corresponding to the target product project identifier from a configuration database corresponding to the three-axis turntable according to the target product project identifier; finally, controlling the three-axis turntable to run according to the target motion posture configuration data, so as to test the measured product in the running process of the three-axis turntable. Thus, the three-axis turntable is controlled by automatically obtaining the target motion posture configuration data corresponding to the measured product project identifier, so that the control efficiency of the three-axis turntable is improved, the user is facilitated to operate, and the user experience is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of computer application, and particularly relates to a control method and device of a three-axis turntable and a terminal device. BACKGROUND

[0002] An inertial measurement unit (IMU) is a device for measuring the three-axis attitude angle (or angular rate) and acceleration of an object. The inertial measurement unit is widely used in navigation systems, such as unmanned aerial vehicles, guided missiles, navigation systems for ships, spacecraft, and satellites. With the continuous development of technology, the inertial measurement unit is increasingly applied to the field of life products, such as virtual reality glasses.

[0003] In the related art, a three-axis turntable is often used to test and calibrate inertial technology products. However, in the control method of a general three-axis turntable, the operating parameters of the three-axis turntable need to be manually configured again for each product to be tested, which results in low control efficiency of the three-axis turntable, is inconvenient for users to operate, and affects user experience. SUMMARY

[0004] The embodiments of the present application provide a control method and device of a three-axis turntable and a terminal device, which can solve the problem that in the control method of a general three-axis turntable, the operating parameters of the three-axis turntable need to be manually set in advance when each product is tested, which results in low operating efficiency of the three-axis turntable and poor operability and experience of users.

[0005] In a first aspect, the embodiments of the present application provide a control method of a three-axis turntable, including: obtaining a target product project identifier corresponding to a product to be tested, wherein the product to be tested is a product to be tested on a three-axis turntable; obtaining target motion attitude configuration data corresponding to the target product project identifier from a configuration database corresponding to the three-axis turntable according to the target product project identifier; and controlling the three-axis turntable to operate according to the target motion attitude configuration data, so as to test the product to be tested during operation of the three-axis turntable.

[0006] In a possible implementation manner of the first aspect, the target motion attitude configuration data includes a plurality of sets of attitude angle data and motion speed parameters of the three-axis turntable within a preset test duration, wherein the preset test duration includes a plurality of time stamps, and each time stamp corresponds to a set of attitude angle data and motion speed parameters.

[0007] Optionally, in a further possible implementation form of the first aspect, the attitude angle data comprises angle data between the three-axis turntable and each coordinate axis in the preset three-dimensional coordinate system, and the motion speed parameter comprises at least one of the following data: acceleration duration, deceleration duration, acceleration during acceleration, acceleration during deceleration, maximum speed and minimum speed, and skipped position during motion.

[0008] Optionally, in a further possible implementation form of the first aspect, before the controlling the three-axis turntable to run according to the target motion attitude configuration data, the method further comprises:

[0009] performing automatic level finding on the three-axis turntable according to a preset horizontal position corresponding to the three-axis turntable, to determine an initial position of the three-axis turntable.

[0010] Optionally, in a further possible implementation form of the first aspect, the controlling the three-axis turntable to run according to the target motion attitude configuration data comprises:

[0011] controlling the three-axis turntable to start motion from the initial position according to the target motion attitude configuration data.

[0012] Optionally, in a further possible implementation form of the first aspect, after the controlling the three-axis turntable to run according to the target motion attitude configuration data, the method further comprises:

[0013] collecting real-time attitude data of the three-axis turntable and real-time attitude data of the product under test according to a preset frequency during running of the three-axis turntable.

[0014] generating an attitude report corresponding to the three-axis turntable according to the real-time attitude data of the three-axis turntable.

[0015] generating an attitude report corresponding to the product under test according to the real-time attitude data of the product under test.

[0016] Optionally, in a further possible implementation form of the first aspect, the real-time attitude data comprises real-time attitude angle and real-time acceleration.

[0017] Optionally, in a further possible implementation form of the first aspect, after the controlling the three-axis turntable to run according to the target motion attitude configuration data, the method further comprises:

[0018] collecting real-time attitude data of the three-axis turntable according to a preset frequency during running of the three-axis turntable.

[0019] displaying a digital twin model corresponding to the three-axis turntable in a visual interface according to the real-time attitude data of the three-axis turntable, to display running of the three-axis turntable in real time.

[0020] Optionally, in a further possible implementation manner of the first aspect, the target motion posture configuration data further comprises a motion safety parameter, the three-axis turntable is edge-mounted with a grating, the motion safety parameter comprises a grating triggering condition, and after the three-axis turntable is controlled to run according to the target motion posture configuration data, the method further comprises:

[0021] judging whether the grating is triggered according to the grating triggering condition;

[0022] controlling the three-axis turntable to stop running when the grating is triggered.

[0023] Optionally, in a further possible implementation manner of the first aspect, the target motion posture configuration data further comprises a motion safety parameter, the three-axis turntable comprises an emergency stop switch, the motion safety parameter comprises an emergency stop switch triggering condition, and after the three-axis turntable is controlled to run according to the target motion posture configuration data, the method further comprises:

[0024] judging whether the emergency stop switch is triggered according to the emergency stop switch triggering condition;

[0025] controlling the three-axis turntable to stop running when the emergency stop switch is triggered.

[0026] In the second aspect, the embodiments of the present application provide a control device of a three-axis turntable, comprising: a first acquisition module configured to acquire a target product item identifier corresponding to a measured product, wherein the measured product refers to a product to be tested on the three-axis turntable; a second acquisition module configured to acquire, according to the target product item identifier, target motion posture configuration data corresponding to the target product item identifier from a configuration database corresponding to the three-axis turntable; and a first control module configured to control the three-axis turntable to run according to the target motion posture configuration data, so as to test the measured product in a running process of the three-axis turntable.

[0027] In a possible implementation manner of the second aspect, the target motion posture configuration data comprises a plurality of sets of posture angle data and motion speed parameters of the three-axis turntable within a preset test duration, wherein the preset test duration comprises a plurality of time stamps, and each time stamp corresponds to a set of posture angle data and motion speed parameters.

[0028] Optionally, in a further possible implementation manner of the second aspect, the posture angle data comprises angle data between the three-axis turntable and each coordinate axis in a preset three-dimensional coordinate system, and the motion speed parameter comprises at least one of the following data: an acceleration duration, a deceleration duration, an acceleration during acceleration, an acceleration during deceleration, a maximum speed and a minimum speed, and a skipped position during motion.

[0029] Optionally, in a further possible implementation manner of the second aspect, the device further comprises:

[0030] The first determining module is configured to perform automatic level finding processing on the three-axis turntable according to a preset horizontal position corresponding to the three-axis turntable, so as to determine an initial position of the three-axis turntable.

[0031] Optionally, in another possible implementation manner of the second aspect, the first control module comprises:

[0032] The first control unit is configured to control the three-axis turntable to start moving from the initial position according to the target motion posture configuration data.

[0033] Optionally, in another possible implementation manner of the second aspect, the device further comprises:

[0034] The first acquisition module is configured to acquire real-time posture data of the three-axis turntable and real-time posture data of the product under test in a preset frequency during operation of the three-axis turntable.

[0035] The first generation module is configured to generate a posture report corresponding to the three-axis turntable according to the real-time posture data of the three-axis turntable.

[0036] The second generation module is configured to generate a posture report corresponding to the product under test according to the real-time posture data of the product under test.

[0037] Optionally, in another possible implementation manner of the second aspect, the real-time posture data comprises real-time posture angle and real-time acceleration.

[0038] Optionally, in another possible implementation manner of the second aspect, the device further comprises:

[0039] The second acquisition module is configured to acquire real-time posture data of the three-axis turntable in a preset frequency during operation of the three-axis turntable.

[0040] The first display module is configured to display a digital twin model corresponding to the three-axis turntable in a visual interface according to the real-time posture data of the three-axis turntable, so as to display the operation of the three-axis turntable in real time.

[0041] Optionally, in another possible implementation manner of the second aspect, the target motion posture configuration data further comprises a motion safety parameter, an optical grating is mounted on an edge of the three-axis turntable, the motion safety parameter comprises an optical grating triggering condition, and correspondingly, the device further comprises:

[0042] The first judgment module is configured to judge whether the optical grating is triggered according to the optical grating triggering condition.

[0043] The second control module is configured to control the three-axis turntable to stop operation when the optical grating is triggered.

[0044] Optionally, in a further possible implementation manner of the second aspect, the target motion posture configuration data further comprises a motion safety parameter, the three-axis turntable comprises an emergency stop switch, the motion safety parameter comprises an emergency stop switch triggering condition, and correspondingly, the apparatus further comprises:

[0045] a second judging module, configured to judge whether the emergency stop switch is triggered according to the emergency stop switch triggering condition;

[0046] a third control module, configured to control the three-axis turntable to stop running when the emergency stop switch is triggered.

[0047] In a third aspect, an embodiment of the present application provides a terminal device, comprising a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor implements the control method of the three-axis turntable as described above when running the computer program.

[0048] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is characterized in that the computer program is executed by a processor to implement the control method of the three-axis turntable as described above.

[0049] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when running on a terminal device, causes the terminal device to execute the control method of the three-axis turntable according to any one of the first aspect.

[0050] Compared with the prior art, the embodiment of the present application has the beneficial effects that: the three-axis turntable is controlled by automatically acquiring the target motion posture configuration data corresponding to the product to be tested, which avoids the problem that in the conventional control method of the three-axis turntable, the running parameters of the three-axis turntable need to be manually configured again for each product to be tested, thereby leading to low control efficiency of the three-axis turntable, inconvenience for users to operate and low user experience, thereby improving the control efficiency of the three-axis turntable, facilitating users to operate and improving user experience. BRIEF DESCRIPTION OF DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0052] Figure 1 is a flowchart of the control method of the three-axis turntable provided by an embodiment of the present application;

[0053] Figure 2is a flowchart of a control method of a three-axis turntable provided by another embodiment of the present application;

[0054] Figure 3 is a flowchart of a control method of a three-axis turntable provided by another embodiment of the present application;

[0055] Figure 4 is a flowchart of a control method of a three-axis turntable provided by another embodiment of the present application;

[0056] Figure 5 is a structural diagram of a control device of a three-axis turntable provided by an embodiment of the present application;

[0057] Figure 6 is a structural diagram of a terminal device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0058] In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0059] It should be understood that the term “includes” when used in the specification and the appended claims herein, specifies the presence of stated features, integers, steps, operations, elements, and / or components but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0060] It should also be understood that the term “and / or” when used in the specification and the appended claims herein, means any one or more of the associated listed items can be present, and includes multiples of those items when the context allows.

[0061] As used in the description of the application and the appended claims herein, the term “if’ can be interpreted as meaning “when” or “upon” or “in response to determining” or “in response to detecting,” depending on the context. Similarly, the phrase “if it is determined” or “if [the described condition or event] is detected” can be interpreted as meaning “upon determining” or “in response to determining” or “upon detecting [the described condition or event]” or “in response to detecting [the described condition or event],” depending on the context.

[0062] In addition, in the description of the application and the appended claims herein, the terms “first,” “second,” “third,” etc. are used only to distinguish descriptions, and cannot be understood as indicating or implying relative importance.

[0063] Reference within the specification to "one embodiment" or "some embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. The appearances of the phrase "in one embodiment" or "in some embodiments" in various places within specified

[0064] Figure 1 A flowchart of a control method of a three-axis turntable is shown.

[0065] In step 101, a target product item identifier corresponding to a product under test is acquired.

[0066] It should be noted that the control method of the three-axis turntable in the embodiments of the present application can be executed by the control device of the three-axis turntable in the embodiments of the present application. The control device of the three-axis turntable in the embodiments of the present application can be configured in any terminal device to execute the control method of the three-axis turntable in the embodiments of the present application.

[0067] The product under test can be a product carried in the three-axis turntable for testing. For example, the product under test can include a product carrying an inertial measurement unit, such as a virtual reality glasses, an augmented reality glasses, etc.

[0068] The target product item identifier can be used to represent a product category or a product model to which the product under test belongs. Different product item identifiers can correspond to different product models or different product categories. Different product item identifiers can also correspond to different product models or different product categories in the same category.

[0069] In the embodiments of the present application, the user can input a product item identifier according to the current product under test, and the acquired user input product item identifier is used as the target product item identifier.

[0070] In step 102, target motion posture configuration data corresponding to the target product item identifier is acquired from a configuration database corresponding to the three-axis turntable according to the target product item identifier.

[0071] The configuration database can be a database storing motion posture configuration data of the three-axis turntable corresponding to each type of product under test. In actual use, the user can configure the motion posture of the three-axis turntable for each type of product under test according to actual needs.

[0072] The target motion posture configuration data can be motion posture configuration data corresponding to the three-axis turntable configured in advance.

[0073] In the embodiment of the application, after the target product item identifier is determined, the motion posture configuration data matched with the target product item identifier can be obtained from the configuration database according to the target product item identifier as the target motion posture configuration data.

[0074] The target product item identifier can be determined, and the target motion posture configuration data corresponding to the product under test can be obtained from the configuration database of the three-axis turntable according to the target product item identifier.

[0075] Further, the target motion posture configuration data includes a plurality of sets of posture angle data and motion speed parameters of the three-axis turntable within a preset test duration, wherein the preset test duration includes a plurality of time stamps, and each time stamp corresponds to a set of posture angle data and motion speed parameters.

[0076] It should be noted that the user can preset the test duration for testing each product, that is, the preset test duration. For example, the preset test duration can be 10 minutes or 20 minutes.

[0077] The time stamp can be a plurality of time points in the preset test duration. For example, the preset test duration can be set to 10 minutes, and a time stamp can be set every 5 seconds. Thus, the time stamps can be 5 seconds, 10 seconds, 15 seconds, 20 seconds, and the like.

[0078] In the embodiment of the application, when the motion posture configuration data of the three-axis turntable is configured, the posture angle data and motion speed parameters corresponding to the three-axis turntable at each time stamp can be set, so that the three-axis turntable moves to a preset position in the motion process.

[0079] Further, the posture angle data includes angle data between the three-axis turntable and each coordinate axis in the preset three-dimensional coordinate system, and the motion speed parameter includes at least one of the following data: acceleration duration, deceleration duration, acceleration during acceleration, acceleration during deceleration, maximum speed and minimum speed, and skipped position during motion.

[0080] It should be noted that the preset three-dimensional coordinate system can be a three-dimensional coordinate system composed of a pitch axis, a roll axis, and a yaw axis. The posture angle data can be angle data between the three-axis turntable and the pitch axis, the roll axis, and the yaw axis during the motion process.

[0081] The acceleration duration can refer to the time during which the three-axis turntable accelerates between the timestamp and the next timestamp. For example, when the preset test duration is ten minutes, a timestamp is set every 5 seconds, and the acceleration time of the timestamp corresponding to the 5th second is 2 seconds, the acceleration duration from the 5th second to the 10th second is 2 seconds.

[0082] The deceleration duration can refer to the time during which the three-axis turntable decelerates between the timestamp and the next timestamp. For example, when the preset test duration is ten minutes, a timestamp is set every 5 seconds, and the deceleration time of the timestamp corresponding to the 5th second is 2 seconds, the deceleration duration from the 5th second to the 10th second is 2 seconds.

[0083] The acceleration at the acceleration time can refer to the acceleration during which the three-axis turntable accelerates between the timestamp and the next timestamp. For example, when the preset test duration is ten minutes, a timestamp is set every 5 seconds, and the acceleration of the timestamp corresponding to the 5th second is 1 meter per square second, the acceleration at the acceleration time from the 5th second to the 10th second is 1 meter per square second.

[0084] The deceleration at the deceleration time can refer to the deceleration during which the three-axis turntable decelerates between the timestamp and the next timestamp. For example, when the preset test duration is ten minutes, a timestamp is set every 5 seconds, and the deceleration of the timestamp corresponding to the 5th second is 1 meter per square second, the deceleration at the deceleration time from the 5th second to the 10th second is 1 meter per square second.

[0085] The maximum speed can refer to the maximum speed reached by the three-axis turntable between the timestamp and the next timestamp. For example, when the preset test duration is ten minutes, a timestamp is set every 5 seconds, and the maximum speed of the timestamp corresponding to the 5th second is 2 meters per second, the maximum speed from the 5th second to the 10th second is 2 meters per second.

[0086] The minimum speed can refer to the minimum speed reached by the three-axis turntable between the timestamp and the next timestamp. For example, when the preset test duration is ten minutes, a timestamp is set every 5 seconds, and the minimum speed of the timestamp corresponding to the 5th second is 2 meters per second, the minimum speed from the 5th second to the 10th second is 2 meters per second.

[0087] The motion-in-passing position can be a point position that the three-axis turntable must pass through in each timestamp within the preset test duration. For example, when the preset test duration is ten minutes and a timestamp is set every 5 seconds, the motion-in-passing position of the timestamp corresponding to the 5th second can be a position of 30 degrees of the three-axis turntable at the 5th second, and a position of 60 degrees of the three-axis turntable at the 10th second. The motion-in-passing position refers to a position that the three-axis turntable must pass through when moving from 30 degrees to 60 degrees.

[0088] In step 103, the three-axis turntable is controlled to run according to the target motion posture configuration data, so as to test the product under test in the running process of the three-axis turntable.

[0089] In the embodiment of the present application, after the target motion posture configuration data corresponding to the product under test is obtained, the three-axis turntable is controlled according to the target motion posture configuration data, so that the three-axis turntable moves according to the target motion posture configuration data. In the process of movement, the data of the product under test can be collected in real time to calibrate or test the product under test.

[0090] Further, the target motion posture configuration data further includes a motion safety parameter, a grating is installed at the edge of the three-axis turntable, and the motion safety parameter includes a grating triggering condition. In one possible implementation manner of the embodiment of the present application, after step 103, the method further includes:

[0091] determining whether the grating is triggered according to the grating triggering condition;

[0092] controlling the three-axis turntable to stop running when the grating is triggered.

[0093] In the embodiment of the present application, the grating is installed at the edge of the three-axis turntable. When the grating is triggered, it indicates that someone approaches the running three-axis turntable. At this time, the three-axis turntable is controlled to stop running to ensure the safety of personnel.

[0094] Further, the target motion posture configuration data further includes a motion safety parameter, and an emergency stop switch is included in the three-axis turntable. The motion safety parameter includes an emergency stop switch triggering condition. In one possible implementation manner of the embodiment of the present application, after step 103, the method further includes:

[0095] determining whether the emergency stop switch is triggered according to the emergency stop switch triggering condition;

[0096] controlling the three-axis turntable to stop running when the emergency stop switch is triggered.

[0097] In the embodiment of the present application, the emergency stop switch is included in the three-axis turntable. When the emergency stop switch is triggered, it indicates that an emergency occurs in the running process of the three-axis turntable. At this time, the three-axis turntable is controlled to stop running to ensure the safety of personnel.

[0098] The control method of the three-axis turntable provided in the application first acquires the target product item identifier corresponding to the product under test, then acquires the target motion posture configuration data corresponding to the target product item identifier from the configuration database corresponding to the three-axis turntable according to the target product item identifier, and finally controls the three-axis turntable to operate according to the target motion posture configuration data, so as to test the product under test in the operation process of the three-axis turntable. In this way, the control efficiency of the three-axis turntable is improved by automatically acquiring the target motion posture configuration data corresponding to the product item identifier to control the three-axis turntable.

[0099] In a possible implementation form of the application, the three-axis turntable can be automatically leveled before the operation of the three-axis turntable to determine the initial motion position of the three-axis turntable. In this way, the posture data acquired by the three-axis turntable in the operation process is more accurate, and the accuracy of the product test by the three-axis turntable is improved.

[0100] The control method of the three-axis turntable provided in the application will be further described below. Figure 2 The control method of the three-axis turntable provided in the application will be further described below.

[0101] Figure 2 A flowchart of another control method of a three-axis turntable provided in an embodiment of the application is shown.

[0102] In step 201, the target product item identifier corresponding to the product under test is acquired.

[0103] In step 202, the target motion posture configuration data corresponding to the target product item identifier is acquired from the configuration database corresponding to the three-axis turntable according to the target product item identifier.

[0104] The specific implementation process and principles of steps 201-202 described above can be referred to the detailed description of the above embodiments, which will not be described here again.

[0105] In step 203, the three-axis turntable is automatically leveled according to the preset horizontal position corresponding to the three-axis turntable to determine the initial position of the three-axis turntable.

[0106] In the embodiment of the application, the three-axis turntable can be leveled according to the preset horizontal position before each test starts, and the leveled position is determined as the initial position of the three-axis turntable. After the initial position is determined, the three-axis turntable is controlled to start motion from the initial position according to the target motion posture configuration data.

[0107] In order to obtain more accurate data by testing the product under test through the three-axis turntable, the three-axis turntable is leveled according to the preset horizontal position corresponding to the three-axis turntable to determine the initial position of the three-axis turntable, and then the three-axis turntable is controlled to test the product under test.

[0108] In step 204, according to the target motion posture configuration data, the three-axis turntable is controlled to start motion from the initial position to test the product under test in the running process of the three-axis turntable.

[0109] In the embodiments of the present application, in order to make the data obtained by the three-axis turntable when testing the product under test more accurate, after obtaining the target motion posture configuration data corresponding to the product under test, the three-axis turntable is controlled to start motion from the initial position.

[0110] The control method of the three-axis turntable provided by the present application first obtains the target product item identifier corresponding to the product under test, then according to the target product item identifier, obtains the target motion posture configuration data corresponding to the target product item identifier from the configuration database corresponding to the three-axis turntable, then according to the preset horizontal position corresponding to the three-axis turntable, performs automatic leveling processing on the three-axis turntable to determine the initial position of the three-axis turntable, and finally according to the target motion posture configuration data, controls the three-axis turntable to start motion from the initial position to test the product under test in the running process of the three-axis turntable. Therefore, the three-axis turntable can be automatically leveled before running to determine the initial motion position of the three-axis turntable, so that the posture data obtained by the three-axis turntable in the running process is more accurate, and the accuracy of product testing by the three-axis turntable is improved.

[0111] In a possible implementation form of the present application, the posture report of the product under test and the three-axis turntable can be received and generated in real time in the running process of the three-axis turntable, so that the user can master the running situation of the three-axis turntable in real time, facilitating the user to operate and improving the user experience.

[0112] In step 301, the target product item identifier corresponding to the product under test is obtained.

[0113] In step 302, according to the target product item identifier, the target motion posture configuration data corresponding to the target product item identifier is obtained from the configuration database corresponding to the three-axis turntable.

[0114] In step 303, according to the target motion posture configuration data, the three-axis turntable is controlled to run to test the product under test in the running process of the three-axis turntable.

[0115] The specific implementation process and principles of the above steps 301-303 can refer to the detailed description of the above embodiments, which will not be described here.

[0116] In step 304, in the running process of the three-axis turntable, real-time posture data of the three-axis turntable and real-time posture data of the product under test are collected at a preset frequency.

[0117] The preset frequency can refer to the frequency of data collection that is preset in advance. For example, if the preset test duration is 10 minutes and the collection frequency is once every 5 seconds, then during the operation of the three-axis turntable, data will be collected once every 5 seconds from the start of the test.

[0118] Real-time attitude data can refer to the attitude data collected in real time during the movement of a three-axis rotary table, which may include real-time attitude angles and real-time acceleration.

[0119] In this embodiment of the application, in order to obtain the attitude data of the three-axis turntable itself and the attitude data of the product under test more accurately and in real time during the operation of the three-axis turntable, the frequency of data collection is set in advance before the three-axis turntable starts running. For example, the preset frequency is once every 5 seconds. Then, when the three-axis turntable starts running, the real-time attitude data of the three-axis turntable and the product under test will be collected once every 5 seconds.

[0120] Step 305: Generate an attitude report for the three-axis turntable based on the real-time attitude data of the three-axis turntable.

[0121] In this embodiment of the application, in order to allow users to view, record and trace the attitude data of the three-axis turntable in real time during operation, an attitude report corresponding to the three-axis turntable can be generated based on the real-time attitude data of the three-axis turntable, so that users can view and compare it.

[0122] Step 306: Generate an attitude report for the product under test based on the real-time attitude data of the product under test.

[0123] In this embodiment of the application, in order to allow users to view, record and trace the attitude data of the product under test in real time during operation, an attitude report corresponding to the product under test can be generated based on the real-time attitude data of the product under test, so that users can view and compare it.

[0124] The three-axis rotary table control method provided in this application first obtains the target product item identifier corresponding to the product under test (DUT). Then, based on the target product item identifier, it retrieves the target motion posture configuration data corresponding to the target product item identifier from the configuration database corresponding to the three-axis rotary table. Next, based on the target motion posture configuration data, it controls the operation of the three-axis rotary table to test the DUT during the operation of the three-axis rotary table. Then, during the operation of the three-axis rotary table, it collects real-time posture data of the three-axis rotary table and the DUT at a preset frequency. Finally, it generates a posture report corresponding to the three-axis rotary table based on the real-time posture data of the three-axis rotary table, and a posture report corresponding to the DUT based on the real-time posture data of the DUT. This allows for the real-time reception and generation of posture reports for both the DUT and the three-axis rotary table during operation, enabling users to monitor the operation of the three-axis rotary table in real time, facilitating user operation and improving the user experience.

[0125] In another possible implementation form of the application, the corresponding digital model can be generated in the visualization interface by real-time acquired attitude data of the three-axis turntable, so that the user can more intuitively observe the dynamic picture of the three-axis turntable in the movement process, thereby improving the user experience.

[0126] The control method of the three-axis turntable provided by the embodiments of the application will be further described below. Figure 4 The control method of the three-axis turntable provided by the embodiments of the application will be further described below.

[0127] Figure 4 A flowchart of another control method of a three-axis turntable provided by the embodiments of the application is shown.

[0128] In step 401, a target product item identifier corresponding to the product under test is acquired.

[0129] In step 402, according to the target product item identifier, target motion attitude configuration data corresponding to the target product item identifier is acquired from a configuration database corresponding to the three-axis turntable.

[0130] In step 403, according to the target motion attitude configuration data, the three-axis turntable is controlled to run, so as to test the product under test in the running process of the three-axis turntable.

[0131] The specific implementation process and principles of the above steps 401-403 can refer to the detailed description of the above embodiments, which will not be described here.

[0132] In step 404, according to real-time attitude data of the three-axis turntable, a digital twin model corresponding to the three-axis turntable is displayed in a visualization interface, so as to display the running condition of the three-axis turntable in real time.

[0133] The digital twin model can be a digital model generated according to real-time acquired real-time attitude data of the three-axis turntable.

[0134] In the embodiments of the application, the real-time attitude data of the three-axis turntable can be acquired, and a corresponding digital twin model can be generated in the visualization interface according to the real-time attitude data of the three-axis turntable, so as to display the running condition of the three-axis turntable in real time, and the user can more intuitively observe the motion picture of the three-axis turntable.

[0135] The control method of the three-axis turntable provided in the application first acquires a target product item identifier corresponding to a measured product, then acquires target motion posture configuration data corresponding to the target product item identifier from a configuration database corresponding to the three-axis turntable according to the target product item identifier, then controls the three-axis turntable to run according to the target motion posture configuration data, so as to test the measured product during the running of the three-axis turntable, and finally displays a digital twin model corresponding to the three-axis turntable in a visual interface according to real-time posture data of the three-axis turntable, so as to display the running of the three-axis turntable in real time. In this way, the corresponding digital model can be generated in the visual interface by the real-time acquired posture data of the three-axis turntable, so that the user can more intuitively observe the dynamic picture of the three-axis turntable during the motion, thereby improving the user experience.

[0136] It should be understood that the size of the serial number of each step in the above embodiments does not mean the order of execution, and the execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the application.

[0137] The control method of the three-axis turntable corresponding to the above embodiment, Figure 5 The structural block diagram of the control device of the three-axis turntable provided in the embodiments of the application is shown, and only the parts related to the embodiments of the application are shown for ease of illustration.

[0138] Referring to Figure 5 The device 500 comprises:

[0139] The first acquisition module 501 is configured to acquire a target product item identifier corresponding to a measured product, wherein the measured product refers to a product carried in the three-axis turntable for testing.

[0140] The second acquisition module 502 is configured to acquire target motion posture configuration data corresponding to the target product item identifier from a configuration database corresponding to the three-axis turntable according to the target product item identifier.

[0141] The first control module 503 is configured to control the three-axis turntable to run according to the target motion posture configuration data, so as to test the measured product during the running of the three-axis turntable.

[0142] In actual use, the control device of the three-axis turntable provided in the embodiments of the application can be configured in any terminal device to execute the control method of the three-axis turntable.

[0143] The control device of the three-axis turntable provided in the application first acquires a target product item identifier corresponding to a measured product, wherein the measured product refers to a product tested in the three-axis turntable, then acquires target motion posture configuration data corresponding to the target product item identifier from a configuration database corresponding to the three-axis turntable according to the target product item identifier, and finally controls the three-axis turntable to operate according to the target motion posture configuration data, so as to test the measured product in the operation process of the three-axis turntable. In this way, the three-axis turntable is controlled by automatically acquiring the target motion posture configuration data corresponding to the measured product item identifier, and the control efficiency of the three-axis turntable is improved.

[0144] In a possible implementation manner of the embodiment of the application, the target motion posture configuration data includes a plurality of sets of posture angle data and motion speed parameters of the three-axis turntable within a preset test duration, wherein the preset test duration includes a plurality of time stamps, and each time stamp corresponds to a set of posture angle data and motion speed parameters.

[0145] Further, in another possible implementation manner of the embodiment of the application, the posture angle data includes angle data between the three-axis turntable and each coordinate axis in a preset three-dimensional coordinate system, and the motion speed parameter includes at least one of the following data: acceleration duration, deceleration duration, acceleration during acceleration, acceleration during deceleration, maximum speed and minimum speed, and skipped position during motion.

[0146] Further, in another possible implementation manner of the embodiment of the application, the device 500 further includes:

[0147] The first determination module 504 is configured to perform automatic level finding processing on the three-axis turntable according to a preset horizontal position corresponding to the three-axis turntable, so as to determine an initial position of the three-axis turntable.

[0148] Further, in another possible implementation manner of the embodiment of the application, the first control module 503 includes:

[0149] The first control unit is configured to control the three-axis turntable to start motion from the initial position according to the target motion posture configuration data.

[0150] Further, in another possible implementation manner of the embodiment of the application, the device 500 further includes:

[0151] The first acquisition module 505 is configured to acquire real-time posture data of the three-axis turntable and real-time posture data of the measured product at a preset frequency during the operation of the three-axis turntable.

[0152] The first generation module 506 is configured to generate a posture report corresponding to the three-axis turntable according to the real-time posture data of the three-axis turntable.

[0153] The second generation module 507 is configured to generate a posture report corresponding to the product under test according to the real-time posture data of the product under test.

[0154] Further, in another possible implementation of the embodiment of the application, the real-time posture data includes a real-time posture angle and real-time acceleration.

[0155] Further, in another possible implementation of the embodiment of the application, the apparatus 500 further includes:

[0156] The second acquisition module 508 is configured to acquire real-time posture data of the three-axis turntable at a preset frequency during operation of the three-axis turntable.

[0157] The first display module 509 is configured to display a digital twin model corresponding to the three-axis turntable in a visual interface according to the real-time posture data of the three-axis turntable, so as to display the operation of the three-axis turntable in real time.

[0158] Further, in another possible implementation of the embodiment of the application, the target motion posture configuration data further includes a motion safety parameter, the three-axis turntable is provided with a grating, the motion safety parameter includes a grating triggering condition, and correspondingly, the apparatus 500 further includes:

[0159] The first judgment module 510 is configured to judge whether the grating is triggered according to the grating triggering condition.

[0160] The second control module 511 is configured to control the three-axis turntable to stop operation when the grating is triggered.

[0161] Further, in another possible implementation of the embodiment of the application, the target motion posture configuration data further includes a motion safety parameter, the three-axis turntable includes an emergency stop switch, the motion safety parameter includes an emergency stop switch triggering condition, and correspondingly, the apparatus 500 further includes:

[0162] The second judgment module 512 is configured to judge whether the emergency stop switch is triggered according to the emergency stop switch triggering condition.

[0163] The third control module 513 is configured to control the three-axis turntable to stop operation when the emergency stop switch is triggered.

[0164] It should be noted that the information interaction, execution process and the like between the above apparatuses / units are based on the same concept as the method embodiments of the application, and the specific functions and the technical effects brought by the same can be referred to the method embodiments part, which will not be described here.

[0165] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional units and modules is taken as an example, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction, and do not limit the protection scope of the present application. The specific working process of the units and modules in the system can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

[0166] In order to realize the above-mentioned embodiments, the present application further provides a terminal device.

[0167] Figure 6 The structural schematic diagram of the terminal device of one embodiment of the present application.

[0168] As Figure 6 shown, the terminal device 200 includes:

[0169] The memory 210 and at least one processor 220, the bus 230 connecting different components including the memory 210 and the processor 220, the memory 210 storing a computer program, when the processor 220 executes the program, realizing the control method of the three-axis turntable described in the embodiments of the present application.

[0170] The bus 230 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of a variety of bus structures. For example, these architectures include but are not limited to industry standard architecture (ISA) bus, micro channel architecture (MAC) bus, enhanced ISA bus, video electronics standards association (VESA) local bus, and peripheral component interconnect (PCI) bus.

[0171] The terminal device 200 typically includes a variety of electronic device readable media. These media can be any available media that can be accessed by the terminal device 200, including volatile and non-volatile media, removable and non-removable media.

[0172] Memory 210 may also include computer system readable media in the form of volatile memory, such as random access memory (RAM) 240 and / or cache memory 250. Terminal device 200 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 260 may be used to read and write non-removable, non-volatile magnetic media (…). Figure 6 Not shown; usually referred to as a "hard drive"). Although Figure 6 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk") and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 230 via one or more data media interfaces. Memory 210 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of this application.

[0173] A program / utility 280 having a set (at least one) of program modules 270 may be stored in, for example, memory 210. Such program modules 270 include—but are not limited to—an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 270 typically perform the functions and / or methods described in the embodiments of this application.

[0174] Terminal device 200 can also communicate with one or more external devices 290 (e.g., keyboard, pointing device, display 291, etc.), and with one or more devices that enable a user to interact with terminal device 200, and / or with any device that enables terminal device 200 to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed via input / output (I / O) interface 292. Furthermore, terminal device 200 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 293. As shown, network adapter 293 communicates with other modules of terminal device 200 via bus 230. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with terminal device 200, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0175] The processor 220 performs various functional applications and data processing by running programs stored in the memory 210.

[0176] It should be noted that the implementation process and technical principles of the terminal device in this embodiment are described above in the control method of the three-axis rotary table of the embodiments of the application, and will not be described here.

[0177] The computer readable storage medium of the embodiments of the application also stores a computer program, and the computer program is executed by the processor to implement the steps in each of the above method embodiments.

[0178] The computer program product of the embodiments of the application, when running on the terminal device, causes the terminal device to execute the steps in each of the above method embodiments.

[0179] The integrated unit, if realized in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the above embodiment methods can be completed by a computer program instructing related hardware, and the computer program can be stored in a computer readable storage medium. The computer program, when executed by a processor, can implement the steps of each of the above method embodiments. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or some intermediate forms. The computer readable medium at least includes any entity or device capable of carrying the computer program code to the photographing device / terminal device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium. For example, U disk, mobile hard disk, magnetic disk or optical disk, etc. In some jurisdictions, according to legislation and patent practice, the computer readable medium cannot be an electrical carrier signal and a telecommunication signal.

[0180] In the above embodiments, the description of each embodiment has its own focus, and the parts not described or recorded in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0181] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the application.

[0182] In the embodiments provided by the present application, it should be understood that the disclosed apparatus / terminal device and method can be implemented in other manners. For example, the embodiments of the apparatus / terminal device described above are merely schematic, and the division of the modules or units is merely logical function division, and there can be another division manner in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between the units can be indirect couplings or communication connections through some interfaces, devices or units, and can be electrical, mechanical or in other forms.

[0183] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purposes of the embodiments.

[0184] The above-described embodiments are merely used to illustrate the technical solutions of the present application, but not limit the present application; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalent replacements; and these modifications or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A control method for a three-axis rotary table, characterized in that, include: Obtain the target product item identifier corresponding to the product under test, wherein the product under test refers to the product that is tested on a three-axis rotary table; Based on the target product item identifier, the target motion posture configuration data corresponding to the target product item identifier is obtained from the configuration database corresponding to the three-axis turntable. The configuration database pre-stores motion posture configuration data corresponding to multiple product item identifiers. The target motion posture configuration data includes multiple sets of posture angle data and motion speed parameters of the three-axis turntable within a preset test duration. The preset test duration includes multiple timestamps, and each timestamp corresponds to a set of posture angle data and motion speed parameters. Based on the target motion posture configuration data, the three-axis turntable is controlled to run sequentially according to the multiple sets of posture angle data and motion speed parameters, so as to test the product under test during the operation of the three-axis turntable.

2. The method as described in claim 1, characterized in that, The attitude angle data includes the angle data between the three-axis turntable and each coordinate axis in the preset three-dimensional coordinate system, and the motion speed parameters include at least one of the following: acceleration duration, deceleration duration, acceleration during acceleration, acceleration during deceleration, maximum speed and minimum speed, and positions skipped during motion.

3. The method as described in claim 1, characterized in that, Before controlling the operation of the three-axis rotary table according to the target motion posture configuration data, the method further includes: Based on the preset horizontal position corresponding to the three-axis turntable, the three-axis turntable is automatically leveled to determine the initial position of the three-axis turntable; The step of controlling the operation of the three-axis turntable according to the target motion posture configuration data includes: Based on the target motion posture configuration data, the three-axis turntable is controlled to start moving from the initial position.

4. The method as described in claim 1, characterized in that, After controlling the operation of the three-axis turntable according to the target motion posture configuration data, the method further includes: During the operation of the three-axis rotary table, real-time attitude data of the three-axis rotary table and real-time attitude data of the product under test are collected at a preset frequency. Based on the real-time attitude data of the three-axis rotary table, generate an attitude report corresponding to the three-axis rotary table; Based on the real-time attitude data of the product under test, an attitude report corresponding to the product under test is generated.

5. The method as described in claim 4, characterized in that, The real-time attitude data includes real-time attitude angles and real-time acceleration.

6. The method as described in claim 1, characterized in that, After controlling the operation of the three-axis turntable according to the target motion posture configuration data, the method further includes: During the operation of the three-axis turntable, real-time attitude data of the three-axis turntable is collected at a preset frequency; Based on the real-time attitude data of the three-axis rotary table, a digital twin model corresponding to the three-axis rotary table is displayed in the visualization interface to show the operation status of the three-axis rotary table in real time.

7. The method according to any one of claims 1-6, characterized in that, The target motion posture configuration data also includes motion safety parameters. A grating is installed on the edge of the three-axis turntable. The motion safety parameters include grating trigger conditions. After controlling the operation of the three-axis turntable according to the target motion posture configuration data, the process further includes: Determine whether the grating is triggered based on the grating triggering conditions; When the grating is triggered, the three-axis turntable is controlled to stop running.

8. The method according to any one of claims 1-6, characterized in that, The target motion posture configuration data also includes motion safety parameters. The three-axis rotary table includes an emergency stop switch, and the motion safety parameters include emergency stop switch trigger conditions. After controlling the operation of the three-axis rotary table according to the target motion posture configuration data, the process further includes: Determine whether the emergency stop switch has been triggered based on the aforementioned emergency stop switch triggering conditions; When the emergency stop switch is triggered, the three-axis rotary table is controlled to stop running.

9. A control device for a three-axis rotary table, characterized in that, include: The first acquisition module is used to acquire the target product item identifier corresponding to the product under test, wherein the product under test refers to the product that is tested on a three-axis turntable; The second acquisition module is used to acquire target motion posture configuration data corresponding to the target product item identifier from the configuration database corresponding to the three-axis turntable according to the target product item identifier; the configuration database pre-stores motion posture configuration data corresponding to multiple product item identifiers; the target motion posture configuration data includes multiple sets of posture angle data and motion speed parameters of the three-axis turntable within a preset test duration, the preset test duration includes multiple timestamps, each timestamp corresponding to a set of posture angle data and motion speed parameters; the first control module is used to control the three-axis turntable to run sequentially according to the multiple sets of posture angle data and motion speed parameters according to the target motion posture configuration data, so as to test the product under test during the operation of the three-axis turntable.

10. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method as described in any one of claims 1 to 8.

11. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 8.

Images