A fault detection method and apparatus

Abstract

The application provides a fault detection method and device, which is applied to a BIT unit of a servo system of an optoelectronic device, the BIT unit is arranged in a direct connection manner between a motion controller and a position sensor, a first clock signal output by the motion controller is opposite in polarity to a second clock signal of a BISS-C protocol adopted by the position sensor, and the method comprises the following steps: in response to a detection signal instruction, performing BIT period detection on the first clock signal; performing conversion processing on the first clock signal of the current period to obtain a first clock conversion signal, the first clock conversion signal is the same in polarity as the second clock signal; judging whether the first clock conversion signal is high when idle; if the first clock conversion signal is high, it is determined that the working state of the position sensor is a normal state and the working state of the motion controller is a fault state; if the first clock conversion signal is low, it is determined that the working state of the position sensor is a fault state. It can be seen that the application can accurately locate the fault point and effectively solve the problem of high I / O resource occupation.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of data processing, and particularly relates to a fault detection method and device. BACKGROUND

[0002] Testability refers to a design feature that a product or equipment can timely and accurately determine its state (such as normal, fault or performance degradation, etc.) and isolate its internal fault. In the detection and maintenance process of optoelectronic equipment, if the equipment has good testability, the fault detection and isolation time will be greatly shortened, the maintenance time will be reduced, and the maintainability will be improved. As one of the important components of optoelectronic equipment, the servo system has high requirements for fault detection rate and fault isolation rate in the industry.

[0003] In hardware design, the servo system of optoelectronic equipment often uses a direct current brushless motor as a motion component of a shaft system. The direct current brushless motor needs to control the energization sequence of the electronic coil in use, so as to generate a rotating magnetic field and drive the rotor to rotate. In the prior art, in order to accurately control the current output by the brushless motor, the brushless motor is often used in combination with a position sensor. In this way, the position of the rotor of the direct current brushless motor can be detected through the position sensor, and then the detection information of the position sensor is fed back to a host mechanism such as a motion controller, so as to accurately control the current.

[0004] In addition, in the above prior art, the servo system of optoelectronic equipment is usually designed with multiple shafts, and each shaft system is configured with a position sensor. Sometimes, one position sensor also needs to be configured with two data output components, which can easily lead to a large occupation of I / O resources by a BIT (Built-In Test) unit.

[0005] Therefore, there is an urgent need for a solution that can accurately locate the fault point and effectively solve the problem of a large occupation of I / O resources. SUMMARY

[0006] Embodiments of the present application provide a fault detection method and device, which aims to improve the fault detection rate and fault isolation rate, accurately locate the fault point, and reduce the I / O resources occupied by the BIT unit.

[0007] The present application provides a fault detection method applied to a BIT unit of a servo system of optoelectronic equipment. The BIT unit is arranged in a direct connection manner between a motion controller and a position sensor. A first clock signal output by the motion controller and a second clock signal of a BISS-C protocol adopted by the position sensor are opposite in polarity. The method comprises the following steps:

[0008] In response to an opening detection signal instruction, performing BIT period detection on the first clock signal;

[0009] convert the first clock signal of the current cycle to obtain a first clock conversion signal; wherein the first clock conversion signal has the same polarity as the second clock signal;

[0010] determine whether the first clock conversion signal is high when idle;

[0011] If it is high, it is determined that the working state of the position sensor is normal, and the working state of the motion controller is determined to be a fault state;

[0012] If it is low, it is determined that the working state of the position sensor is a fault state.

[0013] Optionally, the step of detecting the BIT period of the first clock signal in response to the start detection signal instruction comprises:

[0014] When an angle measurement abnormal fault occurs when the photoelectric device is working, the BIT period of the first clock signal is detected.

[0015] Optionally, the step of converting the first clock signal of the current cycle to obtain a first clock conversion signal comprises:

[0016] When the motion controller receives a normal response signal output by the position sensor, the polarity of the first clock signal is reversed, and the start signal of the sensor sending position information is determined.

[0017] Optionally, it further comprises: monitoring the state of the first clock signal, when the high level of the first clock signal is maintained for more than a preset time threshold, the first data signal is restored to high level and the transmission of the current frame data is ended.

[0018] The present application provides a kind of fault detection device, it is applied to the BIT unit of photoelectric equipment servo system, the BIT unit is connected with motion controller and position sensor based on BISS-C protocol communication, the first clock signal output by the motion controller and the second clock signal of position sensor communication protocol BISS-C protocol polarity is opposite, this device includes:

[0019] BIT period detection module, for responding to start detection signal instruction, the BIT period of the first clock signal is detected;

[0020] signal conversion module, for converting the first clock signal of the current cycle to obtain a first clock conversion signal; wherein the first clock conversion signal has the same polarity as the second clock signal;

[0021] The fault detection module is configured to determine whether the first clock conversion signal is high when the first clock conversion signal is idle; when the determination result is high, determine that the working state of the position sensor is normal and the working state of the motion controller is faulty; and when the determination result is low, determine that the working state of the position sensor is faulty.

[0022] Optionally, the BIT period detection module is configured to perform BIT period detection on the first clock signal when an abnormal angle measurement fault is detected in the operation of the photoelectric device.

[0023] Optionally, the signal conversion module is configured to reverse the polarity of the first clock signal and determine a start signal of the sensor for sending position information when the motion controller receives a normal response signal output by the position sensor.

[0024] Optionally, the reset module is further configured to monitor the state of the first clock signal, and when the high level of the first clock signal is maintained for more than a preset time threshold, restore the first data signal to a high level and end the transmission of the current frame data.

[0025] The application provides a fault detection device, which comprises a processor, a memory, and a computer program stored in the memory and executable on the processor, and the computer program is executed by the processor to implement the above method.

[0026] Optionally, the BIT unit is configured with four pairs of I / O resources, and the first pair of I / O resources and the second pair of I / O resources correspond to the first clock signal and the first data signal of the motion controller, respectively, and the third pair of I / O resources and the fourth pair of I / O resources correspond to the second clock signal and the second data signal of the position sensor, respectively; wherein the first data signal is obtained by converting the second data signal by the BIT unit.

[0027] Optionally, the BIT unit comprises a data acquisition module, a data conversion output module, and a detection information output module.

[0028] The data acquisition module is configured to perform BIT period detection on the first clock signal output by the motion controller when abnormal angle measurement data is monitored.

[0029] The data conversion output module is configured to convert and output the acquired first clock signal.

[0030] The detection information output module is configured to output a fault detection result determining that the working state of the motion controller is a fault state when the judgment result is a high level; and output a fault detection result determining that the working state of the position sensor is a fault state when the judgment result is a low level.

[0031] The present application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the above method.

[0032] The present application provides a computer program product, when the instructions in the computer program product are executed by a processor of a fault detection device, the fault detection device implements the above method.

[0033] The present application brings the following beneficial effects:

[0034] As can be seen from the above scheme, the present application provides a fault detection scheme applied to a BIT unit of a servo system of an optoelectronic device, the BIT unit is directly connected between a motion controller and a position sensor, and can detect a CLK signal, i.e., a first clock signal, output by the motion controller. Since the output characteristic of the motion controller, i.e., the first clock signal output by the motion controller is opposite in polarity to a second clock signal of a BISS-C protocol used by the position sensor, the synchronous detection of the motion controller and the position sensor can be realized by detecting only the CLK signal output by the motion controller, the problem of a large number of I / O resources occupied by the BIT unit is solved, the I / O resources occupied by the BIT unit are reduced by half, and the device manufacturing cost is reduced, the device size is reduced, and the reliability is improved, which has practical value. Moreover, the output characteristic of the motion controller can also be used for fault detection and fault isolation of the motion controller and the position sensor, so that the fault point can be accurately located. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 A BISS-C protocol timing diagram provided by the present application;

[0036] Figure 2 A position sensor, a motion controller, and a collection circuit connection diagram provided by the present application;

[0037] Figure 3 A flowchart of a fault detection method provided by the present application;

[0038] Figure 4 A sensor detection signal receiving circuit provided by the present application;

[0039] Figure 5 A CLK waveform diagram of a default output of a motion controller provided by the present application;

[0040] Figure 6 A CLK waveform diagram normally output by the motion controller data provided for the present application;

[0041] Figure 7 Another flowchart of the fault detection method provided for the present application;

[0042] Figure 8 A structure diagram of the fault detection device provided for the present application;

[0043] Figure 9 Another structure diagram of the fault detection device provided for the present application;

[0044] Figure 10 A structure diagram of the fault detection device provided for the present application. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0046] Before the present application is introduced, the working principle involved in the present application is introduced first.

[0047] As mentioned before, a DC brushless motor is often used as a moving part of a shaft system in an optoelectronic device servo system. The DC brushless motor needs to control the energizing sequence of the electronic coil in use, so as to generate a rotating magnetic field and drive the rotor to rotate. Therefore, in practical applications, the brushless motor is often used in combination with a position sensor. The position sensor is used to detect the position of the rotor and feed back information to a motion controller, so as to accurately control the current. Therefore, it is necessary to detect the working state of the position sensor in real time.

[0048] Further, the communication protocols of the position sensor mainly include SSI protocol (Synchronous Serial Interface) and BISS-C protocol (Bidirectional Synchronous Serial-C) and the like. It should be noted that the BISS-C protocol is an international standard of the sensor general protocol, and is a full-duplex synchronous serial bus communication protocol. In the bus or point-to-point connection mode, the host sends a CLK signal (clock signal), and the position sensor returns a DATA signal (data signal). The CLK signal and the DATA signal are two pairs of RS422 differential signals. The present application provides a fault detection method based on the BISS-C protocol in the following scheme.

[0049] Please refer to Figure 1 , first, the host sends a falling edge pulse as a request data signal, and then sends a high level within a preset time threshold sensor operation timeout which is less than the time specified in the protocol, and then continues to provide the CLK signal. The position sensor returns a low level as a response to the request signal at the second rising edge of the CLK signal. The first high level of the DATA signal is the start signal for sending the effective position information of the position sensor. When the CLK signal high level maintains for more than the preset time threshold, the DATA signal returns to high level, ending the transmission of a frame of data.

[0050] In the hardware design, as shown in Figure 2 , the CLK signal and the DATA signal of the position sensor and the motion controller are usually connected in a direct connection mode, and then the position information is sent by the motion controller. In order to improve the fault detection rate and the fault isolation rate of the photoelectric equipment, and accurately locate the fault point, a BIT unit needs to be added between the position sensor and the motion controller for BIT cycle detection when the test system is designed, for signal acquisition and detection, and at the same time, the acquired signals are converted and output.

[0051] In order to improve the fault detection rate and the fault isolation rate, accurately locate the fault point, and reduce the I / O resources occupied by the BIT unit, the present application provides a fault detection method and device.

[0052] The fault detection method provided by the present application will be described first.

[0053] Example One

[0054] As Figure 3As shown in the flowchart of the fault detection method provided in the present application, the BIT unit of the servo system of the photoelectric device is applied, the BIT unit is directly connected between the motion controller and the position sensor, and the first clock signal output by the motion controller is opposite in polarity to the second clock signal of the BISS-C protocol used by the position sensor.

[0055] As shown in the flowchart of the fault detection method provided in the present application, the BIT unit of the servo system of the photoelectric device is applied, the BIT unit is directly connected between the motion controller and the position sensor, and the first clock signal output by the motion controller is opposite in polarity to the second clock signal of the BISS-C protocol used by the position sensor. Figure 4 As shown in the sensor detection signal receiving circuit provided in the present application, the BISS-C CLK signal receiving is RS422 differential pair, and the N2 module is used in the circuit to complete the conversion of RS422 differential to single-ended signal. On the electrical connection, CLK+ and CLK- of BISS-C are connected to RS422_RX2+ and RS422_RX2- pins respectively, and then the MCU on the BIT module directly detects the state of RS422_RX2 signal in real time to determine the fault point when the angle measurement is abnormal.

[0056] Specifically, the fault detection method provided in the present application can include the following steps:

[0057] Step S101: In response to the detection signal instruction, the first clock signal is detected in a BIT cycle.

[0058] In one case, when the angle measurement abnormality fault is detected when the photoelectric device is working, the first clock signal is detected in a BIT cycle. It should be noted that the present application aims to detect faults of the servo system of the photoelectric device, especially to detect faults of the position sensor used with the direct current brushless motor, and to detect faults of the motion controller of the upper mechanism, and the fault detection process of the present application is started when the detection signal instruction is received. Here, a specific signal instruction is listed, and other setting methods can also be used, which will not be described here.

[0059] Step S102: The first clock signal of the current cycle is converted to obtain a first clock conversion signal; wherein the first clock conversion signal has the same polarity as the second clock signal.

[0060] In one case, when the motion controller receives the normal response signal output by the position sensor, the polarity of the first clock signal is reversed, and the start signal of the position information sent by the sensor is determined.

[0061] Please refer to Figure 5 and Figure 6 Take a brand of motion controller as an example for illustration. The motion controller has the advantages of small size, high precision and good reliability, and has become the choice of many photoelectric device manufacturers. It should be particularly emphasized that the CLK signal (i.e. the first clock signal) output by the motion controller to the position sensor has the following output characteristics:

[0062] (1) The motion controller is at a low level when idle. The default CLK signal it sends has the opposite polarity to the CLK signal (i.e., the second clock signal) in the BISS-C used by the position sensor. Figure 5 “clk_biss” in the output waveform shown;

[0063] (2) When the motion controller receives normal angle measurement data, the clock it outputs in the idle state is high level. Figure 6 “clk_biss” in the output waveform shown.

[0064] It is understandable that the motion controller can receive the normal response signal sent back by the position sensor, indicating that the working states of the motion controller and the position sensor are both normal at this time. At this time, based on the above-mentioned output characteristics of the motion controller, by reversing the polarity of the first clock signal, the second clock signal of the BISS-C protocol adopted by the position sensor can be obtained, and then the starting signal of the sensor sending the position signal can be determined based on the obtained second clock signal. The present application cleverly utilizes this output characteristic, which can not only realize the accurate positioning of the fault point, but also can realize the detection that originally required two pairs of I / O resources through the first clock signal of the motion controller, thereby greatly reducing the occupation of I / O resources.

[0065] Step S103: Determine whether the first clock conversion signal is at a high level when idle. If it is at a high level, execute step S104; if it is at a low level, execute step S105.

[0066] Step S104: determining that the working state of the position sensor is a normal state, and determining that the working state of the motion controller is a fault state.

[0067] Step S105: Determine whether the working state of the position sensor is a fault state.

[0068] It should be noted that the present application utilizes the above-mentioned output characteristics of the motion controller. When an abnormal angle measurement failure occurs during operation of the device, the BIT unit only collects and detects the CLK signal (i.e., the first clock signal) output by the motion controller. If the detected CLK signal is at a low level when idle, it indicates that the position sensor is faulty; if the detected CLK signal is at a high level when idle, it indicates that the position sensor is working normally and the motion controller is faulty, thereby accurately locating the fault point.

[0069] The method of the present invention can not only effectively perform fault detection on the motion controller and the position sensor, but also save resource configuration of the BIT unit.

[0070] From the above scheme can be seen, the application can be realized by only detecting the CLK signal output by the motion controller to synchronize the detection of the motion controller and the position sensor, solves the problem that the BIT unit occupies more I / O resources, makes the I / O resources occupied by the BIT unit reduce by half, has practical value for reducing the manufacturing cost of equipment, reducing the size of equipment and improving reliability; moreover, by using the output characteristics of the motion controller, the fault detection and fault isolation of the motion controller and the position sensor can be achieved, so as to accurately locate the fault point.

[0071] Example Two

[0072] As shown in Figure 7 , a flow chart of the fault detection method provided by the application, applied to the BIT unit of the photoelectric device servo system, the BIT unit is arranged in a direct connection manner between the motion controller and the position sensor, and the first clock signal output by the motion controller and the second clock signal of the BISS-C protocol adopted by the position sensor are opposite in polarity.

[0073] Specifically, the fault detection method provided by the application can include the following steps:

[0074] Step S201: in response to the opening detection signal instruction, performing BIT period detection on the first clock signal.

[0075] Step S202: performing conversion processing on the first clock signal of the current period to obtain a first clock conversion signal; wherein the first clock conversion signal and the second clock signal are the same in polarity.

[0076] Step S203: determining whether the first clock conversion signal is high when it is idle, if it is high, executing step S204, if it is low, executing step S205.

[0077] Step S204: determining that the working state of the position sensor is a normal state, and determining that the working state of the motion controller is a fault state.

[0078] Step S205: determining that the working state of the position sensor is a fault state.

[0079] It should be noted that steps S201 to S205 in the second method embodiment are similar to steps S101 to S105 in the first method embodiment, and the related parts can refer to the content of the first embodiment part, which will not be repeated here.

[0080] Step S206: monitoring the state of the first clock signal, when the high level of the first clock signal maintains for more than a preset time threshold, restoring the first data signal to high level and ending the transmission of the current frame data.

[0081] Specifically, after the motion controller receives the response signal output by the position sensor, the transmitted CLK signal (i.e., the first clock signal) is reversed in polarity, and then the first high level of the DATA signal (i.e., the first data signal) is taken as a start signal for starting the transmission of the valid position information of the position sensor; when the high level of the CLK signal (i.e., the first clock signal) is maintained for a time greater than a preset time threshold, the DATA signal returns to a high level, ending the transmission of a frame of data. By setting the preset time threshold, the signal can be reset. It should be noted that the specific value of the preset time threshold can be set according to actual needs, and the value is not limited by the application.

[0082] Figure 7 The method embodiment has all the beneficial effects of the method embodiment. Figure 3 In addition to the above, by setting the preset time threshold to reset the monitored first clock signal, the detection error caused by system detection timeout is avoided, which is beneficial to improve the accuracy of fault detection.

[0083] It should be noted that for the method embodiment, in order to simply describe, it is expressed as a series of action combinations, but those skilled in the art should know that the application is not limited by the order of the described actions, because according to the application, certain steps can be performed in other order or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification are all optional embodiments, and the actions involved are not necessarily required by the application.

[0084] The fault detection device provided by the application will be described below.

[0085] Example Three

[0086] As Figure 8 shown, a structure diagram of the fault detection device provided by the application, applied to a BIT unit of a photoelectric device servo system, the BIT unit is communicatively connected with a motion controller and a position sensor based on a BISS-C protocol, a first clock signal output by the motion controller and a second clock signal of the BISS-C protocol of the communication protocol of the position sensor are opposite in polarity.

[0087] Specifically, the fault detection device can include a BIT period detection module 310, a signal conversion module 320, and a fault detection module 330.

[0088] The BIT period detection module 310 is configured to perform BIT period detection on the first clock signal in response to a start detection signal instruction.

[0089] The signal conversion module 320 is configured to perform conversion processing on the first clock signal of the current period to obtain a first clock conversion signal; wherein the first clock conversion signal has the same polarity as the second clock signal.

[0090] The fault detection module 330 is configured to determine whether the first clock conversion signal is at a high level when idle; when the determination result is a high level, it is determined that the working state of the position sensor is a normal state, and the working state of the motion controller is a fault state; and when the determination result is a low level, it is determined that the working state of the position sensor is a fault state.

[0091] In one case, the BIT period detection module 310 is configured to perform BIT period detection on the first clock signal when an angle measurement abnormal fault occurs when the photoelectric device is working.

[0092] In one case, the signal conversion module 320 is configured to reverse the polarity of the first clock signal after the motion controller receives a normal response signal output by the position sensor, and determine the start signal of the sensor sending position information.

[0093] Further, as shown in Figure 9 The reset module 340 can be further included in the fault detection device, and is configured to monitor the state of the first clock signal, and when the high level of the first clock signal is maintained for more than a preset time threshold, the first data signal is restored to a high level and the transmission of the current frame data is ended.

[0094] As can be seen from the above solutions, the present application can realize synchronous detection of the motion controller and the position sensor by only detecting the CLK signal output by the motion controller, thereby solving the problem of a large number of I / O resources occupied by the BIT unit, reducing the I / O resources occupied by the BIT unit by half, and having practical value for reducing the manufacturing cost of the device, reducing the size of the device, and improving the reliability. Moreover, by using the output characteristics of the motion controller, the fault detection and fault isolation of the motion controller and the position sensor can be achieved, so as to accurately locate the fault point.

[0095] For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the related parts are described in the part of the method embodiment.

[0096] The fault detection device provided by the present application is described below.

[0097] Example Four

[0098] To solve the above problems, the present application provides a fault detection device, as shown in Figure 10As shown, the fault detection device includes a memory 410, a processor 420, and a computer program stored on the memory and executable on the processor, and the processor implements the above method applied to the fault detection device when executing the computer program.

[0099] In particular, the fault detection device further includes a BIT unit, the BIT unit is configured with four pairs of I / O resources, the first pair of I / O resources and the second pair of I / O resources correspond to the first clock signal and the first data signal of the motion controller respectively, and the third pair of I / O resources and the fourth pair of I / O resources correspond to the second clock signal and the second data signal of the position sensor respectively; wherein the first data signal is obtained by converting the second data signal by the BIT unit.

[0100] In one case, the BIT unit includes a data acquisition module, a data conversion output module, and a detection information output module; the data acquisition module is configured to perform BIT period detection on the first clock signal output by the motion controller when abnormal angle measurement data is monitored; the data conversion output module is configured to convert and output the acquired first clock signal; the detection information output module is configured to output a fault detection result determining that the working state of the motion controller is a fault state when the judgment result is high level; and output a fault detection result determining that the working state of the position sensor is a fault state when the judgment result is low level.

[0101] It should be noted that the fault detection device can be a desktop computer, a notebook computer, a palm computer, a cloud server, and the like. The fault detection device can include, but is not limited to, a processor 420 and a memory 410. Those skilled in the art can understand that the fault detection device can include more or fewer components than those shown, or combine certain components, or different components, for example, the fault detection device can further include an input / output device, a network access device, a bus, and the like. Figure 10 The above is only an example of the fault detection device, and does not constitute a limitation on the fault detection device, and the fault detection device can include more or fewer components than those shown, or combine certain components, or different components, for example, the fault detection device can further include an input / output device, a network access device, a bus, and the like.

[0102] The processor 420 can be a central processing unit (CPU), and can also be other general-purpose processors, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or the like. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0103] The storage 410 can be an internal storage unit of the fault detection device, such as a hard disk or a memory of the fault detection device. The storage 410 can also be an external storage device of the fault detection device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, or the like. Further, the storage 410 can include both the internal storage unit and the external storage device of the fault detection device. The storage 410 is used to store the computer program and other programs and data required by the fault detection device. The storage 410 can also be used to temporarily store data that has been output or will be output.

[0104] Example Five

[0105] The embodiment of the present application further provides a computer readable storage medium, which can be the computer readable storage medium included in the storage in the above-mentioned embodiments, or a computer readable storage medium that exists separately and is not assembled into the commuter broadcast control device. The computer readable storage medium stores one or more computer programs, and the programs are executed by the processor to implement the above-mentioned method.

[0106] The integrated module / unit, if realized in the form of a software functional unit and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on such understanding, all or part of the processes in the above-mentioned embodiment methods can also be completed by a computer program instructing related hardware, and the computer program can be stored in a computer-readable storage medium. The computer program can implement the steps of each method embodiment when executed by a processor. The computer program includes computer program code, which can be in the form of source code, object code, an executable file, or some intermediate form. The computer-readable medium can include any entity or device capable of carrying the computer program code, a recording medium, a U disk, a mobile hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc. It should be noted that the computer-readable medium can include or exclude contents according to the requirements of legislation and patent practice in a jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0107] Example Six

[0108] The present application shows a computer program product, when the instructions in the computer program product are executed by a processor of a fault detection device, the fault detection device can perform the method according to any one of the above aspects.

[0109] It should be noted that in this document, the term "comprising" or "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or apparatus including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such a process, method, article or apparatus. Without more limitations, the element defined by the statement "including a" does not exclude the presence of additional identical elements in the process, method, article or apparatus including the element.

[0110] In the embodiments of the present application, it should be understood that the disclosed apparatus and method can be implemented in other manners. For example, the described embodiments of the apparatus are merely schematic, and the division of the units is merely logical function division, and there can be another division manner in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0111] The units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purposes of the embodiments of the present application.

[0112] In addition, each functional unit in the embodiments of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit.

[0113] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the parts that make contributions to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes various media that can store program codes, such as U disk, mobile hard disk, ROM, RAM, magnetic disk or optical disk, etc.

[0114] The above is the preferred embodiment of the present application, and it should be pointed out that for those skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, and these improvements and refinements should be considered as the protection scope of the present application.

Claims

1. A fault detection method characterized by, The application relates to a BIT unit applied to a servo system of an optoelectronic device, wherein the BIT unit is arranged in a direct connection mode between a motion controller and a position sensor, a first clock signal output by the motion controller is opposite in polarity to a second clock signal of a BISS-C protocol adopted by the position sensor, and the method comprises the following steps: In response to an opening detection signal instruction, BIT period detection is performed on the first clock signal; The first clock signal of the current period is converted to obtain a first clock conversion signal; wherein the first clock conversion signal is the same in polarity as the second clock signal; It is judged whether the first clock conversion signal is high when idle; If yes, it is determined that the working state of the position sensor is normal and the working state of the motion controller is faulty; If no, it is determined that the working state of the position sensor is faulty.

2. The fault detection method according to claim 1, characterized in that, The step of performing BIT period detection on the first clock signal in response to the opening detection signal instruction comprises the following steps: When an angle measurement abnormal fault occurs when the optoelectronic device is working, BIT period detection is performed on the first clock signal.

3. The fault detection method of claim 1, wherein, The step of converting the first clock signal of the current period to obtain a first clock conversion signal comprises the following steps: After the motion controller receives a normal response signal output by the position sensor, the polarity of the first clock signal is reversed, and the start signal of the position information sent by the sensor is determined.

4. The fault detection method according to claim 3, characterized in that, Further comprising: The state of the first clock signal is monitored, and when the high level of the first clock signal is maintained for more than a preset time threshold, the first data signal is restored to a high level and the transmission of the current frame data is ended.

5. A fault detection apparatus characterized by comprising: The application relates to a BIT unit applied to a servo system of an optoelectronic device, wherein the BIT unit is arranged in a direct connection mode between a motion controller and a position sensor, a first clock signal output by the motion controller is opposite in polarity to a second clock signal of a BISS-C protocol adopted by the position sensor, and the method comprises the following steps: A BIT period detection module is arranged to perform BIT period detection on the first clock signal in response to an opening detection signal instruction; A signal conversion module is arranged to convert the first clock signal of the current period to obtain a first clock conversion signal; wherein the first clock conversion signal is the same in polarity as the second clock signal; A fault detection module is arranged to judge whether the first clock conversion signal is high when idle; when the judgment result is high, it is determined that the working state of the position sensor is normal and the working state of the motion controller is faulty; and when the judgment result is low, it is determined that the working state of the position sensor is faulty.

6. A fault detection device characterized by, The application further comprises: A processor, a memory, and a computer program stored on the memory and executable on the processor, wherein the computer program is executed by the processor to implement the method according to any one of claims 1 to 4.

7. The fault detection device of claim 6, wherein, The application further comprises: The BIT unit is configured with four pairs of I / O resources, a first pair of I / O resources and a second pair of I / O resources correspond to a first clock signal and a first data signal of the motion controller respectively, and a third pair of I / O resources and a fourth pair of I / O resources correspond to a second clock signal and a second data signal of the position sensor respectively; wherein the first data signal is obtained by converting the second data signal by the BIT unit.

8. The fault detection device of claim 6, wherein, The BIT unit comprises a data acquisition module, a data conversion and output module, and a detection information output module. The data acquisition module is configured to perform BIT period detection on the first clock signal output by the motion controller when abnormal angle measurement data is monitored. The data conversion and output module is configured to convert and output the acquired first clock signal. The detection information output module is configured to output a fault detection result determining that the working state of the motion controller is a fault state when the judgment result is high level, and output a fault detection result determining that the working state of the position sensor is a fault state when the judgment result is low level.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the method in any one of claims 1 to 4.

10. A computer program product, characterised in that, When the instructions in the computer program product are executed by the processor of the fault detection device, the fault detection device implements the method in any one of claims 1 to 4.

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