Servo overtemperature protection method, device, intelligent robot and storage medium

Abstract

The embodiments of the present application provide a method, device, intelligent robot and storage medium for over-temperature protection of a servo, and relate to the field of robot control technology. The method comprises obtaining a measured resistance value of the servo when the target servo rotates; obtaining an estimated resistance value of the servo when the target servo rotates; determining the actual servo resistance value of the target servo based on the measured resistance value of the servo and the estimated resistance value of the servo; determining the actual servo temperature value of the target servo based on the actual servo resistance value and a pre-calibrated resistance-temperature curve; and performing over-temperature protection on the target servo if the actual servo temperature value is greater than or equal to a preset temperature threshold. In the absence of a temperature sensor, the method can directly determine the actual servo temperature value inside the target servo based on the actual servo resistance value, thus avoiding the problems of inaccurate temperature measurement and complicated installation of the temperature sensor.

Description

Technical Field

[0001] The present application relates to the field of robot control technology, and in particular to a method and device for over-temperature protection of a servo, an intelligent robot, and a storage medium. Background Art

[0002] Servo motors are common actuators in robotic systems, typically installed at various joints to control the robot's movement. When a servo motor experiences an abnormality, such as a stalled motor, it can cause an abnormal rise in internal temperature. This temperature anomaly can cause damage to the servo and must be promptly detected and avoided.

[0003] At present, a temperature sensor is generally provided on the servo housing to detect the temperature of the servo to prevent the servo from overheating.

[0004] However, this method means that the temperature sensor can only collect the temperature of the outer shell, and there may be a delay in detecting overtemperature of the coil inside the servo. In addition, the installation of the sensor also requires flying wires, which increases the difficulty of wiring outside the servo. Summary of the Invention

[0005] The purpose of this application includes, for example, providing a servo over-temperature protection method, device, intelligent robot and storage medium, which can determine the actual servo temperature value inside the target servo directly based on the actual servo resistance value without a temperature sensor, avoiding the problems of inaccurate temperature measurement and complex installation of the temperature sensor.

[0006] The embodiments of the present application can be implemented as follows:

[0007] In a first aspect, an embodiment of the present application provides a method for over-temperature protection of a steering gear, the method comprising:

[0008] Get the resistance measurement value of the target servo when it is rotating;

[0009] Obtaining an estimated value of the servo resistance when the target servo rotates;

[0010] Determining an actual servo resistance value of the target servo according to the measured servo resistance value and the estimated servo resistance value;

[0011] Determining an actual servo temperature value of the target servo according to the actual servo resistance value and a pre-calibrated resistance-temperature curve;

[0012] If the actual temperature of the servo is greater than or equal to the preset temperature threshold, the target servo is subjected to over-temperature protection.

[0013] In an optional implementation, obtaining the measured resistance value of the target servo when the target servo rotates includes:

[0014] Obtaining a servo voltage value and a servo current value when the target servo rotates;

[0015] Determining a steering gear speed value when the target steering gear rotates according to the steering gear voltage value;

[0016] The servo resistance measurement value is determined according to the servo voltage value, the servo speed value, the servo current value and a voltage balance equation.

[0017] In an optional implementation, obtaining the estimated value of the servo resistance when the target servo rotates includes:

[0018] Determining a current heating power value of the steering gear according to a current value of the steering gear and a voltage value of the steering gear when the target steering gear rotates;

[0019] Determine the power dissipation value of the servo thermal bridge based on the pre-calibrated servo coil thermal resistance value and the actual power value;

[0020] The estimated value of the servo resistance is determined according to the servo current heating power value and the servo thermal bridge dissipation power value.

[0021] In an optional embodiment, determining the estimated value of the servo resistance according to the servo current heating power value and the servo thermal bridge dissipation power value includes:

[0022] An integration operation is performed using the servo current heating power value and the servo thermal bridge dissipation power value as parameters to obtain the servo resistance estimation value.

[0023] In an optional implementation manner, determining the actual servo resistance value of the target servo according to the servo resistance measurement value and the servo resistance estimation value includes:

[0024] Kalman filtering is performed on the measured servo resistance value and the estimated servo resistance value to determine an actual servo resistance value of the target servo.

[0025] In an optional implementation, before obtaining the measured value of the servo resistance when the target servo rotates, the method further includes:

[0026] The cold resistance of the target servo at the preset temperature is determined according to the cold voltage and the cold current of the target servo at the preset temperature.

[0027] In an optional embodiment, the method further includes:

[0028] After the target servo is started, obtaining a starting servo resistance value of the target servo;

[0029] If the difference between the starting servo resistance value and the cold resistance value is greater than or equal to a preset resistance threshold, the target servo is subjected to over-temperature protection.

[0030] In a second aspect, an embodiment of the present application provides a steering gear over-temperature protection device, the device comprising:

[0031] The acquisition module is used to obtain the servo resistance measurement value when the target servo is rotating.

[0032] The acquisition module is further configured to acquire an estimated value of the servo resistance when the target servo rotates.

[0033] The determination module is used to determine the actual servo resistance value of the target servo according to the measured servo resistance value and the estimated servo resistance value.

[0034] The determining module is further configured to determine an actual servo temperature value of the target servo according to the actual servo resistance value and a pre-calibrated resistance-temperature curve.

[0035] The protection module is used to perform over-temperature protection processing on the target servo if the actual servo temperature value is greater than or equal to a preset temperature threshold.

[0036] The acquisition module is further specifically used to obtain a servo voltage value and a servo current value when the target servo rotates; determine a servo speed value when the target servo rotates according to the servo voltage value; and determine a servo resistance measurement value according to the servo voltage value, the servo speed value, the servo current value, and a voltage balance equation.

[0037] The acquisition module is further specifically used to determine the servo current heating power value based on the servo current value and the servo voltage value when the target servo rotates; determine the servo thermal bridge dissipation power value based on the pre-calibrated servo coil thermal resistance value and the actual power value; and determine the servo resistance estimation value based on the servo current heating power value and the servo thermal bridge dissipation power value.

[0038] The determining module is further configured to perform an integration operation using the servo current heating power value and the servo thermal bridge dissipation power value as parameters to obtain the servo resistance estimation value.

[0039] The determining module is further configured to perform Kalman filtering on the servo resistance measurement value and the servo resistance estimation value to determine an actual servo resistance value of the target servo.

[0040] The determining module is further configured to determine a cold resistance of the target servo at a preset temperature based on a cold voltage and a cold current of the target servo at a preset temperature.

[0041] The protection module is further configured to, after the target servo is started, obtain a starting servo resistance value of the target servo; if a difference between the starting servo resistance value and the cold resistance is greater than or equal to a preset resistance threshold, perform over-temperature protection on the target servo.

[0042] In a third aspect, an embodiment of the present application further provides an intelligent robot, comprising: a processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor. When the intelligent robot is running, the processor communicates with the storage medium through the bus, and the processor executes the machine-readable instructions to perform the steps of the servo overtemperature protection method as described in any one of the first aspects.

[0043] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the servo over-temperature protection method as described in any one of the first aspects are implemented.

[0044] The beneficial effects of the embodiments of the present application include:

[0045] The servo overtemperature protection method, device, intelligent robot, and storage medium provided herein can firstly determine the actual servo resistance value of a target servo directly based on data collected from the motor's internal structure. Furthermore, the actual servo temperature can be determined by combining it with a pre-calibrated resistance-temperature curve. This allows for accurate, real-time monitoring of the target servo's internal temperature without the need for additional temperature sensors. Secondly, for servos with excessively high internal temperatures, overtemperature protection can be promptly applied, preventing further damage to the servo from excessive heat. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0047] Figure 1 A schematic flow chart of the steps of the servo over-temperature protection method provided in an embodiment of the present application;

[0048] Figure 2 A schematic diagram of another step flow of the steering gear over-temperature protection method provided in an embodiment of the present application;

[0049] Figure 3 A schematic diagram of another step flow of the steering gear over-temperature protection method provided in an embodiment of the present application;

[0050] Figure 4 A schematic diagram of another step flow of the steering gear over-temperature protection method provided in an embodiment of the present application;

[0051] Figure 5 A schematic diagram of the structure of the steering gear over-temperature protection device provided in an embodiment of the present application;

[0052] Figure 6 A schematic diagram of the structure of the intelligent robot provided in an embodiment of the present application.

[0053] Icons: 10-servo over-temperature protection device; 1001-acquisition module; 1002-determination module; 1003-protection module; 2001-processor; 2002-memory. DETAILED DESCRIPTION

[0054] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0055] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without creative work are within the scope of protection of the present application.

[0056] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0057] In addition, the terms "first", "second", etc., if used, are merely used to distinguish and describe, and should not be understood as indicating or implying relative importance.

[0058] It should be noted that, in the absence of conflict, the features in the embodiments of this application can be combined with each other.

[0059] Small servos on intelligent robots typically consist of a DC motor, a reduction gear set, sensors, and control circuitry. They are automatic control devices that utilize closed-loop feedback to correct output deviations and maintain a constant output. Continuously overloaded, stalled, or experiencing excessive speed can lead to short circuits and gear jamming. These conditions can cause the servo's temperature to rise continuously, potentially resulting in damage.

[0060] To monitor the temperature of servos in real time, temperature sensors are currently installed on the servo housing to collect real-time temperature data and generate alarms when the temperature is too high. However, servo heating is generally caused by internal factors. By the time heat is transferred to the housing, the internal temperature may have already exceeded the critical value, making it impossible to detect the abnormality in the servo early. Furthermore, the installation of additional temperature sensors not only increases costs but also requires additional wiring and space, increasing the complexity of the servo structure.

[0061] Based on this, the applicant has proposed a servo over-temperature protection method, device, intelligent robot and storage medium after research. Without the need for additional temperature sensors, the actual servo resistance value can be directly determined based on the collected servo resistance measurement value and servo resistance estimation value of the target servo, and the actual servo temperature value inside it can be further determined, thereby improving the efficiency and accuracy of servo temperature collection.

[0062] The following is an explanation of a steering gear over-temperature protection method, device, intelligent robot and storage medium provided in an embodiment of the present application in combination with multiple specific application examples.

[0063] During the operation of the servo, various abnormal situations may occur, such as: gear missing, wear, tooth sticking, tooth breakage, sudden increase in load due to external resistance, short circuit, etc., all of which may generate heat, causing the internal temperature of the servo to continue to rise, and have a negative impact on the servo.

[0064] Therefore, to monitor the internal temperature of a servo in real time without the aid of a temperature sensor, in this embodiment of the present application, the measured and estimated servo resistance values ​​of the target servo are first obtained during rotation. The actual servo resistance value of the target servo is then determined based on these values. Finally, the actual servo temperature of the target servo is determined based on the determined actual servo resistance value and a pre-calibrated resistance-temperature curve. If the actual temperature is too high, over-temperature protection can be promptly applied to the target servo, such as shutting down the servo to prevent damage to the servo due to continued high temperatures.

[0065] In addition, the embodiment of the present application can also detect the temperature of the servo every time the servo is started, so as to avoid the situation where the user forcibly starts the servo without waiting for the servo to cool down after executing the over-temperature protection process, causing damage to the servo.

[0066] Figure 1 The figure shows a flowchart of the steps of a servo over-temperature protection method provided by an embodiment of the present application. The execution subject of the method may be a processing device with computing and processing capabilities. The processing device may be a processing chip set inside the servo, or may be a processing device set outside the servo and connected to the servo for communication. The present application does not limit this. Figure 1 As shown, the method includes:

[0067] S101, obtaining a measured value of the servo resistance when the target servo is rotating.

[0068] The servo resistance measurement value can be obtained by processing the motor parameters, such as current value and speed value, collected by the processing device when the target servo rotates. The processing device can deduce and determine the resistance value corresponding to the target servo under the current motor parameters through the numerical correlation between the motor parameters.

[0069] S102, obtaining an estimated value of the servo resistance when the target servo is rotating.

[0070] Due to the influence of the internal temperature of the target servo, the measured resistance value of the servo may not accurately reflect the actual resistance value of the current servo. Therefore, another angle can be combined to estimate the resistance value of the servo.

[0071] The estimated value of the servo resistance may be a resistance value of the target servo determined by the processing device based on the heat generation power when the target servo rotates, at the current heat generation power.

[0072] S103: Determine the actual servo resistance value of the target servo according to the measured servo resistance value and the estimated servo resistance value.

[0073] In this way, the measured servo resistance value and the estimated servo resistance value are combined to eliminate the deviation and noise therein and determine the actual servo temperature value of the target servo.

[0074] The actual servo temperature value can be understood as the resistance value that is closest to the actual resistance value of the servo internal coil at the current temperature.

[0075] S104 , determining the actual servo temperature value of the target servo according to the actual servo resistance value and a pre-calibrated resistance-temperature curve.

[0076] It is understandable that the material and number of turns of the servo coils inside different models of servos may be different. Therefore, as the temperature rises, the degree of increase in resistance may also be different. Therefore, before determining the actual servo temperature value inside a new model of servo, it is necessary to conduct thermodynamic experiments and calibrate the resistance-temperature curve of the servo coil.

[0077] Alternatively, the servo coil can be preheated in a gradient. Each time the servo coil is heated to a predetermined temperature gradient, Ohm's law can be used to determine the resistance at that temperature after the temperature stabilizes. Repeatedly collecting data at different temperatures and corresponding resistance values ​​creates a resistance-temperature curve.

[0078] In this way, the processing device can determine the actual servo temperature value corresponding to the actual servo resistance value based on the "resistance-temperature" correspondence relationship of the actual servo resistance value in the pre-calibrated resistance-temperature curve.

[0079] S105: If the actual servo temperature is greater than or equal to the preset temperature threshold, the target servo is subjected to over-temperature protection.

[0080] Optionally, the over-temperature protection process may be to disconnect the power supply circuit of the target servo, or to stop the rotation of the target servo, which is not limited in this application.

[0081] To ensure the normal operation of the target servo, the preset temperature threshold can be set to be lower than the rated operating temperature of the target servo, for example, 50 degrees.

[0082] Thus, after determining the actual servo temperature of the target servo, the processing device compares it with a preset temperature threshold. If the actual servo temperature is greater than or equal to the preset temperature threshold, the target servo is protected from overheating. Otherwise, if the actual servo temperature is less than the preset temperature threshold, steps S101 to S104 are repeated to determine the actual servo temperature again and compare it with the preset temperature threshold again.

[0083] In this embodiment, the processing device can determine the actual servo temperature value of the servo in a timely and accurate manner based on the data collected from the motor itself and a pre-calibrated resistance-temperature curve without the need for data collected by the temperature sensor, and perform over-temperature protection processing, thereby preventing continued damage to the target servo due to high temperature.

[0084] Alternatively, as Figure 2 As shown, in the above step S101, obtaining the measured value of the servo resistance when the target servo rotates may include the following steps S201 to S202.

[0085] S201, obtaining the servo voltage value and the servo current value when the target servo is rotating.

[0086] Optionally, the servo voltage value and the servo current value may be collected by a current and voltage sampling circuit provided inside the servo and transmitted to the processing device in real time, which is not limited in this application.

[0087] S202: Determine the servo speed value when the target servo rotates according to the servo voltage value.

[0088] Optionally, the processing device may determine the servo speed value corresponding to the servo voltage value according to a correspondence between the servo voltage and the servo speed.

[0089] Alternatively, the steering gear speed value may be collected by a speed sensor provided inside the target steering gear or a device on other steering gear, and sent to the processing device in real time.

[0090] S203, determining a measured value of the servo resistance according to the servo voltage value, the servo speed value, the servo current value, and a voltage balance equation.

[0091] The voltage balance equation can be expressed as:

[0092] U a =E a -I a ·R a

[0093] Among them, U a is the servo voltage value output by the servo coil, E a is the potential generated by the servo, I a is the servo current value of the servo coil, R a is the measured resistance of the servo. Optionally, E a It can be determined according to the steering gear speed value, and the specific calculation method is not limited in this application.

[0094] In this way, through the voltage balance equation, according to the servo voltage value, servo speed value, and servo current value, the servo resistance measurement value can be derived.

[0095] In this embodiment, the servo resistance measurement value is directly determined based on the collected servo voltage value and servo current value, avoiding the need to set up other additional sensors and reducing the complexity of the internal structure of the servo.

[0096] Alternatively, as Figure 3 As shown, in the above step S102, obtaining the estimated value of the servo resistance when the target servo rotates can be implemented by the following steps S301 to S303.

[0097] S301, determining a servo current heating power value according to a servo current value and a servo voltage value when a target servo rotates.

[0098] Servo current heating power value P a It can be understood as the power dissipated by the servo during operation, or the power lost due to heat, which can be calculated by the following formula:

[0099] P a =U a I a

[0100] Among them, U a is the voltage value of the steering gear in the above embodiment, I a is the steering gear current value in the above embodiment.

[0101] S302: Determine the power dissipation value of the servo thermal bridge according to the pre-calibrated thermal resistance value of the servo coil and the actual power value.

[0102] The thermal resistance of the servo coil can be understood as the ability of the servo coil to resist heat conduction under the condition of temperature difference. It can be understood as the temperature difference between the two ends of the servo coil when a unit of heat energy passes through the servo coil in unit time.

[0103] The thermal resistance of the servo coil can be calibrated in advance through thermodynamic experiments, and the specific calibration method is not limited in this application.

[0104] The actual power value may be determined by the rated power value of the servo. Optionally, when the servo rotates at the rated voltage, the actual power value is equal to the rated power value.

[0105] It should be noted that the actual power value is different from the above-mentioned thermal power value. The actual power value refers to the power of the servo working at the rated voltage, while the thermal power refers to the power of the servo when a part of the electrical energy is converted into internal energy due to the resistance of the servo itself during the rotation process.

[0106] In this way, the processing device can use the product of the servo coil thermal resistance value and the actual power value as the servo thermal bridge dissipation power value.

[0107] S303 , determining an estimated value of the servo resistance according to the servo current heating power value and the servo thermal bridge dissipation power value.

[0108] The servo current heating power value is used to indicate the power used by the heating part of the servo, and the servo thermal bridge dissipation power value is used to indicate the total power consumed during the operation of the servo. Therefore, the processing device can determine the mechanical power of the servo during operation based on the difference between the servo current heating power value and the servo thermal bridge dissipation power value, thereby determining the estimated value of the servo resistance.

[0109] It should be noted that the above-mentioned servo resistance measurement value is a resistance value determined according to the operating parameters of the servo, and the servo resistance estimation value is a resistance value determined by the power when the servo is running. The two methods of determining the resistance value are different.

[0110] In this embodiment, the estimated value of the servo resistance is determined from another perspective by using the current heat power value and the servo thermal bridge dissipation power value when the servo is running. This takes into account the influence of temperature on the servo coil resistance, thereby improving the accuracy of the resistance estimation.

[0111] Optionally, in the above step S303, determining the estimated value of the servo resistance according to the servo current heating power value and the servo thermal bridge dissipation power value may include:

[0112] The servo current heating power value and the servo thermal bridge dissipation power value are used as parameters for integration operation to obtain the estimated value of the servo resistance.

[0113] Optionally, the estimated servo resistance R b It can be calculated by the following formula:

[0114] R b =∫(P a -P b )dt

[0115] Wherein, as described in the above embodiments, P a is the heating power value of the servo current, P b is the power dissipation value of the servo thermal bridge.

[0116] Understandably, P a -P b The value of is the mechanical power when the servo is running. By integrating it, we can get the estimated value of the servo resistance.

[0117] In this embodiment, the estimated value of the servo resistance can be determined quickly and accurately according to the integration result of the servo current heating power value and the servo thermal bridge dissipation power value.

[0118] Optionally, in the above step S103, determining the actual servo resistance value of the target servo according to the measured servo resistance value and the estimated servo resistance value may include:

[0119] The measured servo resistance value and the estimated servo resistance value are processed by Kalman filtering to determine the actual servo resistance value of the target servo.

[0120] Kalman filtering is an algorithm that uses the linear system state equation to optimally estimate the system state using observation data from the system's input and output. Because the observation data includes the effects of noise and interference in the system, optimal estimation can also be viewed as a filtering process.

[0121] Through the Kalman filtering method, the system disturbance and noise of the servo resistance measurement value and the servo resistance estimation value at each moment can be processed, so that the actual servo resistance value with the smallest difference from the true resistance value can be obtained in an average sense.

[0122] In this embodiment, the actual servo resistance value is determined based on the servo resistance measurement value and the servo resistance estimation value through the Kalman filtering method, which has smaller error and higher efficiency. Moreover, since the operating characteristics of the servo are intermittent operation, this method of obtaining the actual servo resistance value can ensure that the temperature zero point does not drift.

[0123] Optionally, in the above step S101, before obtaining the measured value of the servo resistance when the target servo rotates, the following steps may be further included:

[0124] The cold resistance of the target servo at the preset temperature is determined according to the cold voltage and cold current of the target servo at the preset temperature.

[0125] At room temperature, or when the target servo is turned off and cooled to a constant temperature, the cold resistance of the target servo can be determined according to Ohm's law by applying a low cold voltage to the target servo and measuring the cold current at the current cold voltage.

[0126] In other words, the cold resistance can be understood as the resistance value of the target servo at room temperature or normal temperature.

[0127] In this embodiment, the resistance value of the target servo can be accurately determined based on the cold-state voltage and the cold-state current without increasing the temperature of the target servo.

[0128] Alternatively, as Figure 4 As shown, the steering gear over-temperature protection method provided in the embodiment of the present application may also include the following steps:

[0129] S401, after the target servo is started, obtaining the starting servo resistance value of the target servo.

[0130] The starting servo resistance value of the target servo can be obtained by determining the cold resistance in the aforementioned embodiment, and is used to represent the resistance value of the target servo at the temperature at the time of starting.

[0131] S402: If the difference between the starting servo resistance and the cold resistance is greater than or equal to the preset resistance threshold, the target servo is subjected to over-temperature protection.

[0132] It can be seen from the above embodiments that when the target servo performs the over-temperature protection process, the working circuit of the coil of the target servo will be cut off, or the target servo will be stopped from working.

[0133] Therefore, to prevent the target servo from being forced to restart after the target servo has executed over-temperature protection and before the target servo has cooled to room temperature, the processing device compares the starting servo resistance value with the cold state resistance value each time the target servo is started. Due to the consistency between temperature and resistance value, if the difference between the starting servo resistance value and the cold state resistance value is greater than or equal to a preset resistance threshold, it can be determined that the temperature difference between the target servo and room temperature is also greater than the preset temperature difference threshold. In this case, the target servo will be over-temperature protected again, and the power supply line to the target servo coil will be disconnected.

[0134] In this embodiment, the starting resistance value of the servo is further judged, thereby preventing the user from forcibly starting the target servo when the target servo is in a high temperature state, thereby preventing the target servo from being damaged.

[0135] See Figure 5 The present application also provides a steering gear over-temperature protection device 10, which includes:

[0136] The acquisition module 1001 is used to obtain the resistance measurement value of the target servo when the servo is rotating.

[0137] The acquisition module 1001 is further configured to acquire an estimated value of the servo resistance when the target servo rotates.

[0138] The determination module 1002 is configured to determine an actual servo resistance value of the target servo according to the measured servo resistance value and the estimated servo resistance value.

[0139] The determining module 1002 is further configured to determine an actual servo temperature value of the target servo according to the actual servo resistance value and a pre-calibrated resistance-temperature curve.

[0140] The protection module 1003 is configured to perform over-temperature protection on the target servo if the actual servo temperature value is greater than or equal to a preset temperature threshold.

[0141] The acquisition module 1001 is further specifically used to obtain the servo voltage value and the servo current value when the target servo rotates; determine the servo speed value when the target servo rotates according to the servo voltage value; and determine the servo resistance measurement value according to the servo voltage value, the servo speed value, the servo current value and the voltage balance equation.

[0142] The acquisition module 1001 is further specifically used to determine the servo current heating power value based on the servo current value and the servo voltage value when the target servo rotates; determine the servo thermal bridge dissipation power value based on the pre-calibrated servo coil thermal resistance value and the actual power value; and determine the servo resistance estimation value based on the servo current heating power value and the servo thermal bridge dissipation power value.

[0143] The determining module 1002 is further configured to perform an integration operation using the servo current heating power value and the servo thermal bridge dissipation power value as parameters to obtain the servo resistance estimation value.

[0144] The determining module 1002 is further configured to perform Kalman filtering on the servo resistance measurement value and the servo resistance estimation value to determine an actual servo resistance value of the target servo.

[0145] The determining module 1002 is further configured to determine a cold resistance of the target servo at a preset temperature according to a cold voltage and a cold current of the target servo at a preset temperature.

[0146] The protection module 1003 is further specifically configured to obtain a starting servo resistance value of the target servo after the target servo is started; if the difference between the starting servo resistance value and the cold resistance is greater than or equal to a preset resistance threshold, perform over-temperature protection on the target servo.

[0147] See also Figure 6 This embodiment also provides an intelligent robot, which includes: a processor 2001, a memory 2002 and a bus. The memory 2002 stores machine-readable instructions executable by the processor 2001. When the intelligent robot is running, the above-mentioned machine-readable instructions are executed. The processor 2001 and the memory 2002 communicate through the bus. The processor 2001 is used to execute the steps of the servo over-temperature protection method in the above-mentioned embodiment.

[0148] The memory 2002, processor 2001, and various bus components are electrically connected, directly or indirectly, to each other to enable data transmission or interaction. For example, these components may be electrically connected via one or more communication buses or signal lines. The data processing device of the servo overtemperature protection system includes at least one software functional module that can be stored in the memory 2002 in the form of software or firmware or embedded in the operating system (OS) of the intelligent robot. The processor 2001 is configured to execute executable modules stored in the memory 2002, such as the software functional modules and computer programs included in the data processing device of the servo overtemperature protection system.

[0149] Among them, the memory 2002 can be, but is not limited to, random access memory (RAM), read only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.

[0150] Optionally, the present application further provides a storage medium storing a computer program, which, when executed by a processor, executes the steps of the above method embodiment. The specific implementation and technical effects are similar and will not be described in detail here.

[0151] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules 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 communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0152] In addition, the functional units in the various embodiments of the present application can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling 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 method described in the various embodiments of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.

[0153] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for over-temperature protection of a steering gear, characterized in that: The method comprises: Get the resistance measurement value of the target servo when it is rotating; Obtaining an estimated value of the servo resistance when the target servo rotates; Determining an actual servo resistance value of the target servo according to the measured servo resistance value and the estimated servo resistance value; Determining an actual servo temperature value of the target servo according to the actual servo resistance value and a pre-calibrated resistance-temperature curve; If the actual servo temperature is greater than or equal to a preset temperature threshold, the target servo is subjected to over-temperature protection. The obtaining of an estimated value of the resistance of the target servo when the target servo rotates includes: The servo current heating power value is determined based on the servo current value and the servo voltage value when the target servo rotates; the servo thermal bridge dissipation power value is determined based on the pre-calibrated servo coil thermal resistance value and the actual power value; and the servo resistance estimation value is determined based on the servo current heating power value and the servo thermal bridge dissipation power value.

2. The steering gear over-temperature protection method according to claim 1, characterized in that: The obtaining of the measured resistance value of the target servo when the target servo rotates includes: Obtaining a servo voltage value and a servo current value when the target servo rotates; Determining a steering gear speed value when the target steering gear rotates according to the steering gear voltage value; The servo resistance measurement value is determined according to the servo voltage value, the servo speed value, the servo current value and a voltage balance equation.

3. The steering gear over-temperature protection method according to claim 1, characterized in that: The step of determining the estimated value of the servo resistance according to the servo current heating power value and the servo thermal bridge dissipation power value comprises: An integration operation is performed using the servo current heating power value and the servo thermal bridge dissipation power value as parameters to obtain the servo resistance estimation value.

4. The steering gear over-temperature protection method according to claim 1, characterized in that: The determining, based on the measured servo resistance value and the estimated servo resistance value, of the actual servo resistance value of the target servo comprises: Kalman filtering is performed on the servo resistance measurement value and the servo resistance estimation value to determine an actual servo resistance value of the target servo.

5. The steering gear over-temperature protection method according to claim 1, characterized in that: Before obtaining the measured value of the servo resistance when the target servo rotates, the method further includes: The cold resistance of the target servo at the preset temperature is determined according to the cold voltage and the cold current of the target servo at the preset temperature.

6. The steering gear over-temperature protection method according to claim 5, characterized in that: The method further comprises: After the target servo is started, obtaining a starting servo resistance value of the target servo; If the difference between the starting servo resistance value and the cold resistance value is greater than or equal to a preset resistance threshold, the target servo is subjected to over-temperature protection.

7. A steering gear over-temperature protection device, characterized in that: include: The acquisition module is used to obtain the resistance measurement value of the target servo when the servo is rotating; The acquisition module is further configured to acquire an estimated value of the servo resistance when the target servo rotates; a determination module, configured to determine an actual servo resistance value of the target servo according to the servo resistance measurement value and the servo resistance estimation value; The determining module is further configured to determine an actual servo temperature value of the target servo according to the actual servo resistance value and a pre-calibrated resistance-temperature curve; A protection module is configured to perform over-temperature protection on the target servo if the actual servo temperature value is greater than or equal to a preset temperature threshold; The acquisition module is specifically used to determine the servo current heating power value based on the servo current value and the servo voltage value when the target servo rotates; determine the servo thermal bridge dissipation power value based on the pre-calibrated servo coil thermal resistance value and the actual power value; and determine the servo resistance estimation value based on the servo current heating power value and the servo thermal bridge dissipation power value.

8. An intelligent robot, characterized in that: The intelligent robot includes: a processor, a storage medium and a bus, the storage medium stores machine-readable instructions executable by the processor, and when the intelligent robot is running, the processor and the storage medium communicate through the bus, and the processor executes the machine-readable instructions to perform the steps of the servo overtemperature protection method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the steering gear over-temperature protection method according to any one of claims 1 to 6.

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