Motor overload protection method and device, storage medium and electronic device

Abstract

The present application provides a method and device for overload protection of a motor, a storage medium and an electronic device, the method comprising: detecting that a target motor of a multi-legged robot is hot-started; determining an initial temperature value of the target motor according to a temperature detected by a temperature sensor, wherein the temperature sensor is arranged at a target position of the target motor; and performing overload protection on the target motor based on the initial temperature value. The above technical solution solves the problem that the motor overload protection method in the related art is under-protected when the motor is hot-started, resulting in a burning motor phenomenon.

Description

[Technical field]

[0001] The present application relates to the field of communications, and in particular, to a method and device for overload protection of a motor, a storage medium, and an electronic device. [Background technology]

[0002] At present, for multi-legged robots (e.g., quadruped robots), the motor overload protection method of general joint drives is to protect the motor by searching the overload curve according to the inverse time characteristics of current and temperature. However, most drives and motors are not set together (e.g., general servo drives), and the drive only simulates the temperature through a given signal, and then searches for the overload curve to protect the motor from overload.

[0003] The above motor overload protection method is often inaccurate because the driver only protects the motor by simulating temperature. If the motor is hot-started (i.e., the motor is powered off and restarted) and the motor temperature is high, the motor may burn out.

[0004] It can be seen from this that the motor overload protection method in the related art has the problem of insufficient protection when the motor is hot started, resulting in the problem of motor burning. [Summary of the invention]

[0005] The purpose of the present application is to provide a motor overload protection method and device, a storage medium and an electronic device, so as to at least solve the problem that the motor overload protection method in the related art is insufficiently protected when the motor is hot started, resulting in the burning of the motor.

[0006] The purpose of this application is to achieve the following technical solutions:

[0007] According to one aspect of an embodiment of the present application, a method for overload protection of a motor is provided, comprising: detecting that a target motor of a multi-legged robot has undergone a hot start; determining an initial temperature value of the target motor based on a temperature detected by a temperature sensor, wherein the temperature sensor is disposed at a target position of the target motor; and performing overload protection on the target motor based on the initial temperature value.

[0008] In an exemplary embodiment, performing overload protection on the target motor based on the initial temperature value includes: determining a heat value corresponding to the initial temperature value as the initial heat value of the target motor; determining a cumulative heat value of the target motor based on the initial heat value and the current value of the target motor; and performing overload protection on the target motor according to the cumulative heat value.

[0009] In an exemplary embodiment, determining the cumulative heat value of the target motor based on the initial heat value and the current value of the target motor includes: detecting the current of the target motor once per unit time to obtain the current value of the target motor at each detection moment; determining the heat value generated by the target motor within the unit time at the current value at each detection moment as the motor heat value of the target motor within each unit time; and adding the initial heat value with the motor heat value within each unit time to obtain the cumulative heat.

[0010] In an exemplary embodiment, determining the heat value generated by the target motor in the unit time at the current value at each detection moment as the motor heat value of the target motor in each unit time includes: determining the heat value generated by the target motor in the unit time at the current value at each detection moment by looking up a motor overload curve corresponding to the target motor, and obtaining the motor heat value of the target motor in each unit time, wherein the motor overload curve is used to indicate the time required for the heat value generated by the target motor at different current values ​​to reach a first heat value, and the first heat value is a heat threshold for triggering overload protection.

[0011] In an exemplary embodiment, before detecting that a target motor of the multi-legged robot has been hot started, the method further includes: saving the motor overload curve to a storage component of a driver of the target motor, wherein the motor overload curve is an overload curve of the target motor tested offline.

[0012] In an exemplary embodiment, performing overload protection on the target motor according to the accumulated heat value includes: controlling the target motor to enter a reset mode when the accumulated heat value is greater than or equal to a first heat value, wherein the first heat value is a heat threshold for triggering overload protection.

[0013] In an exemplary embodiment, after performing overload protection on the target motor based on the initial temperature value, the method further includes: detecting that the target motor is in a heat dissipation state at a target time, wherein the heat value of the target motor at the target time is a second heat value; determining a current heat value of the target motor once per unit time based on the second heat value and a target heat difference; determining a temperature corresponding to the current heat value as the current temperature value of the target motor according to a correspondence between heat value and temperature value; and updating the current heat value to a heat value corresponding to the temperature value detected by the temperature sensor when the current temperature value is less than the temperature value detected by the temperature sensor.

[0014] In an exemplary embodiment, the temperature sensor is a negative temperature coefficient sensor disposed on a motor housing of the target motor.

[0015] According to another aspect of an embodiment of the present application, there is also provided an overload protection device for a motor, comprising: a first detection unit for detecting that a target motor of a multi-legged robot has undergone a hot start; a first determination unit for determining an initial temperature value of the target motor based on a temperature detected by a temperature sensor, wherein the temperature sensor is disposed at a target position of the target motor; and an execution unit for performing overload protection on the target motor based on the initial temperature value.

[0016] In an exemplary embodiment, the execution unit includes: a first determination module, used to determine the heat value corresponding to the initial temperature value as the initial heat value of the target motor; a second determination module, used to determine the cumulative heat value of the target motor based on the initial heat value and the current value of the target motor; and an execution module, used to perform overload protection on the target motor according to the cumulative heat value.

[0017] In an exemplary embodiment, the second determination module includes: a detection submodule, which is used to detect the current of the target motor once every unit time to obtain the current value of the target motor at each detection moment; a determination submodule, which is used to determine the heat value generated by the target motor in the unit time at the current value at each detection moment as the motor heat value of the target motor in each unit time; and an accumulation submodule, which is used to accumulate the initial heat value with the motor heat value in each unit time to obtain the accumulated heat value.

[0018] In an exemplary embodiment, the determination submodule includes: a search subunit, used to determine the heat value generated by the target motor in the unit time at the current value at each detection moment by searching the motor overload curve corresponding to the target motor, and obtain the motor heat value of the target motor in each unit time, wherein the motor overload curve is used to indicate the time required for the heat value generated by the target motor at different current values ​​to reach a first heat value, and the first heat value is the heat threshold for triggering overload protection.

[0019] In an exemplary embodiment, the device also includes: a saving unit, which is used to save the motor overload curve to the storage component of the driver of the target motor before detecting that the target motor of the multi-legged robot has a hot start, wherein the motor overload curve is an overload curve of the target motor tested offline.

[0020] In an exemplary embodiment, the execution module includes: an execution submodule, which is used to control the target motor to enter a reset mode when the accumulated heat value is greater than or equal to a first heat value, wherein the first heat value is a heat threshold for triggering overload protection.

[0021] In an exemplary embodiment, the device also includes: a second detection unit, used to detect that the target motor is in a heat dissipation state at a target time after overload protection is performed on the target motor based on the initial temperature value, wherein the heat value of the target motor at the target time is a second heat value; a second determination unit, used to determine the current heat value of the target motor once every unit time based on the second heat value and the target heat difference; a third determination unit, used to determine the temperature corresponding to the current heat value as the current temperature value of the target motor according to the correspondence between the heat value and the temperature value; an updating unit, used to update the current heat value to a heat value corresponding to the temperature value detected by the temperature sensor when the current temperature value is less than the temperature value detected by the temperature sensor.

[0022] In an exemplary embodiment, the temperature sensor is a negative temperature coefficient sensor disposed on a motor housing of the target motor.

[0023] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the above-mentioned interface testing method when running.

[0024] According to another aspect of an embodiment of the present application, there is also provided an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the interface testing method through the computer program.

[0025] In an embodiment of the present application, a method of overload protection for the motor is adopted based on the temperature detected by the temperature sensor at the target position of the motor when the motor is hot-started, by detecting that the target motor of the multi-legged robot is hot-started; determining the initial temperature value of the target motor according to the temperature detected by the temperature sensor, wherein the temperature sensor is arranged at the target position of the target motor; and performing overload protection on the target motor based on the initial temperature value. Since the motor is overload protected based on the temperature detected by the temperature sensor at the target position of the motor when the motor is hot-started, instead of overload protecting the motor based on the set normal temperature, the accuracy of motor overload judgment can be improved, thereby achieving the technical effect of improving the safety of motor operation, and solving the problem that the motor overload protection method in the related art is under-protected when the motor is hot-started, resulting in the burning of the motor.

Brief Description of the Drawings

[0026] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0027] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0028] Figure 1 is a schematic diagram of a hardware environment of an optional motor overload protection method according to an embodiment of the present application;

[0029] Figure 2 is a flow chart of an optional motor overload protection method according to an embodiment of the present application;

[0030] Figure 3 is a schematic diagram of an optional motor overload protection method according to an embodiment of the present application;

[0031] Figure 4 is a flow chart of another optional motor overload protection method according to an embodiment of the present application;

[0032] Figure 5 is a structural block diagram of an optional motor overload protection device according to an embodiment of the present application;

[0033] Figure 6 It is a structural block diagram of an optional electronic device according to an embodiment of the present application. [Specific implementation method]

[0034] The present application will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other without conflict.

[0035] It should be noted that the terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0036] According to one aspect of an embodiment of the present application, a method for overload protection of a motor is provided. Optionally, in this embodiment, the overload protection method of the motor can be applied to Figure 1 In the hardware environment composed of the multi-legged robot 102 and the server 104 shown in FIG. Figure 1 As shown, the server 104 is connected to the multi-legged robot 102 via a network, and can be used to provide services (such as application services, etc.) for the multi-legged robot 102 or a client installed on the multi-legged robot 102. A database can be set on the server or independently of the server to provide data storage services for the server 104.

[0037] The above network may include but is not limited to at least one of the following: wired network, wireless network. The above wired network may include but is not limited to at least one of the following: wide area network, metropolitan area network, local area network, and the above wireless network may include but is not limited to at least one of the following: WIFI (Wireless Fidelity), Bluetooth.

[0038] The motor overload protection method of the embodiment of the present application can be executed by the server 104, or by the multi-legged robot 102, or by the server 104 and the multi-legged robot 102. The multi-legged robot 102 can execute the motor overload protection method of the embodiment of the present application, or the client installed on it.

[0039] Taking the motor overload protection method in this embodiment performed by the multi-legged robot 102 as an example, Figure 2 is a flow chart of an optional motor overload protection method according to an embodiment of the present application, such as Figure 2 As shown, the process of the method may include the following steps:

[0040] Step S202: detecting that a target motor of the multi-legged robot is hot started.

[0041] The motor overload protection method in this embodiment can be applied to the scenario of overload protection of the motor of a multi-legged robot. The multi-legged robot can be a robot with multiple legs, such as a quadruped robot, a hexapod robot, an octapod robot, etc. The multi-legged robot in this embodiment is described by taking a quadruped robot as an example.

[0042] A quadruped robot may include multiple motors, for example, leg motors, each of which may correspond to a driver, and the drivers corresponding to different motors may be the same or different. For a target motor among multiple motors (the target motor is any one of the multiple motors), if the motor overheats during operation, a hot start will occur. Here, a hot start refers to the power off and power on again when the motor is overheated during operation.

[0043] The driver corresponding to the target motor is the target driver. The target driver (which may also be other control components in the multi-legged robot, and the target driver is used as an example in this embodiment) can detect the operating state of the target motor. When the target motor is hot-started, the target driver can detect that the target motor is hot-started.

[0044] Step S204 , determining an initial temperature value of the target motor according to a temperature detected by a temperature sensor, wherein the temperature sensor is disposed at a target position of the target motor.

[0045] When the target motor is powered off and restarted, the method used in the related art is to simulate the temperature of the target motor based on the actual operating parameters and perform overload protection on the target motor. Since the motor temperature is high during hot start, the actual temperature of the motor is significantly different from the default temperature, and the motor may burn out due to insufficient protection.

[0046] In order to overcome the above problems, in this embodiment, a temperature sensor can be set at the target position of the target motor. Since the temperature sensor can accurately detect the temperature of the target motor, it can provide more accurate protection for the target motor; further, the target motor is also set at the target position of the target motor, and the target position can better feedback the temperature of the target motor, that is, the temperature value in the target motor is positively correlated with the temperature value detected by the temperature sensor, so the temperature value detected by the temperature sensor can reflect the temperature value in the target motor. In the case of a hot start of the target motor, when the target motor is powered on, the target driver can read the temperature detected by the temperature sensor.

[0047] There may be many types of temperature sensors, including but not limited to at least one of the following: NTC (Negative Temperature Coefficient, negative temperature coefficient thermistor), PTC (Positive Temperature Coefficient, positive temperature coefficient thermistor), and other types of temperature sensors. For example, the temperature sensor may be made of NTC. Since NTC is sensitive to temperature, the higher the temperature value, the lower the resistance value, and the resistance value is linearly related to the change in temperature value, so the temperature value of the environment can be measured by the resistance value of NTC. For another example, the temperature sensor may be made of PTC. Since PTC is sensitive to temperature, the higher the temperature value, the higher the resistance value, and the resistance value is linearly related to the change in temperature value, so the temperature value of the environment can be measured by the resistance value of PTC.

[0048] There may be multiple target positions for setting the temperature sensor, which may include but are not limited to at least one of the following: the motor housing of the target motor, near the internal winding of the target motor. For example, the temperature sensor may be set at the motor housing of the target motor. The above-mentioned temperature sensor is simple to set, has low requirements on the production process, has low requirements on the shape of the temperature sensor, and the detected temperature is not much different from the actual temperature of the target motor. For another example, the temperature sensor may be set near the internal winding of the target motor. Since the target motor relies on the rotation of the winding to provide motion power, when the motor is hot-started, the temperature value at the internal winding of the motor will continue to rise, and this is also the place where the motor is most likely to be burned during hot start. Therefore, the temperature sensor is set near the internal winding of the target motor, and the detected temperature is relatively accurate. However, due to reasons such as process, volume, and the need to attach multiple sensors, the above-mentioned temperature sensor setting method is not suitable for work production.

[0049] Optionally, in this embodiment, the temperature sensor may be a negative temperature coefficient sensor, such as NTC, disposed on the motor housing of the target motor. The above-mentioned configuration can be applied to scenarios where the instantaneous current changes greatly during the hot start of the motor, and is suitable for industrial production.

[0050] The number of temperature sensors may be one or more, and different temperature sensors may be arranged at different target positions. When the number of temperature sensors is multiple, the initial temperature value of the target motor may be determined according to the highest temperature detected by the multiple temperature sensors, or the initial temperature value of the target motor may be determined according to the average temperature detected by the multiple temperature sensors.

[0051] When determining the initial temperature value of the target motor, the temperature detected by the temperature sensor can be directly determined as the initial temperature value of the target motor, or the initial temperature value of the target motor can be estimated based on the temperature detected by the temperature sensor. For example, according to a set mapping relationship, the temperature detected by the temperature sensor is mapped to the initial temperature value of the target motor.

[0052] Step S206: performing overload protection on the target motor based on the initial temperature value.

[0053] The target driver can use the initial temperature value as a reference to perform overload protection on the target motor. If the target motor continues to heat up, when the overload protection condition is met, the target driver can set the overload error flag to force the target motor to stop, and the target motor enters the reset mode, waiting for the motion control board corresponding to the target motor to send a clear error or power on again before resuming normal operation.

[0054] Optionally, if the target motor is in a cooling state, the load of the target motor continues to decrease. When it decreases to below a set threshold, the target motor will not overheat, and the overload protection of the target motor can be suspended until the load of the target motor exceeds the set threshold.

[0055] Through the above steps S202 to S206, it is detected that the target motor of the multi-legged robot has undergone a hot start; the initial temperature value of the target motor is determined according to the temperature detected by the temperature sensor, wherein the temperature sensor is arranged at the target position of the target motor; based on the initial temperature value, overload protection is performed on the target motor, thereby solving the problem in the related art that the motor overload protection method is under-protected when the motor undergoes a hot start, resulting in the burning of the motor, thereby improving the safety of the motor operation.

[0056] In an exemplary embodiment, based on the initial temperature value, performing overload protection on the target motor includes:

[0057] S11, determining a heat value corresponding to the initial temperature value as an initial heat value of the target motor;

[0058] S12, determining the cumulative heat value of the target motor according to the initial heat value and the current value of the target motor;

[0059] S13, performing overload protection on the target motor according to the accumulated heat value.

[0060] Overload protection can be performed based on the accumulated heat value of the motor (or the internal winding of the motor). Taking the winding as an example, the heat value of the winding refers to a value used in the calculation that is proportional to the temperature. Since the heat generated per unit time is different under different load currents, when performing overload protection, the heat value is accumulated according to different loads, and an alarm is triggered when the heat value exceeds a limited threshold.

[0061] Taking the overload protection of the accumulated heat value of the internal winding of the motor as an example, the initial temperature of the target motor is the winding temperature of the internal winding. The target driver can determine the heat value corresponding to the initial temperature value as the initial heat value of the internal winding of the target motor, that is, give an initial value to the accumulated winding heat. The correspondence between the temperature value and the heat value can be determined based on the current current of the target motor. The initial heat value can be: the heat value accumulated by the target motor when the current current rises from the default temperature to the initial temperature value.

[0062] After obtaining the initial heat value, the target driver can determine the cumulative heat value of the internal winding according to the initial heat value and the current value of the target motor. For example, the quadruped robot can determine the heat value generated by the internal winding under the current value of the target motor after the hot start, add it to the initial heat value, thereby obtaining the cumulative heat value of the internal winding, and perform overload protection on the target motor according to the cumulative heat value.

[0063] Through this embodiment, an initial value is assigned to the heat of the motor (or internal winding) according to the initial temperature value, the heat value is accumulated based on the initial value, and then overload protection is performed based on the accumulated heat value, which can improve the efficiency of motor overload protection.

[0064] In an exemplary embodiment, determining the accumulated heat value of the target motor according to the initial heat value and the current value of the target motor includes:

[0065] S21, detecting the current of the target motor once every unit time to obtain the current value of the target motor at each detection moment;

[0066] S22, determining the heat value generated by the target motor in unit time at the current value at each detection moment as the motor heat value of the target motor in each unit time;

[0067] S23, accumulating the initial heat value and the motor heat value in each unit time to obtain a cumulative heat value.

[0068] The heat value generated by the motor in unit time is directly related to the current of the motor. When other conditions remain unchanged, the greater the current passing through the motor, the more heat the motor generates in unit time. Therefore, the current of the target motor can be detected once every unit time to obtain the current value of the target motor at each detection moment.

[0069] Since the heat generated by the internal winding per unit time at each current can be determined, then based on the current value at each detection moment, the heat value generated by the internal winding of the target motor per unit time (an example of the motor heat value) can be determined, and then added to the initial heat value to obtain the cumulative heat value.

[0070] Through this embodiment, the current of the target motor is detected once per unit time, and the heat value generated per unit time is determined based on the detected current, which can improve the accuracy of the motor heat value.

[0071] In an exemplary embodiment, determining the heat value generated by the target motor in a unit time at the current value at each detection moment as the motor heat value of the target motor in each unit time includes:

[0072] S31, by searching the motor overload curve corresponding to the target motor, determining the heat value generated by the target motor in unit time at the current value at each detection moment, and obtaining the motor heat value of the target motor in each unit time, wherein the motor overload curve is used to indicate the time required for the heat value generated by the target motor at different current values ​​to reach a first heat value, and the first heat value is the heat threshold for triggering overload protection.

[0073] A motor overload curve may be pre-stored in the target driver, and the motor overload curve is used to indicate the time required for the heat value generated by the target motor at different current values ​​to reach a first heat value, where the first heat value is a heat threshold for triggering overload protection.

[0074] In order to determine the heat value generated by the target motor per unit time under the current value at each detection moment, the motor overload curve corresponding to the target motor can be found to determine the heat value generated by the internal winding of the target motor per unit time, and then determine the accumulated winding heat value.

[0075] Through this embodiment, the accuracy of determining the cumulative heat value can be improved by looking up the motor overload curve to determine the heat value generated by the motor in each unit time.

[0076] In an exemplary embodiment, before detecting that a target motor of the multi-legged robot is hot-started, the method further includes:

[0077] S41, saving the motor overload curve into a storage component of a driver of the target motor, wherein the motor overload curve is an overload curve of the target motor tested in an offline state.

[0078] The motor overload curve may be an overload curve obtained by testing the target motor or a motor of the same model as the target motor in an offline state. The motor overload curve may indicate the time required for the heat value generated by the target motor to reach a specified heat threshold value (i.e., the first heat value) under different current loads, such as Figure 3 After the motor overload curve is obtained, it can be saved in the target driver FLASH (flash memory) or other storage components in advance so as to be used when the motor is running.

[0079] Through this embodiment, the motor overload curve is saved in the storage component of the driver of the target motor, so that the target motor can be easily protected from overload using the motor overload curve, thereby improving the efficiency of the motor overload protection.

[0080] In an exemplary embodiment, performing overload protection on a target motor according to the accumulated heat value includes:

[0081] S51, when the accumulated heat value is greater than or equal to a first heat value, controlling the target motor to enter a reset mode, wherein the first heat value is a heat threshold for triggering overload protection.

[0082] If the accumulated heat value is greater than or equal to the first heat value (i.e., the heat threshold that triggers overload protection), the accumulated heat of the target motor has reached the set critical value. If certain processing measures are not taken to protect the motor from overload at this time, and it is allowed to continue to operate, the target motor will be damaged.

[0083] When performing overload protection on the target motor, the target driver can compare the accumulated heat value with the first heat value. Therefore, when the accumulated heat value is greater than or equal to the first heat value, the target driver can control the target motor to enter a reset mode. In the reset mode, the target motor needs to wait for the corresponding motion control board to send a clear error or power on again before it can resume normal operation.

[0084] Through this embodiment, when the accumulated heat value exceeds a preset threshold, the motor is controlled to enter a reset mode, thereby ensuring the safety of the motor operation.

[0085] In an exemplary embodiment, after performing overload protection on the target motor based on the initial temperature value, the method further includes:

[0086] S61, detecting that the target motor is in a heat dissipation state at a target time, wherein the heat value of the target motor at the target time is a second heat value;

[0087] S62, determining a current heat value of the target motor every unit time based on the second heat value and the target heat difference value;

[0088] S63, according to the correspondence between the calorific value and the temperature value, determining the temperature corresponding to the current calorific value as the current temperature value of the target motor;

[0089] S64, when the current temperature value is less than the temperature value detected by the temperature sensor, the current calorific value is updated to a calorific value corresponding to the temperature value detected by the temperature sensor.

[0090] After overload protection is started on the target motor based on the initial temperature value, if the target motor is detected to be in a heat dissipation state at the target time, the accumulated heat value can be corrected in real time based on the temperature detected by the temperature sensor. For example, the temperature of the NTC can be detected in real time, and the accumulated heat value can be corrected in real time in the heat dissipation state based on it.

[0091] The above heat dissipation state can be determined based on the actual test data of the motor department. For example, when the motor is under a load torque of 10.6NM, the temperature of the motor winding can reach a balance state at 120 degrees. Therefore, when the load is less than 10.6Nm, it is considered to be a heat dissipation process, and when it is greater than 10.6Nm, it is in an overload temperature rise state.

[0092] When it is determined that the motor is in a heat dissipation state, since the temperature sensor detects the temperature at the target position of the target motor, which is not higher than the temperature of the internal winding of the target motor, the accumulated heat value can be corrected in real time based on the temperature detected by the temperature sensor.

[0093] At the target moment, the heat value of the target motor is the second heat value, and in the heat dissipation state, it can be considered that the heat dissipated per unit time is certain, that is, the target heat difference. The target heat difference is the heat value dissipated by the target motor per unit time. Based on the second heat value and the target heat difference, the target driver can determine the current heat value of the target motor every unit time.

[0094] According to the correspondence between the heat value and the temperature value, the target driver can determine the temperature corresponding to the current heat value as the current temperature value of the target motor (or the current temperature value of the internal winding). Based on the temperature value detected by the temperature sensor, the estimated temperature value of the target motor can be determined. For example, the temperature value detected by the temperature sensor is the estimated temperature value of the target motor. For another example, the temperature value detected by the temperature sensor is converted to obtain the estimated temperature value of the target motor. Optionally, during the heat dissipation process, the temperature value detected by the temperature sensor can be considered to be the estimated temperature value of the target motor.

[0095] For example, the temperature of the NTC set on the motor housing of the motor is almost equivalent to the average temperature of the winding. Therefore, it can be considered that during the heat dissipation process and when the temperature is less than 100 degrees (or other set thresholds), the NTC temperature is the winding temperature.

[0096] If the current temperature value is less than the temperature value detected by the temperature sensor, it means that the simulated current heat value is lower than the actual temperature. At this time, the current temperature of the standard motor can be updated to the heat value corresponding to the temperature value detected by the temperature sensor.

[0097] Through this embodiment, the accumulated heat value is corrected in real time based on the temperature detected by the temperature sensor, so that the accuracy of the target motor control can be improved.

[0098] The motor overload protection method in this embodiment is explained below in conjunction with an optional example. This optional example provides a motor overload protection solution. In this optional example, the temperature sensor is an NTC, the temperature of the motor is the temperature of the internal winding of the motor, and the target position is the motor housing of the motor.

[0099] like Figure 4 As shown, the process of the motor overload protection method in this optional example may include the following steps:

[0100] Step S402: Under offline conditions, the motor overload curve is tested and saved in the driver FLASH.

[0101] The above-mentioned offline situation refers to testing the target motor to obtain the motor overload curve of the target motor when the motor is not working. Since the motor overload curve will not change much, after measuring the motor overload curve, it is saved in the driver FLASH of the target motor for quick and easy call.

[0102] Step S404, correcting the winding heat value of the motor according to the temperature value detected by the NTC.

[0103] Based on the temperature value detected by the NTC, an initial value can be assigned to the winding heat. For example, the temperature value of the internal winding can be estimated based on the temperature value detected by the NTC, and converted into a corresponding heat value as the initial heat value of the winding.

[0104] Step S406, calculating the heat value of the winding in real time according to the current by checking the overload curve.

[0105] By looking up the overload curve based on the motor current, the heat value generated by the internal winding per unit time can be determined, and then the cumulative heat value of the winding can be determined.

[0106] Step S408, when the heat value of the motor is greater than the maximum threshold, an overload error flag is set, and when the motor is in a heat dissipation state, the heat value is corrected according to the motor housing temperature detected by the NTC.

[0107] When the heat value of the motor is greater than the maximum threshold, the target motor will be set to the overload error flag. At this time, the target motor will be forced to stop and enter the reset mode, waiting for the motion control board to send a clear error or power on again before it can resume normal operation.

[0108] When the motor is in a heat dissipation state, the accumulated heat value can be corrected according to the motor case temperature detected by the NTC.

[0109] Through this optional example, the heat value of the overload protection is corrected and optimized by detecting the temperature of the motor through the NTC, which can solve the over-protection and under-protection problems during the hot start of the motor.

[0110] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0111] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM (Read-Only Memory, read-only memory) / RAM (Random Access Memory, random access memory), a disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0112] According to another aspect of the embodiments of the present application, there is also provided an overload protection device for a motor for implementing the above-mentioned overload protection method for a motor. Figure 5 is a structural block diagram of an optional motor overload protection device according to an embodiment of the present application, such as Figure 5 As shown, the device may include:

[0113] A first detection unit 502 is used to detect that a target motor of the multi-legged robot has been hot started;

[0114] A first determining unit 504, connected to the first detecting unit 502, is used to determine an initial temperature value of the target motor according to a temperature detected by a temperature sensor, wherein the temperature sensor is arranged at a target position of the target motor;

[0115] The execution unit 506 is connected to the first determination unit 504 and is configured to perform overload protection on the target motor based on the initial temperature value.

[0116] It should be noted that the first detection unit 502 in this embodiment can be used to execute the above step S202, the first determination unit 504 in this embodiment can be used to execute the above step S204, and the execution unit 506 in this embodiment can be used to execute the above step S206.

[0117] Through the above-mentioned module, it is detected that the target motor of the multi-legged robot has a hot start; the initial temperature value of the target motor is determined according to the temperature detected by the temperature sensor, wherein the temperature sensor is arranged at the target position of the target motor; based on the initial temperature value, overload protection is performed on the target motor, thereby solving the problem of the motor overload protection method in the related technology that the motor is under-protected when the motor is hot started, resulting in the burning of the motor, thereby improving the safety of the motor operation.

[0118] In an exemplary embodiment, the execution unit 506 includes:

[0119] A first determining module, configured to determine a heat value corresponding to the initial temperature value as an initial heat value of the target motor;

[0120] A second determination module, used to determine the cumulative heat value of the target motor according to the initial heat value and the current value of the target motor;

[0121] The execution module is used to perform overload protection on the target motor according to the accumulated heat value.

[0122] In an exemplary embodiment, the second determining module includes:

[0123] The detection submodule is used to detect the current of the target motor once every unit time to obtain the current value of the target motor at each detection moment;

[0124] A determination submodule, used for determining the heat value generated by the target motor in unit time under the current value at each detection moment as the motor heat value of the target motor in each unit time;

[0125] The accumulation submodule is used to accumulate the initial heat value and the motor heat value in each unit time to obtain the cumulative heat value.

[0126] In an exemplary embodiment, the determining submodule includes:

[0127] A search subunit is used to determine the heat value generated by the target motor per unit time at the current value at each detection moment by searching the motor overload curve corresponding to the target motor, and obtain the motor heat value of the target motor per unit time, wherein the motor overload curve is used to indicate the time required for the heat value generated by the target motor at different current values ​​to reach a first heat value, and the first heat value is a heat threshold for triggering overload protection.

[0128] In an exemplary embodiment, the above device further comprises:

[0129] The saving unit is used to save the motor overload curve to the storage component of the driver of the target motor before detecting that the target motor of the multi-legged robot is hot-started, wherein the motor overload curve is the overload curve of the target motor tested offline.

[0130] In an exemplary embodiment, the execution module includes:

[0131] The execution submodule is used to control the target motor to enter a reset mode when the accumulated heat value is greater than or equal to a first heat value, wherein the first heat value is a heat threshold for triggering overload protection.

[0132] In an exemplary embodiment, the above device further comprises:

[0133] A second detection unit is used to detect that the target motor is in a heat dissipation state at a target time after overload protection is performed on the target motor based on the initial temperature value, wherein the heat value of the target motor at the target time is a second heat value;

[0134] A second determining unit, configured to determine a current heat value of the target motor every unit time based on the second heat value and the target heat difference value;

[0135] a third determining unit, configured to determine the temperature corresponding to the current calorific value as the current temperature value of the target motor according to the corresponding relationship between the calorific value and the temperature value;

[0136] The updating unit is used to update the current calorific value to a calorific value corresponding to the temperature value detected by the temperature sensor when the current temperature value is less than the temperature value detected by the temperature sensor.

[0137] In an exemplary embodiment, the temperature sensor is a negative temperature coefficient sensor disposed on a motor housing of the target motor.

[0138] It should be noted that the examples and application scenarios implemented by the above modules and corresponding steps are the same, but are not limited to the contents disclosed in the above embodiments. It should be noted that the above modules as part of the device can be run in Figure 1 In the hardware environment shown, it can be implemented by software or by hardware, wherein the hardware environment includes a network environment.

[0139] According to another aspect of the embodiments of the present application, a storage medium is further provided. Optionally, in this embodiment, the storage medium can be used to execute the program code of any of the above motor overload protection methods in the embodiments of the present application.

[0140] Optionally, in this embodiment, the storage medium may be located on at least one network device among a plurality of network devices in the network shown in the above embodiment.

[0141] Optionally, in this embodiment, the storage medium is configured to store program codes for executing the following steps:

[0142] S1, detecting that the target motor of the multi-legged robot has a hot start;

[0143] S2, determining an initial temperature value of the target motor according to a temperature detected by a temperature sensor, wherein the temperature sensor is disposed at a target position of the target motor;

[0144] S3: Based on the initial temperature value, perform overload protection on the target motor.

[0145] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, which will not be described in detail in this embodiment.

[0146] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a ROM, a RAM, a mobile hard disk, a magnetic disk, or an optical disk.

[0147] According to another aspect of the embodiments of the present application, an electronic device for implementing the above-mentioned motor overload protection method is also provided. The electronic device may be a server, a terminal, or a combination thereof.

[0148] Figure 6 is a structural block diagram of an optional electronic device according to an embodiment of the present application, such as Figure 6 As shown, it includes a processor 602, a communication interface 604, a memory 606 and a communication bus 608, wherein the processor 602, the communication interface 604 and the memory 606 communicate with each other through the communication bus 608, wherein,

[0149] Memory 606, used to store computer programs;

[0150] The processor 602 is used to implement the following steps when executing the computer program stored in the memory 606:

[0151] S1, detecting that the target motor of the multi-legged robot has a hot start;

[0152] S2, determining an initial temperature value of the target motor according to a temperature detected by a temperature sensor, wherein the temperature sensor is disposed at a target position of the target motor;

[0153] S3: Based on the initial temperature value, perform overload protection on the target motor.

[0154] Optionally, in this embodiment, the communication bus may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 The communication interface is used for communication between the electronic device and other devices.

[0155] The above-mentioned memory may include RAM, or may include non-volatile memory (non-volatile memory), for example, at least one disk memory. Optionally, the memory may also be at least one storage device located far away from the above-mentioned processor.

[0156] As an example, the memory 606 may include, but is not limited to, the first detection unit 502, the first determination unit 504, and the execution unit 506 in the motor overload protection device. In addition, it may also include, but is not limited to, other module units in the motor overload protection device, which will not be described in detail in this example.

[0157] The above-mentioned processor can be a general-purpose processor, which can include but not be limited to: CPU (Central Processing Unit), NP (Network Processor), etc.; it can also be DSP (Digital Signal Processing), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0158] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment will not be described in detail here.

[0159] It can be understood by those skilled in the art that Figure 6 The structure shown is for illustration only. The device for implementing the above-mentioned motor overload protection method may be a terminal device, and the terminal device may be a multi-legged robot or other terminal device. Figure 6 The structure of the electronic device is not limited. Figure 6 More or fewer components (such as network interfaces, display devices, etc.) shown in, or having Figure 6 Different configurations shown.

[0160] A person of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing the hardware related to the terminal device through a program, and the program can be stored in a computer-readable storage medium, which can include: a flash drive, ROM, RAM, a magnetic disk or an optical disk, etc.

[0161] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0162] If the integrated units in the above embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in the above computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling one or more computer devices (which may be personal computers, servers, or network devices, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application.

[0163] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0164] In the several embodiments provided in the present application, it should be understood that the disclosed client can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0165] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution provided in this embodiment.

[0166] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0167] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for overload protection of a motor, characterized in that: include: Detecting that a target motor of the multi-legged robot has a hot start, wherein the hot start refers to the target motor being powered off and then powered on again when it is overheated during operation; Determining an initial temperature value of the target motor according to a temperature detected by a temperature sensor, wherein the temperature sensor is disposed at a target position of the target motor, the target position including at least one of the following: a motor housing of the target motor, near an internal winding of the target motor, and the temperature sensor is a negative temperature coefficient thermistor; Based on the initial temperature value, performing overload protection on the target motor; Wherein, after performing overload protection on the target motor based on the initial temperature value, the method further includes: detecting that the target motor is in a heat dissipation state at a target time, wherein the heat value of the target motor at the target time is a second heat value; determining the current heat value of the target motor once per unit time based on the second heat value and the target heat difference; determining the temperature corresponding to the current heat value as the current temperature value of the target motor according to the correspondence between the heat value and the temperature value; and updating the current heat value to the heat value corresponding to the temperature value detected by the temperature sensor when the current temperature value is less than the temperature value detected by the temperature sensor.

2. The method according to claim 1, characterized in that The performing overload protection on the target motor based on the initial temperature value comprises: Determining a heat value corresponding to the initial temperature value as an initial heat value of the target motor; Determining a cumulative heat value of the target motor according to the initial heat value and the current value of the target motor; According to the accumulated heat value, overload protection is performed on the target motor.

3. The method according to claim 2, characterized in that Determining the accumulated heat value of the target motor according to the initial heat value and the current value of the target motor includes: Detecting the current of the target motor once every unit time to obtain the current value of the target motor at each detection moment; Determine the heat value generated by the target motor in the unit time at the current value at each detection moment as the motor heat value of the target motor in each unit time; The initial heat value is accumulated with the heat value of the motor in each unit time to obtain the accumulated heat value.

4. The method according to claim 3, characterized in that Determining the heat value generated by the target motor in the unit time at the current value at each detection moment as the motor heat value of the target motor in each unit time comprises: By searching for a motor overload curve corresponding to the target motor, the heat value generated by the target motor in the unit time at the current value at each detection moment is determined, and the motor heat value of the target motor in each unit time is obtained, wherein the motor overload curve is used to indicate the time required for the heat value generated by the target motor at different current values ​​to reach a first heat value, and the first heat value is a heat threshold for triggering overload protection.

5. The method according to claim 4, characterized in that Before detecting that a target motor of the multi-legged robot is hot-started, the method further includes: The motor overload curve is saved in a storage component of a driver of the target motor, wherein the motor overload curve is an overload curve of the target motor tested in an offline state.

6. The method according to claim 2, characterized in that The performing overload protection on the target motor according to the accumulated heat value comprises: When the accumulated heat value is greater than or equal to a first heat value, the target motor is controlled to enter a reset mode, wherein the first heat value is a heat threshold for triggering overload protection.

7. An overload protection device for a motor, characterized in that: include: A first detection unit is used to detect that a target motor of the multi-legged robot has been hot-started, wherein the hot-start refers to the target motor being powered off and then powered on again when it is overheated during operation; a first determining unit, configured to determine an initial temperature value of the target motor according to a temperature detected by a temperature sensor, wherein the temperature sensor is disposed at a target position of the target motor, the target position comprising at least one of the following: a motor housing of the target motor, near an internal winding of the target motor, and the temperature sensor is a negative temperature coefficient thermistor; an execution unit, configured to execute overload protection on the target motor based on the initial temperature value; The device further includes: a second detection unit, for detecting that the target motor is in a heat dissipation state at a target time after overload protection is performed on the target motor based on the initial temperature value, wherein the heat value of the target motor at the target time is a second heat value; a second determination unit, for determining the current heat value of the target motor once per unit time based on the second heat value and the target heat difference; a third determination unit, for determining the temperature corresponding to the current heat value as the current temperature value of the target motor according to the correspondence between the heat value and the temperature value; and an updating unit, for updating the current heat value to a heat value corresponding to the temperature value detected by the temperature sensor when the current temperature value is less than the temperature value detected by the temperature sensor.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program executes the method according to any one of claims 1 to 6 when executed.

9. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to execute the method according to any one of claims 1 to 6 through the computer program.

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