Drive mechanism protection method and apparatus, terminal device, and storage medium

Abstract

This invention proposes a method, device, terminal equipment, and storage medium for protecting a drive mechanism, relating to the field of collision detection technology. It automatically identifies and attenuates corresponding high-frequency signals, simplifying the complex process of requiring different thresholds to trigger protection mechanisms for different operating states to a process that only requires a safety threshold to trigger the protection mechanism under non-impact conditions. The method includes: acquiring a first torque signal output by the drive mechanism; attenuating the corresponding high-frequency signals in the first torque signal according to the rate of change of the first torque signal to obtain a second torque signal; and triggering a protection mechanism for the drive mechanism based on a comparison between the second torque signal and a first threshold, where the first threshold characterizes the maximum force intensity of the driving mechanism's active component under non-impact conditions.

Description

[Technical Field]

[0001] The present invention relates to the field of collision detection technology, and in particular to a method, apparatus, terminal device and storage medium for protecting a drive mechanism. [Background Technology]

[0002] During various movements driven by motors, hydraulic mechanisms, etc., mechanical components may come into contact with or / and collide with certain devices in their environment. When these mechanical components come into contact with or / or collide with these devices, the output torque of the motors or hydraulic mechanisms driving them changes, posing a risk of motor overload. To prevent damage to the motors and hydraulic mechanisms, relevant fields typically set safety thresholds based on actual conditions to ensure motor safety. Once the output torque of the motor or hydraulic mechanism driving the mechanical component exceeds the safety threshold, relevant protection mechanisms are activated.

[0003] In dynamics, strong interactions between objects over a short period of time are generally called collisions, while weak interactions over a long period of time are called contact. Simply setting a single safety threshold, ignoring the differences between collision and contact states, can lead to inaccurate judgments. Setting different safety thresholds for collision and contact states can make it difficult to identify the state of mechanical components. [Summary of the Invention]

[0004] This invention provides a drive mechanism protection method, device, terminal equipment, and storage medium. Without needing to identify the working state of mechanical components, it automatically identifies and attenuates corresponding high-frequency signals, simplifying the complex process of requiring different threshold trigger protection mechanisms for different working states to a process that only requires a safety threshold trigger protection mechanism under non-impact conditions.

[0005] In a first aspect, embodiments of the present invention provide a drive mechanism protection method applied to an electronic terminal device. The method includes: acquiring a first torque signal actually output by the drive mechanism; attenuating at least a portion of the first torque signal corresponding to a specific rate of change to within the range of another portion of the signal measurement value; and triggering a protection mechanism for the drive mechanism based on the attenuated signal measurement value.

[0006] Unlike existing technologies that only address motor overload protection by setting safety thresholds to match different operating states of mechanical components, the drive mechanism protection method proposed in this invention starts by processing the first torque signal output by the drive mechanism. Based on the rate of change of the first torque signal, at least a portion of the signal is attenuated, ensuring that the actual first torque signal output by the drive mechanism remains within the same measurement range regardless of the mechanical component's state. This achieves protection of the drive mechanism using the same safety threshold trigger condition. This method eliminates the need to determine the operating state of the mechanical components, providing a simple and effective way to prevent motor overload.

[0007] In one possible implementation, obtaining the first torque signal output by the drive mechanism includes:

[0008] The output signal of the drive mechanism is sampled to obtain the first torque signal;

[0009] Based on the rate of change of the first torque signal, the high-frequency portion of the first torque signal is attenuated to obtain a second torque signal, including:

[0010] The torque value of the second torque signal is obtained by the following formula;

[0011] F fit (t i+1 )=αF(t i+1 )+(1-α)F fit (t i );

[0012] Where F represents the torque value of the first torque signal, F fit The torque value, t, represents the torque of the second torque signal. i Let t represent the time of the i-th sampling. i+1 This indicates the time of the (i+1)th sampling, and α is the filter coefficient.

[0013] One possible implementation involves determining the filter coefficients using the following method:

[0014] Δt represents the sampling period for sampling the first torque signal, and T is a preset time constant.

[0015] One possible implementation involves determining the preset time constant T using the following method:

[0016] The shortest and longest duration of collision between the active components of the drive mechanism are obtained.

[0017] The candidate torque value of the second torque signal is obtained based on the candidate time constant;

[0018] When the ratio of the candidate torque value to the torque value of the first torque signal is equal to the ratio of the first threshold to the second threshold, the candidate time constant is used as the preset time constant, wherein the second threshold characterizes the maximum force intensity of the driving mechanism's working component under impact, and the candidate time constant is located between the shortest time and the longest time.

[0019] In one possible implementation, the second threshold is 1.5 to 2 times the first threshold.

[0020] In one possible implementation, the filter coefficient is 0.05.

[0021] In one possible implementation, the step of triggering a protection mechanism for the drive mechanism based on the comparison result of the second torque signal and the first threshold includes:

[0022] When the torque value of the second torque signal is greater than the first threshold, the operation of the drive mechanism is stopped.

[0023] In a second aspect, embodiments of the present invention provide a drive mechanism protection device, which is installed in an electronic terminal device, the device comprising:

[0024] The torque signal acquisition module is used to acquire the first torque signal output by the drive mechanism;

[0025] The attenuation module is used to attenuate the high-frequency portion of the first torque signal according to the rate of change of the first torque signal, so as to obtain the second torque signal.

[0026] The triggering module triggers a protection mechanism for the drive mechanism based on the comparison result between the second torque signal and the first threshold. The first threshold represents the maximum force intensity of the working component of the drive mechanism under non-impact conditions.

[0027] In one possible implementation, the torque signal acquisition module is specifically used to sample the output signal of the drive mechanism to obtain the first torque signal;

[0028] The attenuation module specifically achieves the attenuation of the high-frequency portion of the first torque signal. The torque value of the second torque signal is obtained by the following formula.

[0029] F fit (t i+1 )=αF(t i+1 )+(1-α)F fit (t i );

[0030] Where F represents the torque value of the first torque signal, F fit The torque value, t, represents the torque of the second torque signal. i Let t represent the time of the i-th sampling. i+1 This indicates the time of the (i+1)th sampling, and α is the filter coefficient.

[0031] In one possible implementation, the device further includes a filter coefficient determination module for determining the filter coefficients. Δt represents the sampling period for sampling the first torque signal, and T is a preset time constant.

[0032] In one possible implementation, the device further includes a time constant determination module for obtaining the shortest and longest duration of the collision between the active components of the drive mechanism;

[0033] Based on the candidate time constant, the torque value output by the drive mechanism is low-pass filtered to obtain the candidate torque value after attenuation of the corresponding high-frequency part of the torque value output by the drive mechanism.

[0034] When the ratio of the candidate torque value to the torque value output by the drive mechanism is equal to the ratio of the first threshold to the second threshold, the candidate time constant is used as the preset time constant, wherein the second threshold characterizes the maximum force intensity of the working component of the drive mechanism under impact, and the candidate time constant is located between the shortest time and the longest time.

[0035] In one possible implementation, the second threshold is 1.5 to 2 times the first threshold.

[0036] In one possible implementation, the filter coefficient is 0.05.

[0037] In one possible implementation, the trigger module is specifically used to stop the operation of the drive mechanism when the torque value of the second torque signal is greater than the first threshold.

[0038] Thirdly, embodiments of the present invention provide a terminal device, including: at least one processor; and at least one memory communicatively connected to the processor, wherein: the memory stores program instructions executable by the processor, and the processor can execute the method provided in the first aspect by calling the program instructions.

[0039] Fourthly, embodiments of the present invention provide a non-transitory computer-readable storage medium storing computer instructions that cause the computer to perform the method provided in the first aspect.

[0040] It should be understood that the second to fourth aspects of the embodiments of the present invention are consistent with the technical solutions of the first aspect of the embodiments of the present invention, and the beneficial effects achieved by each aspect and the corresponding feasible implementation are similar, and will not be described again. [Attached Image Description]

[0041] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a flowchart illustrating the steps of a drive mechanism protection method proposed in an embodiment of the present invention;

[0043] Figure 2 This is a schematic diagram illustrating the force changes of a driving mechanism driving a mechanical component in one example of the present invention;

[0044] Figure 3 This is a flowchart of another method for protecting the drive mechanism according to an embodiment of the present invention;

[0045] Figure 4 This is a schematic diagram illustrating the movement of an example mechanical component under the control of a drive mechanism according to the present invention;

[0046] Figure 5 This is a force curve diagram of the left Y-shaped correction rod during the motor-driven motion in one example of the present invention;

[0047] Figure 6 This is a force curve diagram after filtering of the force on the left Y-shaped correction rod during the motor-driven motion in one example of the present invention.

[0048] Figure 7 This is a functional block diagram of the drive mechanism protection device proposed in the embodiments of the present invention.

Detailed Implementation Methods

[0049] To better understand the technical solutions in this specification, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0050] It should be understood that the described embodiments are merely some, not all, of the embodiments in this specification. All other embodiments obtained by those skilled in the art based on the embodiments in this specification without inventive effort are within the scope of protection of this specification.

[0051] The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of this specification. The singular forms “a,” “the,” and “the” as used in the embodiments of this invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0052] Commonly used torque protection methods in existing technologies include:

[0053] Through multiple collision simulation experiments, the maximum torque value during motor operation was measured, and this maximum torque value was multiplied by a safety factor to obtain the machine's safe torque threshold. The problem with this method of fixing the safe torque threshold and using the maximum collision torque threshold as the global protection threshold is that the mechanical components have different limits of strength to withstand under different operating conditions, posing certain safety hazards.

[0054] A safety threshold is set that varies with different operating states of mechanical components. The motion state of the mechanical components and the motor torque are monitored in real time. The safety threshold is calculated based on the current motion state and a standard dynamic model. If the detected motor output torque exceeds the safety threshold, it is considered that the torque has exceeded the limit, and protective measures are activated. However, the above method has the difficulty of accurately and quickly identifying the operating state of mechanical components.

[0055] The ultimate strength of mechanical component materials (such as steel and other metals) under impact is higher than that under non-impact conditions. Mechanical components may exist in three states during operation: collision, contact, and non-contact. The non-impact state includes both contact and non-contact, while the impact state refers to the collision state. If the maximum collision torque threshold is used as the safety threshold, the drive mechanism will easily cause structural damage if it operates at the critical collision threshold for a long time. To address this, related technologies set separate safety thresholds for the collision state (causing impact), the corresponding non-contact state, and the contact state (corresponding to static strength). A larger collision threshold is used during the instantaneous collision phase, while a smaller threshold is used for the sustained contact state. However, this method introduces difficulties in accurately and quickly identifying the collision and non-collision states, requiring real-time calculation of the standard dynamic model, consuming significant computational resources, and exhibiting a relatively slow response speed, resulting in a delay in protecting the mechanism. Furthermore, there are often discrepancies between the dynamic model and the actual structure, leading to inaccurate theoretical torque thresholds.

[0056] To address the aforementioned issues, this invention proposes a drive mechanism protection method that breaks away from the technical bias of comparing the original motor output value with different thresholds. Instead of identifying the working state of mechanical components, this method unifies the output torque of the drive mechanism under various mechanical component states within the same framework, based on the actual output torque value of the drive mechanism.

[0057] Figure 1 This is a flowchart illustrating the steps of a drive mechanism protection method proposed in an embodiment of the present invention, as follows: Figure 1 As shown, the steps of the drive mechanism protection method include:

[0058] S101: Obtain the first torque signal output by the drive mechanism.

[0059] The drive mechanism can be a motor, hydraulic press, or other device that drives mechanical components to move along a set trajectory.

[0060] In one embodiment of the present invention, the method for obtaining the first torque signal output by the drive mechanism includes: sampling the output signal of the drive mechanism to obtain the first torque signal. S102: according to the rate of change of the first torque signal, attenuating the high-frequency portion of the first torque signal to obtain a second torque signal.

[0061] The high-frequency portion of the first torque signal is attenuated to within the measurement range of the corresponding low-frequency portion.

[0062] The rate of change of the first torque signal output by the drive mechanism varies depending on the operating state of the mechanical component. For example, when the mechanical component is in a state of collision with other devices, the first torque signal G output by the drive mechanism at time t will be different. t The first torque signal G output by the drive mechanism at time (t+ΔT) t+ΔT The difference is large, and the first torque signal output by the drive mechanism at time t is a high-frequency signal; when the mechanical parts are in a non-contact state, the first torque signal G output by the drive mechanism at time t is... t The first torque signal G output by the drive mechanism at time (t+ΔT) t+ΔT The difference is small, and the first torque signal output by the drive mechanism at time t is the high-frequency signal part.

[0063] For example, the acquisition drive mechanism at time t0 to t n The first torque signal output at time t0 to t m At any given moment, the mechanical component is in a state of collision with other devices, and the first torque signal corresponds to time t0 to t... m The signal at time t is part of the high-frequency signal. m Time to t n At any given moment, the mechanical component is not in contact with other devices; the corresponding torque signal in the first torque signal is t. m Time to T n The signal at a given moment is a low-frequency signal. Based on the rate of change of the corresponding signals at different moments in the first torque signal, the high-frequency signal is attenuated to the measurement range of the low-frequency signal. Thus, the maximum force intensity under non-impact conditions is used as the basis for determining whether to trigger the protection mechanism of the drive mechanism.

[0064] S103: Based on the comparison result between the second torque signal and the first threshold, a protection mechanism for the drive mechanism is triggered, wherein the first threshold characterizes the maximum force intensity of the working component of the drive mechanism under non-impact conditions.

[0065] The active component of a drive mechanism can refer to the mechanical component that moves under the drive of the drive mechanism.

[0066] The process of determining whether to trigger the protection mechanism of the mechanism based on the attenuated second torque signal includes: determining whether to trigger the protection mechanism of the drive mechanism based on whether the attenuated second torque signal exceeds a first threshold characterizing the maximum force intensity of the driving mechanism's active component under non-impact conditions.

[0067] This invention demonstrates that different mechanical components exhibit varying rates of change in torque signals output by the drive mechanism under different operating conditions. By attenuating at least a portion of the corresponding high-frequency signals, the high-frequency torque signals are positioned within the measurement range of the corresponding low-frequency torque signals. It suffices to determine whether the torque signal exceeds the maximum force intensity of the drive mechanism's active component under non-impact conditions, eliminating the need to identify different operating states. This avoids both the false triggering of protection mechanisms caused by using the maximum force intensity of the drive mechanism under non-impact conditions as a safety threshold and the safety hazards resulting from using the maximum force intensity of the drive mechanism under impact conditions as a safety threshold, leading to mechanical components being subjected to forces exceeding the maximum force intensity under non-impact conditions for extended periods. This achieves effective protection for the drive mechanism under both non-impact and impact conditions, avoiding the problems of excessive structural redundancy and low economic efficiency caused by prior art that solely uses the maximum force intensity of the drive mechanism's active component under non-impact conditions as the standard for setting protection thresholds and selecting materials exceeding normal operating collision forces. Furthermore, it avoids the difficulty in identifying instantaneous collisions and continuous contact states caused by setting separate thresholds for impact and non-impact conditions.

[0068] The drive mechanism protection method proposed in this invention can solve the problem that the drive mechanism cannot be accurately protected from torque overload damage because the mechanical components have different ultimate strengths under collision, contact and non-contact states, without recognizing collision, non-collision state and contact state, and without calculating standard dynamic model.

[0069] In one example of the present invention, a first torque signal actually output by the drive mechanism is acquired, and the first torque signal is processed to obtain the force change of the working component of the drive mechanism. Figure 2 This is a schematic diagram showing the force change of the active component of the driving mechanism in one example of the present invention, such as... Figure 2As shown, during the time period corresponding to Time axis scale 2, the driving mechanism's active component experiences a larger force and a faster rate of force change. During the time periods corresponding to Time axis scales 3 to 6, the driving mechanism's active component experiences a smaller force and a slower rate of force change. The first torque signal corresponding to the rate of force change during the time period corresponding to Time axis scale 2 is attenuated to bring it within the measurement range of the first torque signal corresponding to the time periods corresponding to Time axis scales 3 to 6.

[0070] Continue to refer to Figure 2 The second mark on the Time axis corresponds to a time period in which the driving mechanism's active component experiences a large force with a high rate of change, corresponding to a high-frequency state in the frequency domain. The third to sixth marks on the Time axis correspond to a time period in which the driving mechanism's active component experiences a small force with a low rate of change, corresponding to a low-frequency state in the frequency domain.

[0071] In view of the above findings, another embodiment of the present invention proposes an alternative method for attenuating the first torque signal based on the mechanical characteristics of collision and continuous contact. The first torque signal is input into a low-pass filter; the first torque signal is filtered based on the low-pass filter, and attenuated to at least a portion of the corresponding specific rate of change signal within the range of another part of the signal measurement value.

[0072] The rate of change of the first torque signal output by the drive mechanism varies depending on the working state of its active component. For example, when the active component of the drive mechanism is in a collision state with another device, the first torque signal G output by the drive mechanism at time t will be different. t The first torque signal G output by the drive mechanism at time (t+ΔT) t+ΔT The difference is large, and the signal output by the drive mechanism is a high-frequency signal; when the working part of the drive mechanism is in a non-contact state or a contact state, the first torque signal G output by the drive mechanism at time t is... t The first torque signal G output by the drive mechanism at time (t+ΔT) t+ΔT The difference is small, and the signal output by the drive mechanism is a low-frequency signal.

[0073] The low-pass filter can automatically identify and attenuate high-frequency signals based on its own characteristics, attenuating the high-frequency part of the first torque signal and retaining the low-frequency part of the first torque signal.

[0074] This invention also proposes an implementation method for low-pass filtering the first torque signal:

[0075] The torque value of the second torque signal is obtained by the following formula (1):

[0076] F fit (t i+1)=αF(t i+1 )+(1-α)F fit (t i (1);

[0077] Where F represents the torque value of the first torque signal, F fit The torque value, t, represents the torque of the second torque signal. i Let t represent the time of the i-th sampling. i+1 This indicates the time of the (i+1)th sampling, and α is the filter coefficient.

[0078] i can be any integer from 0 to N, where N is a natural number.

[0079] This invention embodiment sets the filtering coefficients

[0080] In another embodiment of the present invention, the filtering coefficient α is proposed to be 0.05.

[0081] Δt represents the sampling period of the first torque signal, and T is a preset time constant. The preset time constant can be set by the collision period.

[0082] According to the low-pass filter shown in formula (1), the process of the low-pass filter automatically identifying the high-frequency signal part in the first torque signal can be regarded as: starting from time t1 of the first sampling, from time t1 to time t... N At each time interval 1, the actual output torque value F(t) of the drive mechanism i The input low-pass filter is used to obtain the second torque signal t after attenuating the corresponding high-frequency portion of the signal. i+1 The first torque signal F(t) collected at each moment i+1 Input low-pass filter, low-pass filter for t i F obtained after filtering the first torque signal at time 1 fit (t i The second torque signal and t i+1 F(t) collected at time i+1 The difference in the first torque signal is attenuated and then superimposed with t. i The F output of the low-pass filter at any time fit (t i The second torque signal is used to obtain t. i+1 The second torque signal after time decay.

[0083] The motor output torque is read in real time from the motor sensor, and the torque signal is input into a low-pass filter. The low-pass filter performs low-pass filtering on the motor output torque, which has the following effects:

[0084] When there is an instantaneous peak in torque, filtering can reduce that peak.

[0085] When the torque value is stable for a long time, the change in the signal of the filter pair can be ignored.

[0086] The filtered torque measurement value is compared with the set static limit threshold. If the filtered torque measurement value is greater than the static limit threshold, the motor is powered off and stopped immediately, and the protection is activated. If the filtered torque measurement value is less than the static limit threshold, the drive mechanism continues to operate.

[0087] After attenuating the high-frequency portion of the first torque signal to the range of the low-frequency portion of the signal measurement value, theoretically, the signal at each moment in the first torque signal is less than the maximum force intensity of the driving mechanism's active component in a non-impact state. Therefore, in this embodiment of the invention, step S103 is implemented using a safety threshold characterizing the maximum force intensity of the driving mechanism's active component in a non-impact state.

[0088] The protection mechanism for the drive mechanism triggered based on the comparison result of the second torque signal and the first threshold includes: stopping the operation of the drive mechanism when the torque value of the second torque signal is greater than the first threshold.

[0089] When the torque value of the second torque signal is less than the first threshold, the drive mechanism continues to operate.

[0090] The active components of a drive mechanism refer to the mechanical parts that perform the action of the drive mechanism. For example, the drive mechanism might be the motor of a drone's correction mechanism. The motor drives the drone's correction lever to move the drone's landing gear. The active components of the drive mechanism include the drone's correction lever and the drone's landing gear.

[0091] Continue to refer to Figure 2 The second mark on the Time axis corresponds to a time period during which the mechanical component experiences significant force. This force changes rapidly and corresponds to a high-frequency signal in the frequency domain. The low-pass filter processes the first torque signal, attenuating it to below the maximum force intensity of the driving mechanism's component under non-impact conditions. The first torque signal at any given time should be less than the maximum force intensity of the driving mechanism's component under non-impact conditions. Therefore, the maximum force intensity of the driving mechanism's component under non-impact conditions is used as the condition for triggering the driving mechanism's protection mechanism.

[0092] Figure 3 This is a flowchart of another method for protecting the drive mechanism according to an embodiment of the present invention, see reference. Figure 3 The drive mechanism protection method proposed in this invention, based on a low-pass filter to attenuate at least a portion of the signal corresponding to a specific rate of change, includes the following steps:

[0093] S301: Acquire the first torque signal actually output by the drive mechanism.

[0094] S302: Input the first torque signal into a low-pass filter.

[0095] S303: Filter the first torque signal based on the low-pass filter. By using the low-pass filter to filter the first torque signal, the high-frequency signal component in the first torque signal is automatically identified and attenuated.

[0096] By utilizing the principle that a low-pass filter can automatically identify high-frequency signals, the high-frequency signal portion in the first torque signal is attenuated by 1.5-2 times.

[0097] S304: When the value in the first torque signal is greater than the maximum force intensity of the driving mechanism's active component under non-impact conditions, a protection mechanism for the driving mechanism is triggered.

[0098] When the torque value of the second torque signal is less than the first threshold, the drive mechanism continues to operate.

[0099] In this embodiment of the invention, the first torque signal actually output by the drive mechanism is low-pass filtered, directly attenuating the high-frequency portion of the first torque signal. The filtered first torque signal is then compared with the maximum force intensity of the drive mechanism's active component under non-impact conditions. If the force intensity exceeds the maximum force intensity of the drive mechanism's active component under non-impact conditions, the protection mechanism for the drive mechanism is activated. Since the first torque signal corresponding to any state after filtering should be less than the maximum force intensity of the drive mechanism's active component under non-impact conditions, using the maximum force intensity of the drive mechanism's active component under non-impact conditions as the trigger condition for the protection mechanism will not cause false triggering of the motor torque protection, nor will it pose a risk of continuous action exceeding the maximum force intensity of the drive mechanism's active component under non-impact conditions.

[0100] Figure 4 This is a schematic diagram illustrating the movement of an example mechanical component under the control of a drive mechanism, as shown below. Figure 4 As shown, the mechanical component in this example is the UAV correction mechanism, which includes a left Y-axis correction lever, a right Y-axis correction lever, a rear X-axis correction lever, and a front X-axis correction lever. The operation of the UAV correction mechanism is as follows: Figure 4 As shown, the rear X and front X of the correction lever move under the same motor drive, while the left Y and right Y of the correction lever move under the drive of another motor. Through coordinated movement, the left Y, right Y, rear X, and front X of the correction levers contact the drone landing gear, propelling the drone to the designated position to complete the correction. The drone landing gear is... Figure 4 The rectangle ABCD is shown by the dashed line in the middle.

[0101] Establish a multibody dynamics model for the UAV correction mechanism:

[0102] Based on the forces exerted by the left (Y), right (Y), rear (X), or front (X) of the correction lever on any of the UAV landing gear support legs, determine the force components f of the UAV landing gear support legs. x f y And the force component f of the supporting leg x f y Torque m of the drone z .

[0103] Find the total force F acting on the four support legs of the drone landing gear. x F y The sum of the torques M exerted by the drone's landing gear on its four supporting legs z .

[0104] UAV translational and rotational dynamics equations:

[0105]

[0106]

[0107]

[0108] Where m represents the mass of the supporting leg, and I represents the moment of inertia of the supporting leg. This represents the angular acceleration of the supporting leg.

[0109] Based on the established multibody dynamics model, reasonable parameters were set for simulation calculations, and the following results were obtained: Figure 5 The force curve of the left Y-axis of the correction rod is shown below. Figure 5 This is a force curve diagram of the left Y-axis of the correction rod during the motor-driven motion in one example of the present invention; analysis Figure 5 It can be seen that the correction member exists in three states during operation: non-contact, instantaneous collision, and continuous contact. In the non-contact state, the member experiences relatively small forces. During the collision phase, the member experiences relatively large forces, but these forces decay very rapidly and have an extremely short duration, corresponding to a high-frequency state in the frequency domain, as shown by the peak value in the figure. In the continuous contact phase, the member experiences slightly less force, but the duration of the force is longer, corresponding to a low-frequency signal in the frequency domain.

[0110] Using the low-pass filtering formula shown in formula (1), the change in the left Y force of the correction rod obtained based on the first torque signal of the acquisition drive mechanism is as follows: Figure 6 As shown, Figure 6 This is a low-pass filtered curve showing the force exerted on the left Y-axis of the correction rod during motor-driven motion in one example of the present invention. (Reference) Figure 5 and Figure 6After filtering, the force on the left Y of the correction rod did not change significantly during the non-contact period and the continuous contact period, while the peak force on the left Y of the correction rod during the instantaneous collision period decreased, which was less than the maximum force intensity of the driving mechanism's active component under non-impact conditions.

[0111] According to formula (1), the torque signal output by the drive mechanism is low-pass filtered. The larger the time constant T is, the more obvious the attenuation of the peak value. In order to prevent the force attenuation of the working parts of the drive mechanism under impact from being too large or completely filtered out, which may cause the working parts of the drive mechanism to be damaged by collision, the present invention provides an example of a method for determining a preset time constant T, so as to ensure that the filtering coefficient α is within a reasonable range and attenuates the corresponding high-frequency part of the signal to an appropriate range.

[0112] Methods for determining the time constant T include:

[0113] The shortest and longest duration of collision between the active components of the drive mechanism are obtained.

[0114] Based on the candidate time constant, the torque value output by the drive mechanism is low-pass filtered to obtain the candidate torque value after attenuation of the corresponding high-frequency part of the torque value output by the drive mechanism.

[0115] When the ratio of the candidate torque value to the torque value output by the drive mechanism is equal to the ratio of the first threshold to the second threshold, the candidate time constant is used as the preset time constant, wherein the second threshold characterizes the maximum force intensity of the working component of the drive mechanism under impact, and the candidate time constant is located between the shortest time and the longest time.

[0116] During operation, the same mechanical component may collide with different objects at different angles. This invention, based on the varying durations of these collisions, selects the shortest and longest durations as the maximum and minimum values ​​for the time constant selection range. A suitable time constant is chosen between the shortest and longest durations. Compared to measuring the collision angle, measuring time is simpler and faster. The selected candidate time constant is then substituted into the formula for a preset low-pass filter on the torque signal 1 output by the drive mechanism: When the ratio of the torque signal 2 output after low-pass filtering to the torque signal 1 output by the mechanism is equal to the ratio of the first threshold to the second threshold, it indicates that... It can attenuate the maximum force intensity of the driving mechanism's active component under impact conditions to exactly the maximum force intensity of the driving mechanism's active component under non-impact conditions. It can be understood that when the filtering coefficient, represented by the ratio of the sampling period to the candidate time constant, is applied to the actual processing of the first torque signal output by the driving mechanism, the first torque signal can be attenuated to an appropriate value, so as not to cause excessive force attenuation or complete filtering of the driving mechanism's active component under impact conditions, nor to cause the risk of collision damage to the driving mechanism's active component.

[0117] In one example of the present invention, the period range [T1T2] of collisions between a mechanical component and different objects under different working environments is obtained. Wherein, T1 is the shortest duration of the collision between the active component of the driving mechanism and T2 is the longest duration of the collision between the active component of the driving mechanism and the active component. Candidate time constants within [T1T2] are selected and filtered. The time constant is determined by filtering the torque value and then outputting it. The time constant is the time required for the torque signal of the corresponding collision state to decay to a level less than the ratio of the impact limit threshold to the static limit threshold. This ensures that the first torque signal of the corresponding collision state decays according to the ratio of the impact limit threshold to the static limit threshold.

[0118] Figure 7 This is a functional block diagram of the drive mechanism protection device proposed in an embodiment of the present invention. The above image display device is installed in the terminal device, such as... Figure 7 As shown, the device includes:

[0119] The torque signal acquisition module 71 is used to acquire the first torque signal output by the drive mechanism;

[0120] The attenuation module 72 is used to attenuate the high-frequency portion of the first torque signal according to the rate of change of the first torque signal, so as to obtain the second torque signal.

[0121] Trigger module 73 triggers a protection mechanism for the drive mechanism based on the comparison result between the second torque signal and the first threshold. The first threshold characterizes the maximum force intensity of the working component of the drive mechanism under non-impact conditions.

[0122] Figure 7 The drive mechanism protection device provided in the illustrated embodiment can be used to execute this specification. Figures 1 to 6 The implementation principle and technical effects of the method embodiment shown can be further referred to the relevant description in the method embodiment.

[0123] Optionally, the torque signal acquisition module is specifically used to sample the output signal of the drive mechanism to obtain the first torque signal;

[0124] The attenuation module specifically achieves the attenuation of the high-frequency portion of the first torque signal. The torque value of the second torque signal is obtained by the following formula.

[0125] F fit (t i+1 )=αF(t i+1 )+(1-α)F fit (t i );

[0126] Where F represents the torque value of the first torque signal, F fit The torque value, t, represents the torque of the second torque signal. i Let t represent the time of the i-th sampling. i+1 This indicates the time of the (i+1)th sampling, and α is the filter coefficient.

[0127] Optionally, the device further includes a filter coefficient determination module for determining the filter coefficients. Δt represents the sampling period for sampling the first torque signal, and T is a preset time constant.

[0128] Optionally, the device further includes a time constant determination module for obtaining the shortest and longest duration of collision between the active components of the drive mechanism;

[0129] Based on the candidate time constant, the torque value output by the drive mechanism is low-pass filtered to obtain the candidate torque value after attenuation of the corresponding high-frequency part of the torque value output by the drive mechanism.

[0130] When the ratio of the candidate torque value to the torque value output by the drive mechanism is equal to the ratio of the first threshold to the second threshold, the candidate time constant is used as the preset time constant, wherein the second threshold characterizes the maximum force intensity of the working component of the drive mechanism under impact, and the candidate time constant is located between the shortest time and the longest time.

[0131] Optionally, the second threshold is 1.5 to 2 times the first threshold.

[0132] Optionally, the filtering coefficient is 0.05.

[0133] Optionally, the trigger module is specifically used to stop the operation of the drive mechanism when the torque value of the second torque signal is greater than the first threshold.

[0134] The apparatus provided in the above embodiments is used to execute the technical solutions of the above method embodiments. Its implementation principle and technical effects can be further referred to the relevant descriptions in the method embodiments, and will not be repeated here.

[0135] The apparatus provided in the above embodiments may be, for example, a chip or a chip module. The apparatus provided in the above embodiments is used to execute the technical solutions of the above-described method embodiments. Its implementation principles and technical effects can be further referred to the relevant descriptions in the method embodiments, and will not be repeated here.

[0136] Regarding the modules / units included in the various devices described in the above embodiments, they can be software modules / units, hardware modules / units, or a combination of both. For example, for devices applied to or integrated into a chip, all modules / units can be implemented using hardware methods such as circuits, or at least some modules / units can be implemented using software programs running on a processor integrated within the chip, while the remaining modules / units can be implemented using hardware methods such as circuits. For devices applied to or integrated into a chip module, all modules / units can be implemented using hardware methods such as circuits. Different modules / units can be located in the same component (e.g., chip, circuit module, etc.) or different components of the chip module, or at least some modules / units can be implemented using software programs. The software program runs on the processor integrated inside the chip module, and the remaining modules / units can be implemented using hardware methods such as circuits. For each device applied to or integrated into an electronic terminal device, each of its modules / units can be implemented using hardware methods such as circuits. Different modules / units can be located in the same component (e.g., chip, circuit module, etc.) or different components within the electronic terminal device. Alternatively, at least some modules / units can be implemented using software programs that run on the processor integrated inside the electronic terminal device, and the remaining (if any) modules / units can be implemented using hardware methods such as circuits.

[0137] This invention provides a non-transitory computer-readable storage medium that stores computer instructions that cause the computer to execute the contents of this specification. Figures 1-6 The illustrated embodiment provides a drive mechanism protection method. A non-transitory computer-readable storage medium can refer to a non-volatile computer storage medium.

[0138] The aforementioned non-transitory computer-readable storage medium may be any combination of one or more computer-readable media. A computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium may be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) or flash memory, optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this document, a computer-readable storage medium may be any tangible medium that contains or stores a program that may be used by or in connection with an instruction execution system, apparatus, or device.

[0139] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including—but not limited to—electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of transmitting, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0140] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including—but not limited to—wireless, wire, optical fiber, radio frequency (RF), etc., or any suitable combination thereof.

[0141] Computer program code for performing the operations described herein can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as "C" or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0142] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0143] In the description of the embodiments of the present invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this specification. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0144] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this specification, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0145] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this specification includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which the embodiments of this specification pertain.

[0146] Depending on the context, the word "if" as used here can be interpreted as "when," "when," "in response to determination," or "in response to detection." Similarly, depending on the context, the phrase "if determination" or "if detection (of the stated condition or event)" can be interpreted as "when determination," "in response to determination," "when detection (of the stated condition or event)," or "in response to detection (of the stated condition or event)."

[0147] In the several embodiments provided in this specification, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0148] Furthermore, the functional units in the various embodiments of this specification can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in a combination of hardware and software functional units.

[0149] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of this specification. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0150] The above description is merely a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of protection of this specification.

Claims

1. A method for protecting a drive mechanism, characterized in that, The method includes: Obtain the first torque signal output by the drive mechanism; Based on the rate of change of the first torque signal, the high-frequency portion of the first torque signal is attenuated to obtain the second torque signal; Based on the comparison result between the second torque signal and the first threshold, a protection mechanism for the drive mechanism is triggered, wherein the first threshold characterizes the maximum force intensity of the working component of the drive mechanism under non-impact conditions. The acquisition of the first torque signal output by the drive mechanism includes: The output signal of the drive mechanism is sampled to obtain the first torque signal; Based on the rate of change of the first torque signal, the high-frequency portion of the first torque signal is attenuated to obtain a second torque signal, including: The torque value of the second torque signal is obtained by the following formula; F fit (t i+1 )=αF(t i+1 )+(1-α)F fit (t i ); Where F represents the torque value of the first torque signal, F fit The torque value, t, represents the torque of the second torque signal. i Let t represent the time of the i-th sampling. i+1 This indicates the time of the (i+1)th sample, where α is the filter coefficient; The method for determining the filter coefficients includes: Δt represents the sampling period for sampling the first torque signal, and T is a preset time constant; The method for determining the preset time constant T includes: The shortest and longest duration of collision between the active components of the drive mechanism are obtained. Based on the candidate time constant, the torque value output by the drive mechanism is low-pass filtered to obtain the candidate torque value after attenuation of the corresponding high-frequency part of the torque value output by the drive mechanism. When the ratio of the candidate torque value to the torque value output by the drive mechanism is equal to the ratio of the first threshold to the second threshold, the candidate time constant is used as the preset time constant, wherein the second threshold characterizes the maximum force intensity of the working component of the drive mechanism under impact, and the candidate time constant is located between the shortest time and the longest time.

2. The method according to claim 1, characterized in that, The second threshold is 1.5 to 2 times the first threshold.

3. The method according to claim 1, characterized in that, The filtering coefficient is 0.

05.

4. The method according to claim 1, characterized in that, The protection mechanism for the drive mechanism triggered based on the comparison result of the second torque signal and the first threshold includes: When the torque value of the second torque signal is greater than the first threshold, the operation of the drive mechanism is stopped.

5. A terminal device, comprising: At least one processor; as well as At least one memory communicatively connected to the processor, characterized in that, The memory stores program instructions that can be executed by the processor, and the processor can execute the method as described in any one of claims 1 to 4 by calling the program instructions.

6. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, The computer instructions cause the computer to perform the method as described in any one of claims 1 to 4.

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