Robot and abnormal vibration detection method, system, device and medium

Abstract

The present disclosure provides a method, system, device, and medium for detecting abnormal vibration of a robot and the same. The detection method comprises: obtaining the output signals of the motors of each joint of the target robot at different times under a preset input signal; obtaining a first comparison value between the preset input signal and the output signal within a preset time period; and determining that the target robot has abnormal vibration when the first comparison value meets a preset abnormal vibration condition. The method for detecting abnormal vibration of a robot provided by the present disclosure determines whether the target robot has abnormal vibration based on whether the first comparison value between the output signals of the motors of each joint of the target robot at different times under a preset input signal meets a preset abnormal vibration condition.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics, and in particular to a robot and a method, system, device, and medium for detecting abnormal vibration of the robot. Background Art

[0002] Abnormal robot vibration can be caused by a variety of factors, including mechanical failure, electronic failure, imbalance, control issues, external interference, workload, and software issues. These factors can cause the robot's components to become unstable, leading to vibration. To monitor abnormal vibration, existing technologies require specialized vibration sensors to identify and analyze the vibration signals.

[0003] However, to meet the stringent requirements of industry and scientific research, specialized vibration sensors must possess high precision, stability, and reliability. These sensors are often expensive, leading to high maintenance costs for robots. Furthermore, due to the limitations of vibration sensors, it is difficult to accurately locate the source of abnormal vibrations in multi-jointed robots. Summary of the Invention

[0004] In order to solve the above technical problems, the present disclosure provides a robot and a method, system, device and medium for detecting abnormal vibration of the robot.

[0005] The present disclosure solves the above technical problems through the following technical solutions:

[0006] In a first aspect, the present disclosure provides a method for detecting abnormal vibration of a robot. The detection method comprises:

[0007] Obtain the output signals of the motors of each joint of the target robot at different times under the preset input signals;

[0008] Obtaining a first comparison value between the preset input signal and the output signal within a preset time period;

[0009] When the first comparison value meets a preset abnormal vibration condition, it is determined that the target robot has abnormal vibration.

[0010] Optionally, the preset input signal is a current signal or a speed signal.

[0011] Optionally, after the step of determining whether the target robot has abnormal vibration, the method further includes:

[0012] Based on the output signals of the respective joint motors, corresponding output signal frequency domain data is generated;

[0013] Determining a corresponding target signal amplitude according to the frequency domain data of the output signal of each of the motors; wherein the target signal amplitude is greater than a first set value;

[0014] Obtaining a second comparison value between the target signal amplitude within the preset time and the preset input signal corresponding to the motor;

[0015] A target motor generating abnormal vibration is determined according to the second comparison value; wherein the second comparison value is greater than a second set value.

[0016] Optionally, when the first comparison value meets a preset abnormal vibration condition, the step of determining that the target robot has abnormal vibration includes:

[0017] Counting the number of oscillations in which the first comparison value is greater than a third set value;

[0018] If the oscillation frequency is greater than a fourth set value, it is determined that the target robot has abnormal vibration;

[0019] and / or,

[0020] When the first comparison value presents a preset periodic oscillation state within the preset time, it is determined that the target robot has abnormal vibration.

[0021] In a second aspect, the present disclosure provides a system for detecting abnormal vibration of a robot. The detection system comprises:

[0022] A data acquisition module is used to obtain the output signals of the motors of each joint of the target robot at different times under the preset input signal;

[0023] a first data comparison module, configured to obtain a first comparison value between the preset input signal and the output signal within a preset time period;

[0024] The vibration detection module is configured to determine that abnormal vibration occurs in the target robot when the first comparison value meets a preset abnormal vibration condition.

[0025] Optionally, the preset input signal is a current signal or a speed signal.

[0026] Optionally, the detection system further includes:

[0027] A first analysis module is configured to generate corresponding output signal frequency domain data based on the output signals of the motors of the respective joints;

[0028] a second analysis module, configured to determine a corresponding target signal amplitude based on the frequency domain data of the output signal of each of the motors; wherein the target signal amplitude is greater than a first set value;

[0029] a second data comparison module, used in the calculation module, for obtaining a second comparison value between the target signal amplitude within the preset time and the preset input signal corresponding to the motor;

[0030] A vibration positioning module is used to determine a target motor that generates abnormal vibration according to the second comparison value; wherein the second comparison value is greater than a second set value.

[0031] Optionally, the vibration detection module is used to:

[0032] Counting the number of oscillations in which the first comparison value is greater than a third set value;

[0033] If the oscillation frequency is greater than a fourth set value, it is determined that the target robot has abnormal vibration;

[0034] and / or,

[0035] When the first comparison value presents a preset periodic oscillation state within the preset time, it is determined that the target robot has abnormal vibration.

[0036] In a third aspect, the present disclosure provides a robot comprising the system for detecting abnormal vibration of the robot according to the second aspect.

[0037] In a fourth aspect, the present disclosure provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and for running on the processor. When the processor executes the computer program, the robot abnormal vibration detection method of the first aspect is implemented.

[0038] In a fifth aspect, the present disclosure provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the robot abnormal vibration detection method of the first aspect is implemented.

[0039] Based on the common sense in this field, the above-mentioned implementation modes can be arbitrarily combined to obtain the preferred embodiments of the present disclosure.

[0040] The positive progressive effect of the present disclosure is that the method for detecting abnormal vibration of a robot provided by the present disclosure determines whether the target robot has abnormal vibration based on whether the first comparison value between the output signals of the motors of each joint at different times under a preset input signal meets the preset abnormal vibration condition. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A schematic flow chart of a method for detecting abnormal vibration of a robot provided by the present disclosure;

[0042] Figure 2 A schematic diagram of a module of a robot motor control system provided by the present disclosure;

[0043] Figure 3 A schematic diagram of a process for detecting abnormal vibration of a robot provided by the present disclosure;

[0044] Figure 4 A schematic diagram of a module of a robot abnormal vibration detection system provided by the present disclosure;

[0045] Figure 5 A schematic structural diagram of an electronic device provided by the present disclosure. DETAILED DESCRIPTION

[0046] The present disclosure is further illustrated below by way of examples, but the present disclosure is not limited to the scope of the examples.

[0047] It should be noted that if the descriptions of the embodiments of this disclosure involve "first," "second," etc., such descriptions are for descriptive purposes only and should not be understood to indicate or imply their relative importance or implicitly specify the number of the technical features indicated. Therefore, features specified as "first" or "second" may explicitly or implicitly include at least one of such features.

[0048] In addition, the technical solutions between the various implementation methods can be combined with each other, but they must be based on the fact that ordinary technicians in this field can implement them. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this disclosure.

[0049] The present disclosure provides a method for detecting abnormal vibration of a robot, which determines whether the target robot has abnormal vibration based on whether the first comparison value between the output signals of the motors of each joint at different times under a preset input signal meets the preset abnormal vibration condition.

[0050] As a feasible implementation method, the detection method of abnormal vibration of the robot is as follows: Figure 1 As shown, including:

[0051] S1, obtaining the output signals of the motors of each joint of the target robot at different times under the preset input signal;

[0052] S2. Obtaining a first comparison value between a preset input signal and an output signal within a preset time period;

[0053] S3. When the first comparison value meets the preset abnormal vibration condition, it is determined that the target robot has abnormal vibration.

[0054] The preset input signal may be a current signal or a speed signal. The first comparison value is usually a ratio between the preset input signal and the corresponding output signal.

[0055] Specifically, when the preset input signal is a current signal, the first comparison value is the ratio between the input current and the corresponding output current. Similarly, when the preset input signal is a speed signal, the first comparison value is the ratio between the input speed and the corresponding output speed.

[0056] For example, a corresponding time domain comparison analysis diagram may be generated according to the changes of the preset input signal and the corresponding output signal over time for visual display.

[0057] It should be noted that when the preset input signal is a speed signal, it is necessary to first acquire the actual rotation angle signal of the motor, and then obtain the corresponding output signal by calculating the ratio between the actual rotation angle signal and the rotation angle interval time.

[0058] Take the robot with servo motor controlled joints as an example, see Figure 2 The robot's control system, shown in Figure 1, sends control commands to the driver via a controller. The driver responds to these commands by driving the servo motor, which in turn drives the robot's joint linkages to perform the corresponding movements. An encoder measures the servo motor's shaft position, speed, direction, and actual rotation angle, and feeds this information back to the controller, enabling the control system to monitor the servo motor's operating status in real time.

[0059] Based on the above embodiment, it is possible to quickly and accurately determine whether the target robot has abnormal vibration.

[0060] As another feasible implementation, after step S3, the method further includes:

[0061] S4. generating corresponding output signal frequency domain data based on the output signals of the motors of each joint;

[0062] S5. Determine a corresponding target signal amplitude based on the frequency domain data of the output signal of each motor; wherein the target signal amplitude is greater than a first set value;

[0063] S6. Obtain a second comparison value between the target signal amplitude within a preset time and a preset input signal of the corresponding motor;

[0064] S7. Determine the target motor that generates abnormal vibration according to the second comparison value; wherein the second comparison value is greater than the second set value.

[0065] Based on the above embodiment, the target motor generating abnormal vibration can be further determined according to the signal amplitude of the output signal of each joint motor, that is, the excitation source causing the abnormal vibration can be determined.

[0066] In step S4, a fast Fourier transform may be performed on the output signals of the joint motors to generate corresponding output signal frequency domain data to represent the signal amplitudes of the output signals at different frequencies.

[0067] In step S5 , one or more target signal amplitudes are determined for the frequency domain data of the output signals of the respective motors.

[0068] Exemplarily, one or more signal amplitudes greater than the first set value may be selected as the target signal amplitude, or the maximum signal amplitude may be selected as the target signal amplitude.

[0069] It should be noted that, since the signal amplitude of the output signal is usually very large when the frequency is 0, the frequency corresponding to the target signal amplitude should be greater than 0.

[0070] In step S6 , the second comparison value is usually the ratio between the target signal amplitude and the corresponding preset input signal.

[0071] For example, when the preset input signal is a current signal, the second comparison value is the ratio between the target current amplitude and the corresponding input current. Similarly, when the preset input signal is a speed signal, the second comparison value is the ratio between the target speed amplitude and the corresponding input speed.

[0072] In step S7 , one or more target motors may be determined according to the second comparison value.

[0073] Specifically, the motor corresponding to the second comparison value greater than the second set value can be determined as the target motor, or the second comparison values ​​corresponding to all motors can be compared simultaneously to determine the motor corresponding to the largest second comparison value as the target motor.

[0074] When there are multiple second comparison values ​​greater than the second set value, the corresponding motors can all be regarded as target motors suspected of generating abnormal vibrations, so as to facilitate subsequent analysis of the abnormal vibration excitation source.

[0075] The preset abnormal vibration conditions in the embodiment of the present disclosure can be set according to actual needs.

[0076] Specifically, when the first comparison value is greater than the third set value within a preset time, it can be considered as one oscillation, and the number of oscillations can be counted. If the number of oscillations is greater than the fourth set value, it can be determined that the target robot has abnormal vibration.

[0077] Alternatively, the target robot may be judged to be in abnormal vibration if the first comparison value exhibits a preset periodic oscillation state within a preset time. For example, if the first comparison value oscillates once or more at regular intervals within the preset time, it may be considered to be in the preset periodic oscillation state.

[0078] As a feasible implementation, step S3 includes:

[0079] Counting the number of oscillations in which the first comparison value is greater than a third set value within a preset time;

[0080] If the number of oscillations is greater than a fourth set value, it is determined that the target robot is vibrating abnormally;

[0081] and / or,

[0082] When the first comparison value exhibits a preset periodic oscillation state within a preset time, the target robot is determined to be experiencing abnormal vibration. Based on the above-described abnormal robot vibration detection method provided by the disclosed embodiments, not only can the occurrence of abnormal vibration in the target robot be accurately and quickly detected based on the first comparison value between the preset input signal and the output signal, but the target motor causing the abnormal vibration can also be further determined based on the second comparison value between the target signal amplitude within the preset time and the corresponding preset input signal.

[0083] In a specific application scenario, the process of monitoring abnormal vibration of the robot is as follows: Figure 3 As shown:

[0084] First, the preset input signals and corresponding output signals of each joint motor of the target robot are collected to generate a curve of signal change over time.

[0085] Then, a first comparison value between a preset input signal and a corresponding output signal within a preset time period is calculated, and it is determined whether the first comparison value within the preset time period meets a preset abnormal vibration condition. If not, the preset input signal and the corresponding output signal of each joint motor of the target robot are continuously acquired. If so, corresponding output signal frequency domain data is generated based on the output signal of each joint motor, and the maximum signal amplitude is determined as the target signal amplitude based on the output signal frequency domain data of each joint motor. A second comparison value is then calculated between each target signal amplitude and the corresponding preset input signal.

[0086] Finally, the motor corresponding to the largest second comparison value is determined to be the target motor generating abnormal vibration.

[0087] Based on the same concept, the embodiment of the present disclosure also provides a detection system for abnormal vibration of a robot. Figure 4 As shown, the detection system includes:

[0088] The data acquisition module 401 is used to obtain the output signals of the motors of each joint of the target robot at different times under the preset input signal;

[0089] A first data comparison module 402 is configured to obtain a first comparison value between a preset input signal and an output signal within a preset time period;

[0090] The vibration detection module 403 is configured to determine that the target robot has abnormal vibration when the first comparison value meets a preset abnormal vibration condition.

[0091] The preset input signal may be a current signal or a speed signal. The first comparison value is usually a ratio between the preset input signal and the corresponding output signal.

[0092] Specifically, when the preset input signal is a current signal, the first comparison value is the ratio between the input current and the corresponding output current. Similarly, when the preset input signal is a speed signal, the first comparison value is the ratio between the input speed and the corresponding output speed.

[0093] For example, a corresponding time domain comparison analysis diagram may be generated according to the changes of the preset input signal and the corresponding output signal over time for visual display.

[0094] It should be noted that when the preset input signal is a speed signal, it is necessary to first acquire the actual rotation angle signal of the motor, and then obtain the corresponding output signal by calculating the ratio between the actual rotation angle signal and the rotation angle interval time.

[0095] Take the robot with servo motor controlled joints as an example, see Figure 2 The robot's control system, shown in Figure 1, sends control commands to the driver via a controller. The driver responds to these commands by driving the servo motor, which in turn drives the robot's joint linkages to perform the corresponding movements. An encoder measures the servo motor's shaft position, speed, direction, and actual rotation angle, and feeds this information back to the controller, enabling the control system to monitor the servo motor's operating status in real time.

[0096] Based on the above embodiment, it is possible to quickly and accurately determine whether the target robot has abnormal vibration.

[0097] As another feasible implementation, the above detection system further includes:

[0098] A first analysis module 404 is configured to generate corresponding output signal frequency domain data based on the output signals of the joint motors;

[0099] The second analysis module 405 is configured to determine a corresponding target signal amplitude based on the frequency domain data of the output signal of each motor; wherein the target signal amplitude is greater than a first set value;

[0100] A second data comparison module 406 is used to obtain a second comparison value between the target signal amplitude within a preset time and the preset input signal of the corresponding motor;

[0101] The vibration positioning module 407 is configured to determine a target motor generating abnormal vibration according to a second comparison value, wherein the second comparison value is greater than a second set value.

[0102] Based on the above embodiment, the target motor generating abnormal vibration can be further determined according to the signal amplitude of the output signal of each joint motor, that is, the excitation source causing the abnormal vibration can be determined.

[0103] The first analysis module 404 may perform fast Fourier transform on the output signals of the joint motors to generate corresponding output signal frequency domain data to represent signal amplitudes of output signals of different frequencies.

[0104] The second analysis module 405 determines one or more target signal amplitudes for the frequency domain data of the output signal of each motor.

[0105] Exemplarily, one or more signal amplitudes greater than the first set value may be selected as the target signal amplitude, or the maximum signal amplitude may be selected as the target signal amplitude.

[0106] It should be noted that, since the signal amplitude of the output signal is usually very large when the frequency is 0, the frequency corresponding to the target signal amplitude should be greater than 0.

[0107] For the second data comparison and erasing 406 , the second comparison value is usually the ratio between the target signal amplitude and the corresponding preset input signal.

[0108] For example, when the preset input signal is a current signal, the second comparison value is the ratio between the target current amplitude and the corresponding input current. Similarly, when the preset input signal is a speed signal, the second comparison value is the ratio between the target speed amplitude and the corresponding input speed.

[0109] The vibration positioning module 407 may determine one or more target motors according to the second comparison value.

[0110] Specifically, the motor corresponding to the second comparison value greater than the second set value can be determined as the target motor, or the second comparison values ​​corresponding to all motors can be compared simultaneously to determine the motor corresponding to the largest second comparison value as the target motor.

[0111] When there are multiple second comparison values ​​greater than the second set value, the corresponding motors can all be regarded as target motors suspected of generating abnormal vibrations, so as to facilitate subsequent analysis of the abnormal vibration excitation source.

[0112] The preset abnormal vibration conditions in the embodiment of the present disclosure can be set according to actual needs.

[0113] Specifically, when the first comparison value is greater than the third set value within a preset time, it can be considered as one oscillation, and the number of oscillations can be counted. If the number of oscillations is greater than the fourth set value, it can be determined that the target robot has abnormal vibration.

[0114] Alternatively, the target robot may be judged to be in abnormal vibration if the first comparison value exhibits a preset periodic oscillation state within a preset time. For example, if the first comparison value oscillates once or more at regular intervals within the preset time, it may be considered to be in the preset periodic oscillation state.

[0115] As a feasible implementation, the vibration detection module 403 is used to:

[0116] Counting the number of oscillations in which the first comparison value is greater than a third set value within a preset time;

[0117] If the number of oscillations is greater than a fourth set value, it is determined that the target robot is vibrating abnormally;

[0118] and / or,

[0119] When the first comparison value presents a preset periodic oscillation state within a preset time, it is determined that the target robot has abnormal vibration.

[0120] The above-mentioned method for detecting abnormal vibration of a robot provided by the embodiment of the present disclosure can not only accurately and quickly detect abnormal vibration of the target robot based on the first comparison value between the preset input signal and the output signal; but also further determine the target motor that produces abnormal vibration based on the second comparison value between the target signal amplitude within a preset time and the corresponding preset input signal.

[0121] The present disclosure also provides a robot including the above-mentioned abnormal vibration detection system. Based on the above-mentioned detection system, the robot can be monitored in real time, abnormal vibrations can be detected in a timely manner, and the target motor causing the abnormal vibrations can be located.

[0122] Figure 5 The structure of one of the electronic devices disclosed in the present invention is shown. The electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the above-mentioned method for detecting abnormal vibration of the robot is implemented. Figure 5The electronic device 50 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0123] like Figure 5 As shown, the electronic device 50 may also be in the form of a general-purpose computing device, such as a server device. Components of the electronic device 50 may include, but are not limited to, the at least one processor 51, the at least one memory 52, and a bus 53 connecting different system components (including the memory 52 and the processor 51).

[0124] The bus 53 includes a data bus, an address bus, and a control bus.

[0125] The memory 52 may include a volatile memory, such as a random access memory (RAM) 521 and / or a cache memory 522 , and may further include a read-only memory (ROM) 523 .

[0126] The memory 52 may also include a program / utility 525 having a set (at least one) of program modules 524, such program modules 524 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0127] The processor 51 executes various functional applications and data processing by running computer programs stored in the memory 52, such as the above-mentioned method for detecting abnormal vibration of the robot disclosed in the present invention.

[0128] The electronic device 50 may also communicate with one or more external devices 54 (e.g., a keyboard, a pointing device, etc.). Such communication may be performed via an input / output (I / O) interface 55. Furthermore, the model generating device 50 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 56. Figure 5 As shown, the network adapter 56 communicates with the other modules of the model-generating device 50 via the bus 53. It should be understood that, although not shown in the figures, other hardware and / or software modules may be used in conjunction with the model-generating device 50, including but not limited to microcode, device drivers, redundant processors, external disk drive arrays, RAID (RAID) systems, tape drives, and data backup storage systems.

[0129] It should be noted that although several units / modules or sub-units / modules of the electronic device are mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more units / modules described above can be embodied in one unit / module. Conversely, the features and functions of one unit / module described above can be further divided and embodied by multiple units / modules.

[0130] The present disclosure also provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the above-mentioned method for detecting abnormal vibration of the robot is implemented.

[0131] The readable storage medium may include, but is not limited to, a portable disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0132] In a possible implementation, the present disclosure may also be implemented in the form of a program product, which includes program code. When the program product is run on a terminal device, the program code is used to enable the terminal device to execute and implement the above-mentioned method for detecting abnormal vibration of the robot.

[0133] The program code for executing the present disclosure may be written in any combination of one or more programming languages, and the program code may be executed entirely on the user device, partially on the user device, as a standalone software package, partially on the user device and partially on a remote device, or entirely on the remote device.

[0134] While specific embodiments of the present disclosure have been described above, those skilled in the art will appreciate that these are merely illustrative and that the scope of protection of the present disclosure is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present disclosure, and such changes and modifications are intended to fall within the scope of protection of the present disclosure.

Claims

1. A method for detecting abnormal vibration of a robot, characterized in that: The detection method comprises: Obtain the output signals of the motors of each joint of the target robot at different times under the preset input signals; Obtaining a first comparison value between the preset input signal and the output signal within a preset time period; When the first comparison value meets the preset abnormal vibration condition, it is determined that the target robot has abnormal vibration; After the step of determining that the target robot has abnormal vibration, the method further includes: Based on the output signals of the motors of the respective joints, generating corresponding output signal frequency domain data; Determining a corresponding target signal amplitude according to the frequency domain data of the output signal of each of the motors; wherein the target signal amplitude is greater than a first set value; Obtaining a second comparison value between the target signal amplitude within the preset time and the preset input signal corresponding to the motor; A target motor generating abnormal vibration is determined according to the second comparison value; wherein the second comparison value is greater than a second set value.

2. The detection method according to claim 1, wherein The preset input signal is a current signal or a rotation speed signal.

3. The detection method according to claim 1, wherein When the first comparison value meets a preset abnormal vibration condition, the step of determining that the target robot has abnormal vibration includes: Counting the number of oscillations in which the first comparison value is greater than a third set value; If the oscillation frequency is greater than a fourth set value, it is determined that the target robot has abnormal vibration; and / or, When the first comparison value meets a preset abnormal vibration condition, the step of determining that the target robot has abnormal vibration includes: When the first comparison value presents a preset periodic oscillation state within the preset time, it is determined that the target robot has abnormal vibration.

4. A system for detecting abnormal vibration of a robot, characterized in that: The detection system comprises: The data acquisition module is used to obtain the output signals of the motors of each joint of the target robot at different times under the preset input signals; a first data comparison module, configured to obtain a first comparison value between the preset input signal and the output signal within a preset time period; a vibration detection module, configured to determine that abnormal vibration occurs in the target robot when the first comparison value meets a preset abnormal vibration condition; A first analysis module is configured to generate corresponding output signal frequency domain data based on the output signals of the motors of the respective joints; a second analysis module, configured to determine a corresponding target signal amplitude based on the frequency domain data of the output signal of each of the motors; wherein the target signal amplitude is greater than a first set value; a second data comparison module, used in the calculation module, for obtaining a second comparison value between the target signal amplitude within the preset time and the preset input signal corresponding to the motor; A vibration positioning module is used to determine a target motor that generates abnormal vibration according to the second comparison value; wherein the second comparison value is greater than a second set value.

5. The detection system according to claim 4, characterized in that: The preset input signal is a current signal or a rotation speed signal.

6. A robot, characterized in that: Comprising the detection system according to claim 4 or 5.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and configured to run on the processor, wherein: When the processor executes the computer program, the detection method according to any one of claims 1 to 3 is implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the detection method according to any one of claims 1 to 3 is implemented.

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