A robot control system, a power supply monitoring method, a robot and a storage device

Abstract

The present invention discloses a robot control system, a power supply monitoring method, a robot and a storage device. The present invention relates to the field of robot power supply management technology, and solves the problem of not comprehensively adjusting multiple power supplies based on the specific output modes of the multiple power supplies inside the corresponding robot so that the multiple power supplies can simultaneously achieve a thermal balance management and control effect. The present invention determines the work task of the robot and then determines its related required power. Then, according to the specific numerical difference of the required power and the specific number of the executing power supplies inside the robot, the execution power of each power supply is separately adjusted. By performing thermal balance adjustment on several power supplies, when the robot performs related work tasks, the temperatures of the associated power supplies are as consistent as possible, so that the power supply inside the robot can achieve a better thermal balance management and control effect, the life of the power supply inside the robot is fully guaranteed, and a better comprehensive control effect of the robot power supply is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot power management, and in particular to a robot control system, a power monitoring method, a robot and a storage device. Background Art

[0002] The robot's power management, energy-saving technologies and innovative charging solutions are key factors in ensuring its efficient and reliable operation.

[0003] In the field of robotics, power management has become particularly important as technology develops rapidly. Robots are highly dependent on power, requiring not only continuous power support, but also intelligent management and adjustment of power supply to match the robot's behavior and task requirements. Efficient power management can not only extend the robot's working time, but also improve its performance and safety.

[0004] During the relevant management process, the power supply inside the robot is generally adjusted based on the temperature of the corresponding robot power supply. When the power supply temperature of the robot is too high, the temperature of the power supply is effectively lowered by reducing its output power. However, this type of processing method can only achieve the preliminary thermal control effect of the power supply. It does not comprehensively adjust multiple power supplies based on the specific output methods of multiple power supplies inside the corresponding robot, so that multiple power supplies can achieve thermal balance control effects at the same time to ensure the overall thermal control measures of the robot. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention provides a robot control system, a power supply monitoring method, a robot and a storage device, which solves the problem of not comprehensively adjusting multiple power supplies based on the specific output modes of the multiple power supplies inside the corresponding robot so that the multiple power supplies can achieve the thermal balance management effect at the same time.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a robot control system, a robot control system, comprising:

[0007] The power locking end, based on the work instruction received by the robot, matches the relevant work tasks of the work instruction from the historical completion data, identifies its output power from the past related work tasks, and then locks the relevant power required by the work instruction based on several groups of output powers;

[0008] The power monitoring end monitors the output power and actual temperature of the robot's internal power supply in real time, and transmits the specific values ​​of the real-time monitoring to the power distribution control end;

[0009] The power distribution control end performs thermal balance management on a single power supply or multiple power supplies based on the determined related power and the actually monitored power supply parameters and the number of existing power supplies, and determines the control power of each power supply and performs associated control based on the thermal balance management analysis process;

[0010] The power supply safety supervision center evaluates whether the power supply is working normally based on the actual temperature monitored in real time by the power supply monitoring end. If it is normal, no processing is required. If it is abnormal, the output power of the power supply is adjusted to reduce the abnormal temperature of the power supply.

[0011] Preferably, the power distribution control end adopts the following thermal balance management method when the robot has multiple power sources:

[0012] Determine the actual power P of each different power source at the current moment k And the actual temperature W k , where k represents different power sources, determine several actual powers P k The sum is locked into the total value Pz, and the determined related power is calibrated as GL, and the allocated power is locked: FP=GL-Pz;

[0013] According to the actual temperature W k The values ​​of are sorted from high to low according to the temperature to determine the temperature sequence. According to the number of k, the FP is evenly divided, and the average values ​​are sorted from small to large to determine the power sequence. The temperature sequence corresponds to the mark k at the same sorting position in the power sequence.

[0014] The power inside the power sequence is adjusted based on Q=PT=mc (W2-W1), where P represents power, t represents time, m represents the overall mass of the reactant inside the power source, c represents specific heat capacity, W2 represents the specific temperature after the power source climbs, W1 represents the original temperature of the power source, and m and c are set in advance according to the specific parameters of the power source, and t can obtain the relevant working time according to the working instruction:

[0015] Keep the order of the power sequence unchanged, change several groups of power values ​​in the power sequence, and distribute the high power values ​​to the low values ​​when they are reduced, and confirm the temperature difference (W2-W1) = C generated by the corresponding power supply in each distribution process. k , and lock the associated temperature GW after the corresponding power supply changes k , and GW k =W k +C k , for each power change process, several groups of GW generated by different power sources kPerform variance processing to determine the comparison value BD. If BD≤Y1 exists, where Y1 is a preset value, stop the power change and calibrate the power sequence after the change as the standard sequence. Negative values ​​are not limited in the standard sequence. If BD≤Y1 does not exist, continue to change the power. The original order of the power sequence remains unchanged during the change, and stop when the standard sequence is determined.

[0016] Based on the determined standard sequence, the power parameters related to the rise or fall of each power demand are identified, and several power supplies are synchronously controlled to output power. The power to be climbed or dropped is the corresponding power parameter in the standard sequence. If the power parameter is a positive value, it will be climbed, and if the power parameter is a negative value, it will be dropped.

[0017] Preferably, the thermal balance management method for the robot when there is a single power supply is:

[0018] Directly based on the determined allocated power FP = GL-Pz, the power supply is adjusted to increase or decrease the specified FP value, where Pz is a number of actual powers P k The sum of GL is the determined relevant power.

[0019] A power supply monitoring method comprises the following steps:

[0020] Step 1: monitor the real-time output power and actual temperature of the power supply, and transmit them to the power distribution control terminal in real time;

[0021] Step 2: Based on the actual temperature monitored in real time, check the real-time temperature with the set standard temperature to assess whether the power supply is operating normally:

[0022] If normal, no processing;

[0023] If there is an alert, make relevant adjustments;

[0024] If it is abnormal, a power supply temperature abnormal shutdown signal will be generated for display;

[0025] Step three: Based on the past completed data of this power supply, identify its power change climbing segment and the corresponding temperature change segment, select the most stable climbing stage from several groups of power change climbing segments, and then determine the adjustment value from the most stable climbing stage, reduce the output power of the power supply until the temperature reaches the standard, and then adjust the output power of the power supply based on the set adjustment value until the output power reaches the determined demand value.

[0026] A robot, comprising:

[0027] A work order receiving unit receives work orders sent by external associated operators;

[0028] The work instruction execution unit executes the received work instruction and determines the power related to the power supply related to the work task during the execution stage. It then performs thermal balance management on a single power supply or multiple power supplies based on the number of power supplies. Based on the thermal balance management analysis process, it determines the control power of each power supply and performs associated control.

[0029] A storage device stores a large amount of historical completion data generated by a corresponding robot in past work tasks, wherein the historical completion data includes work instructions, work tasks and output power, and also stores the output power and actual temperature generated in real time by a corresponding power supply.

[0030] The present invention provides a robot control system, a power supply monitoring method, a robot and a storage device. Compared with the prior art, the present invention has the following beneficial effects:

[0031] The present invention determines the work task of the robot, and then determines the relevant required power. Then, according to the specific numerical difference of the required power and the specific number of the internal power supplies of the robot, the execution power of each power supply is separately adjusted. The numerical value of the execution power is based on the original working temperature of the corresponding power supply. By performing thermal balance adjustment on several power supplies, when the robot performs the relevant work tasks, the temperature of the associated power supplies is as consistent as possible, so that the power supply inside the robot can achieve a better thermal balance control effect, the life of the internal power supply of the robot is fully guaranteed, and a better comprehensive control effect of the robot power supply is achieved.

[0032] According to the specific execution temperature of the power supply corresponding to the robot, assess whether the power supply of the robot is abnormal. For the relevant power supply that is in alert, select the best adjustment value based on the past power change parameters of this power supply. After the temperature of this power supply is normal, adjust the temperature of the power supply based on this adjustment value to ensure that the temperature of the corresponding power supply is normal. At the same time, it can also ensure the output power of the corresponding power supply, so as to effectively manage the power supply. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the principle framework of the present invention;

[0034] Figure 2 It is a schematic flow chart of the power supply monitoring method of the present invention. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Example 1

[0036] See also Figure 1 , the present application provides a robot control system, including a power locking terminal, a power distribution control terminal, a power monitoring terminal, a power safety supervision center and a display terminal, wherein the power locking terminal is electrically connected to the input node of the power distribution control terminal, and the power monitoring terminal is electrically connected to the power distribution control terminal or the power safety supervision center input node respectively, and the power distribution control terminal, the power safety supervision center and the display terminal are all electrically connected in sequence from the output node to the input node;

[0037] Among them, the power locking end, based on the work instruction received by the robot, matches the relevant work tasks of the work instruction from the historical completion data, and identifies its output power from the related work tasks in the past, and then locks the relevant power required by the work instruction based on several groups of output powers. Specifically, when the robot performs related work, it executes based on the work instructions set by the external operator. There are a large number of identical work tasks in its past historical completion data, which are all the same kind of work instructions. In the specific execution process of such work tasks, the output power of the power supply is similar. Therefore, based on several groups of past work tasks, the relevant power that the power supply corresponding to this task needs to output can be selected, and based on such determined relevant power, the power supply output is controlled to complete the specific power supply thermal protection process to avoid overheating of the power supply when performing work tasks;

[0038] Among them, the specific method of locking the power required by this work instruction at the power locking end is:

[0039] From the historical completion data, determine the output powers associated with the work tasks of the same work instruction, and mark the output powers as G i , where i represents different work tasks corresponding to the same work instruction;

[0040] From several groups G i A set of median values ​​is determined, and the determined median values ​​are used as the relevant power of this work instruction and transmitted to the power allocation control terminal;

[0041] The value is confirmed by:

[0042] From several groups G iA set of values ​​are randomly selected as the main value within the range of the value, and the size of the main value is changed in association, and G smaller than this main value is i Calibrated as low parameter, G greater than this main value i Mark it as a high parameter, identify the sum of the differences between this main value and several low parameters (difference = this main value - low parameter), and mark it as a low parameter, then identify the sum of the differences between several high parameters and this main value (difference = high parameter - this main value), and mark it as a high parameter, stop when this main value changes to: low parameter = high parameter, and mark the main value at this moment as the middle value;

[0043] Example: Several groups G i The main value is {12, 14, 16, 17, 18}, and it varies between 12 and 18. When the sum of the overall differences below and above the main value is the same, it is the confirmed median. The reason why the average value is not used here is that the median can better show the intermediate characteristics of several values, so that the determined related power values ​​are more accurate.

[0044] Among them, the power monitoring end monitors the output power and actual temperature of the power supply inside the robot in real time, and transmits the specific values ​​of real-time monitoring to the power distribution control end. Specifically, its monitoring depends on the specific monitoring sensor, and its output power is determined by the monitored output voltage and output current. Its P=U×I determines the corresponding output power;

[0045] Its power distribution control end performs thermal balance management on a single power supply or multiple power supplies based on the determined relevant power (provided by the power locking end) and the actually monitored power supply parameters (provided by the power monitoring end) and the number of existing power supplies. Based on the thermal balance management analysis process, the control power of each power supply is determined and associated control is performed so that the robot can normally complete such work instructions;

[0046] Among them, when there are multiple power sources for this robot:

[0047] Determine the actual power P of each different power source at the current moment (that is, when no associated control is performed) k And the actual temperature W k , where k represents different power sources, determine several actual powers P k The sum is locked into the total value Pz, and the determined related power is calibrated as GL, and the allocated power is locked: FP=GL-Pz;

[0048] According to the actual temperature W kThe values ​​of are sorted from high to low according to the temperature to determine the temperature sequence. According to the number of k, the FP is evenly divided, and the average values ​​are sorted from small to large to determine the power sequence. The temperature sequence corresponds to the mark k at the same sorting position in the power sequence.

[0049] The power inside the power sequence is adjusted based on Q=PT=mc (W2-W1), where P represents power, t represents time, m represents the overall mass of the reactant inside the power source, c represents specific heat capacity, W2 represents the specific temperature after the power source climbs, W1 represents the original temperature of the power source, and m and c are set in advance according to the specific parameters of the power source, and t can obtain the relevant working time according to the working instruction:

[0050] Keep the order of the power sequence unchanged, change several groups of power values ​​in the power sequence, and distribute the high power values ​​to the low values ​​when they are reduced, and confirm the temperature difference (W2-W1) = C generated by the corresponding power supply in each distribution process. k , and lock the associated temperature GW after the corresponding power supply changes k , and GW k =W k +C k , for each power change process, several groups of GW generated by different power sources k Perform variance processing and determine the comparison value BD. If: BD≤Y1 exists, where Y1 is a preset value, and its specific value is determined by the operator based on experience, then stop the power change and calibrate the power sequence after the change at this moment as the standard sequence. The standard sequence does not limit the existence of negative values, that is, some power supplies need to be reduced to achieve this kind of thermal balance state. When its power is a negative value, its temperature difference is also a negative value, so that the temperature can be reduced (representing that the temperatures of several power supplies after the change are almost in the same state at this moment, which can achieve a better thermal balance management effect). If: BD≤Y1 does not exist, then continue to change the power. The original sorting method of the power sequence remains unchanged during the change until the standard sequence is determined and stopped (for example :The original power sequence is: Q1, Q2, Q3, Q4, Q5, then after the relevant power inside is changed, its power value can be changed, but its power is still sorted as Q1, Q2, Q3, Q4, Q5, and it cannot be: Q2, Q1, Q3, Q4, Q5. Once the power sequence changes, it will cause a large number of calculation processes in its adjustment process, which will seriously increase the calculation time and cause the robot to work slowly. According to this thermal balance calculation method, the power supply with high temperature must be given a low power value in order to keep the subsequent temperature as consistent as possible. If the temperature is high and high power is given, the temperature of such power supply will continue to rise, which will cause related processing errors);

[0051] Based on the determined standard sequence, the power parameters related to the rise or fall of each power demand are identified, and several power supplies are synchronously controlled to output power. The power to be climbed or dropped is the corresponding power parameter in the standard sequence. If the power parameter is a positive value, it will be climbed, and if the power parameter is a negative value, it will be dropped.

[0052] When there is only a single power supply for this robot:

[0053] Directly based on the determined allocated power FP=GL-Pz, the power supply is adjusted in a correlated manner so that the power supply is increased or decreased by the specified FP value.

[0054] The power safety supervision center, based on the actual temperature monitored in real time by the power monitoring end, assesses whether the power supply is working normally. If it is normal, no processing is required. If it is abnormal, the output power of the power supply is adjusted to reduce the abnormal temperature of the power supply. The specific method of assessment and adjustment is as follows:

[0055] The actual temperature monitored in real time is calibrated as WD q , where q represents the corresponding moment;

[0056] WD q Compare with the preset standard temperatures B1 and B2, where B1<B2, and B1 and B2 are both preset values, which are prepared in advance by the operator based on experience, where B1 represents the warning temperature and B2 represents the abnormal temperature;

[0057] When WD q When <B1, it means the power supply temperature is normal and no processing is required, and monitoring continues;

[0058] When B1≤WD q When <B2, it means that the power supply temperature is in a warning state and needs to be adjusted to reduce the temperature;

[0059] When B2≤WD q , which means that the temperature of this power supply is abnormal, which will damage the power supply. The power supply is directly controlled to shut down, and a power supply temperature abnormal shutdown signal is generated and displayed through the display terminal for external personnel to view. When external personnel view such a signal, they need to check the power supply in time, assess the cause of the abnormality, check whether there is a power short circuit or other conditions, and perform power supply maintenance in time to avoid burning of other parts of the entire robot due to power failure, and perform temperature supervision in time;

[0060] For B1≤WD q <The relevant adjustment method of B2 is:

[0061] Based on the past completion data of the power supply, its power change climbing segment and the corresponding temperature change segment are identified, and the most stable climbing stage is selected from several groups of power change climbing segments;

[0062] Identify the initial power and terminal power of the power change climbing segment (that is, the power parameters corresponding to the two endpoints before and after the corresponding segment), determine the power difference Cz of this power change climbing segment, and Cz=terminal power-initial power, then identify the temperature change segment corresponding to this power change climbing segment (based on the same moment, the relevant temperature change segment can be locked), determine the temperature difference ZZ of this temperature change segment, and ZZ=terminal temperature-initial temperature, the terminal temperature is the temperature corresponding to the terminal endpoint of this temperature change segment, and the initial temperature is the temperature corresponding to the initial endpoint of the temperature change segment, and HD=ZZ÷Cz is used to determine the approved value corresponding to this power change climbing segment;

[0063] Then, determine the approved values ​​from other different power change climbing sections in turn, and then take the approved value with the smallest value as the adjustment value;

[0064] The output power of the power supply is controlled to decrease, and stops when the power supply temperature of the power supply is normal. Then, according to the determined adjustment value, the output power of the power supply is gradually increased (the adjustment rate is slower than that in the previous stages), and stops when the output power reaches the determined demand value (corresponding to the power parameter determined by the work task).

[0065] In this way, the temperature of the power supply can be effectively converted from a warning state to a normal state. Subsequently, the output power of the power supply can be gradually adjusted according to the determined adjustment to make it climb slowly, thereby effectively preventing such power supplies from entering a temperature warning state again, thereby fully ensuring the safety control effect of the power supply and avoiding related damage to the power supply due to excessive temperature.

[0066] Combination Figure 2 , a power supply monitoring method, comprising the following steps:

[0067] Step 1: monitor the real-time output power and actual temperature of the power supply, and transmit them to the power distribution control terminal in real time;

[0068] Step 2: Based on the actual temperature monitored in real time, check the real-time temperature with the set standard temperature to assess whether the power supply is operating normally:

[0069] If normal, no processing;

[0070] If there is an alert, make relevant adjustments;

[0071] If it is abnormal, a power supply temperature abnormal shutdown signal will be generated for display;

[0072] Step three: Based on the past completed data of this power supply, identify its power change climbing segment and the corresponding temperature change segment, select the most stable climbing stage from several groups of power change climbing segments, and then determine the adjustment value from the most stable climbing stage, reduce the output power of the power supply until the temperature reaches the standard, and then adjust the output power of the power supply based on the set adjustment value until the output power reaches the determined demand value.

[0073] Robots, including:

[0074] A work order receiving unit receives work orders sent by external associated operators;

[0075] The work instruction execution unit executes the received work instruction and determines the power related to the power supply related to the work task during the execution stage. It then performs thermal balance management on a single power supply or multiple power supplies based on the number of power supplies. Based on the thermal balance management analysis process, it determines the control power of each power supply and performs associated control.

[0076] The storage device stores a large amount of historical completion data generated by the corresponding robot in past work tasks, and the historical completion data includes: work instructions, work tasks and output power, and also stores the output power and actual temperature generated by the corresponding power supply in real time.

[0077] Some of the data in the above formulas are dimensionless and numerically calculated. Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0078] The above embodiments are only used to illustrate the technical method of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical method of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present invention.

Claims

1. A robot control system, characterized in that: include: The power locking end, based on the work instruction received by the robot, matches the relevant work tasks of the work instruction from the historical completion data, and identifies its output power from the past related work tasks, and then locks the relevant power required by the work instruction based on several groups of output powers. The specific method is as follows: From the historical completion data, determine the output powers associated with the work tasks of the same work instruction, and mark the output powers as G i , where i represents different work tasks corresponding to the same work instruction; From several groups G i A set of median values ​​is determined, and the determined median values ​​are used as the relevant power of this work instruction and transmitted to the power allocation control terminal; The value is confirmed by: From several groups G i A set of values ​​are randomly selected as the main value within the range of the value, and the size of the main value is changed in association, and G smaller than this main value is i Calibrated as low parameter, G greater than this main value i Mark it as a high parameter, identify the sum of the differences between this main value and several low parameters, and mark it as a low parameter, then identify the sum of the differences between several high parameters and this main value, and mark it as a high parameter, when this main value changes to: low parameter = high parameter, stop, and mark the main value at this moment as the middle value; The power monitoring end monitors the output power and actual temperature of the robot's internal power supply in real time, and transmits the specific values ​​monitored in real time to the power distribution control end; The power distribution control end performs thermal balance management on a single power supply or multiple power supplies based on the determined related power and the actually monitored power supply parameters and the number of power supplies. Based on the thermal balance management analysis process, the control power of each power supply is determined and associated control is performed. The thermal balance management method is: Determine the actual power P of each different power source at the current moment k And the actual temperature W k , where k represents different power sources, determine several actual powers P k The sum is locked into the total value Pz, and the determined related power is calibrated as GL, and the allocated power is locked: FP=GL-Pz; According to the actual temperature W k The values ​​of are sorted from high to low according to the temperature to determine the temperature sequence. According to the number of k, the FP is evenly divided, and the average values ​​are sorted from small to large to determine the power sequence. The temperature sequence corresponds to the mark k at the same sorting position in the power sequence. The power inside the power sequence is adjusted based on Q=PT=mc (W2-W1), where P represents power, t represents time, m represents the overall mass of the reactant inside the power source, c represents specific heat capacity, W2 represents the specific temperature after the power source climbs, W1 represents the original temperature of the power source, and m and c are set in advance according to the specific parameters of the power source, and t can obtain the relevant working time according to the working instruction: Keep the order of the power sequence unchanged, change several groups of power values ​​in the power sequence, and distribute the high power values ​​to the low values ​​when they are reduced, and confirm the temperature difference (W2-W1) = C generated by the corresponding power supply in each distribution process. k , and lock the associated temperature GW after the corresponding power supply changes k , and GW k =W k +C k , for each power change process, several groups of GW generated by different power sources k Perform variance processing to determine the comparison value BD. If BD≤Y1 exists, where Y1 is a preset value, stop the power change and calibrate the power sequence after the change as the standard sequence. Negative values ​​are not limited in the standard sequence. If BD≤Y1 does not exist, continue to change the power. The original order of the power sequence remains unchanged during the change, and stop when the standard sequence is determined. Based on the determined standard sequence, the power parameters related to the rise or fall of each power demand are identified, and several power supplies are synchronously controlled to output power. The power to be climbed or dropped is the corresponding power parameter in the standard sequence. If the power parameter is a positive value, it will be climbed, and if the power parameter is a negative value, it will be dropped. The thermal balance management method for the robot when there is a single power supply is: Directly based on the determined allocated power FP = GL-Pz, the power supply is adjusted to increase or decrease the specified FP value, where Pz is a number of actual powers P k The sum of , GL is the determined related power; The power safety supervision center evaluates whether the power supply is working normally based on the actual temperature monitored in real time by the power monitoring end. If it is normal, no processing is required. If it is abnormal, the output power of the power supply is adjusted to reduce the abnormal temperature of the power supply. The specific method is as follows: The actual temperature monitored in real time is calibrated as WD q , where q represents the corresponding moment; WD q Compare with the preset standard temperatures B1 and B2, where B1<B2, and B1 and B2 are both preset values, where B1 represents the warning temperature and B2 represents the abnormal temperature; When WD q When <B1, it means the power supply temperature is normal and no processing is required, and monitoring continues; When B1≤WD q When <B2, it means that the power supply temperature is in a warning state and needs to be adjusted to reduce the temperature; When B2≤WD q , which means that the temperature of the power supply is abnormal, which will damage the power supply. The power supply is directly controlled to shut down, and a power supply temperature abnormal shutdown signal is generated and displayed through the display terminal.

2. A robot control system according to claim 1, characterized in that: For B1≤WD q <The relevant adjustment method of B2 is: Based on the past completion data of the power supply, its power change climbing segment and the corresponding temperature change segment are identified, and the most stable climbing stage is selected from several groups of power change climbing segments; Identify the initial power and terminal power of the power change climbing section, determine the power difference Cz of this power change climbing section, and Cz=terminal power-initial power, then identify the temperature change section corresponding to this power change climbing section, determine the temperature difference ZZ of this temperature change section, and ZZ=terminal temperature-initial temperature, the terminal temperature is the temperature corresponding to the terminal end point of this temperature change section, and the initial temperature is the temperature corresponding to the initial end point of the temperature change section, and HD=ZZ÷Cz is used to determine the approved value corresponding to this power change climbing section; Then, determine the approved values ​​in turn from other different power change climbing sections, and then take the approved value with the smallest value as the adjustment value; The output power of the power supply is controlled to decrease, and stops when the power supply temperature of the power supply is normal. Then, the output power of the power supply is gradually increased according to the determined adjustment value, and stops when the output power reaches the determined required value.

3. A power supply monitoring method, which is operated according to a robot control system according to any one of claims 1-2, characterized in that: The following steps are involved: Step 1: monitor the real-time output power and actual temperature of the power supply, and transmit them to the power distribution control terminal in real time; Step 2: Based on the actual temperature monitored in real time, check the real-time temperature with the set standard temperature to assess whether the power supply is operating normally: If normal, no processing; If there is an alert, make relevant adjustments; If it is abnormal, a power supply temperature abnormal shutdown signal will be generated for display; Step three: Based on the past completed data of this power supply, identify its power change climbing segment and the corresponding temperature change segment, select the most stable climbing stage from several groups of power change climbing segments, and then determine the adjustment value from the most stable climbing stage, reduce the output power of the power supply until the temperature reaches the standard, and then adjust the output power of the power supply based on the set adjustment value until the output power reaches the determined demand value.

4. A robot, which is used in a robot control system according to claim 1, characterized in that: include: A work order receiving unit receives work orders sent by external associated operators; The work instruction execution unit executes the received work instruction and determines the power related to the power supply related to the work task during the execution stage. It then performs thermal balance management on a single power supply or multiple power supplies based on the number of power supplies. Based on the thermal balance management analysis process, it determines the control power of each power supply and performs associated control.

5. A storage device, which is applied to a robot control system according to claim 1, characterized in that: It stores a large amount of historical completion data generated by the corresponding robot in past work tasks, including work instructions, work tasks and output power. It also stores the output power and actual temperature generated by the corresponding power supply in real time.

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