Anti-overheat protection method, device and robot

Abstract

The application relates to an overheating protection method, device and robot, which is suitable for an execution assembly, the execution assembly is composed of execution components performing the same function, the method comprises the following steps: collecting real-time temperatures and working parameters of the execution components; obtaining temperature rising speeds of the execution components according to the real-time temperatures and working parameters of the execution components; obtaining residual working time lengths of the execution components according to the real-time temperatures, temperature threshold values and temperature rising speeds of the execution components, and obtaining the shortest residual working time length of the execution assembly according to the residual working time lengths of the execution components; and adjusting working intensity coefficients of the execution assemblies based on the shortest residual working time length and a residual time length threshold value. The method can flexibly adjust the working state according to different working environments and load conditions, avoids excessive protection or insufficient protection of the execution components, and can maximize the continuous operation time of the equipment under the premise of ensuring the safety of the equipment.

Description

[0001] This application is a divisional application of patent application No. 2024118987562, entitled "Overheat Protection Method, Device and Robot", filed on December 23, 2024. Technical Field

[0002] This application relates to the field of motor motion control technology, and in particular to a method and device for overheat protection of a robot. Background Technology

[0003] With the development of intelligence and mechanization, automated equipment such as robots and robotic arms driven by electric motors have been widely used in various fields. Although robots and robotic arms can perform high-intensity work or work in harsh environments according to their settings, the motors that drive their movement may overheat due to prolonged high-intensity operation, leading to a decline in the overall performance of the equipment, a shortened lifespan, and safety hazards.

[0004] At the level of overall motion control strategy, traditional technology measures the temperature of the motors at each joint of the robot or robotic arm and compares it with a preset temperature threshold. Once the temperature exceeds the joint motor's temperature threshold, overheat protection is triggered, causing the robot to stop working or reduce its workload to avoid overheating of the motors.

[0005] However, using a single temperature threshold cannot adapt a motor to different workloads and environments. The optimal workload for a motor varies depending on the workload, ambient temperature, and heat dissipation conditions. Relying on a fixed temperature threshold can lead to over-protection or under-protection. Furthermore, once overheat protection is triggered, the motor immediately enters overheat protection mode, stopping operation or drastically reducing its workload. It must wait until the motor temperature drops below the threshold before resuming operation, impacting the workload and performance of automated equipment. Summary of the Invention

[0006] Therefore, it is necessary to provide a method, device, or robot for overheat protection that can coordinate the working intensity and temperature status of automated equipment to address the aforementioned technical problems.

[0007] In a first aspect, this application provides an overheat protection method applicable to an execution component, the execution component being composed of execution parts performing the same function, the method comprising:

[0008] Collect real-time temperature and operating parameters of the actuator;

[0009] The temperature rise rate of each actuator is obtained based on the real-time temperature and operating parameters of each actuator.

[0010] Based on the real-time temperature, temperature threshold, and temperature rise rate of each actuator, the remaining working time of each actuator is obtained, and the shortest remaining working time of the actuator assembly is obtained based on the remaining working time of each actuator.

[0011] Adjust the workload coefficient of each execution component based on the shortest remaining working time and the remaining time threshold.

[0012] In one embodiment, obtaining the shortest remaining operational time of the execution component based on the remaining operational time of each execution component includes:

[0013] Based on the execution instructions, obtain the execution components used to execute the execution instructions, and the execution components constitute the execution assembly;

[0014] 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.

[0015] In one embodiment, the method further includes:

[0016] When the same execution component simultaneously constitutes different execution components under different execution instructions, the working intensity coefficient of the execution component in different execution components is obtained according to the working intensity coefficient of each execution component.

[0017] Select the lowest working intensity coefficient as the working intensity coefficient of the actuator, and adjust the working intensity coefficient of the actuator with a higher working intensity coefficient accordingly.

[0018] In one embodiment, the remaining operable time of the actuator is determined based on the temperature threshold and temperature rise rate of each actuator, including:

[0019] Obtain the temperature threshold and remaining time threshold of the execution component;

[0020] If the real-time temperature is not lower than the temperature threshold, the remaining working time is zero.

[0021] When the real-time temperature is lower than the temperature threshold, the remaining working time of the actuator is obtained based on the temperature rise rate, the temperature threshold, and the real-time temperature.

[0022] In one embodiment, adjusting the workload coefficient of each execution component based on the shortest remaining working time and the remaining time threshold includes:

[0023] Obtain the initial and current workload coefficients of the executing component;

[0024] The updated workload coefficient is obtained based on the shortest remaining working time and the remaining time threshold. The updated workload coefficient is no greater than the initial workload coefficient. The updated workload coefficient is the product of the remaining time ratio and the current workload coefficient. The remaining time ratio is the ratio of the shortest remaining working time to the remaining time threshold.

[0025] In one embodiment, adjusting the workload coefficient of each execution component based on the shortest remaining working time and the remaining time threshold includes:

[0026] Obtain the initial and current workload coefficients of the executing component;

[0027] Select low-pass filter parameters;

[0028] The updated workload coefficient is obtained by summing the product of the low-pass filter parameters, the shortest remaining working time, and the remaining time threshold, and the product of the current workload coefficient and the complementary number of the low-pass filter parameters. The updated workload coefficient is not greater than the initial workload coefficient. The updated workload coefficient is the product of the remaining time ratio and the current workload coefficient. The remaining time ratio is the ratio of the shortest remaining working time to the remaining time threshold.

[0029] In one embodiment, the method further includes:

[0030] Adjust the working status parameters of the execution component based on the updated workload coefficient.

[0031] In one embodiment, after determining the remaining working time of each actuator based on its real-time temperature, temperature threshold, and temperature rise rate, the process includes:

[0032] Collect real-time temperature and operating parameters of multiple actuators;

[0033] Based on the temperature threshold and temperature rise rate of each actuator, the remaining working time of each actuator is obtained;

[0034] The shortest remaining working time among multiple execution components is obtained by comparison; the shortest remaining working time is used as the remaining working time of multiple execution components.

[0035] Secondly, this application also provides an overheat protection device. The device includes:

[0036] The data acquisition module is used to collect real-time temperature and operating parameters of the actuators.

[0037] The temperature rise module is used to obtain the temperature rise rate of each actuator based on the real-time temperature and operating parameters of each actuator.

[0038] The working time module is used to obtain the remaining working time of each execution component based on the real-time temperature, temperature threshold and temperature rise rate of each execution component, and to obtain the shortest remaining working time of the execution component based on the remaining working time of each execution component.

[0039] The adjustment module is used to adjust the workload coefficient of each execution component based on the shortest remaining working time and the remaining time threshold.

[0040] Thirdly, this application also provides a robot that includes the overheat protection device of the second aspect.

[0041] The aforementioned overheat protection method, device, and robot determine the current working intensity of the actuators by collecting their operating parameters and dynamically calculate the temperature rise rate in conjunction with real-time temperature. By using real-time temperature, temperature threshold, and temperature rise rate, the remaining working time of the actuators is accurately predicted. Based on the temperature rise rate, remaining working time, and remaining time threshold, it is determined whether the working intensity coefficient needs adjustment. This not only allows for flexible adjustment of the working state according to different working environments and load conditions, avoiding over- or under-protection of the actuators, but also maximizes the continuous operating time of the equipment while ensuring equipment safety, thereby improving overall equipment performance and work efficiency. Furthermore, by assembling multiple actuators into an execution component according to execution instructions and selecting the shortest working time as a key reference, the working intensity of the execution component is dynamically adjusted, thus solving the problem of overheating of some actuators during operation. Attached Figure Description

[0042] Figure 1 This is an application environment diagram of an overheat protection method in one embodiment;

[0043] Figure 2 This is a flowchart illustrating an overheat protection method in one embodiment;

[0044] Figure 3 This is a flowchart illustrating an overheat protection method in another embodiment;

[0045] Figure 4 This is a structural block diagram of an overheat protection device in one embodiment;

[0046] Figure 5 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0048] The overheat protection method provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, terminal 102 communicates with server 104 via a network. A data storage system can store the data that server 104 needs to process. The data storage system can be integrated onto server 104 or located in the cloud or on other network servers. Terminal 102 can be, but is not limited to, various personal computers, laptops, smartphones, tablets, IoT devices, and portable wearable devices. IoT devices can include smart speakers, smart TVs, smart air conditioners, smart in-vehicle devices, etc. Portable wearable devices can include smartwatches, smart bracelets, head-mounted devices, etc. Server 104 can be implemented using a standalone server or a server cluster consisting of multiple servers.

[0049] In one embodiment, such as Figure 2 As shown, an overheat protection method is provided, applicable to an execution component, which consists of execution parts performing the same function. This method is applied to... Figure 1 Taking the server in the example, the following steps are included:

[0050] Step 202: Collect the real-time temperature and operating parameters of the actuator.

[0051] Step 204: Based on the real-time temperature and operating parameters of each actuator, obtain the temperature rise rate of each actuator.

[0052] Step 206: Based on the real-time temperature, temperature threshold and temperature rise rate of each execution component, obtain the remaining working time of each execution component, and obtain the shortest remaining working time of the execution assembly based on the remaining working time of each execution component.

[0053] Step 208: Adjust the workload coefficient of each execution component based on the shortest remaining working time and the remaining time threshold.

[0054] Among them, the execution component is used to drive automated equipment to perform angular rotation or linear movement, and is a component that enables the automated equipment to achieve complex multi-degree-of-freedom motion; the working parameter refers to the parameter that controls the working intensity of the execution component; the temperature threshold is the highest 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 perform functions.

[0055] Optionally, the actuator can be a joint motor, hydraulic cylinder, pneumatic cylinder, electromagnetic coil, or shape memory alloy wire of a robot or robotic arm.

[0056] For example, using the robot's joint motors as actuating components, all joint motors invoked when the robot performs a function constitute the actuation assembly. The operating parameters of the actuation assembly are the torque and rotational speed of the joint motors. The operating parameters of the actuation assembly are collected to determine its current operating intensity. The current operating intensity and real-time temperature of the actuation assembly are then substituted into a pre-built temperature rise calculation model to obtain the temperature rise rate of the actuation assembly under the current operating intensity. Based on the real-time temperature, temperature threshold, and temperature rise rate of the actuation assembly, the remaining usable time of the actuation assembly is obtained. The remaining usable time of all actuation components in the actuation assembly is obtained, and the shortest usable time is identified. Based on the shortest remaining usable time and the remaining usable time threshold of the actuation assembly, it is determined whether the operating intensity coefficient of the actuation assembly needs to be adjusted to reduce its operating intensity and extend its working time.

[0057] In the aforementioned overheat protection method, the current working intensity of the actuator is determined by collecting its operating parameters, and the temperature rise rate is dynamically calculated in conjunction with real-time temperature. Using real-time temperature, temperature threshold, and temperature rise rate, the remaining working time of the actuator is accurately predicted. Based on the temperature rise rate, remaining working time, and remaining time threshold, it is determined whether the working intensity coefficient needs adjustment. This not only allows for flexible adjustment of the working state according to different working environments and load conditions, avoiding over- or under-protection of the actuator, but also maximizes the continuous operating time of the equipment while ensuring equipment safety, thereby improving the overall performance and efficiency of the equipment. Furthermore, by assembling multiple actuators into an execution component according to execution instructions and selecting the shortest working time as a key reference, the working intensity of the execution component is dynamically adjusted, thus solving the problem of overheating of some actuators during operation.

[0058] In one embodiment, obtaining the shortest remaining working time of the execution component based on the remaining working time of each execution component includes: obtaining an execution component for executing the execution instruction according to the execution instruction, and the execution component constituting the execution component; obtaining the execution component with the shortest remaining working time among the execution components, and using the remaining working time of the execution component as the shortest remaining working time of the execution component.

[0059] The execution instructions are the functions that need to be implemented.

[0060] For example, the function to be achieved by the execution command requires the cooperation of one or more execution components. When the execution command is grasping, multiple hand joint motors on the robot arm work together to complete the grasping action. At this time, the joint motors used to execute the grasping command are all execution components, and together they constitute the execution component for performing the grasping function. Since different execution components bear different intensities when performing repetitive grasping, it is necessary to adjust the working intensity of the execution component based on the execution component with the shortest remaining working intensity. 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 to obtain the remaining working time of each joint motor. 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 reference execution component in the subsequent data processing of the execution component. The working parameters of the reference execution component are collected to determine the current working intensity of the reference execution component; the current working intensity and real-time temperature of the reference execution component are substituted into the pre-built temperature rise calculation model to obtain the temperature rise rate of the reference execution component under the current working intensity. Based on the real-time temperature, temperature threshold, and temperature rise rate of the reference actuator, the remaining usable time of the actuator is obtained. Based on the temperature rise rate, remaining usable time, and remaining time threshold, it is determined whether the operating parameters of the actuator need to be adjusted to reduce its workload and extend its operating time. In the next data acquisition, the actuator corresponding to the shortest remaining usable time is re-determined and used as the reference actuator in subsequent data processing. The workload of the actuator is then cyclically adjusted to extend its operating time.

[0061] In this embodiment, execution components are grouped into execution modules according to their functions. Real-time temperature and operating parameters of the execution components within these modules are collected, the remaining usable time of each component is calculated, and the component with the shortest usable time is selected as the baseline execution component. The workload of the execution modules is dynamically adjusted, thus resolving the potential overheating issue during operation. Through dynamic adjustment and cyclic data collection, overall work efficiency and stability are ensured, preventing system shutdown due to overheating of a single execution component, thereby improving equipment continuity and lifespan. Furthermore, dividing execution modules according to function minimizes the risk of a single execution component overheating and causing a decrease in overall device efficiency. Instead, the workload of the execution module corresponding to the function being performed is reduced without affecting the workload of other functions, thus improving overall work efficiency and flexibility.

[0062] In one embodiment, the method further includes: when the same execution component simultaneously constitutes different execution components under different execution instructions, obtaining the working intensity coefficient of the execution component in different execution components according to the working intensity coefficient of each execution component; selecting the lowest working intensity coefficient as the working intensity coefficient of the execution component, and adjusting the working intensity coefficient of the execution component with a higher working intensity coefficient accordingly.

[0063] For example, when the robot simultaneously executes the first execution instruction and the second execution instruction, the first execution component is used to constitute the first execution assembly and the second execution assembly. The first execution assembly is used to execute the first execution instruction, and the second execution assembly is used to execute the second execution instruction. The shortest remaining working time in the first execution assembly and the shortest remaining working time in the second execution assembly are obtained respectively, with the following situations: the first execution component is the corresponding reference execution component in both the first and second execution assemblies; the working intensity coefficients of the first and second execution assemblies are adjusted synchronously based on the remaining working time of the first execution component; the first execution component is the corresponding reference execution component in the first execution assembly, and the working intensity coefficient updated by the reference execution component in the second execution assembly is less than the updated working intensity coefficient of the first execution assembly; the working intensity coefficient of the first execution assembly is reduced based on the updated working intensity coefficient of the second execution assembly; when the first execution component is not a reference execution component in either the first or second execution assembly, the lower working intensity coefficient is used as the working intensity coefficient of both the first and second execution components.

[0064] In this embodiment, when the same execution component is applied to multiple execution components, the remaining working time of each execution component is compared, and the working intensity coefficients of different execution components are adjusted synchronously to avoid applying multiple working intensity coefficients to the same execution component and to avoid disorder.

[0065] In one embodiment, obtaining the remaining working time of each actuator based on the real-time temperature, temperature threshold, and temperature rise rate of each actuator includes: obtaining the temperature threshold and remaining time threshold of the actuator; 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 working time of the actuator is obtained based on the temperature rise rate, temperature threshold, and real-time temperature.

[0066] Specifically, a temperature threshold is set for the actuator, which is the upper limit of the temperature that ensures the actuator can operate normally under the current operating conditions. A remaining time threshold is also set for the actuator. When the remaining working time of the actuator is not less than the remaining time threshold, the actuator can operate normally for a long time. When the remaining working time of the actuator is less than the remaining time threshold, the workload of the actuator is adjusted without stopping the machine, thus avoiding affecting its use.

[0067] Optionally, different remaining time thresholds can be set according to the operating conditions of the actuator, or a default remaining time threshold can be set for the actuator. For example, when the actuator needs to operate at the highest possible intensity, the remaining time threshold can be set relatively small, such as one minute or thirty seconds, which is suitable for scenarios that require continuous high-performance operation, such as robot racing; when the actuator needs to maintain stable operation for as long as possible, the remaining time threshold can be set relatively large, such as 10 minutes, which is suitable for scenarios that require stable operation for a long time, such as robot cruising.

[0068] When the actuator is at its initial operating intensity (typically 1), the temperature rises rapidly. Once the operating intensity drops below 1, the temperature rise rate decreases due to the reduced operating intensity, potentially allowing the remaining usable time to recover above the remaining time threshold. At this point, directly restoring the operating intensity to the initial 1 could lead to oscillations—the temperature rise might become excessively high again, and the operating intensity might decrease again, resulting in frequent, uneven adjustments by the actuator. Conversely, maintaining the current operating intensity unchanged could lead to a situation where the actuator's operating intensity decreases, the remaining usable time far exceeds the remaining time threshold, and the current operating intensity cannot be restored to the initial value. Therefore, a gradual adjustment of the current operating intensity is necessary to bring it closer to the initial value.

[0069] Specifically, the real-time temperature of the actuator is collected. When the real-time temperature of the actuator is greater than or equal to a preset temperature threshold, the actuator is in an overheated state, the remaining working time of the actuator is zero, and the actuator stops working. When the real-time temperature of the actuator is less than the preset temperature threshold, the remaining working time of the actuator is calculated based on the temperature rise rate, the temperature threshold, and the real-time temperature. The temperature difference of the actuator is obtained, where the temperature difference of the actuator is the difference between the temperature threshold and the real-time temperature. When the temperature rise rate of the actuator 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 actuator is greater than or equal to the ratio of the temperature difference to the sum of the remaining time threshold and the acquisition cycle, the remaining working time is equal to the remaining time threshold. When the temperature rise rate of the actuator is greater than zero, the remaining working time is the sum of the remaining time threshold and the acquisition cycle. When the temperature rise rate of the actuator is less than zero, the remaining working time is twice the remaining time threshold. The acquisition cycle is the time interval for acquiring real-time temperature data of the execution component. If the remaining working time is within one acquisition cycle before or 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 recovers to the initial working intensity coefficient.

[0070] In this embodiment, by real-time acquisition of the temperature and operating parameters of the actuator, combined with the temperature threshold and temperature rise rate, the remaining working time of the actuator is accurately determined. The operating intensity of the actuator is dynamically adjusted, thereby extending the continuous operating time of the equipment, avoiding over-protection, and reducing downtime by gradually adjusting the operating intensity while keeping the temperature rise rate controllable, thus maintaining long-term efficient operation of the equipment. Furthermore, it enhances adaptability to different operating conditions, ensuring that the actuator operates at its best performance under different loads and environments, avoiding the limitations of fixed temperature thresholds in traditional overheat protection, and improving the working efficiency and reliability of the actuator.

[0071] In one embodiment, adjusting the workload coefficient of each execution component based on the shortest remaining working time and the remaining time threshold includes: obtaining the initial workload coefficient and the current workload coefficient of the execution component; obtaining an updated workload coefficient based on the shortest remaining working time and the remaining time threshold, wherein the updated workload coefficient is not greater than the initial workload coefficient; the updated workload coefficient is the product of the remaining time ratio and the current workload coefficient; the remaining time ratio is the ratio of the shortest remaining working time to the remaining time threshold.

[0072] The initial workload coefficient is the workload coefficient that allows the execution component to operate normally for an extended period of time. Typically, the initial workload coefficient is 1. Optionally, the initial workload coefficient can be the workload coefficient before updating the execution component's workload coefficient.

[0073] Specifically, the initial workload coefficient, current workload coefficient, remaining available working time, and remaining time threshold of the execution component are obtained. The current workload coefficient of the execution component is updated to obtain the updated workload coefficient, which is the product of the remaining time ratio and the current workload coefficient. The remaining time ratio is the ratio of the shortest remaining available working time to the remaining time threshold. The updated workload coefficient is shown in the following formula:

[0074] K = min(1.0, k × t / T)

[0075] In the formula, K is the updated workload coefficient; k is the current workload coefficient; t is the shortest remaining working time in the execution component; T is the remaining time threshold, and then the working status parameters of the execution component are adjusted according to the updated workload coefficient.

[0076] For example, using the robot's joint motors as the actuating components and the robot's moving wheels as the actuating elements, the shortest remaining working time among the joint motors in the robot's moving wheels is used as a benchmark to obtain the shortest remaining working time among the actuating components. The working parameters of the actuating components are the torque and speed of the joint motors. When the shortest remaining working time of the actuating components is less than the remaining time threshold, an updated workload coefficient is obtained. The torque and speed of the joint motors are adjusted according to the updated workload coefficient. For example, if the robot's moving speed is v under the current workload coefficient, the robot's moving speed under the updated workload coefficient is Kv.

[0077] Because the heat generation power of the actuator varies under different working intensities, when the actuator is under high-intensity working conditions, the heat accumulation rate is greater than the heat dissipation rate, and the actuator is at risk of overheating. Therefore, the working intensity coefficient is updated to a decay coefficient, which reduces the working intensity of the actuator. When the actuator is under low-intensity working conditions, the heat accumulation rate is less than the heat dissipation rate, and the real-time temperature of the actuator decreases. Therefore, the working intensity coefficient is updated to a strengthening coefficient. This can also maximize the continuous running time of the equipment while ensuring equipment safety, thereby improving the overall performance and work efficiency of the equipment.

[0078] In one embodiment, adjusting the workload coefficient of each execution component based on the shortest remaining working time and the remaining time threshold includes: obtaining the initial workload coefficient and the current workload coefficient of the execution component; selecting low-pass filter parameters; obtaining an updated workload coefficient based on the sum of the product of the low-pass filter parameters, the shortest remaining working time, and the remaining time threshold, and the product of the complementary numbers of the current workload coefficient and the low-pass filter parameters, wherein the updated workload coefficient is not greater than the initial workload coefficient; the updated workload coefficient is the product of the remaining time ratio and the current workload coefficient; the remaining time ratio is the ratio of the shortest remaining working time to the remaining time threshold.

[0079] The initial workload coefficient is the workload coefficient of the actuator during long-term normal operation; conventionally, the initial workload coefficient is 1. Optionally, the initial workload coefficient can be the workload coefficient before updating the workload coefficient of the actuator.

[0080] Specifically, the low-pass filter parameter λ is chosen to be a value between 0 and 1.0 to control the smoothness of the updated workload coefficient. For example, choosing λ=0.5 ensures that the update process neither ignores historical information nor is overly sensitive to current changes. Based on the remaining duration ratio, the low-pass filter parameter, and the current workload coefficient, the updated workload coefficient is as follows:

[0081] K=λ×min(1,k×t / T)+(1-λ)×k

[0082] In the formula, K is the updated workload coefficient, k is the current workload coefficient, t is the shortest remaining working time, and T is the remaining time threshold. If the shortest remaining working time is short, k×t / T will be small, and the updated workload coefficient will decrease; if the shortest remaining working time is close to the remaining time threshold, the updated workload coefficient will be close to the current workload coefficient. Using a low-pass filtering algorithm to reduce the rate of change of the workload coefficient avoids the problem of the workload coefficient fluctuating repeatedly, and also makes the change of the workload coefficient smoother, avoiding excessive fluctuations in the workload coefficient, which helps to achieve efficient and stable system operation.

[0083] Optionally, a PID control algorithm can be used to dynamically adjust the working intensity coefficient, obtain the initial and current working intensity coefficients of the execution components in the execution assembly; select the gain coefficient and initialize the integral and deviation terms; update the deviation phase, integral term, and derivative term according to the shortest remaining working time; obtain the working intensity coefficient adjustment amount based on the updated deviation phase, integral term, and derivative term; and obtain the updated working intensity coefficient based on the sum of the current working intensity coefficient and the working intensity coefficient adjustment amount.

[0084] Select an appropriate gain coefficient based on the system characteristics and set it as the proportional coefficient. =1.0, integral coefficient =0.1, differential coefficient =0.01; Initialize the integral term to 0, i.e., integrate=0; Initialize the previous deviation term to 0, i.e., pe=0. The current working intensity coefficient of the executing component is... The initial workload coefficient is 1, and the remaining time threshold is... To obtain the shortest remaining working time. Then, calculate the current deviation. ,deviation The difference between the remaining time threshold and the shortest remaining working time:

[0085]

[0086] The updated integral term is calculated using the following formula:

[0087] integral = e × Δt

[0088] In the formula, To control the cycle.

[0089] The formula for calculating the differential term is:

[0090]

[0091] In the formula, pe is the previous deviation term.

[0092] The adjustment amount u of the work intensity coefficient is calculated based on the proportional term, integral term, and differential term. The calculation formula is as follows:

[0093] u=K p ×e+K i ×integral+K d ×derivative

[0094] Update the previous deviation term to the current deviation value:

[0095] pe=e

[0096] The adjustment amount calculated based on PID control Update the workload coefficient of the executing component. The updated workload coefficient is as follows:

[0097] K = min(1, max(0, k+u))

[0098] In the formula, This represents the current workload coefficient. The adjustment value calculated for PID control.

[0099] According to the updated work intensity coefficient Adjust the operating parameters of the actuators, such as torque and speed. Assume the robot's current moving speed is... The updated workload coefficient will adjust the robot's speed to... .

[0100] In this embodiment, the working intensity coefficient of the actuator is dynamically adjusted according to the deviation between the shortest remaining working time and the remaining time threshold through the PID control algorithm, thereby optimizing the overall operating efficiency, avoiding excessive temperature rise and drastic fluctuations in the working intensity coefficient, effectively balancing the load of the actuator, and ensuring the stability and efficiency of operation.

[0101] In one embodiment, such as Figure 3 As shown, an overheat protection method is provided, including the following steps:

[0102] Step 302: Collect the real-time temperature and operating parameters of the actuator.

[0103] Step 304: Obtain the temperature threshold and remaining time threshold of the execution component.

[0104] Step 306: If the real-time temperature is not lower than the temperature threshold, the remaining working time is zero.

[0105] Step 308: If the real-time temperature is less than the temperature threshold, the remaining working time of the actuator is obtained based on the temperature rise rate, the temperature threshold, and the real-time temperature.

[0106] Step 310: Based on the real-time temperature, temperature threshold, and temperature rise rate of each actuator, obtain the remaining working time of each actuator.

[0107] Step 312: According to the execution instruction, obtain the execution unit used to execute the execution instruction, and the execution unit constitutes the execution component.

[0108] Step 314: 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.

[0109] Step 316: When the same execution component simultaneously constitutes different execution components under different execution instructions, the working intensity coefficient of the execution component in different execution components is obtained according to the working intensity coefficient of each execution component.

[0110] Step 318: Select the lowest working intensity coefficient as the working intensity coefficient of the actuator, and adjust the working intensity coefficient of the actuator with a higher working intensity coefficient accordingly.

[0111] Step 320: Obtain the initial working intensity coefficient and the current working intensity coefficient of the execution component.

[0112] Step 322: Obtain the updated workload coefficient based on the shortest remaining working time and the remaining time threshold. The updated workload coefficient is not greater than the initial workload coefficient. The updated workload coefficient is the product of the remaining time ratio and the current workload coefficient. The remaining time ratio is the ratio of the shortest remaining working time to the remaining time threshold.

[0113] Step 324: Adjust the working status parameters of the execution component according to the updated workload coefficient.

[0114] In this embodiment, by collecting the operating parameters of the execution components, their current operating intensity is determined, and the temperature rise rate is dynamically calculated in conjunction with real-time temperature. Using real-time temperature, temperature threshold, and temperature rise rate, the remaining working time of the execution components is accurately predicted. Based on the temperature rise rate, remaining working time, and remaining time threshold, it is determined whether the operating intensity coefficient needs adjustment. This not only allows for flexible adjustment of the operating state according to different working environments and load conditions, avoiding over- or under-protection of the execution components, but also maximizes the continuous operating time of the equipment while ensuring equipment safety, thereby improving the overall performance and efficiency of the equipment. Furthermore, by constructing an execution assembly from multiple execution components according to execution instructions and selecting the shortest working time as a key reference, the operating intensity of the execution assembly is dynamically adjusted, thus solving the problem of overheating of some execution components during operation.

[0115] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially, these steps are not necessarily executed in the indicated order. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but may be executed at different times. The execution order of these steps or stages is not necessarily sequential, but may be performed alternately or in turn with other steps or at least some of the steps or stages in other steps.

[0116] Based on the same inventive concept, this application also provides an overheat protection device for implementing the overheat protection method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more embodiments of the overheat protection device provided below can be found in the limitations of the overheat protection method described above, and will not be repeated here.

[0117] In one embodiment, such as Figure 4As shown, an overheat protection device is provided, including: a data acquisition module 402, a temperature rise module 404, a working time module 406, and an adjustment module 408, wherein:

[0118] The data acquisition module 402 is used to acquire the real-time temperature and operating parameters of the actuator.

[0119] The temperature rise module 404 is used to obtain the temperature rise rate of each actuator based on the real-time temperature and operating parameters of each actuator.

[0120] The working time module 406 is used to obtain the remaining working time of each execution component based on the real-time temperature, temperature threshold and temperature rise rate of each execution component, and to obtain the shortest remaining working time of the execution component based on the remaining working time of each execution component.

[0121] The adjustment module 408 is used to adjust the workload coefficient of each execution component based on the shortest remaining working time and the remaining time threshold.

[0122] In one embodiment, the working time module 406 further includes:

[0123] The grouping module is used to obtain the execution components for executing the execution instructions based on the execution instructions, and the execution components constitute the execution components.

[0124] 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.

[0125] In one embodiment, the device further includes:

[0126] The judgment module is used to determine the working intensity coefficient of the execution unit in different execution components based on the working intensity coefficient of each execution component when the same execution unit simultaneously constitutes different execution components under different execution instructions.

[0127] The selection module is used to select the lowest working intensity coefficient as the working intensity coefficient of the execution component, and adjust the working intensity coefficient of the execution component with a higher working intensity coefficient accordingly.

[0128] In one embodiment, the working time module 406 includes:

[0129] The threshold acquisition module is used to acquire the temperature threshold and remaining time threshold of the execution component.

[0130] The first execution module is used to ensure that the remaining working time is zero when the real-time temperature is not lower than the temperature threshold.

[0131] The second execution module is used to determine the remaining working time of the execution component based on the temperature rise rate, the temperature threshold, and the real-time temperature when the real-time temperature is lower than the temperature threshold.

[0132] In one embodiment, the adjustment module 408 includes:

[0133] The initial coefficient module is used to obtain the initial and current working intensity coefficients of the execution components.

[0134] The third execution module is used to obtain an updated workload coefficient based on the shortest remaining working time and the remaining time threshold. The updated workload coefficient is not greater than the initial workload coefficient. The updated workload coefficient is the product of the remaining time ratio and the current workload coefficient. The remaining time ratio is the ratio of the shortest remaining working time to the remaining time threshold.

[0135] In another embodiment, the adjustment module 408 further includes:

[0136] The initial coefficient module is used to obtain the initial and current working intensity coefficients of the execution components.

[0137] The gain coefficient module is used to select the gain coefficient and initialize the integral and bias terms.

[0138] The first update module is used to update the deviation phase, integral term, and differential term based on the shortest remaining working time.

[0139] The fourth execution module is used to obtain the adjustment amount of the work intensity coefficient based on the updated deviation phase, integral term, and differential term.

[0140] The fifth execution module is used to update the work intensity coefficient based on the sum of the current work intensity coefficient and the work intensity coefficient adjustment amount.

[0141] In one embodiment, the device further includes:

[0142] The second update module is used to adjust the working status parameters of the execution part according to the updated workload coefficient.

[0143] In one embodiment, the working time module 406 further includes:

[0144] The repetitive acquisition module is used to collect real-time temperature and operating parameters of multiple actuators.

[0145] The remaining duration module is used to obtain the remaining working time of each actuator based on the temperature threshold and temperature rise rate of each actuator.

[0146] The minimum value module compares and obtains the shortest remaining working time among multiple execution components; the shortest remaining working time is used as the remaining working time of multiple execution components.

[0147] Each module in the aforementioned overheat protection device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0148] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 5 As shown, this computer device includes a processor, memory, input / output interfaces (I / O), and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and databases. The internal memory provides the environment for the operating system and computer programs stored in the non-volatile storage media to run. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network connection. When the computer program is executed by the processor, it implements an overheat protection method.

[0149] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0150] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0151] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0152] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0153] 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, data stored, data displayed, 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 related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0154] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media 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), magnetic 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. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0155] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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.

[0156] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for overheat protection, characterized in that, The overheat protection method is applicable to an execution component, which is composed of execution parts performing the same function, and includes: Collect the real-time temperature and operating parameters of the actuator; The temperature rise rate of each of the actuators is obtained based on the real-time temperature and the operating parameters of each actuator. Based on the real-time temperature, temperature threshold, and temperature rise rate of each of the aforementioned execution components, the remaining working time of each execution component is obtained, and based on the remaining working time of each of the aforementioned execution components, the shortest remaining working time of the execution assembly is obtained. Obtain the initial workload coefficient and the current workload coefficient of the execution component; obtain an updated workload coefficient based on the shortest remaining working time and the remaining time threshold, wherein the updated workload coefficient is not greater than the initial workload coefficient; the updated workload coefficient is the product of the remaining time ratio and the current workload coefficient; the remaining time ratio is the ratio of the shortest remaining working time to the remaining time threshold; The method further includes: adjusting the working state parameters of the execution component according to the updated workload coefficient.

2. The method according to claim 1, characterized in that, The step of obtaining the shortest remaining working time of the execution component based on the remaining working time of each of the execution components includes: According to the execution instruction, the execution component for executing the execution instruction is obtained, and the execution component constitutes the execution assembly; The execution component with the shortest remaining working time among the execution components is obtained, and the remaining working time of the execution component is taken as the shortest remaining working time of the execution component.

3. The method according to claim 2, characterized in that, The method further includes: When the same execution component simultaneously constitutes different execution components under different execution instructions, the working intensity coefficient of the execution component in different execution components is obtained according to the working intensity coefficient of each execution component. 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, Based on the temperature threshold of the actuator and the rate of temperature rise, the remaining working time of the actuator is obtained as follows: Obtain the temperature threshold and remaining time threshold of the execution component; If the real-time temperature is not lower than the temperature threshold, the remaining working time is zero. If the real-time temperature is less than the temperature threshold, the remaining working time of the actuator is obtained based on the temperature rise rate, the temperature threshold, and the real-time temperature.

5. The method according to claim 1, characterized in that, The step of obtaining the remaining working time of the actuator based on the temperature threshold of the actuator and the temperature rise rate includes: Collect the real-time temperature and operating parameters of multiple actuators; The remaining working time of each of the actuators is obtained based on the temperature threshold of each actuator and the temperature rise rate. The shortest remaining working time among multiple execution components is obtained by comparison; the shortest remaining working time is used as the remaining working time of the multiple execution components.

6. An overheat protection device, characterized in that, Applicable to an execution component, the execution component being composed of execution parts performing the same function, the device includes: The data acquisition module is used to collect real-time temperature and operating parameters of the actuators. The temperature rise module is used to obtain the temperature rise rate of each of the actuators based on the real-time temperature and the operating parameters of each actuator. The working time module is used to obtain the remaining working time of each execution component based on the real-time temperature, temperature threshold and temperature rise rate of each execution component, and to obtain the shortest remaining working time of the execution component based on the remaining working time of each execution component. An adjustment module is configured to acquire the initial workload coefficient and the current workload coefficient of the execution component; obtain an updated workload coefficient based on the shortest remaining working time and the remaining time threshold, wherein the updated workload coefficient is not greater than the initial workload coefficient; the updated workload coefficient is the product of the remaining time ratio and the current workload coefficient; the remaining time ratio is the ratio of the shortest remaining working time to the remaining time threshold; the adjustment module is further configured to adjust the working state parameters of the execution component based on the updated workload coefficient.

7. The apparatus according to claim 6, characterized in that, The working time module also includes: The grouping module is used to obtain the execution components for executing the execution instructions according to the execution instructions, and the execution components constitute the execution assembly; The shortest duration module is used to obtain the execution component with the shortest remaining working time among the execution components, and to use the remaining working time of the execution component as the shortest remaining working time of the execution component.

8. A robot, characterized in that, Includes the overheat protection device as described in any one of claims 6 or 7.

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