Fault detection method, device and equipment for pan-tilt motor and storage medium

Abstract

The invention discloses a fault detection method, device and equipment for a pan-tilt motor and a storage medium. The method is applied to the field of motors. The method comprises the following steps: respectively inputting a first driving signal and a second driving signal to a pan-tilt motor in a first detection stage and a second detection stage, and obtaining first sound data corresponding to the first detection stage and second sound data corresponding to the second detection stage, obtaining a fault detection result according to at least one of the first sound data and the second sound data; wherein one of the first driving signal and the second driving signal is used for driving the pan-tilt motor to operate at a first speed, and the other one of the first driving signal and the second driving signal is used for driving a coil of the pan-tilt motor to vibrate. According to the method, the fault type of the pan-tilt motor can be accurately detected through the sound pick-up, so that the accuracy degree of fault detection is improved.

Description

Technical Field

[0001] The present application relates to the field of motors, and in particular to a method, device, equipment and storage medium for detecting faults of a pan / tilt motor. Background Art

[0002] A motor is an electromagnetic device that converts or transmits electrical energy according to the law of electromagnetic induction and is often used to drive an object to move. During the operation of the motor, the working state of the motor is usually monitored to determine whether the motor has a fault.

[0003] In the related art, a motor fault detection method includes: periodically acquiring sound data generated when the motor is running; and determining whether the motor has a fault based on the sound data and preset sound data.

[0004] However, the diagnostic results obtained by this motor fault detection method have low accuracy. Summary of the invention

[0005] The present application provides a gimbal motor fault detection method, device, equipment and storage medium, which can improve the efficiency of gimbal motor fault detection.

[0006] In a first aspect, the present application provides a method for detecting a fault of a gimbal motor, the method comprising: inputting a first drive signal to the gimbal motor in a first detection phase, the first drive signal being used to detect whether the gimbal motor has a first type of fault; obtaining first sound data of the gimbal motor in the first detection phase; inputting a second drive signal to the gimbal motor in a second detection phase, the second drive signal being used to detect whether the gimbal motor has a second type of fault; obtaining second sound data of the gimbal motor in the second detection phase; obtaining a fault detection result based on at least one of the first sound data and the second sound data, the fault detection result being used to indicate whether the gimbal motor has the first type of fault and the second type of fault; wherein, one of the first drive signal and the second drive signal is used to drive the gimbal motor to run at a first speed, and the other of the first drive signal and the second drive signal is used to drive the coil of the gimbal motor to vibrate.

[0007] In the present application, a first drive signal is first input to the pan-tilt motor in the first detection phase, and the first drive signal is used to detect whether the pan-tilt motor has a first type of fault; the first sound data of the pan-tilt motor in the first detection phase is obtained; then a second drive signal is input to the pan-tilt motor in the second detection phase, and the second drive signal is used to detect whether the pan-tilt motor has a second type of fault; the second sound data of the pan-tilt motor in the second detection phase is obtained; wherein, one of the first drive signal and the second drive signal is used to drive the pan-tilt motor to run at a first speed, and the other of the first drive signal and the second drive signal is used to drive the coil of the pan-tilt motor to vibrate, thereby obtaining the pan-tilt motor sound data under different drive signals. Since different drive signals can detect different types of faults in the pan-tilt motor, different fault types can be comprehensively determined according to the pan-tilt motor sound data under different drive signals, thereby improving the accuracy of fault detection.

[0008] Optionally, inputting a second drive signal to the pan-tilt motor in the second detection phase includes: in response to determining that the first sound data indicates that the pan-tilt motor does not have the first type of fault, inputting the second drive signal to the pan-tilt motor in the second detection phase.

[0009] After determining that the first sound data indicates that the pan / tilt motor does not have the first type of fault, a second drive signal is input to the pan / tilt motor in the second detection phase, thereby improving the efficiency of fault detection.

[0010] Optionally, the first drive signal is used to drive the motor to run at a first speed, the second drive signal is used to drive the coil of the pan-tilt motor to vibrate, and the first type of fault is a stall fault; obtaining a fault detection result based on at least one of the first sound data and the second sound data includes: analyzing the first sound data to obtain the frequency and amplitude of the first sound data; comparing the frequency and amplitude of the first sound data with the frequency and amplitude of the target sound data to obtain the first comparison result; determining whether the pan-tilt motor has the stall fault based on the first comparison result, that is, when the first drive signal is used to drive the motor to run at a first speed, determining whether the first type of fault, that is, a stall fault, exists based on the relationship between the first sound data and the target data, which can make the pan-tilt motor fault detection method of the embodiment of the present application more comprehensive and specific for motor fault detection.

[0011] Optionally, determining whether the gimbal motor has the jam fault based on the first comparison result includes: when the first comparison result is that the frequency of the first sound data is less than the frequency of the target sound data, and the amplitude of the first sound data is greater than the amplitude of the target sound data, determining that the gimbal motor has the jam fault.

[0012] When the target sound data is normal sound data, the amplitude of the sound data corresponding to the jam fault is larger than the amplitude of the target sound data, and the frequency of the sound data corresponding to the jam fault is smaller than the amplitude of the target sound data. Therefore, when the first sound data meets the characteristics of the sound data corresponding to the jam fault, that is, when the frequency of the first sound data is smaller than the frequency of the target sound data, and the amplitude of the first sound data is greater than the amplitude of the target sound data, it can be determined that the pan-tilt motor has a jam fault, thereby improving the accuracy of fault detection.

[0013] Optionally, the second type of fault is an internal motor fault, and the fault detection result is obtained based on at least one of the first sound data and the second sound data, including: analyzing the second sound data to obtain the amplitude of the second sound data; and determining whether the gimbal motor has an internal motor fault based on the amplitude of the second sound data.

[0014] When there is an internal fault in the motor, the second drive signal for driving the coil to vibrate is injected into the motor, and the coil does not vibrate. Therefore, it is possible to determine whether the PTZ motor has an internal fault based on the amplitude of the second sound data. In this case, when there are multiple coils in the motor, the faulty coil in the motor can also be accurately located, thereby improving the accuracy of PTZ motor fault detection.

[0015] Optionally, the method further includes: when the pan-tilt motor is stationary, obtaining environmental sound data; the inputting of a first drive signal to the pan-tilt motor in the first detection stage includes: in response to the amplitude of the environmental sound data being less than a first threshold, inputting a first drive signal to the pan-tilt motor in the first detection stage. That is, when the amplitude of the environmental sound data is less than the first threshold, it is considered that the interference caused by the environmental noise at this time to the process of collecting sound data can be ignored, and the first detection stage can be executed at this time to input the first drive signal to the pan-tilt motor, thereby improving the authenticity of the acquired sound data, and further improving the accuracy of fault detection.

[0016] Optionally, the method further comprises: before the first detection stage, controlling the pan / tilt motor to be stationary at a first position. That is, controlling the pan / tilt motor to be stationary at a known position of the controller, so that each fault detection is performed from the same position, reducing the variables in the fault detection process, thereby simplifying the fault detection process.

[0017] In a second aspect, the present application provides a gimbal motor fault detection device. The gimbal motor fault detection device has the function of implementing the method described in the first aspect or any optional method of the first aspect. The function can be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more units corresponding to the above functions.

[0018] In a third aspect, an electronic device is provided. The electronic device includes a processor and a memory. The memory is used to store software programs and modules. The processor implements the method in the first aspect or any possible implementation of the first aspect by running or executing the software program and / or module stored in the memory.

[0019] Optionally, the number of the processors is one or more, and the number of the memories is one or more.

[0020] Optionally, the memory may be integrated with the processor, or the memory may be provided separately from the processor.

[0021] In the specific implementation process, the memory can be a non-transitory memory, such as a read-only memory (ROM), which can be integrated with the processor on the same chip or can be set on different chips. This application does not limit the type of memory and the setting method of the memory and the processor.

[0022] In a fourth aspect, a computer program product is provided, wherein the computer program product comprises computer program code, and when the computer program code is executed by a computer, the computer executes the method in the first aspect or any possible implementation of the first aspect.

[0023] In a fifth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium is used to store program codes executed by a processor, wherein the program codes include instructions for implementing a method in any possible implementation of the first aspect above.

[0024] In a sixth aspect, the present application provides a chip, comprising a processor, the processor being used to call and execute instructions stored in a memory from the memory, so that an optical communication device equipped with the chip executes a method in any possible implementation manner of the above-mentioned first aspect.

[0025] In a seventh aspect, the present application provides another chip. The other chip includes an input interface, an output interface, a processor and a memory. The input interface, the output interface, the processor and the memory are connected through an internal connection path. The processor is used to execute the code in the memory, and when the code is executed, the processor is used to execute the method in any possible implementation of the first aspect above. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A basic structural schematic diagram of a pan / tilt platform provided by an exemplary embodiment of the present application is shown;

[0027] Figure 2 A flow chart of a method for detecting a fault of a pan / tilt motor provided by an exemplary embodiment of the present application is shown;

[0028] Figure 3 A flow chart of a method for detecting a fault of a pan / tilt motor provided by an exemplary embodiment of the present application is shown;

[0029] Figure 4 A schematic structural diagram of a PTZ motor fault detection device provided by an exemplary embodiment of the present application is shown;

[0030] Figure 5 A schematic structural diagram of a PTZ motor fault detection device provided by an exemplary embodiment of the present application is shown;

[0031] Figure 6 A waveform diagram of sound data of a stall fault provided by an exemplary embodiment of the present application is shown;

[0032] Figure 7 A schematic structural diagram of a PTZ motor fault detection device provided by an exemplary embodiment of the present application is shown;

[0033] Figure 8 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0034] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0035] The gimbal motor is usually used to control the posture change of the gimbal, and then control the electronic equipment mounted on the gimbal to rotate around the horizontal axis or around the vertical axis.

[0036] Optionally, the electronic device includes: a device with a camera function and a device with a lighting function, etc. Among them, the device with a camera function includes a camera, a mobile phone, a tablet computer and other devices; the device with a lighting function includes a spotlight, a searchlight and other devices.

[0037] The following describes a method for detecting a pan / tilt motor fault by taking an electronic device having a camera function as an example.

[0038] Figure 1 FIG. 1 shows a basic structural diagram of a pan / tilt platform provided by an exemplary embodiment of the present application. Figure 1 The pan-tilt platform 100 includes: a control module 101 , a motor 102 , a rotating mechanism 103 and a sound collection module 104 .

[0039] The control module 101 and the motor 102 are connected through an internal circuit, and the control module 101 is used to control the rotation of the motor 102. The motor 102 controls the posture of the pan / tilt head 100 through the rotation mechanism 103, thereby controlling the camera to rotate around the horizontal axis or around the vertical axis. The sound collection module 104 is located on the camera head, and the sound collection module 104 is wirelessly connected or wired to the control module 101 to send the collected sound data to the control module 101.

[0040] Exemplarily, the control module 101 includes a controller, a memory and a motor driver. The controller is connected to the memory and the motor driver respectively. The controller sends a control signal to the motor driver, and the motor driver outputs a drive signal based on the control signal, thereby driving the motor to rotate. The memory is used to store the data generated when the controller, the sound collection module and the motor driver are working. Exemplarily, the memory stores the data generated when the controller is working in the form of a work log.

[0041] Optionally, in Figure 1 In the embodiment, the pan-tilt head 100 includes two motors 102, one motor 102 is used to control the pan-tilt head 100 to rotate around a vertical axis, thereby controlling the camera to rotate around a vertical axis; the other motor 102 is used to control the pan-tilt head 100 to rotate around a horizontal axis, thereby controlling the camera to rotate around a horizontal axis. In other embodiments, the pan-tilt head 100 may also include one motor or more motors, such as three motors.

[0042] The rotating mechanism 103 may include structures such as a synchronous belt and gears. Figure 1 The transmission structure is composed of a synchronous belt and gears, and the motor drives the pan / tilt head 100 to rotate synchronously, thereby driving the camera to rotate around the axis in the horizontal direction and / or the vertical direction.

[0043] The sound collection module 104 includes a microphone and an audio decoder, which are connected through an internal circuit. The microphone is used to collect ambient sound and convert sound fluctuations into analog audio signals. The audio decoder is used to convert the analog audio signal output by the microphone into a digital audio signal, and output the digital audio signal to the control module 101. Optionally, the microphone can be a vibration microphone or a piezoelectric microphone.

[0044] Optionally, the control module 101 can be connected to the computer device 105 in communication, for example, via a network connection. The control module 101 can send data to the computer device 105 via the network. The computer device 105 can be a server or a mobile terminal, etc.

[0045] pass Figure 1 As we know, the rotation of the gimbal mainly depends on the motor installed inside. In some scenarios, the gimbal is installed in a place that is not easy to see, such as a high place (such as a tower or the outside of a building). If the gimbal motor fails, it will not be easy to detect, affecting the normal operation of the electronic equipment carried by the gimbal. Therefore, it is necessary to regularly detect the gimbal motor for faults.

[0046] Figure 2 FIG. 1 is a flow chart showing a method for detecting a fault of a pan / tilt motor provided by an exemplary embodiment of the present application. Figure 2 , the method comprising:

[0047] In step 201, a first driving signal is input to the pan / tilt motor in a first detection phase.

[0048] The first driving signal is used to detect whether the pan / tilt motor has a first type of fault.

[0049] Optionally, one of the first drive signal and the second drive signal is used to drive the pan-tilt motor to run at a first speed, and the other of the first drive signal and the second drive signal is used to drive the coil of the pan-tilt motor to vibrate.

[0050] Optionally, the time length of the first detection phase is greater than or equal to the first time threshold. When the first drive signal is used to drive the pan-tilt motor to run at a first speed, the first time threshold can be the time length of a single pan-tilt motor rotating a maximum stroke. For example, the time length of the first pan-tilt motor rotating a maximum stroke at the first speed is 5 seconds, then the first time threshold is 5 seconds, and the time length of the first detection phase is greater than or equal to 5 seconds, for example, it can be 5 seconds. When the first drive signal is used to drive the coil of the pan-tilt motor to vibrate, the value range of the first time threshold is 5-10 seconds, for example, it can be 5s, 7s or 10s.

[0051] The maximum stroke refers to the maximum angle that the pan / tilt motor can rotate when rotating around the horizontal or vertical axis. For example, when the pan / tilt motor rotates around the horizontal axis, the maximum rotation angle may be 180 degrees, and when the pan / tilt motor rotates around the vertical axis, the maximum rotation angle is 180 degrees or 360 degrees.

[0052] Optionally, a first drive signal is input to the pan-tilt motor through a control module. For example, a first control signal is input to a motor driver through a controller, and the first control signal is used to instruct the motor driver to send a first drive signal so as to drive the pan-tilt motor according to the first drive signal; the motor driver inputs the first drive signal to the pan-tilt motor after receiving the first control signal.

[0053] In step 202, first sound data of the pan / tilt motor in a first detection phase is obtained.

[0054] The step 202 may be performed by the controller. For example, the step 202 may include: acquiring the first sound data in the first detection phase through the sound collection module.

[0055] Optionally, when the electronic device mounted on the gimbal is a device with a camera function, these devices often have built-in microphones, and sound data can be obtained without installing an additional microphone, thereby saving the implementation cost of the embodiment of the present application. When the electronic device is a device with a lighting function, such a device often does not have a microphone, and a microphone needs to be installed on the electronic device to obtain sound data. In some embodiments, regardless of whether the electronic device has a built-in microphone, an additional microphone needs to be installed. In this case, the microphone can be installed inside the gimbal to improve the sound reception effect of the microphone.

[0056] It should be noted that when installing the microphone, whether the microphone is installed on an electronic device or inside the pan / tilt head, the microphone installation position needs to be as close to the pan / tilt head motor as possible, so as to better improve the microphone's sound reception efficiency.

[0057] In step 203, a second driving signal is input to the pan / tilt motor in the second detection phase.

[0058] The second driving signal is used to detect whether the pan / tilt motor has a second type of fault.

[0059] Optionally, the control module inputs the second drive signal to the pan / tilt motor. The control module inputs the second drive signal to the pan / tilt motor in the same manner as the control module inputs the first drive signal to the pan / tilt motor in step 201, which will not be described in detail.

[0060] Optionally, one of the first drive signal and the second drive signal is used to drive the pan-tilt motor to operate at a first speed, and the other of the first drive signal and the second drive signal is used to drive the coil of the pan-tilt motor to vibrate.

[0061] Optionally, the time length of the second detection phase is greater than or equal to the second time threshold. When the second drive signal is used to drive the pan-tilt motor to run at the first speed, the value of the second time threshold is related to the duration of the pan-tilt motor rotating a maximum stroke. For example, the duration of the pan-tilt rotating a maximum stroke at the first speed is 5 seconds, then the second time threshold is 5 seconds. When the second drive signal is used to drive the coil of the pan-tilt motor to vibrate, the value range of the second time threshold is 5-10 seconds, for example, it can be 5s, 7s or 10s.

[0062] Among them, one of the first drive signal and the second drive signal is used to drive the pan / tilt motor to run at a first speed, and the other of the first drive signal and the second drive signal is used to drive the coil of the pan / tilt motor to vibrate. That is, the first drive signal is used to drive the pan / tilt motor to run at a first speed, and the second drive signal is used to drive the coil of the pan / tilt motor to vibrate; or, the first drive signal is used to drive the coil of the pan / tilt motor to vibrate, and the second drive signal is used to drive the pan / tilt motor to run at a first speed.

[0063] In step 204, second sound data of the pan / tilt motor in the second detection phase is obtained;

[0064] In the embodiment of the present application, the same method as in step 202 is used to obtain the second sound data of the pan / tilt motor in the second detection phase.

[0065] In step 205, a fault detection result is obtained according to at least one of the first sound data and the second sound data.

[0066] The fault detection result is used to indicate whether the pan / tilt motor has a first type fault and a second type fault.

[0067] Optionally, a fault detection result is obtained based on at least one of the first sound data and the second sound data, including the following three situations: first, a fault detection result is obtained based on the first sound data; second, a fault detection result is obtained based on the second sound data; third, a fault detection result is obtained based on the first sound data and the second sound data.

[0068] In an embodiment of the present application, a first drive signal and a second drive signal are input into the pan-tilt motor in a first detection stage and a second detection stage respectively, first sound data corresponding to the first detection stage and second sound data corresponding to the second detection stage are obtained, and a fault detection result is obtained according to at least one of the first sound data and the second sound data; wherein, one of the first drive signal and the second drive signal is used to drive the pan-tilt motor to run at a first speed, and the other of the first drive signal and the second drive signal is used to drive the coil of the pan-tilt motor to vibrate, thereby realizing accurate detection of the fault type of the pan-tilt motor by the pickup, thereby improving the accuracy of fault detection.

[0069] Figure 3 A flowchart of a gimbal motor fault detection method provided by an exemplary embodiment of the present application is shown. The method is described by taking the case where the first driving signal is used to drive the gimbal motor to run at a first speed and the second driving signal is used to drive the coil of the gimbal motor to vibrate, first acquiring the first sound data and the second sound data, and then obtaining the fault detection result according to the first sound data and the second sound data as an example. Figure 3 , the method comprising:

[0070] In step 301, when the pan / tilt motor is stationary, ambient sound data is acquired.

[0071] Optionally, the pan-tilt includes at least one motor, and the pan-tilt motor being stationary means that all motors in the pan-tilt are stationary. When all motors in the pan-tilt are stationary, the acquired sound data is the ambient sound data around the pan-tilt.

[0072] Optionally, when the pan / tilt motor is stationary, the environmental sound data is acquired at the first moment, that is, step 301 is performed at the first moment. The first moment is set by the user. In order to avoid the situation in step 302 where the amplitude of the environmental sound data is greater than the first threshold value multiple times, the setting range of the first moment is relatively quiet at night and in the morning, that is, 19:00-06:00. For example, the first moment can be set to 19:00, 21:00, 03:00 or 06:00.

[0073] Optionally, step 301 is performed periodically at the first moment. Since it is necessary to ensure that the fault status of the pan / tilt motor can be obtained in a timely manner, the length of the cycle cannot be too long. In an embodiment of the present application, the length of the cycle ranges from 1 to 3 days, for example, it can be 1 day, 2 days or 3 days, that is, step 301 is performed at the first moment of each day, or step 301 is performed at the first moment every other day, or step 301 is performed at the first moment every 2 days.

[0074] In a possible implementation, before step 301 or before executing the method in the embodiment of the present application, the method further includes: controlling the electronic device carried by the gimbal to stop running. Since executing step 301 or executing the method in the embodiment of the present application will affect the normal operation of the electronic device carried by the gimbal, it is necessary to control the electronic device carried by the gimbal to stop running.

[0075] In another possible implementation, before step 301, or before executing the method in the embodiment of the present application, the method further includes: performing a detection start mark on the data collected by the electronic device, and the detection start mark is used to indicate that starting from the mark, the data collected by the electronic device is the data collected by the electronic device during the gimbal motor detection process, rather than the data collected when the electronic device is operating normally. In this case, the method further includes: after step 309, performing a detection end mark on the data collected by the electronic device. The detection end mark is used to indicate that starting from the mark, the data collected by the electronic device is the data collected when the electronic device is operating normally. In this way, the user only needs to query the detection start mark and the detection end mark in the data collected by the electronic device to distinguish between the data collected by the electronic device during normal operation and the data collected by the electronic device during the gimbal motor detection process.

[0076] In step 302, it is determined whether the amplitude of the ambient sound data is less than a first threshold.

[0077] When the amplitude of the ambient sound data is less than the first threshold, step 303 is executed; when the amplitude of the ambient sound data is greater than the first threshold, steps 301-302 are executed again after waiting for a set time.

[0078] Optionally, the time length is set in a range of 10 seconds to 1 minute, for example, 10 seconds, 30 seconds or one minute, thereby improving the efficiency of motor fault detection.

[0079] The first threshold is used to indicate the amplitude of the audio of the ambient noise when the ambient noise is negligible. When the amplitude of the ambient sound data is less than the first threshold, it is considered that the ambient noise has little interference with the expected collected sound data, and the first sound data and the second sound data obtained under the ambient noise are the real sound data of the motor, thereby improving the accuracy of fault detection.

[0080] In a possible implementation, the first threshold can be obtained by testing. For example, select at least two microphones of the same model; place at least two microphones in environment 1, where the amplitude of the ambient noise of environment 1 is known; play sound 1 with a known amplitude and period and within the recognition range of the microphones at the same distance from the at least two microphones, and the data obtained by at least two microphones at this time is the first set of sound data; place at least two microphones in environment 2, where the amplitude of the ambient noise of environment 2 is known and different from the amplitude of the ambient noise of environment 1; repeat the action of playing sound 1, so that at least two microphones obtain the second set of sound data; continue to change the environment in which at least two microphones are located, thereby collecting multiple sets of sound data; analyze multiple sets of sound data, calculate the similarity between the amplitude and period corresponding to the multiple sets of sound data and the amplitude and period of sound 1, and the amplitude of the ambient noise corresponding to the sound data with a similarity greater than 80% can be the first threshold. For example, the amplitude of the ambient noise corresponding to the sound data with a similarity of 80% is used as the first threshold, or the amplitude of the ambient noise corresponding to the sound data with a similarity of 95% is used as the first threshold.

[0081] In another possible implementation, the description document of the microphone describes the ambient noise level for normal operation of the microphone (e.g., 20-40 decibels), and the first threshold value can be determined based on the ambient noise level, for example, the amplitude corresponding to an ambient noise of 20 decibels, the amplitude corresponding to an ambient noise of 30 decibels, or the amplitude corresponding to an ambient noise of 40 decibels.

[0082] In another possible implementation, the first threshold value may be determined according to the amplitude of the sound data generated when the motor is operating normally. In the embodiment of the present application, the value range of the first threshold value is 0.3-0.6 times the amplitude of the sound data generated when the motor is operating normally, for example, it may be 0.3 times, 0.5 times or 0.6 times the amplitude of the sound data generated when the motor is operating normally.

[0083] Optionally, step 302 may be performed by the aforementioned controller.

[0084] In step 303, the pan / tilt motor is controlled to remain stationary at the first position.

[0085] The position information of the first position is stored in the memory of the control module. Exemplarily, the position information of the first position is stored in the memory of the control module in the form of coordinates, wherein the x-axis in the three-dimensional coordinate system is parallel to the axis of the first motor around the vertical direction; the y-axis in the three-dimensional coordinate system is parallel to the axis of the second motor around the vertical direction; and the z-axis in the three-dimensional coordinate system is perpendicular to the x-axis and the y-axis.

[0086] When the pan-tilt motor is in the first position, the controller knows the coordinates of the pan-tilt motor. When the controller subsequently drives the pan-tilt motor to rotate from the first position, the coordinates of the pan-tilt motor are determined. For example, for a motor that rotates around a horizontal axis, the first position is the initial position in the vertical plane, such as the 0-degree position. For a motor that rotates around a vertical axis, the first position is the initial position in the horizontal plane, such as the 0-degree position.

[0087] In an embodiment of the present application, the pan-tilt motor is controlled to be stationary at the first position by feedback of the induction device, wherein the induction device includes a contact sensor or a photoelectric limit switch, and the method includes: for a motor rotating around the horizontal axis, an induction device is installed at the first position of the motor (such as the initial position in the vertical plane, that is, the 0-degree position); for a motor rotating around the vertical axis, an induction device is installed at the first position of the motor (such as the initial position in the horizontal plane, that is, the 0-degree position). When the motor rotating around the horizontal axis passes through the corresponding induction device at the first position, the induction device generates an induction signal and sends the induction signal to the controller, and the controller controls the motor to be stationary after receiving the induction signal; when the motor rotating around the vertical axis passes through the corresponding induction device at the first position, the induction device generates an induction signal and sends the induction signal to the controller, and the controller controls the motor to be stationary after receiving the induction signal. In this way, when the motor rotating around the horizontal axis and the motor rotating around the vertical axis in the pan-tilt are both stationary, it is determined that the pan-tilt is stationary at the first position.

[0088] In some embodiments, the sensing device may also be installed at the first position of the electronic device; in other embodiments, for example, when there is a transmission belt in the gimbal, the sensing device may also be installed at the transmission belt position corresponding to the first position.

[0089] Among them, for the pan-tilt motor with a rotation cut-off position, the motor first rotates in a first rotation direction. After rotating to the rotation cut-off position, if it still has not passed the induction device, it rotates in a second rotation direction opposite to the first rotation direction. For the pan-tilt motor without a rotation cut-off position, the motor rotates in the first rotation direction. Optionally, the first rotation direction can be clockwise or counterclockwise, and the second rotation direction can be clockwise or counterclockwise; when the first rotation direction is clockwise, the corresponding second rotation direction is counterclockwise, and similarly, when the first rotation direction is counterclockwise, the corresponding second rotation direction is clockwise.

[0090] In some embodiments, the gimbal motor moves from the second position to the first position. Before step 303, the method also includes: recording the position information of the second position of the gimbal motor in a memory, and then controlling the gimbal motor to move from the second position to the first position, so that the gimbal motor can return to the second position according to the position information of the second position when subsequently executing step 309.

[0091] Exemplarily, the position information of the second position is stored in the memory of the control module in the form of coordinates, wherein the x-axis in the three-dimensional coordinate system is parallel to the axis of the first motor in the vertical direction; the y-axis in the three-dimensional coordinate system is parallel to the axis of the second motor in the horizontal direction; and the z-axis in the three-dimensional coordinate system is perpendicular to the x-axis and the y-axis.

[0092] Optionally, the time and running speed of the pan / tilt motor in reaching the first position from the second position may be recorded, and the position information of the second position of the pan / tilt motor before executing step 303 may be determined based on the recorded time and running speed.

[0093] In step 304, a first driving signal is input to the pan / tilt motor in a first detection phase.

[0094] For the related contents of inputting the first driving signal to the pan / tilt motor in the first detection phase, please refer to step 201 and will not be described in detail here.

[0095] The first driving signal is used to detect whether the pan / tilt motor has a first type of fault. In the embodiment of the present application, since the first driving signal is used to drive the pan / tilt motor to run at a first speed, the first type of fault is determined to be a stall fault.

[0096] Optionally, the first speed is used to indicate the speed at which the sound generated by the pan / tilt motor is within a recognition frequency range of the pickup when the pan / tilt motor runs at the speed.

[0097] Exemplarily, the first speed is 80%-100% of the maximum operating speed of the pan / tilt motor. For example, it can be the maximum operating speed of the pan / tilt motor. Generally, the higher the operating speed, the louder the sound generated by the motor. Therefore, driving the pan / tilt motor to run at the first speed can make the amplitude of the collected first sound data larger, which is conducive to improving the accuracy of the analysis of the first sound data.

[0098] In step 305, first sound data of the pan / tilt motor in the first detection phase is obtained.

[0099] For the relevant contents of obtaining the first sound data of the pan / tilt motor in the first detection phase, please refer to step 202, which will not be described in detail here.

[0100] In step 306, a second drive signal is input to the pan / tilt motor in the second detection phase.

[0101] For the relevant contents of inputting the second driving signal to the pan / tilt motor in the second detection phase, please refer to the aforementioned step 203 and will not be described in detail here.

[0102] The second driving signal is used to detect whether the pan / tilt motor has a second type of fault. In the embodiment of the present application, since the second driving signal is used to drive the coil of the pan / tilt motor to vibrate, the second type of fault is an internal fault of the motor.

[0103] Optionally, when the second driving signal is used to drive the coil of the pan / tilt motor to vibrate, the second driving signal is a pulse signal. The pulse signal can only drive the coil of the pan / tilt motor to vibrate, but cannot cause the rotor of the motor to rotate; and when the pulse signal is used to drive the coil of the pan / tilt motor to vibrate, the frequency of the coil vibration is within the recognition frequency range of the pickup, so that the pickup can collect the sound data generated by the coil vibration.

[0104] Exemplarily, a pan-tilt motor includes multiple coils, and step 306 includes: inputting a second drive signal to each coil of the pan-tilt motor in sequence during the second detection phase. For example, the pan-tilt motor is a three-phase AC motor including three coils, and the second detection phase includes three sub-detection phases. In the first sub-detection phase, a pulse signal is input to the first coil; in the second sub-detection phase, a pulse signal is input to the second coil; and in the third sub-detection phase, a pulse signal is input to the third coil.

[0105] In step 307, second sound data of the pan / tilt motor in the second detection phase is obtained.

[0106] For the relevant contents of obtaining the second sound data of the pan / tilt motor in the second detection phase, please refer to the aforementioned step 204, which will not be described in detail here.

[0107] In step 308, a fault detection result is obtained according to at least one of the first sound data and the second sound data.

[0108] The fault detection result is used to indicate whether the pan / tilt motor has a first type fault and a second type fault.

[0109] In a possible implementation, step 308 is performed by a controller, which obtains a fault detection result based on at least one of the first sound data and the second sound data, determines the fault type of the pan / tilt motor, and then sends the fault type to a computer device.

[0110] In another possible implementation, step 308 is performed by a computer device. After the controller acquires the first sound data and the second sound data, the first sound data and the second sound data are stored in a memory, and the first sound data and the second sound data in the memory are sent to the computer device. The computer device obtains a fault detection result based on at least one of the first sound data and the second sound data.

[0111] The following description takes step 308 being executed by the controller as an example.

[0112] Optionally, step 308 includes the following five steps.

[0113] The first step is to analyze the second sound data to obtain the amplitude of the second sound data.

[0114] The second step is to determine whether the pan / tilt motor has an internal motor fault based on the amplitude of the second sound data.

[0115] Optionally, the second step includes: determining whether the amplitude of the second sound data is less than or equal to a second threshold.

[0116] Optionally, the second threshold is 0.8-1 times of the first threshold, for example, the second threshold is 0.8 times of the first threshold, or the second threshold is 1 times of the first threshold, that is, the second threshold is equal to the first threshold.

[0117] When the amplitude of the second sound data is less than or equal to the second threshold, it is determined that the pan-tilt motor corresponding to the second sound data has an internal motor fault; when the amplitude of the second sound data is greater than the second threshold, it is determined that the pan-tilt motor corresponding to the second sound data does not have an internal motor fault.

[0118] Optionally, the internal fault of the motor includes: a short circuit fault, a drive fault, a circuit breaker fault and the like. When it is determined that the motor has an internal fault, maintenance personnel are required to go to the site to repair the motor.

[0119] When the pan-tilt motor has at least two coils, it is possible to determine whether an internal motor fault occurs in the first coil of the pan-tilt motor corresponding to the second sound data based on the second sound data, thereby accurately locating the fault location.

[0120] In some embodiments, when the amplitude of the second sound data is greater than the second threshold, it is also necessary to determine whether the frequency and amplitude of the second sound data are consistent with the second target sound data. Only when the frequency and amplitude of the second sound data are consistent with the second target sound data can it be considered that the pan / tilt motor corresponding to the second sound data has no internal motor fault. If the frequency and amplitude of the second sound data are inconsistent with the second target sound data, it is considered that an unknown fault has occurred. In the case of an unknown fault, maintenance personnel need to inspect the coil corresponding to the second sound data to determine the specific fault content.

[0121] The second target sound data is used to indicate the sound data collected when the second driving signal is injected into the coil when the coil has no fault.

[0122] Through the first step to the second step, the second type of fault corresponding to the second sound data, that is, the internal fault of the motor, can be accurately identified when the second driving signal is used to drive the coil of the pan-tilt motor to vibrate, and the faulty coil in the motor can be accurately located, thereby improving the accuracy of pan-tilt motor fault detection.

[0123] The third step is to analyze the first sound data to obtain the frequency and amplitude of the first sound data.

[0124] Step 4: compare the frequency and amplitude of the first sound data with the frequency and amplitude of the target sound data to obtain a first comparison result;

[0125] Optionally, the target sound data is used to indicate sound data corresponding to the sound generated when the motor runs at the first speed without any fault.

[0126] Optionally, the first comparison result includes a relationship between a frequency of the first sound data and a frequency of the target sound data and a relationship between an amplitude of the first sound data and an amplitude of the target sound data.

[0127] Step 5: According to the first comparison result, determine whether the PTZ motor has a stall fault.

[0128] In an embodiment of the present application, determining whether the gimbal motor has a stall fault based on the first comparison result includes: when the first comparison result is that the frequency of the first sound data is less than the frequency of the target sound data, and the amplitude of the first sound data is greater than the amplitude of the target sound data, determining that the fault type of the gimbal motor is a stall fault.

[0129] When the target sound data is normal sound data, in the sound data of the stall fault, the amplitude is larger than the amplitude of the target sound data, and the frequency is smaller than the amplitude of the target sound data. Therefore, when the first sound data meets the characteristics of the stall sound data, that is, when the frequency of the first sound data is smaller than the frequency of the target sound data, and the amplitude of the first sound data is greater than the amplitude of the target sound data, it can be determined that the pan-tilt motor has a stall fault, thereby improving the accuracy of fault detection.

[0130] Through steps 3 to 5, it is possible to accurately identify that when the first drive signal is used to drive the motor to run at a first speed, the first type of fault corresponding to the first sound data, that is, a stall fault, makes the gimbal motor fault detection method of the embodiment of the present application more comprehensive and specific for motor fault detection.

[0131] In some embodiments, the target sound data in the fourth step may also be the sound data waveform corresponding to a stall fault. In this case, determining whether the gimbal motor has a stall fault based on the first comparison result in the fifth step includes: when the amplitude of the first sound data is consistent with the amplitude of the target sound data, and the frequency of the first sound data is consistent with the frequency of the target sound data, determining that the motor has a stall fault.

[0132] Figure 6 The waveform diagram of the sound data of the stall fault provided by an exemplary embodiment of the present application is shown, and the target sound data is used to indicate the sound data corresponding to the sound generated when the motor is running at the first speed without fault. Figure 6 According to the waveform 601 of the first sound data and the waveform 602 of the target sound data, it can be seen that the frequency of the first sound data is smaller than the frequency of the target sound data, and the amplitude of the first sound data is larger than the amplitude of the target sound data. Therefore, it can be determined that Figure 6 The motor corresponding to the first sound data in the example has a stall fault.

[0133] When the target sound data is used to indicate the sound data corresponding to the sound generated when the motor runs at the first speed without fault, if the first comparison result is that the frequency of the first sound data is greater than the frequency of the target sound data, or the amplitude of the first sound data is less than the amplitude of the target sound data, or the frequency of the first sound data is greater than the frequency of the target sound data and the amplitude is less than the amplitude of the target sound data, it is considered that other unknown faults have occurred in the motor. In the event of other unknown faults, maintenance personnel are required to inspect the pan-tilt motor corresponding to the first sound data in order to determine the specific content of the fault.

[0134] Optionally, the method further includes: after determining that the gimbal motor has a fault, outputting fault prompt information, the fault prompt information is used to indicate that the gimbal motor has a fault. In some examples, the fault prompt information includes the gimbal motor identifier and the fault type; the gimbal motor identifier is used to indicate that the gimbal motor indicated by the gimbal motor identifier has a fault. Among them, the fault types include: stall fault, motor internal fault and unknown fault. When the fault type is an internal motor fault, the fault prompt information may also include the coil identifier of the gimbal motor, and the coil identifier of the gimbal motor is used to indicate that the coil corresponding to the coil identifier has a fault.

[0135] In a possible implementation, in response to the computer device receiving fault prompt information, and the fault prompt information indicates that the pan-tilt motor has a stall fault, the computer device sends control information to the controller, and the controller controls the pan-tilt motor according to the control information, thereby realizing remote maintenance of the motor without the need for maintenance personnel to be on-site for maintenance, thereby saving labor costs. The control information is used to control the motor to reduce the running speed of the motor while increasing the running torque of the motor.

[0136] In another possible implementation, control information is stored in the controller. When it is determined that the pan / tilt motor is blocked, the controller controls the pan / tilt motor according to the control information, thereby enabling the controller to repair the motor by itself and saving labor costs.

[0137] After the controller controls the pan-tilt motor according to the control information, steps 301-308 are repeated to determine whether the jam fault is cleared. If it is determined that the pan-tilt motor has no fault at this time, step 309 is executed; if it is determined that the pan-tilt motor is still faulty at this time, it means that the fault cannot be solved by remote maintenance, and a fault prompt message is output. The fault prompt message at this time includes: the fault type is a jam fault, the faulty motor is the first motor (the first motor is the motor corresponding to the first sound data), the jam fault cannot be solved by remote maintenance, and maintenance personnel need to go to the site for maintenance; step 309 is executed after the fault prompt message is output.

[0138] In step 309, the pan / tilt motor is controlled to return to the second position.

[0139] In a possible implementation, the number of pan-tilt motors is at least two, including a first motor and a second motor. Therefore, after executing steps 304-309 on the first motor, continue to execute steps 304-309 on the second motor until all pan-tilt motors are diagnosed.

[0140] In another possible implementation, the number of pan-tilt motors is at least two, including a first motor and a second motor, and steps 304 to 308 are performed on the first motor and the second motor in sequence until all pan-tilt motors are diagnosed, and then step 309 is performed.

[0141] After all the gimbal motors are fault-detected, the gimbal motors are controlled to return to the second position, so that the normal operation of the electronic equipment carried by the gimbal can be restored.

[0142] In an embodiment of the present application, a first drive signal and a second drive signal are input into the pan-tilt motor in a first detection stage and a second detection stage respectively, first sound data corresponding to the first detection stage and second sound data corresponding to the second detection stage are obtained, and a fault detection result is obtained according to at least one of the first sound data and the second sound data; wherein, one of the first drive signal and the second drive signal is used to drive the pan-tilt motor to run at a first speed, and the other of the first drive signal and the second drive signal is used to drive the coil of the pan-tilt motor to vibrate, thereby realizing accurate detection of the fault type of the pan-tilt motor by the pickup, thereby improving the accuracy of fault detection.

[0143] Figure 4 A flow chart of a gimbal motor fault detection method provided by an exemplary embodiment of the present application is shown. The method is described by taking the following example: when a first drive signal is used to drive the gimbal motor to run at a first speed and a second drive signal is used to drive the coil of the gimbal motor to vibrate, first determining whether there is a stall fault based on first sound data; if there is a stall fault, terminating the fault judgment; and obtaining second sound data when there is no stall fault, and determining whether there is an internal motor fault based on the second sound data. Figure 1 Fault detection method for pan / tilt motor in.

[0144] See also Figure 4 , the method comprising:

[0145] In step 401, when the pan / tilt motor is stationary, ambient sound data is acquired.

[0146] In step 402, it is determined whether the amplitude of the ambient sound data is less than a first threshold.

[0147] In step 403, the pan / tilt motor is controlled to remain stationary at the first position.

[0148] The relevant contents of steps 401-403 refer to the aforementioned steps 301-303 and will not be described in detail here.

[0149] In step 404, a first driving signal is input to the pan / tilt motor in a first detection phase.

[0150] For the related contents of inputting the first driving signal to the pan / tilt motor in the first detection phase, please refer to step 201 and will not be described in detail here.

[0151] The first driving signal is used to detect whether the pan / tilt motor has a first type of fault.

[0152] In the embodiment of the present application, since the first driving signal is used to drive the pan / tilt motor to run at the first speed, the first type of fault is determined to be a stall fault. That is, in the embodiment of the present application, the first driving signal in the first detection phase is consistent with the aforementioned step 304, so the relevant content of the first speed refers to the aforementioned step 304 and will not be described in detail here.

[0153] In step 405, first sound data of the pan / tilt motor in the first detection phase is obtained.

[0154] For the relevant contents of obtaining the first sound data of the pan / tilt motor in the first detection phase, please refer to step 202, which will not be described in detail here.

[0155] In step 406, it is determined whether the pan / tilt motor has a first type of fault based on the first sound data.

[0156] If the pan / tilt motor has a first type of fault, execute step 410 ; if the pan / tilt motor does not have a first type of fault, execute step 407 .

[0157] For the relevant contents of determining whether the pan / tilt motor has a first type of fault according to the first sound data, refer to the third to fifth steps in the aforementioned step 308, which will not be described in detail here.

[0158] If it is determined that the pan / tilt motor has a first type of fault, namely, a stall fault, a fault prompt message is output, where the fault prompt message is used to indicate that the pan / tilt motor has a stall fault. In some examples, the fault prompt message also includes an identifier of the pan / tilt motor.

[0159] Since the fault corresponding to the first sound data is a stall fault, when a stall fault exists, it means that the motor can rotate, and there must be no internal fault of the motor. Therefore, after outputting the fault prompt information, there is no need to execute steps 407-409, and step 410 can be directly executed.

[0160] The relevant contents of outputting the fault prompt information are detailed in step 308 and will not be described in detail here.

[0161] If it is determined that the pan / tilt motor does not have the first type of fault, namely, a stall fault, the pan / tilt motor may have an internal motor fault or other unknown faults, and therefore step 407 is executed.

[0162] It should be noted that steps 401-406 need to be executed in the controller to improve fault detection efficiency.

[0163] In step 407, a second driving signal is input to the pan / tilt motor in the second detection phase.

[0164] For the relevant contents of inputting the second driving signal to the pan / tilt motor in the second detection phase, please refer to the aforementioned step 203 and will not be described in detail here.

[0165] The second drive signal is used to detect whether the pan / tilt motor has a second type of fault. In the embodiment of the present application, since the second drive signal is used to drive the coil of the pan / tilt motor to vibrate, the second type of fault is an internal fault of the motor. That is, the second drive signal in the second detection stage is consistent with the aforementioned step 306. Therefore, the relevant content of the second drive signal refers to step 306 and will not be described in detail here.

[0166] In step 408, second sound data of the pan / tilt motor in the second detection phase is obtained.

[0167] For obtaining the second sound data of the pan / tilt motor in the second detection phase, refer to the aforementioned step 307, which will not be described in detail here.

[0168] In step 409, it is determined whether the pan / tilt motor has a second type of fault based on the second sound data.

[0169] For the relevant contents of determining whether the pan / tilt motor has a second type of fault according to the second sound data, refer to the first step to the second step in the aforementioned step 308, which will not be described in detail here.

[0170] If it is determined that the pan / tilt motor corresponding to the second sound data does not have the second type of fault, namely, an internal motor fault, it is determined that the motor has no fault.

[0171] If it is determined that the pan-tilt motor has an internal motor fault, a fault prompt message is output, and the fault prompt message is used to indicate that the pan-tilt motor has an internal motor fault. In some examples, the fault prompt message also includes an identifier of the pan-tilt motor and a coil identifier of the pan-tilt motor. The identifier of the pan-tilt motor is used to indicate that the pan-tilt motor indicated by the identifier of the pan-tilt motor has a fault, and the coil identifier of the pan-tilt motor is used to indicate that the coil corresponding to the coil identifier has a fault.

[0172] In step 410, the pan / tilt motor is controlled to return to the second position.

[0173] For related content, please refer to step 309, which will not be described in detail here.

[0174] In an embodiment of the present application, a first drive signal and a second drive signal are input into the pan-tilt motor in a first detection stage and a second detection stage respectively, first sound data corresponding to the first detection stage and second sound data corresponding to the second detection stage are obtained, and a fault detection result is obtained according to at least one of the first sound data and the second sound data; wherein, one of the first drive signal and the second drive signal is used to drive the pan-tilt motor to run at a first speed, and the other of the first drive signal and the second drive signal is used to drive the coil of the pan-tilt motor to vibrate, thereby realizing accurate detection of the fault type of the pan-tilt motor by the pickup, and effectively locating the fault position of the pan-tilt motor, thereby improving the accuracy of fault detection.

[0175] In an embodiment of the present application, by determining that the first sound data indicates that the pan-tilt motor does not have a first type of fault, and then inputting a second drive signal to the pan-tilt motor in the second detection phase, the detection efficiency and accuracy can be improved.

[0176] When the first drive signal is used to drive the coil vibration of the pan-tilt motor and the second drive signal is used to drive the pan-tilt motor to run at a first speed, the first sound data and the second sound data are first obtained, and then the fault detection result is obtained based on the first sound data and the second sound data, it is only necessary to swap the positions of the first sound data and the second sound data in steps 301-309 so that the first sound data in steps 301-309 becomes the second sound data and the second sound data becomes the first sound data, and the rest of the contents do not need to be changed.

[0177] Figure 5 A flow chart of a gimbal motor fault detection method provided by an exemplary embodiment of the present application is shown. The method is described as follows: when a first drive signal is used to drive the coil of the gimbal motor to vibrate, and a second drive signal is used to drive the gimbal motor to run at a first speed, firstly determining whether there is an internal motor fault based on first sound data, and if there is an internal motor fault, terminating the fault judgment; and obtaining second sound data when there is no internal motor fault, and determining whether there is a stall fault based on the second sound data as an example. Figure 1 The fault detection method of the pan / tilt motor in Figure 5 , the method comprising:

[0178] In step 501, when the pan / tilt motor is stationary, ambient sound data is acquired.

[0179] In step 502, it is determined whether the amplitude of the ambient sound data is less than a first threshold.

[0180] In step 503, the pan / tilt motor is controlled to remain stationary at the first position.

[0181] The relevant contents of steps 501-503 refer to the aforementioned steps 301-303 and will not be described in detail here.

[0182] In step 504, a first driving signal is input to the pan / tilt motor in a first detection phase.

[0183] The relevant contents of inputting the first driving signal to the pan / tilt motor in the first detection phase refer to the aforementioned step 201 and will not be described in detail here.

[0184] The first driving signal is used to detect whether the pan / tilt motor has a first type of fault. In the embodiment of the present application, the first driving signal is used to drive the coil of the pan / tilt motor to vibrate, and the first type of fault is an internal fault of the motor.

[0185] Optionally, when the first driving signal is used to drive the coil of the pan / tilt motor to vibrate, the first driving signal is a pulse signal. The relevant contents of the pulse signal are detailed in the aforementioned step 306 and will not be described in detail here.

[0186] In step 505, first sound data of the pan / tilt motor in the first detection phase is obtained.

[0187] The relevant contents of obtaining the first sound data of the pan / tilt motor in the first detection phase are detailed in the aforementioned step 202 and will not be described in detail here.

[0188] In step 506, it is determined whether the pan / tilt motor has a first type of fault based on the first sound data.

[0189] If the pan / tilt motor has a first type of fault, execute step 510 ; if the pan / tilt motor does not have a first type of fault, execute step 507 .

[0190] For the relevant contents of determining whether the pan-tilt motor has the first type of fault, i.e., determining whether the pan-tilt motor has an internal motor fault, based on the first sound data, refer to the first step to the second step in the aforementioned step 308, which will not be described in detail here.

[0191] Since the fault corresponding to the first sound data is an internal motor fault, the pan / tilt motor cannot rotate when there is an internal motor fault, and the method in steps 507-509 cannot determine whether there is a stall fault. Therefore, after outputting the fault prompt information, there is no need to execute steps 507-509, and step 510 can be directly executed.

[0192] The relevant contents of outputting fault prompt information when the PTZ motor has an internal motor fault are detailed in step 409 and will not be described in detail here.

[0193] When it is determined that the pan / tilt motor does not have the first type of fault, namely, an internal fault, the pan / tilt motor may have a stall fault or an unknown fault, and step 507 is executed.

[0194] It should be noted that steps 501-506 need to be executed in the controller to improve fault detection efficiency.

[0195] In step 507, a second driving signal is input to the pan / tilt motor in the second detection phase.

[0196] For the relevant contents of inputting the second driving signal to the pan / tilt motor in the second detection phase, please refer to step 203 and will not be described in detail here.

[0197] The second driving signal is used to detect whether the pan / tilt motor has a second type of fault.

[0198] In the embodiment of the present application, since the second drive signal is used to drive the pan / tilt motor to run at the first speed, the second type of fault is determined to be a stall fault. That is, in the embodiment of the present application, the second drive signal in the second detection phase is consistent with the first drive signal in the aforementioned step 304, and therefore, the relevant content of the first speed in the first drive signal refers to the aforementioned step 304, which will not be described in detail here.

[0199] In step 508, second sound data of the pan / tilt motor in the second detection phase is obtained.

[0200] For related content, please refer to the aforementioned step 307, which will not be described in detail here.

[0201] In step 509, it is determined whether the pan / tilt motor has a second type of fault based on the second sound data.

[0202] For related content, please refer to the third to fifth steps in the aforementioned step 308, which will not be described in detail here.

[0203] If it is determined that the pan / tilt motor corresponding to the second sound data does not have the second type of fault, namely, a stall fault, then it is determined that the motor has no fault.

[0204] For the relevant contents of outputting the fault prompt information when it is determined that the pan / tilt motor has a stall fault, please refer to the aforementioned step 406, which will not be described in detail here.

[0205] In step 510, the pan / tilt motor is controlled to return to the second position.

[0206] For related content, please refer to step 309 and will not be described in detail here.

[0207] In an embodiment of the present application, a first drive signal and a second drive signal are input into the pan-tilt motor in a first detection stage and a second detection stage respectively, first sound data corresponding to the first detection stage and second sound data corresponding to the second detection stage are obtained, and a fault detection result is obtained according to at least one of the first sound data and the second sound data; wherein, one of the first drive signal and the second drive signal is used to drive the pan-tilt motor to run at a first speed, and the other of the first drive signal and the second drive signal is used to drive the coil of the pan-tilt motor to vibrate, thereby realizing accurate detection of the fault type of the pan-tilt motor by the pickup, and effectively locating the fault position of the pan-tilt motor, thereby improving the accuracy of fault detection.

[0208] In an embodiment of the present application, by determining that the first sound data indicates that the pan-tilt motor does not have a first type of fault, and then inputting a second drive signal to the pan-tilt motor in the second detection phase, the detection efficiency and accuracy can be improved.

[0209] The following are device embodiments of the present application. For details not described in detail in the device embodiments, reference may be made to the above method embodiments.

[0210] Figure 7 The schematic diagram of the structure of a PTZ motor fault detection device provided by an exemplary embodiment of the present application is shown. The fault detection device can be implemented as all or part of the control module of the PTZ motor through software, hardware or a combination of both. Figure 7 The gimbal motor fault detection device 700 includes: a first input module 701, a first acquisition module 702, a second input module 703, a second acquisition module 704 and a fault detection module 705.

[0211] The first input module 701 is used to input a first drive signal to the pan-tilt motor in the first detection phase, and the first drive signal is used to detect whether the pan-tilt motor has a first type of fault. The first acquisition module 702 is used to obtain the first sound data of the pan-tilt motor in the first detection phase. The second input module 703 is used to input a second drive signal to the pan-tilt motor in the second detection phase, and the second drive signal is used to detect whether the pan-tilt motor has a second type of fault. The second acquisition module 704 is used to obtain the second sound data of the pan-tilt motor in the second detection phase. The fault detection module 705 is used to obtain a fault detection result based on at least one of the first sound data and the second sound data, and the fault detection result is used to indicate whether the pan-tilt motor has the first type of fault and the second type of fault. Among them, one of the first drive signal and the second drive signal is used to drive the pan-tilt motor to run at a first speed, and the other of the first drive signal and the second drive signal is used to drive the coil of the pan-tilt motor to vibrate.

[0212] Optionally, the second input module 703 is further used to input the second drive signal to the pan-tilt motor in the second detection phase in response to determining that the first sound data indicates that the pan-tilt motor does not have the first type of fault.

[0213] Optionally, the first drive signal is used to drive the motor to run at a first speed, and the second drive signal is used to drive the coil of the gimbal motor to vibrate. The fault detection module 705 is also used to analyze the first sound data to obtain the frequency and amplitude of the first sound data; compare the frequency and amplitude of the first sound data with the frequency and amplitude of the target sound data to obtain the first comparison result; and determine whether the gimbal motor has the stall fault based on the first comparison result.

[0214] Optionally, the first drive signal is used to drive the motor to run at a first speed, the second drive signal is used to drive the coil of the gimbal motor to vibrate, the first type of fault is a stall fault, and the fault detection module 705 is also used to determine that the gimbal motor has the stall fault when the first comparison result is that the frequency of the first sound data is less than the frequency of the target sound data, and the amplitude of the first sound data is greater than the amplitude of the target sound data.

[0215] Optionally, the fault detection module 705 is further used to analyze the second sound data to obtain the amplitude of the second sound data; and determine whether the pan / tilt motor has an internal motor fault according to the amplitude of the second sound data.

[0216] Optionally, the device further includes: an ambient sound acquisition module 706, configured to acquire ambient sound data when the pan-tilt motor is stationary. The first acquisition module 701 is also configured to input a first drive signal to the pan-tilt motor in the first detection phase in response to the amplitude of the ambient sound data being less than a first threshold.

[0217] Optionally, the device further includes: a motor control module 707, configured to control the pan / tilt motor to remain stationary at a first position before the first detection phase.

[0218] In an embodiment of the present application, a first drive signal and a second drive signal are input into the pan-tilt motor in a first detection stage and a second detection stage respectively, first sound data corresponding to the first detection stage and second sound data corresponding to the second detection stage are obtained, and a fault detection result is obtained according to at least one of the first sound data and the second sound data; wherein, one of the first drive signal and the second drive signal is used to drive the pan-tilt motor to run at a first speed, and the other of the first drive signal and the second drive signal is used to drive the coil of the pan-tilt motor to vibrate, thereby realizing accurate detection of the fault type of the pan-tilt motor by the pickup, thereby improving the accuracy of fault detection.

[0219] It should be noted that: when the PTZ motor fault detection device provided in the above embodiment performs fault detection, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the PTZ motor fault detection device provided in the above embodiment and the PTZ motor fault detection method embodiment belong to the same concept. The specific implementation process is detailed in the method embodiment and will not be described in detail here.

[0220] The descriptions of the processes corresponding to the above-mentioned figures have different emphases. For parts that are not described in detail in a certain process, please refer to the relevant descriptions of other processes.

[0221] Figure 8 8 is a schematic diagram of the structure of an electronic device 800 provided in an embodiment of the present application. Figure 8 As shown, the electronic device 800 includes at least one processor 801 , a memory 802 , and at least one network interface 803 .

[0222] The processor 801 is, for example, a general-purpose central processing unit (CPU), a network processor (NP), a graphics processing unit (GPU), a neural-network processing unit (NPU), a data processing unit (DPU), a microprocessor, or one or more integrated circuits for implementing the solution of the present application. For example, the processor 801 includes an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The PLD is, for example, a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0223] The memory 802 is, for example, a read-only memory (ROM) or other static storage device that can store static information and instructions, a random access memory (RAM) or other dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. Optionally, the memory 802 exists independently and is connected to the processor 801 through the internal connection 804. Alternatively, the memory 802 and the processor 801 are optionally integrated together.

[0224] The network interface 803 uses any transceiver-like device for communicating with other devices or communication networks. The network interface 803 includes, for example, at least one of a wired network interface or a wireless network interface. The wired network interface is, for example, an Ethernet interface. The Ethernet interface is, for example, an optical interface, an electrical interface, or a combination thereof. The wireless network interface is, for example, a wireless local area network (WLAN) interface, a cellular network interface, or a combination thereof.

[0225] In some embodiments, the processor 801 includes one or more CPUs, such as Figure 8 CPU0 and CPU1 are shown in the figure.

[0226] In some embodiments, the electronic device 800 optionally includes multiple processors, such as Figure 8 801 and processor 805 are shown in FIG. Each of these processors is, for example, a single-core processor (single-CPU), or a multi-core processor (multi-CPU). The processor here optionally refers to one or more devices, circuits, and / or processing cores for processing data (such as computer program instructions).

[0227] In some embodiments, the electronic device 800 further includes an internal connection 804. The processor 801, the memory 802, and the at least one network interface 803 are connected via the internal connection 804. The internal connection 804 includes a path to transmit information between the above components. Optionally, the internal connection 804 is a single board or a bus. Optionally, the internal connection 804 is divided into an address bus, a data bus, a control bus, etc.

[0228] In some embodiments, the electronic device 800 further includes an input-output interface 806. The input-output interface 806 is connected to the internal connection 804.

[0229] In some embodiments, the input / output interface 806 is used to connect to an input device to receive commands or data involved in the above method embodiments input by a user through the input device, such as a first threshold, a first time, etc. The input device includes but is not limited to a keyboard, a touch screen, a microphone, a mouse, or a sensor device, etc.

[0230] In some embodiments, the input / output interface 806 is also used to connect to an output device. The input / output interface 806 outputs the intermediate results and / or final results generated by the processor 801 executing the above method embodiment through the output device, such as the first sound data, the second sound data, etc. The output device includes but is not limited to a display, a printer, a projector, etc.

[0231] Optionally, the processor 801 implements the method in the above embodiment by reading the program code 810 stored in the memory 802, or the processor 801 implements the method in the above embodiment by the program code stored internally. In the case where the processor 801 implements the method in the above embodiment by reading the program code 810 stored in the memory 802, the memory 802 stores the program code for implementing the method provided in the embodiment of the present application.

[0232] For more details on how the processor 801 implements the above functions, please refer to the descriptions in the previous method embodiments, which will not be repeated here.

[0233] In some embodiments, a computer-readable storage medium is also provided, which stores computer instructions. When the computer instructions stored in the computer-readable storage medium are executed by an electronic device, the electronic device executes the fault detection method provided by the above method embodiment.

[0234] In some embodiments, a computer program product is also provided, which includes one or more computer program instructions. When the computer program instructions are loaded and executed by a computer, the computer executes the fault detection method provided by the above method embodiment.

[0235] In some embodiments, a chip is also provided, including a memory and a processor, wherein the memory is used to store computer instructions, and the processor is used to call and run the computer instructions from the memory to execute the fault detection method provided by the above method embodiment.

[0236] Unless otherwise defined, the technical or scientific terms used herein shall have the usual meanings understood by persons of ordinary skill in the field to which this application belongs. The words "first", "second", "third" and similar terms used in the patent application specification and claims of this application do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, similar words such as "one" or "one" do not indicate a quantitative limitation, but rather indicate the presence of at least one. Similar words such as "include" or "comprise" mean that the elements or objects appearing before "include" or "comprises" include the elements or objects listed after "include" or "comprises" and their equivalents, and do not exclude other elements or objects. A and / or B means that there are three situations: A; B; and A and B.

[0237] The above is only an embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A method for detecting a PTZ motor fault, characterized in that: The method comprises: Inputting a first drive signal to the pan / tilt motor in a first detection phase, wherein the first drive signal is used to detect whether the pan / tilt motor has a first type of fault; Acquiring first sound data of the pan / tilt motor in the first detection phase; In the second detection phase, a second drive signal is input to the pan / tilt motor, where the second drive signal is used to detect whether the pan / tilt motor has a second type of fault; Acquiring second sound data of the pan / tilt motor in the second detection phase; Obtaining a fault detection result according to at least one of the first sound data and the second sound data, wherein the fault detection result is used to indicate whether the pan / tilt motor has the first type of fault and the second type of fault; Among them, one of the first drive signal and the second drive signal is used to drive the pan-tilt motor to run at a first speed, and the other of the first drive signal and the second drive signal is used to drive the coil of the pan-tilt motor to vibrate.

2. The method according to claim 1, characterized in that The inputting of a second driving signal to the pan / tilt motor in the second detection phase comprises: In response to determining that the first sound data indicates that the pan / tilt motor does not have the first type of fault, the second drive signal is input to the pan / tilt motor in the second detection phase.

3. The method according to claim 1 or 2, characterized in that: The first driving signal is used to drive the motor to run at a first speed, the second driving signal is used to drive the coil of the pan / tilt motor to vibrate, and the first type of fault is a stall fault; The obtaining a fault detection result according to at least one of the first sound data and the second sound data includes: analyzing the first sound data to obtain a frequency and an amplitude of the first sound data; Comparing the frequency and amplitude of the first sound data with the frequency and amplitude of the target sound data to obtain a first comparison result; According to the first comparison result, it is determined whether the pan / tilt motor has the stall fault.

4. The method according to claim 3, characterized in that Determining whether the pan / tilt motor has the stall fault according to the first comparison result includes: When the first comparison result is that the frequency of the first sound data is less than the frequency of the target sound data, and the amplitude of the first sound data is greater than the amplitude of the target sound data, it is determined that the gimbal motor has the stall fault.

5. The method according to claim 3 or 4, characterized in that: The second type of fault is an internal fault of the motor. The obtaining a fault detection result according to at least one of the first sound data and the second sound data includes: analyzing the second sound data to obtain an amplitude of the second sound data; According to the amplitude of the second sound data, it is determined whether the pan / tilt motor has an internal fault.

6. The method according to any one of claims 1 to 5, characterized in that: The method further comprises: When the pan / tilt motor is stationary, acquiring environmental sound data; The step of inputting a first driving signal to the pan / tilt motor in the first detection phase includes: In response to the amplitude of the environmental sound data being less than a first threshold, a first driving signal is input to the pan / tilt motor in a first detection phase.

7. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: Before the first detection stage, the pan / tilt motor is controlled to remain stationary at a first position.

8. A PTZ motor fault detection device, characterized in that: The device comprises: A first input module, used for inputting a first drive signal to the pan / tilt motor in a first detection phase, wherein the first drive signal is used for detecting whether the pan / tilt motor has a first type of fault; A first acquisition module, used for acquiring first sound data of the pan / tilt motor in the first detection phase; A second input module, used for inputting a second drive signal to the pan / tilt motor in a second detection phase, wherein the second drive signal is used for detecting whether the pan / tilt motor has a second type of fault; A second acquisition module, used for acquiring second sound data of the pan / tilt motor in the second detection phase; a fault detection module, configured to obtain a fault detection result according to at least one of the first sound data and the second sound data, wherein the fault detection result is used to indicate whether the pan / tilt motor has the first type of fault and the second type of fault; Among them, one of the first drive signal and the second drive signal is used to drive the pan-tilt motor to run at a first speed, and the other of the first drive signal and the second drive signal is used to drive the coil of the pan-tilt motor to vibrate.

9. The device according to claim 8, characterized in that The second input module is further used to analyze the second sound data to obtain the amplitude of the second sound data; In response to determining that the first sound data indicates that the pan / tilt motor does not have the first type of fault, the second drive signal is input to the pan / tilt motor in the second detection phase.

10. The device according to claim 8 or 9, characterized in that The first driving signal is used to drive the motor to run at a first speed, the second driving signal is used to drive the coil of the pan / tilt motor to vibrate, and the first type of fault is a stall fault; The fault detection module is further used to: analyze the first sound data to obtain the frequency and amplitude of the first sound data; Comparing the frequency and amplitude of the first sound data with the frequency and amplitude of the target sound data to obtain a first comparison result; According to the first comparison result, it is determined whether the pan / tilt motor has the stall fault.

11. The device according to claim 10, characterized in that The fault detection module is also used to determine that the gimbal motor has the stall fault when the first comparison result is that the frequency of the first sound data is less than the frequency of the target sound data, and the amplitude of the first sound data is greater than the amplitude of the target sound data.

12. The device according to claim 10 or 11, characterized in that The second type of fault is an internal fault of the motor, and the fault detection module is further used to: analyzing the second sound data to obtain an amplitude of the second sound data; According to the amplitude of the second sound data, it is determined whether the pan / tilt motor has an internal fault.

13. The device according to any one of claims 8 to 12, characterized in that The device also includes: An environmental sound acquisition module, used to acquire environmental sound data when the pan / tilt motor is stationary; The first acquisition module is also used to: in response to the amplitude of the ambient sound data being less than a first threshold, input a first drive signal to the pan / tilt motor in a first detection phase.

14. The device according to any one of claims 8 to 13, characterized in that The device also includes: The motor control module is used to control the pan / tilt motor to remain stationary at a first position before the first detection stage.

15. An electronic device, characterized in that: The electronic device comprises a processor and a memory, wherein the memory is used to store a software program, and the processor runs or executes the software program stored in the memory so that the electronic device implements the method according to any one of claims 1 to 7.

16. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store program codes executed by a processor, wherein the program codes include instructions for implementing the method according to any one of claims 1 to 7.

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