Overheat protection method, device and robot

Abstract

The present application relates to an overheat protection method, device and robot, which are applicable to an execution component. The execution component is composed of execution parts that perform the same function. The method includes: collecting the real-time temperature and working parameters of the execution parts; obtaining the temperature rise speed of each execution part according to the real-time temperature and working parameters of each execution part; obtaining the remaining available working duration of each execution part according to the real-time temperature, temperature threshold and temperature rise speed of each execution part, and obtaining the shortest remaining available working duration of the execution component according to the remaining available working duration of each execution part; adjusting the working intensity coefficient of each execution component based on the shortest remaining available working duration and the remaining duration threshold. This method can flexibly adjust the working state according to different working environments and load conditions, avoid overprotection or underprotection of the execution parts, and can also maximize the continuous operation time of the device on the premise of ensuring the safety of the device.

Description

Technical Field

[0001] The present application relates to the technical field of motor motion control, and in particular to an overheat protection method and device robot. Background Art

[0002] With the development of intelligence and mechanization, motor-driven robots, robotic arms and other automated equipment have been widely used in various fields. Although robots, robotic arms and other equipment can work at high intensity or in harsh environments as set, the motors that drive their movements may overheat due to long-term high-intensity operation, resulting in a decline in the overall performance of the equipment, shortened lifespan and potential safety hazards.

[0003] At the level of overall motion control strategy, traditional technology measures the temperature of the motors in each joint of the current robot or robotic arm and compares it with a preset temperature threshold. Once the temperature threshold of the joint motor is exceeded, overheating protection is triggered, causing the robot to stop working or reduce working intensity to avoid motor overheating.

[0004] However, using a single temperature threshold cannot make the motor adapt to different working intensities and working environments. Under different workloads, ambient temperatures and heat dissipation conditions, the appropriate working intensities of the motor are different. Relying on a fixed temperature threshold will lead to over-protection or under-protection. Once the overheat protection is triggered, it will immediately enter the overheat protection state and stop working or significantly reduce the working intensity. It is necessary to wait for a period of time until the motor temperature drops below the temperature threshold before it can continue to be used, which affects the working intensity and working effect of the automation equipment. Summary of the invention

[0005] Based on this, it is necessary to provide an anti-overheating protection method and device robot that can coordinate the working intensity and temperature state of the automation equipment to address the above technical problems.

[0006] In a first aspect, the present application provides an overheat protection method, which is applicable to an execution component, wherein the execution component is composed of execution components that perform the same function, and the method comprises:

[0007] Collect the real-time temperature and working parameters of the actuators;

[0008] According to the real-time temperature and working parameters of each actuator, the temperature rise rate of each actuator is obtained;

[0009] According to the real-time temperature, temperature threshold and temperature rise rate of each execution component, the remaining working time of each execution component is obtained, and according to the remaining working time of each execution component, the shortest remaining working time of the execution component is obtained;

[0010] Based on the shortest remaining working time and the remaining time threshold, adjust the work intensity coefficient of each execution component; obtain the initial work intensity coefficient and the current work intensity coefficient of the execution component; select a low-pass filter parameter; based on the low-pass filter parameter, the product of the remaining working time and the remaining time threshold, and the sum of the product of the current work intensity coefficient and the complementary number of the low-pass filter parameter, obtain an updated work intensity coefficient, and the updated work intensity coefficient is not greater than the initial work intensity coefficient; the remaining time ratio is the ratio of the shortest remaining working time to the remaining time threshold.

[0011] In one embodiment, obtaining the shortest remaining operable time of the execution component according to the remaining operable time of each execution component includes:

[0012] According to the execution instruction, an execution component for executing the execution instruction is obtained, and the execution components constitute an execution assembly;

[0013] The execution component with the shortest remaining workable time among the execution components is obtained, and the remaining workable time of the execution component is used as the shortest remaining workable time of the execution component.

[0014] In one embodiment, the method further comprises:

[0015] In the case where the same execution component simultaneously constitutes different execution assemblies under different execution instructions, the work intensity coefficients of the execution component in different execution assemblies are obtained respectively according to the work intensity coefficients of each execution assembly;

[0016] The lowest work intensity coefficient is selected as the work intensity coefficient of the execution component, and the work intensity coefficients of the execution components with higher work intensity coefficients are adjusted accordingly.

[0017] In one embodiment, obtaining the remaining working time of the execution component according to the temperature threshold and the temperature rise rate of each execution component includes:

[0018] Obtain the temperature threshold and remaining time threshold of the execution component;

[0019] When the real-time temperature is not less than the temperature threshold, the remaining working time is zero;

[0020] When the real-time temperature is less than the temperature threshold, the remaining working time of the execution component is obtained according to the temperature rise rate, the temperature threshold and the real-time temperature.

[0021] In one embodiment, the method further comprises:

[0022] The working state parameters of the execution component are adjusted according to the updated working intensity coefficient.

[0023] In one embodiment, obtaining the remaining working time of each execution component according to the real-time temperature, the temperature threshold and the temperature rise rate of each execution component includes:

[0024] Collect real-time temperature and working parameters of multiple actuators;

[0025] According to the temperature threshold and temperature rise rate of each execution component, the remaining working time of each execution component is obtained;

[0026] The shortest remaining workable time among the multiple execution components is obtained by comparison; and the shortest remaining workable time is used as the remaining workable time of the multiple execution components.

[0027] In a second aspect, the present application also provides an overheat protection device, which is applicable to an execution component, and the execution component is composed of execution components that perform the same function. The device includes:

[0028] A collection module is used to collect the real-time temperature and working parameters of the execution components;

[0029] The temperature rise module is used to obtain the temperature rise rate of each actuator according to the real-time temperature and working parameters of each actuator;

[0030] The working time module is used to obtain the remaining working time of each execution component according to the real-time temperature, temperature threshold and temperature rise rate of each execution component, and obtain the shortest remaining working time of the execution component according to the remaining working time of each execution component;

[0031] The adjustment module is used to adjust the work intensity coefficient of each execution component based on the shortest remaining working time and the remaining time threshold; obtain the initial work intensity coefficient and the current work intensity coefficient of the execution component; select a low-pass filter parameter; based on the low-pass filter parameter, the product of the remaining working time and the remaining time threshold, and the sum of the product of the current work intensity coefficient and the complementary number of the low-pass filter parameter, obtain an updated work intensity coefficient, the updated work intensity coefficient is not greater than the initial work intensity coefficient; the remaining time ratio is the ratio of the shortest remaining working time to the remaining time threshold.

[0032] In a third aspect, the present application also provides a robot comprising the overheating protection device of the second aspect.

[0033] The above-mentioned overheating protection method, device and robot determine the current working intensity of the execution component by collecting the working parameters of the execution component, and dynamically calculate the temperature rise rate in combination with the real-time temperature; accurately predict the remaining working time of the execution component through the real-time temperature, temperature threshold and temperature rise rate, and judge whether it is necessary to adjust the working intensity coefficient according to the temperature rise rate, the remaining working time and the remaining time threshold; not only can the working state be flexibly adjusted according to different working environments and load conditions to avoid over-protection or under-protection of the execution component, but also the continuous operation time of the equipment can be maximized while ensuring the safety of the equipment, thereby improving the overall performance and work efficiency of the equipment; in addition, multiple execution components are composed of execution components according to execution instructions, and the shortest working time among them is selected as the key reference to dynamically adjust the working intensity of the execution component, thereby solving the problem of overheating of some execution components that may occur during the operation of the execution component. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A diagram showing an application environment of an overheat protection method in an embodiment;

[0035] Figure 2 A schematic diagram of a flow chart of an overheat protection method in an embodiment;

[0036] Figure 3 A schematic flow chart of an overheat protection method in another embodiment;

[0037] Figure 4 is a structural block diagram of an overheat protection device in one embodiment;

[0038] Figure 5 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0040] The overheat protection method provided in the embodiment of the present application can be applied to Figure 1In the application environment shown. Among them, the terminal 102 communicates with the server 104 through the network. The data storage system can store the data that the server 104 needs to process. The data storage system can be integrated on the server 104, or it can be placed on the cloud or other network servers. Among them, the terminal 102 can be but is not limited to various personal computers, laptops, smart phones, tablets, Internet of Things devices and portable wearable devices. The Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart car-mounted devices, etc. Portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc. The server 104 can be implemented with an independent server or a server cluster consisting of multiple servers.

[0041] In one embodiment, Figure 2 As shown, an overheat protection method is provided, which is applicable to an execution component, wherein the execution component is composed of execution components that perform the same function. Figure 1 The server in the example is used to illustrate the following steps:

[0042] Step 202, collecting the real-time temperature and working parameters of the execution components.

[0043] Step 204, obtaining the temperature rise rate of each actuator according to the real-time temperature and working parameters of each actuator.

[0044] Step 206, according to the real-time temperature, temperature threshold and temperature rise rate of each execution component, the remaining operable time of each execution component is obtained, and according to the remaining operable time of each execution component, the shortest remaining operable time of the execution component is obtained.

[0045] Step 208: Adjust the work intensity coefficient of each execution component based on the shortest remaining workable time and the remaining time threshold.

[0046] Among them, the execution component is used to drive the automation equipment to rotate or move linearly, and is a component that enables the automation equipment to achieve complex multi-degree-of-freedom movements; the working parameter refers to the parameter that controls the working intensity of the execution component; the temperature threshold is the maximum temperature at which the execution component can work normally; the remaining working time threshold is the time it takes for the execution component to reach the temperature threshold under the current working intensity. The execution component is a collection of execution components called to execute functions.

[0047] Optionally, the actuator may be a joint motor, a hydraulic cylinder, a pneumatic cylinder, an electromagnetic coil, a shape memory alloy wire, etc. of a robot or a mechanical arm.

[0048] Exemplarily, the joint motors of the robot are used as the execution components, and all the joint motors called when the robot realizes the function constitute the execution components, and the working parameters of the execution components are the torque and speed of the joint motors. Collect the working parameters of the execution components to determine the current working intensity of the execution components; substitute the current working intensity and real-time temperature of the execution components into the pre-built temperature rise calculation model to obtain the temperature rise rate of the execution components under the current working intensity; according to the real-time temperature, temperature threshold and temperature rise rate of the execution components, obtain the remaining working time of the execution components. Obtain the remaining working time of all the execution components in the execution components, and obtain the shortest working time therein. According to the shortest remaining working time and the remaining working time threshold of the execution components, determine whether it is necessary to adjust the working intensity coefficient of the execution components to reduce the working intensity of the execution components and extend the working time of the execution components.

[0049] In the above-mentioned overheating protection method, the working parameters of the execution component are collected to determine its current working intensity, and the temperature rise rate is dynamically calculated in combination with the real-time temperature; the remaining working time of the execution component is accurately predicted through the real-time temperature, temperature threshold and temperature rise rate, and it is determined whether the working intensity coefficient needs to be adjusted according to the temperature rise rate, the remaining working time and the remaining time threshold; not only can the working state be flexibly adjusted according to different working environments and load conditions to avoid over-protection or under-protection of the execution component, but also the continuous operation time of the equipment can be maximized while ensuring the safety of the equipment, thereby improving the overall performance and work efficiency of the equipment; in addition, multiple execution components are composed of execution components according to execution instructions, and the shortest working time is selected as the key reference to dynamically adjust the working intensity of the execution component, thereby solving the problem of overheating of some execution components that may occur during the operation of the execution component.

[0050] In one embodiment, obtaining the shortest remaining operable time of an execution component based on the remaining operable time of each execution component includes: obtaining an execution component for executing the execution instruction according to an execution instruction, and the execution components constitute the execution component; obtaining the execution component with the shortest remaining operable time among the execution components, and using the remaining operable time of the execution component as the shortest remaining operable time of the execution component.

[0051] Among them, the execution instruction is the function that needs to be implemented.

[0052] Exemplarily, the function to be implemented by the execution instruction requires one or more execution components to cooperate. When the execution instruction is grasping, multiple hand joint motors on the robot arm jointly complete the grasping action. At this time, the joint motors used to execute the grasping instruction are all execution components, and together constitute the execution component that executes the grasping function. Since different execution components bear different strengths when performing repetitive grasping, it is necessary to adjust the working intensity with the execution component with the shortest remaining working intensity as the benchmark of the execution component. Specifically, the real-time temperature, working parameters, temperature threshold and remaining time threshold of each joint motor in the execution component are collected according to the collection cycle, and the remaining working time of each joint motor is obtained in turn. The shortest remaining working time of each joint motor in the execution component is selected, and the joint motor corresponding to the shortest remaining working time is used as the benchmark execution component in the subsequent data processing of the execution component. The working parameters of the benchmark execution component are collected to determine the current working intensity of the benchmark execution component; the current working intensity and real-time temperature of the benchmark execution component are substituted into the pre-built temperature rise calculation model to obtain the temperature rise rate of the benchmark execution component under the current working intensity. According to the real-time temperature, temperature threshold and temperature rise rate of the benchmark execution component, the remaining working time of the execution component is obtained. According to the temperature rise rate, the remaining working time and the remaining time threshold, it is determined whether the working parameters of the execution component need to be adjusted to reduce the working intensity of the execution component and extend the working time of the execution component. In the next data collection, the execution component corresponding to the shortest remaining working time is re-determined and used as the benchmark execution component in subsequent data processing. The working intensity of the execution component is cyclically adjusted to extend the working time of the execution component.

[0053] In this embodiment, by combining the execution components into execution assemblies according to their functions, collecting the real-time temperature and working parameters of the execution components in the execution assemblies, calculating the remaining working time of each execution component, and selecting the shortest working time as the benchmark execution component, the working intensity of the execution component is dynamically adjusted, thereby solving the overheating problem that may occur during the operation of the execution component. Through dynamic adjustment and cyclic collection, the overall work efficiency and stability are ensured, and the overall shutdown of the equipment due to overheating of a single execution component is avoided, thereby improving the continuity and working life of the equipment. On the other hand, dividing the execution components according to function can avoid the problem of the overall device efficiency reduction caused by the overheating of a single execution component as much as possible, and only reduce the working intensity of the execution component corresponding to the execution function; it does not affect the working intensity of other functions, thereby improving the overall work efficiency and flexibility.

[0054] In one embodiment, the method also includes: when the same execution component simultaneously constitutes different execution components under different execution instructions, according to the work intensity coefficient of each execution component, respectively obtain the work intensity coefficient of the execution component in different execution components; select the lowest work intensity coefficient as the work intensity coefficient of the execution component, and correspondingly adjust the work intensity coefficient of the execution component with a higher work intensity coefficient.

[0055] Exemplarily, when the robot executes the first execution instruction and the second execution instruction at the same time, the first execution component is used to constitute the first execution component and the second execution component, the first execution component is used to execute the first execution instruction, and the second execution component is used to execute the second execution instruction. The shortest remaining workable time in the first execution component and the shortest remaining workable time in the second execution component are obtained respectively, and the following situations exist: the first execution component is the corresponding reference execution component in the first execution component and the second execution component, respectively, and the work intensity coefficients of the first execution component and the second execution component are synchronously adjusted based on the remaining workable time of the first execution component; the first execution component is the corresponding reference execution component in the first execution component, and the work intensity coefficient updated by the reference execution component in the second execution component is less than the work intensity coefficient updated by the first execution component, and the work intensity coefficient of the first execution component is reduced based on the work intensity coefficient updated by the second execution component; when the first execution component is not the reference execution component in both the first execution component and the second execution component, the lower work intensity coefficient is used as the work intensity coefficient of the first execution component and the second execution component.

[0056] In this embodiment, when the same execution component is applicable to multiple execution components, the work intensity coefficients of different execution components are adjusted synchronously by comparing the remaining working time of each execution component to avoid applying multiple work intensity coefficients to the same execution component and avoid confusion.

[0057] In one embodiment, obtaining the remaining operable time of each execution component based on the real-time temperature, temperature threshold and the temperature rise rate of each execution component includes: obtaining the temperature threshold and the remaining time threshold of the execution component; when the real-time temperature is not less than the temperature threshold, the remaining operable time is zero; when the real-time temperature is less than the temperature threshold, obtaining the remaining operable time of the execution component based on the temperature rise rate, the temperature threshold and the real-time temperature.

[0058] Among them, a temperature threshold is set for the execution component, and the temperature threshold is the upper temperature limit to ensure that the execution component can operate normally under the current working conditions. A remaining time threshold is set for the execution component, and when the remaining working time of the execution component is not less than the remaining time threshold, the execution component can operate normally for a long time; when the remaining working time of the execution component is less than the remaining time threshold, the execution component's own working intensity is adjusted without stopping to avoid affecting the use.

[0059] Optionally, different remaining time thresholds are set according to the working conditions of the execution components, or a default remaining time threshold is set for the execution components. Exemplarily, when the execution components need to operate as intensively as possible, the remaining time threshold can be set to a relatively small value, such as one minute or thirty seconds, which is suitable for scenes that require continuous high-performance operation, such as robot racing; when the execution components need to maintain stable operation for as long as possible, the remaining time threshold can be set to a relatively large value, such as 10 minutes, which is suitable for scenes that require long-term stable operation, such as robot cruising.

[0060] When the executive component is at the initial working intensity (the initial working intensity coefficient is usually 1), the temperature rises quickly. After the current working intensity coefficient drops below 1, the temperature rise will decrease as the working intensity decreases, so it is possible to restore the remaining working time to above the remaining time threshold. At this time, if the working intensity coefficient is directly restored to the initial working intensity coefficient of 1, it may cause oscillation, that is, the temperature rise is too high again, the working intensity decreases again, and the executive component frequently adjusts fast and slow, which is not smooth enough. On the contrary, if the current working intensity coefficient remains unchanged, the working intensity of the executive component will decrease, the remaining working time will far exceed the remaining time threshold, and the current working intensity coefficient will not be able to be restored to the initial working intensity coefficient. Therefore, it is necessary to adjust the current working intensity coefficient step by step so that the current working intensity coefficient gradually approaches the initial working intensity coefficient.

[0061] Specifically, the real-time temperature of the execution component is collected. When the real-time temperature of the execution component is greater than or equal to the preset temperature threshold, the execution component is already in an overheated state, the remaining working time of the execution component is zero, and the execution component stops working; when the real-time temperature of the execution component is less than the preset temperature threshold, the remaining working time of the actuator is calculated according to the temperature rise rate, the temperature threshold and the real-time temperature. The temperature difference of the execution component is obtained, wherein the temperature difference of the execution component is the temperature difference between the temperature threshold and the real-time temperature. When the temperature rise rate of the execution component is greater than or equal to the ratio of the temperature difference to the remaining time threshold, the remaining working time is the ratio of the temperature difference to the temperature rise rate; when the temperature rise rate of the execution component is greater than or equal to the ratio of the temperature difference to the sum of the remaining time threshold and the acquisition period, the remaining working time is equal to the remaining time threshold; when the temperature rise rate of the execution component is greater than zero, the remaining working time is the sum of the remaining time threshold and the acquisition period; when the temperature rise rate of the execution component is less than zero, the remaining working time is twice the remaining time threshold. Among them, the collection cycle is the time interval for collecting real-time temperature data of the execution component. If the remaining working time is within one collection cycle before and after the remaining time threshold, the current working intensity remains unchanged; if the remaining working time is much greater than the remaining time threshold, the current working intensity coefficient gradually returns to the initial working intensity coefficient.

[0062] In this embodiment, by collecting the real-time temperature and working parameters of the executive component in real time, combining the temperature threshold and the temperature rise rate, the remaining working time of the executive component is accurately obtained, and the working intensity of the executive component is dynamically adjusted, thereby extending the continuous operation time of the equipment and avoiding overprotection. It can also reduce downtime by gradually adjusting the working intensity when the temperature rise rate is controllable, and maintain the long-term and efficient operation of the equipment. On the other hand, it further enhances the adaptability to different working conditions, ensures that the executive component can operate at optimal performance under different loads and environments, avoids the limitations brought by the fixed temperature threshold in traditional overheating protection, and improves the working efficiency and reliability of the executive component.

[0063] In one embodiment, based on the shortest remaining working time and the remaining time threshold, adjusting the work intensity coefficient of each execution component includes: obtaining the initial work intensity coefficient and the current work intensity coefficient of the execution component; obtaining an updated work intensity coefficient according to the shortest remaining working time and the remaining time threshold, the updated work intensity coefficient is not greater than the initial work intensity coefficient; the updated work intensity coefficient is the product of the remaining time ratio and the current work intensity coefficient; the remaining time ratio is the ratio of the shortest remaining working time and the remaining time threshold.

[0064] The initial working intensity coefficient is a working intensity coefficient that allows the execution component to operate normally for a long time as a whole. Conventionally, the initial working intensity coefficient is 1. Optionally, the initial working intensity coefficient may be a working intensity coefficient before the working intensity coefficient of the execution component is updated.

[0065] Specifically, the initial work intensity coefficient, current work intensity coefficient, remaining working time and remaining time threshold of the execution component in the execution component are obtained, the current work intensity coefficient of the execution component is updated, and the updated work intensity coefficient is obtained. The updated work intensity coefficient is the product of the remaining time ratio and the current work intensity coefficient; the remaining time ratio is the ratio of the shortest remaining working time and the remaining time threshold. The updated work intensity coefficient is shown in the following formula:

[0066] K =min(1.0, k × t / T )

[0067] In the formula, K To update the work intensity coefficient; k is the current work intensity coefficient; t The shortest remaining working time of the execution component; T is the remaining time threshold, and then the working state parameters of the execution component are adjusted according to the updated work intensity coefficient.

[0068] Exemplarily, the joint motors of the robot are used as execution parts, the robot moving wheels are used as execution components, and the joint motor with the shortest remaining working time in the robot moving wheels is used as a reference to obtain the shortest remaining working time in the execution components. The working parameters of the execution parts are the torque and speed of the joint motors. When the shortest remaining working time of the execution components is less than the remaining time threshold, an updated work intensity coefficient is obtained, and the torque and speed of the joint motors are adjusted according to the updated work intensity coefficient. For example, under the current work intensity coefficient, the movement speed of the robot is v , the moving speed of the robot under the updated work intensity coefficient is Kv .

[0069] Since the heat power of the executive component is different under different working intensities, when the executive component is in a high-intensity working state, the heat accumulation rate is greater than the heat dissipation rate, and the executive component is at risk of overheating. The test updates the working intensity coefficient to the attenuation coefficient, that is, reduces the working intensity of the executive component; when the executive component is in a low-intensity working state, the heat accumulation rate is less than the heat dissipation rate. After the real-time temperature of the executive component is reduced, the working intensity coefficient is updated to the strengthening coefficient. It can also maximize the continuous operation time of the equipment and improve the overall performance and work efficiency of the equipment while ensuring the safety of the equipment.

[0070] In one embodiment, based on the shortest remaining working time and the remaining time threshold, adjusting the work intensity coefficient of each execution component includes: obtaining the initial work intensity coefficient and the current work intensity coefficient of the execution component; selecting a low-pass filter parameter; obtaining an updated work intensity coefficient based on the product of the low-pass filter parameter, the shortest remaining working time and the remaining time threshold, and the product of the current work intensity coefficient and the complementary number of the low-pass filter parameter, wherein the updated work intensity coefficient is not greater than the initial work intensity coefficient; the updated work intensity coefficient is the product of the remaining time ratio and the current work intensity coefficient; the remaining time ratio is the ratio of the shortest remaining working time and the remaining time threshold.

[0071] The initial working intensity coefficient is the working intensity coefficient of the long-term normal operation of the execution component, and conventionally, the initial working intensity coefficient is 1. Optionally, the initial working intensity coefficient may be the working intensity coefficient before the working intensity coefficient of the execution component is updated.

[0072] Specifically, the low-pass filter parameter λ selects a value between 0 and 1.0 to control the smoothness of the updated work intensity coefficient. For example, λ=0.5 is selected to ensure that the update process neither ignores historical information nor is overly sensitive to current changes. Based on the remaining time ratio, the low-pass filter parameter and the current work intensity coefficient, the updated work intensity coefficient is as follows:

[0073] K = λ ×min(1, k × t / T )+(1- λ )× k

[0074] Where K is the updated work intensity coefficient, k is the current work intensity coefficient, t is the shortest remaining working time, and T is the remaining time threshold. If the shortest remaining working time is short, then k × t / T The updated work intensity coefficient will be smaller; if the shortest remaining working time is close to the remaining time threshold, the updated work intensity coefficient will be close to the current work intensity coefficient. Using a low-pass filtering algorithm to reduce the rate of change of the work intensity coefficient avoids the problem of repeated fluctuations in the work intensity coefficient, and also makes the change of the work intensity coefficient smoother, avoiding excessive fluctuations in the work intensity coefficient, which helps to achieve efficient and stable system operation.

[0075] Optionally, the work intensity coefficient can also be dynamically adjusted through a PID control algorithm to obtain the initial work intensity coefficient and current work intensity coefficient of the executive component in the executive component; select the gain coefficient, and initialize the integral term and the deviation term; update the deviation phase, integral term and differential term based on the shortest remaining working time; obtain the work intensity coefficient adjustment amount based on the updated deviation phase, integral term and differential term; and obtain the updated work intensity coefficient based on the sum of the current work intensity coefficient and the work intensity coefficient adjustment amount.

[0076] Select an appropriate gain factor according to the characteristics of the system and set it as the proportional coefficient , integral coefficient , differential coefficient ; Initialize the integral term to 0, that is, integral = 0; Initialize the last deviation term to 0, that is pe =0. The current working intensity coefficient of the executive component is , the initial work intensity coefficient is 1, and the remaining time threshold is . After obtaining the shortest remaining working time Then, calculate the current deviation ,deviation The difference between the remaining time threshold and the shortest remaining working time:

[0077]

[0078] Update the integral term, and the calculation formula is:

[0079] integral= e ×Δ t

[0080] In the formula, To control the cycle.

[0081] Calculate the differential term, the formula is:

[0082]

[0083] In the formula, pe is the last deviation term.

[0084] Calculate the work intensity coefficient adjustment amount based on the proportional term, integral term and differential term , the calculation formula is:

[0085] u = K p × e + K i ×integral+ K d ×derivative

[0086] Update the last deviation item to the current deviation value:

[0087] pe = e

[0088] The adjustment amount calculated based on PID control , update the work intensity coefficient of the execution component, and the updated work intensity coefficient is:

[0089] K =min(1,max(0, k + u ))

[0090] In the formula, is the current work intensity coefficient; The adjustment amount calculated for PID control.

[0091] According to the updated work intensity coefficient , adjust the working parameters of the actuator, such as torque and speed. Assume that the current moving speed of the robot is , the updated work intensity coefficient will adjust the robot's speed to .

[0092] In this embodiment, through the PID control algorithm, the work intensity coefficient of the execution component is dynamically adjusted according to the deviation between the shortest remaining working time and the remaining time threshold, so as to optimize the overall operating efficiency, avoid excessive temperature rise and drastic fluctuations in the work intensity coefficient, and effectively balance the load of the execution component to ensure the stability and efficiency of operation.

[0093] In one embodiment, Figure 3 As shown, a method for overheat protection is provided, comprising the following steps:

[0094] Step 302, collecting the real-time temperature and working parameters of the execution components.

[0095] Step 304: Obtain the temperature threshold and remaining time threshold of the execution component.

[0096] Step 306: When the real-time temperature is not less than the temperature threshold, the remaining working time is zero.

[0097] Step 308, when the real-time temperature is less than the temperature threshold, the remaining working time of the execution component is obtained according to the temperature rise rate, the temperature threshold and the real-time temperature.

[0098] Step 310, obtaining the remaining working time of each execution component according to the real-time temperature, temperature threshold and temperature rise rate of each execution component.

[0099] Step 312: According to the execution instruction, an execution component for executing the execution instruction is obtained, and the execution components constitute an execution assembly.

[0100] Step 314, obtaining the execution component with the shortest remaining operable time among the execution components, and using the remaining operable time of the execution component as the shortest remaining operable time of the execution component.

[0101] Step 316, when the same execution component simultaneously constitutes different execution components under different execution instructions, the work intensity coefficients of the execution component in different execution components are obtained respectively according to the work intensity coefficients of each execution component.

[0102] Step 318, selecting the lowest work intensity coefficient as the work intensity coefficient of the execution component, and correspondingly adjusting the work intensity coefficients of the execution components with higher work intensity coefficients.

[0103] Step 320, obtaining the initial working intensity coefficient and the current working intensity coefficient of the execution component.

[0104] Step 322, obtain an updated work intensity coefficient based on the shortest remaining working time and the remaining time threshold, the updated work intensity coefficient is not greater than the initial work intensity coefficient; the updated work intensity coefficient is the product of the remaining time ratio and the current work intensity coefficient; the remaining time ratio is the ratio of the shortest remaining working time to the remaining time threshold.

[0105] Step 324, adjusting the working state parameters of the execution component according to the updated working intensity coefficient.

[0106] In this embodiment, the working parameters of the execution component are collected to determine its current working intensity, and the temperature rise rate is dynamically calculated in combination with the real-time temperature; the remaining working time of the execution component is accurately predicted through the real-time temperature, temperature threshold and temperature rise rate, and it is determined whether the working intensity coefficient needs to be adjusted according to the temperature rise rate, the remaining working time and the remaining time threshold; not only can the working state be flexibly adjusted according to different working environments and load conditions to avoid over-protection or under-protection of the execution component, but also the continuous operation time of the equipment can be maximized while ensuring the safety of the equipment, thereby improving the overall performance and work efficiency of the equipment; in addition, multiple execution components are composed of execution components according to execution instructions, and the shortest working time is selected as the key reference to dynamically adjust the working intensity of the execution component, thereby solving the problem of overheating of some execution components that may occur during the operation of the execution component.

[0107] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are shown in sequence, these steps are not necessarily executed in sequence in the order indicated. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of the steps or stages in other steps.

[0108] Based on the same inventive concept, the embodiment of the present application also provides an anti-overheating protection device for implementing the anti-overheating protection method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more anti-overheating protection device embodiments provided below can refer to the limitations of the anti-overheating protection method above, and will not be repeated here.

[0109] In one embodiment, Figure 4 As shown, an overheat protection device is provided, including: a collection module 402, a temperature rise module 404, a working time module 406 and an adjustment module 408, wherein:

[0110] The acquisition module 402 is used to acquire the real-time temperature and working parameters of the execution components.

[0111] The temperature rise module 404 is used to obtain the temperature rise rate of each execution component according to the real-time temperature and working parameters of each execution component.

[0112] The working time module 406 is used to obtain the remaining working time of each execution component according to the real-time temperature, temperature threshold and temperature rise rate of each execution component, and obtain the shortest remaining working time of the execution component according to the remaining working time of each execution component.

[0113] The adjustment module 408 is used to adjust the work intensity coefficient of each execution component based on the shortest remaining workable time and the remaining time threshold.

[0114] In one embodiment, the working duration module 406 further includes:

[0115] The grouping module is used to obtain the execution components used to execute the execution instructions according to the execution instructions, and the execution components constitute the execution assembly.

[0116] The shortest duration module is used to obtain the execution component with the shortest remaining working time among the execution components, and use the remaining working time of the execution component as the shortest remaining working time of the execution component.

[0117] In one embodiment, the apparatus further comprises:

[0118] The judgment module is used to obtain the working intensity coefficient of the execution component in different execution components according to the working intensity coefficient of each execution component when the same execution component simultaneously constitutes different execution components under different execution instructions.

[0119] The selection module is used to select the lowest work intensity coefficient as the work intensity coefficient of the execution component, and correspondingly adjust the work intensity coefficient of the execution component with a higher work intensity coefficient.

[0120] In one embodiment, the working duration module 406 includes:

[0121] The threshold acquisition module is used to obtain the temperature threshold and the remaining time threshold of the execution component.

[0122] The first execution module is used to set the remaining working time to zero when the real-time temperature is not less than the temperature threshold.

[0123] The second execution module is used to obtain the remaining working time of the execution component according to the temperature rise rate, the temperature threshold and the real-time temperature when the real-time temperature is less than the temperature threshold.

[0124] In one embodiment, the adjustment module 408 includes:

[0125] The initial coefficient module is used to obtain the initial working intensity coefficient and the current working intensity coefficient of the execution component.

[0126] The third execution module is used to obtain an updated work intensity coefficient based on the shortest remaining working time and the remaining time threshold, and the updated work intensity coefficient is not greater than the initial work intensity coefficient; the updated work intensity coefficient is the product of the remaining time ratio and the current work intensity coefficient; the remaining time ratio is the ratio of the shortest remaining working time to the remaining time threshold.

[0127] In another embodiment, the adjustment module 408 further includes:

[0128] The initial coefficient module is used to obtain the initial working intensity coefficient and the current working intensity coefficient of the execution component.

[0129] The gain coefficient module is used to select the gain coefficient and initialize the integral term and the deviation term.

[0130] The first updating module is used to update the deviation phase, the integral term and the differential term according to the shortest remaining working time.

[0131] The fourth execution module is used to obtain the work intensity coefficient adjustment amount based on the updated deviation phase, integral term and differential term.

[0132] The fifth execution module is used to obtain an updated work intensity coefficient according to the sum of the current work intensity coefficient and the work intensity coefficient adjustment amount.

[0133] In one embodiment, the apparatus further comprises:

[0134] The second updating module is used to adjust the working state parameters of the execution part according to the updated working intensity coefficient.

[0135] In one embodiment, the working duration module 406 further includes:

[0136] The repeated acquisition module is used to collect the real-time temperature and working parameters of multiple execution components.

[0137] The remaining time module is used to obtain the remaining working time of each execution component according to the temperature threshold and temperature rise rate of each execution component;

[0138] The minimum value module compares and obtains the shortest remaining workable time among multiple execution components; and uses the shortest remaining workable time as the remaining workable time of the multiple execution components.

[0139] Each module in the above-mentioned overheat protection device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0140] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 5 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, an overheat protection method is implemented.

[0141] Those skilled in the art will understand that Figure 5 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0142] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0143] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0144] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0145] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0146] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0147] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0148] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for overheat protection, characterized in that: Applicable to an execution assembly, the execution assembly is composed of execution components that perform the same function, and the overheat protection method includes: Collecting the real-time temperature and working parameters of the execution component; According to the real-time temperature and the working parameters of each of the execution components, the temperature rise rate of each of the execution components is obtained; According to the real-time temperature, the temperature threshold and the temperature rise rate of each of the execution components, the remaining working time of each execution component is obtained, and according to the remaining working time of each of the execution components, the shortest remaining working time of the execution components is obtained; Based on the shortest remaining working time and the remaining time threshold, adjust the working intensity coefficient of each execution component; obtain the initial working intensity coefficient and the current working intensity coefficient of the execution component; select a low-pass filter parameter; based on the low-pass filter parameter, the product of the remaining working time and the remaining time threshold, and the sum of the product of the current working intensity coefficient and the complementary number of the low-pass filter parameter, obtain an updated working intensity coefficient, and the updated working intensity coefficient is not greater than the initial working intensity coefficient.

2. The method according to claim 1, characterized in that: The obtaining of the shortest remaining operable duration of the execution component according to the remaining operable duration of each execution component comprises: According to the execution instruction, the execution component for executing the execution instruction is obtained, and the execution component is composed of the execution component; The execution component with the shortest remaining operable time among the execution components is obtained, and the remaining operable time of the execution component is used as the shortest remaining operable time of the execution component.

3. The method according to claim 2, characterized in that The method further comprises: In the case where the same execution component simultaneously constitutes different execution assemblies under different execution instructions, the work intensity coefficients of the execution component in different execution assemblies are obtained respectively according to the work intensity coefficients of the execution assemblies; The lowest working intensity coefficient is selected as the working intensity coefficient of the execution component, and the working intensity coefficient of the execution component with a higher working intensity coefficient is adjusted accordingly.

4. The method according to claim 1, characterized in that Obtaining the remaining working time of the execution component according to the temperature threshold of the execution component and the temperature rise rate includes: Obtaining a temperature threshold and a remaining time threshold of the execution component; When the real-time temperature is not less than the temperature threshold, the remaining working time is zero; When the real-time temperature is less than the temperature threshold, the remaining operable time of the execution component is obtained according to the temperature rise rate, the temperature threshold and the real-time temperature.

5. The method according to claim 1, characterized in that The method further comprises: The working state parameters of the execution component are adjusted according to the updated working intensity coefficient.

6. The method according to claim 1, characterized in that The obtaining of the remaining working time of the execution component according to the temperature threshold of the execution component and the temperature rise rate comprises: Collecting the real-time temperature and the working parameters of a plurality of execution components; According to the temperature threshold of each of the execution components and the temperature rise rate, the remaining working time of each of the execution components is obtained; The shortest remaining operable time among the multiple execution components is obtained by comparison; and the shortest remaining operable time is used as the remaining operable time of the multiple execution components.

7. An overheat protection device, characterized in that: Applicable to an execution component, the execution component is composed of execution components that perform the same function, and the device includes: The acquisition module is used to collect the real-time temperature and working parameters of the execution components; A temperature rise module, used for obtaining the temperature rise rate of each of the execution components according to the real-time temperature and the working parameters of each of the execution components; A working time module, used to obtain the remaining working time of each execution component according to the real-time temperature, temperature threshold and temperature rise rate of each execution component, and obtain the shortest remaining working time of the execution component according to the remaining working time of each execution component; An adjustment module is used to adjust the work intensity coefficient of each execution component based on the shortest remaining working time and the remaining time threshold; obtain the initial work intensity coefficient and the current work intensity coefficient of the execution component; select a low-pass filter parameter; based on the low-pass filter parameter, the product of the remaining working time and the remaining time threshold, and the sum of the product of the current work intensity coefficient and the complementary number of the low-pass filter parameter to obtain an updated work intensity coefficient, wherein the updated work intensity coefficient is not greater than the initial work intensity coefficient.

8. A robot, characterized in that: Includes the overheat protection device as described in claim 7.

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