Anti-overheating protection method and device, computer equipment, storage medium and robot

Abstract

The invention relates to an anti-overheating protection method and device, computer equipment, a storage medium and a robot. The method comprises the steps that the real-time temperature and working parameters of an execution component are collected; according to the real-time temperature and the working parameters, the temperature rise speed of the execution component is obtained; according to the real-time temperature, the temperature threshold value and the temperature rise speed of the execution component, the remaining working duration of the execution component is obtained; and adjusting the working state parameter of the execution component based on the remaining working time length and the remaining time length threshold value. According to the method, the working state can be flexibly adjusted according to different working environments and load conditions, excessive protection or insufficient protection on an execution component is avoided, the continuous operation time of equipment can be prolonged to the maximum extent on the premise that the safety of the equipment is guaranteed, and the overall performance and the working efficiency of the equipment are improved.

Description

[0001] Related Applications

[0002] This application claims priority to a Chinese patent application filed on December 23, 2024, with application number 2024118997899 and title "Overheat Protection Method, Device, Computer Equipment, Storage Medium, and Robot", the entire content of which is incorporated herein by reference. Technical Field

[0003] This application relates to the technical field of motor motion control, and particularly to an overheat protection method, device, computer equipment, storage medium, and robot. Background Art

[0004] With the development of intelligence and mechanization, automated devices such as robots and robotic arms driven by motors have been widely used in various fields. Although devices such as robots and robotic arms can work intensively according to settings or work in harsh environments, the motors driving their movements may overheat due to long-term intensive operation, resulting in a decline in the overall performance of the device, a shortened lifespan, and potential safety hazards.

[0005] At the level of the overall machine motion control strategy, traditional techniques measure the temperature of each joint motor of the current robot or robotic arm and compare it with a preset temperature threshold. Once the temperature threshold of the joint motor is exceeded, overheat protection is triggered, causing the robot to stop working or reduce its working intensity to avoid motor overheating.

[0006] However, using a single temperature threshold cannot enable the motor to adapt to different working intensities and working environments. Under different working loads, ambient temperatures, and heat dissipation conditions, the appropriate working intensity of the motor is different. Relying on a fixed temperature threshold may lead to overprotection or underprotection. And once overheat protection is triggered, the device immediately enters the overheat protection state, stops working, or significantly reduces its working intensity, and it must wait for a period of time until the motor temperature drops below the temperature threshold before it can be used again, which affects the working intensity and working effect of the automated device. Summary of the Invention

[0007] Based on this, it is necessary to provide an overheat protection method, device, computer equipment, storage medium, and robot that can coordinate the working intensity and temperature state of automated devices for the above technical problems.

[0008] In a first aspect, this application provides an overheat protection method. The method includes:

[0009] Collect the real-time temperature and working parameters of the execution component;

[0010] Obtain the temperature rise rate of the execution component based on the real-time temperature and working parameters;

[0011] Obtain the remaining available working duration of the execution component based on the real-time temperature, temperature threshold, and temperature rise rate of the execution component;

[0012] Adjust the working intensity coefficient of the execution component based on the remaining available working duration and the remaining duration threshold.

[0013] In one embodiment, obtaining the remaining available working duration of the execution component based on the real-time temperature, temperature threshold, and temperature rise rate of the execution component includes:

[0014] Obtain the temperature threshold and the remaining duration threshold of the execution component;

[0015] When the real-time temperature is not less than the temperature threshold, the remaining available working duration is zero;

[0016] When the real-time temperature is less than the temperature threshold, obtain the remaining available working duration of the execution component according to the temperature rise rate, temperature threshold, and real-time temperature.

[0017] In one embodiment, adjusting the working intensity coefficient of the execution component based on the remaining available working duration and the remaining duration threshold includes:

[0018] Obtain the initial working intensity coefficient and the current working intensity coefficient of the execution component;

[0019] Obtain the updated working intensity coefficient according to the remaining available working duration and the remaining duration threshold, and the updated working intensity coefficient is not greater than the initial working intensity coefficient.

[0020] In one embodiment, the updated working intensity coefficient is the product of the remaining duration ratio and the current working intensity coefficient; the remaining duration ratio is the ratio of the remaining available working duration to the remaining duration threshold.

[0021] In one embodiment, adjust the working state parameters of the execution component according to the updated working intensity coefficient.

[0022] In one embodiment, after obtaining the remaining available working duration of the execution component according to the temperature threshold and the temperature rise rate of the execution component, it includes:

[0023] Collect the real-time temperature and the working parameters of multiple execution components;

[0024] Obtain the remaining available working duration of each execution component according to the temperature threshold and the temperature rise rate of each execution component;

[0025] Compare to obtain the shortest remaining available working duration among multiple execution components; use the shortest remaining available working duration as the remaining available working duration of multiple execution components.

[0026] Second aspect, the present application also provides an overheat protection device. The device includes:

[0027] A collection module, configured to collect the real-time temperature and working parameters of the execution component;

[0028] A temperature rise module, configured to obtain the temperature rise rate of the execution component according to the real-time temperature and working parameters;

[0029] A duration module, configured to obtain the remaining available working duration of the execution component according to the real-time temperature, temperature threshold and temperature rise rate of the execution component;

[0030] An adjustment module, configured to adjust the strength coefficient of the execution component based on the remaining available working duration and the remaining duration threshold.

[0031] Third aspect, the present application also provides a robot, including the overheat protection device of the second aspect.

[0032] Fourth aspect, the present application also provides a computer device. The computer device includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0033] Collect the real-time temperature and working parameters of the execution component;

[0034] Obtain the temperature rise rate of the execution component according to the real-time temperature and working parameters;

[0035] Obtain the remaining available working duration of the execution component according to the real-time temperature, temperature threshold and temperature rise rate of the execution component;

[0036] Adjust the working strength coefficient of the execution component based on the remaining available working duration and the remaining duration threshold.

[0037] Fifth aspect, the present application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, and when the computer program is executed by a processor, the following steps are implemented:

[0038] Collect the real-time temperature and working parameters of the execution component;

[0039] Obtain the temperature rise rate of the execution component according to the real-time temperature and working parameters;

[0040] Obtain the remaining available working duration of the execution component according to the real-time temperature, temperature threshold and temperature rise rate of the execution component;

[0041] Adjust the working strength coefficient of the execution component based on the remaining available working duration and the remaining duration threshold.

[0042] The above anti-overheating protection method, device, computer device, computer-readable storage medium, and robot collect the working parameters of the execution component, determine its current working intensity, and dynamically calculate the temperature rise rate in combination with the real-time temperature. Based on the real-time temperature, temperature threshold, and temperature rise rate, accurately predict the remaining working duration of the execution component, and determine whether to adjust the working intensity coefficient according to the temperature rise rate, remaining working duration, and remaining duration threshold. It can not only flexibly adjust the working state according to different working environments and load conditions, avoid overprotection or underprotection of the execution component, but also maximize the continuous operation time of the device while ensuring the safety of the device, improving the overall performance and working efficiency of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 FIG. is an application environment diagram of the anti-overheating protection method in an embodiment;

[0044] Figure 2 FIG. is a schematic flowchart of the anti-overheating protection method in an embodiment;

[0045] Figure 3 FIG. is a schematic flowchart of the anti-overheating protection method in another embodiment;

[0046] Figure 4 FIG. is a structural block diagram of the anti-overheating protection device in an embodiment;

[0047] Figure 5 FIG. is an internal structure diagram of a computer device in an embodiment. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0048] In order to make the objectives, technical solutions, and advantages of the present application clearer, the present application will be further described in detail below with reference to 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.

[0049] The anti-overheating protection method provided by the embodiments of the present application can be applied to an application environment as shown in Figure 1 FIG. Among them, the terminal 102 communicates with the server 104 through a 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 can be placed in the cloud or other network servers. Among them, the terminal 102 can be, but is not limited to, various personal computers, laptop computers, smart phones, tablet computers, Internet of Things devices, and portable wearable devices. The Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart in-vehicle devices, etc. The portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc. The server 104 can be implemented by an independent server or a server cluster composed of multiple servers.

[0050] In one embodiment, as Figure 2 shown, a method for overheat protection is provided. Taking the server in Figure 1 as an example, the method includes the following steps:

[0051] Step 202, collect the real-time temperature and working parameters of the executing component.

[0052] Step 204, obtain the temperature rise rate of the executing component according to the real-time temperature and working parameters.

[0053] Step 206, obtain the remaining available working duration of the executing component according to the real-time temperature, temperature threshold and temperature rise rate of the executing component.

[0054] Step 208, adjust the working intensity coefficient of the executing component based on the remaining available working duration and the remaining duration threshold.

[0055] Among them, the executing component is used to drive the automation device to perform angular rotation or linear movement, and is a component that enables the automation device to achieve complex multi-degree-of-freedom movement; the working parameter is a parameter that controls the working intensity of the executing component; the temperature threshold is the highest temperature at which the executing component can work normally; the remaining available working duration threshold is the duration for the executing component to reach the temperature threshold under the current working intensity.

[0056] Optionally, the executing component can be a joint motor of a robot or a robotic arm, a hydraulic cylinder, a pneumatic cylinder, an electromagnetic coil, a shape memory alloy wire, etc.

[0057] Exemplarily, taking the joint motor of a robot as the executing component; the working parameters of the executing component are the torque and speed of the joint motor. Collect the working parameters of the executing component, determine the current working intensity of the executing component; substitute the current working intensity and real-time temperature of the executing component into a pre-constructed temperature rise calculation model to obtain the temperature rise rate of the executing component under the current working intensity. According to the real-time temperature, temperature threshold and temperature rise rate of the executing component, obtain the remaining available working duration of the executing component. According to the temperature rise rate of the executing component and the remaining available working duration threshold, determine whether it is necessary to adjust the intensity coefficient of the executing component to reduce the working intensity of the executing component and extend the working duration of the executing component.

[0058] In the above overheat protection method, by collecting the working parameters of the executing component, determining its current working intensity, and combining with the real-time temperature, the temperature rise rate is dynamically calculated; through the real-time temperature, temperature threshold and temperature rise rate, the remaining working duration of the executing component is accurately predicted, and whether to adjust the working intensity coefficient is judged according to the temperature rise rate, remaining working duration and remaining duration threshold. It can not only flexibly adjust the working state according to different working environments and load conditions, avoid overprotection or underprotection of the executing component, but also maximize the continuous operation time of the device on the premise of ensuring the safety of the device, and improve the overall performance and working efficiency of the device.

[0059] In one embodiment, obtaining the remaining working duration of the executing component according to the real-time temperature, temperature threshold and temperature rise rate of the executing component includes: obtaining the temperature threshold and remaining duration threshold of the executing component; when the real-time temperature is not less than the temperature threshold, the remaining working duration is zero; when the real-time temperature is less than the temperature threshold, the remaining working duration of the executing component is obtained according to the temperature rise rate, temperature threshold and real-time temperature.

[0060] Among them, a temperature threshold is set for the executing component, and the temperature threshold is the upper limit of the temperature to ensure the normal operation of the executing component under the current working condition. A remaining duration threshold is set for the executing component. When the remaining working duration of the executing component is not less than the remaining duration threshold, the executing component can work normally for a long time; when the remaining working duration of the executing component is lower than the remaining duration threshold, the working intensity of the executing component itself is adjusted without stopping, avoiding affecting the use.

[0061] Optionally, the remaining working duration can be obtained by linear remaining time estimation, piecewise function estimation, exponential decay model or fitting polynomial model, etc.

[0062] Different remaining duration thresholds are set according to the working conditions of the executing component, or a default remaining duration threshold is set for the executing component. Exemplarily, when the executing component needs to operate at the highest possible intensity, the remaining duration threshold can be set relatively small, such as one minute or thirty seconds, etc., which is applicable to scenarios that require continuous high-performance operation such as robot races; when the executing component needs to maintain stable operation for as long as possible, the remaining duration threshold can be set relatively large, such as 10 minutes, etc., which is applicable to scenarios that require long-term stable operation such as robot cruising.

[0063] When the execution component is at the initial working intensity (the initial working intensity coefficient is usually 1), the temperature rise speed is fast. After the current working intensity coefficient drops below 1, the temperature rise speed will decrease due to the reduction in working intensity. Then, it is possible to restore the remaining available working duration to above the remaining duration threshold. At this time, if the working intensity coefficient is directly restored to the initial working intensity coefficient of 1, it may cause oscillations, that is, the temperature rise becomes too high again, the working intensity decreases again, and the execution component frequently makes fast and slow adjustments, which is not smooth enough. On the contrary, if the current working intensity coefficient remains unchanged, the working intensity of the execution component will decrease, the remaining available working duration has far exceeded the remaining duration threshold, and the current working intensity coefficient cannot be restored to the initial working intensity coefficient. Therefore, it is necessary to adjust the current working intensity coefficient step by step to make the current working intensity coefficient gradually approach the initial working intensity coefficient.

[0064] Specifically, collect the real-time temperature of the execution component. 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 available working duration 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, calculate the remaining available working duration of the actuator according to the temperature rise speed, temperature threshold, and real-time temperature. Obtain the temperature difference of the execution component, where the temperature difference of the execution component is the temperature difference between the temperature threshold and the real-time temperature. When the temperature rise speed of the execution component is greater than or equal to the ratio of the temperature difference to the remaining duration threshold, the remaining available working duration is the ratio of the temperature difference to the temperature rise speed; when the temperature rise speed of the execution component is greater than or equal to the ratio of the temperature difference to the sum of the remaining duration threshold and the acquisition period, the remaining available working duration is equal to the remaining duration threshold; when the temperature rise speed of the execution component is greater than zero, the remaining available working duration is the sum of the remaining duration threshold and the acquisition period; when the temperature rise speed of the execution component is less than zero, the remaining available working duration is twice the remaining duration threshold. Among them, the acquisition period is the time interval for collecting the real-time temperature data of the execution component. If the remaining available working duration is within one acquisition period before and after the remaining duration threshold, the current working intensity remains unchanged; if the remaining available working duration is much greater than the remaining duration threshold, the current working intensity coefficient gradually restores to the initial working intensity coefficient.

[0065] Optionally, the estimation of the temperature rise speed of the execution component can be obtained through a machine learning algorithm based on a neural network model, Kalman filtering, or mean filtering algorithm.

[0066] Taking the machine learning algorithm based on the neural network model as an example: The actuator is operated under various working conditions, and the following features are collected: input power, current and voltage, ambient temperature, and the real-time temperature of the execution component. The actual temperature rise rate of the execution component is calculated through the temperature difference and time interval between discrete time points. The feature data is normalized, and the signal with large noise is smoothed to generate training data. The model architecture of the input layer, hidden layer, and output layer of the neural network model is constructed, and the neural network model is trained with the training data. The mean square error and absolute error are used to verify the output results of the neural network model. The current input features of the execution component (input power, current and voltage, ambient temperature, and the real-time temperature of the execution component) are collected in real time and input into the neural network model to output the predicted value of the temperature rise rate at the current moment.

[0067] Taking the Kalman filter as an example, the temperature rise process of the execution component is regarded as a first-order state model, and the state equation between temperature and temperature rise rate is:

[0068]

[0069] where w k is the process noise, which follows a normal distribution .

[0070] The temperature sensor observes the temperature value, and the observation equation is

[0071]

[0072] where v k is the measurement noise, which follows a normal distribution .

[0073] Predict the temperature and temperature rise rate at the next moment according to the state equation:

[0074]

[0075] Covariance prediction:

[0076]

[0077] Combined with the observed value y k Update the predicted value:

[0078]

[0079]

[0080]

[0081] Input the sensor data in real time, and iteratively calculate the temperature rise rate and temperature change, which is especially suitable for dynamic change scenarios.

[0082] Taking the mean filtering algorithm as an example, mean filtering is performed on the temperature rise rate based on a sliding window. The specific expression is as follows:

[0083]

[0084] Set the sliding window size , construct a data cache queue. The sliding window size can be adjusted according to the noise level, and the typical value is 5 - 10 time points. Perform sliding update. Every time a new temperature value is obtained , calculate the current temperature rise rate, store it in the queue, and take the mean of the temperature rise rates in the queue as the estimated value of the temperature rise rate at the current moment.

[0085] In this embodiment, by collecting the real-time temperature and working parameters of the executing component in real time, combining the temperature threshold and the temperature rise rate, the remaining available working duration of the executing component is accurately obtained, and the working intensity of the executing component is dynamically adjusted, so as to extend the continuous operation time of the device, avoid overprotection, and can also reduce the downtime by gradually adjusting the working intensity under the condition that the temperature rise rate is controllable, and keep the device running efficiently for a long time. On the other hand, the adaptability to different working conditions is further enhanced, ensuring that the executing component can operate with the best performance under different loads and environments, avoiding the limitations brought by the fixed temperature threshold in traditional overheat protection, and improving the working efficiency and reliability of the executing component.

[0086] In one embodiment, based on the remaining available working duration and the remaining duration threshold, adjusting the working state parameters of the executing component includes: obtaining the initial working intensity coefficient and the current working intensity coefficient of the executing component; obtaining the updated working intensity coefficient according to the remaining available working duration and the remaining duration threshold, and the updated working intensity coefficient is not greater than the initial working intensity coefficient.

[0087] Among them, the initial working intensity coefficient is the working intensity coefficient for the long-term normal operation of the executing component. Conventionally, the initial working intensity coefficient is 1. Optionally, the initial working intensity coefficient can be the working intensity coefficient before updating the working intensity coefficient of the executing component.

[0088] Specifically, obtain the initial working intensity coefficient, the current working intensity coefficient, the remaining available working duration and the remaining duration threshold of the executing component, update the current working intensity coefficient of the executing component to obtain the updated working intensity coefficient, and then adjust the working state parameters of the executing component according to the updated working intensity coefficient.

[0089] Exemplarily, taking the joint motor of the robot as the execution component, the working parameters of the execution component are the torque and speed of the joint motor. When the remaining available working duration of the execution component is less than the remaining duration threshold, an updated working intensity coefficient is obtained, and the torque and speed of the joint motor are adjusted according to the updated working intensity coefficient; for example, at the current working intensity coefficient, the moving speed of the robot is v, and at the updated working intensity coefficient, the moving speed of the robot is Kv.

[0090] In this embodiment, by dynamically updating the working intensity of the execution component, coordinating the operation efficiency and safety of the execution component, an updated working intensity coefficient is obtained according to the remaining available working duration and the set remaining duration threshold, and the current working intensity is adjusted to gradually approach the initial working intensity coefficient, so as to extend the operation time of the execution component, avoid overheating shutdown, reduce operation interruption, improve the continuity and flexibility of operation, adapt to different working conditions, and improve the overall working efficiency.

[0091] In one embodiment, the updated working intensity coefficient is the product of the remaining duration ratio and the current working intensity coefficient; the remaining duration ratio is the ratio of the remaining available working duration to the remaining duration threshold.

[0092] Specifically, the updated working intensity coefficient is shown as the following formula:

[0093]

[0094] In the formula, K is the updated working intensity coefficient; k is the current working intensity coefficient; t is the remaining available working duration; T is the remaining duration threshold.

[0095] Since the heat generation power of the execution component is different under different working intensities, when the execution component is in a high-intensity working state, the heat accumulation rate is greater than the heat dissipation rate, and there is a risk of overheating of the execution component. At this time, the updated working intensity coefficient is a decay coefficient, that is, the working intensity of the execution component is reduced; when the execution component is in a low-intensity working state, the heat accumulation rate is less than the heat dissipation rate, and after the real-time temperature of the execution component decreases, at this time, the updated working intensity coefficient is a strengthening coefficient, that is, the working intensity of the execution component is increased. In this way, it can avoid overprotection or underprotection of the execution component, and can also maximize the continuous operation time of the equipment while ensuring the safety of the equipment, and improve the overall performance and working efficiency of the equipment.

[0096] Optionally, the working intensity coefficient can use other algorithms including the remaining available working duration and the remaining duration threshold, such as or , or a piecewise function regarding the remaining available working duration and the remaining duration threshold, and algorithms such as low-pass filtering, PID (an automatic controller) can also be added to make the change of the working intensity coefficient smoother.

[0097] Taking the low-pass filtering algorithm as an example, obtain the initial working intensity coefficient and the current working intensity coefficient of the execution component; select the low-pass filtering parameter; based on the product of the low-pass filtering parameter, the shortest remaining available working duration, and the remaining duration threshold, and the sum of the product of the current working intensity coefficient and the complementary number of the low-pass filtering parameter, obtain the updated working intensity coefficient, where the updated working intensity coefficient is not greater than the initial working intensity coefficient; update the working intensity coefficient to the product of the remaining duration ratio and the current working intensity coefficient; the remaining duration ratio is the ratio of the shortest remaining available working duration to the remaining duration threshold.

[0098] Specifically, the low-pass filtering parameter λ is selected as a value between 0 and 1.0 to control the smoothness of the updated working intensity coefficient. For example, if λ = 0.5 is selected, it is ensured that the update process neither ignores historical information nor is overly sensitive to current changes. Based on the remaining duration ratio, the low-pass filtering parameter, and the current working intensity coefficient, the updated working intensity coefficient is as follows:

[0099] K = λ×min(1, k×t / T)+(1 - λ)×k

[0100] In the formula, K is the updated working intensity coefficient, k is the current working intensity coefficient, t is the shortest remaining available working duration; T is the remaining duration threshold. If the shortest remaining available working duration is short, then k×t / T will be small, and the updated working intensity coefficient will decrease; if the shortest remaining available working duration is close to the remaining duration threshold, the updated working intensity coefficient will be close to the current working intensity coefficient. Using the low-pass filtering algorithm to reduce the change rate of the working intensity coefficient avoids the problem of the working intensity coefficient fluctuating greatly between large and small repeatedly, and also makes the change of the working intensity coefficient smoother, avoiding excessive fluctuations in the working intensity coefficient, which helps to achieve efficient and stable system operation.

[0101] Taking the PID control algorithm as an example to dynamically adjust the working intensity coefficient, obtain the initial working intensity coefficient and the current working intensity coefficient of the execution component in the execution assembly; select the gain coefficient, and initialize the integral term and the deviation term; update the deviation phase, the integral term, and the differential term according to the shortest remaining available working duration; obtain the adjustment amount of the working intensity coefficient based on the updated deviation phase, integral term, and differential term; obtain the updated working intensity coefficient according to the sum of the current working intensity coefficient and the adjustment amount of the working intensity coefficient.

[0102] Select an appropriate gain coefficient according to the characteristics of the system and set it as the proportional coefficient = 1.0, the integral coefficient = 0.1, the differential coefficient = 0.01; initialize the integral term to 0, that is, integral = 0; initialize the previous deviation term to 0, that is, pe = 0. The current working intensity coefficient of the execution component is , the initial working intensity coefficient is 1, and the remaining duration threshold is After obtaining the shortest remaining working duration calculate the current deviation The deviation is the difference between the remaining duration threshold and the shortest remaining working duration:

[0103]

[0104] Update the integral term, and the calculation formula is:

[0105] integral = e × Δt

[0106] In the formula, is the control period.

[0107] Calculate the derivative term, and the calculation formula is:

[0108]

[0109] In the formula, pe is the previous deviation term.

[0110] Calculate the adjustment amount u of the working intensity coefficient according to the proportional term, integral term and derivative term, and the calculation formula is:

[0111] u = K p × e + K i × integral + K d × derivative

[0112] Update the previous deviation term to the current deviation value:

[0113] pe = e

[0114] Based on the adjustment amount calculated by PID control

[0115] update the working intensity coefficient of the executing component, and the updated working intensity coefficient is:

[0116] In the formula, is the current working intensity coefficient; is the adjustment amount calculated by PID control.

[0117] According to the updated working intensity coefficient adjust the working parameters of the executing component, such as torque and rotational speed. Assume the current moving speed of the robot is The updated working intensity coefficient will adjust the speed of the robot to .

[0118] In this embodiment, through the PID control algorithm, the working intensity coefficient of the execution component is dynamically adjusted according to the deviation between the shortest remaining working duration and the remaining duration threshold, so as to optimize the overall operation efficiency, avoid too fast temperature rise and drastic fluctuation of the working intensity coefficient, effectively balance the load of the execution component, and ensure the stability and efficiency of the operation.

[0119] In one embodiment, after obtaining the remaining working duration of the execution component according to the temperature threshold and temperature rise rate of the execution component, it includes: collecting the real-time temperature and working parameters of multiple actuators; obtaining the remaining working duration of each execution component according to the temperature threshold and temperature rise rate of the execution component; and selecting the minimum remaining working duration of each execution component.

[0120] Specifically, taking a robot as an example, the robot includes multiple joint motors. The real-time temperature, working parameters, temperature threshold, and remaining duration threshold of each joint motor are collected according to the collection period, and the remaining working duration of each joint motor is obtained in turn. Select the shortest remaining working duration of each joint motor of the robot, and use the joint motor corresponding to the shortest remaining working duration as the execution component in the subsequent data processing of the robot. Collect the working parameters of the execution component, and determine the current working intensity of the execution component; substitute the current working intensity and real-time temperature of the execution component into the pre-constructed temperature rise calculation model to obtain the temperature rise rate of the execution component at the current working intensity. According to the real-time temperature, temperature threshold, and temperature rise rate of the execution component, obtain the remaining working duration of the execution component. According to the temperature rise rate, remaining working duration, and remaining duration threshold, determine whether it is necessary to adjust the working parameters of the execution component to reduce the working intensity of the execution component and extend the working duration of the execution component. In the next data collection, re-determine the joint motor corresponding to the shortest remaining working duration and use it as the execution component in the subsequent data processing, and cyclically adjust the working intensity of the robot to extend the working duration of the robot.

[0121] Optionally, the temperature rise calculation model can be a machine learning algorithm based on a neural network model, Kalman filter, or mean filter algorithm that has been pre-trained.

[0122] In this embodiment, by collecting the real-time temperature and working parameters of multiple execution components, calculating the remaining working duration of each component, and selecting the shortest working duration among them as the key reference, the working intensity of the device is dynamically adjusted, thus solving the possible overheating problem during the operation of multiple execution components. Through dynamic adjustment and cyclic collection, the overall working efficiency and stability of the device are ensured, and the overall shutdown of the device caused by overheating of a single execution component is avoided, thereby improving the continuity and working life of the device.

[0123] In one embodiment, as Figure 3As shown, a method for overheat protection is provided, including the following steps:

[0124] Step 302, collect the real-time temperature and working parameters of the executing component.

[0125] Step 304, obtain the temperature rise rate of the executing component according to the real-time temperature and working parameters;

[0126] Step 306, obtain the temperature threshold and remaining duration threshold of the executing component.

[0127] Step 308, when the real-time temperature is not less than the temperature threshold, the remaining available working duration is zero.

[0128] Step 310, when the real-time temperature is less than the temperature threshold, obtain the remaining available working duration of the executing component according to the temperature rise rate, temperature threshold and real-time temperature.

[0129] Step 312, collect the real-time temperature and the working parameters of multiple executing components.

[0130] Step 314, obtain the remaining available working duration of each executing component according to the temperature threshold and the temperature rise rate of each executing component.

[0131] Step 316, compare to obtain the shortest remaining available working duration among multiple executing components; use the shortest remaining available working duration as the remaining available working duration of multiple executing components.

[0132] Step 318, obtain the initial working intensity coefficient and the current working intensity coefficient of the executing component.

[0133] Step 320, obtain the updated working intensity coefficient according to the remaining available working duration and the remaining duration threshold, and the updated working intensity coefficient is not greater than the initial working intensity coefficient.

[0134] Step 322, adjust the working state parameters of the executing component according to the updated working intensity coefficient.

[0135] In this embodiment, by collecting the real-time data of each executing component, calculating the temperature rise rate and the remaining available working duration, and selecting the executing component with the shortest remaining available working duration for adjustment. By substituting the working intensity and temperature of the executing component into the pre-constructed temperature rise model, its working state is accurately predicted and it is judged whether the working intensity needs to be reduced. By dynamically monitoring and adjusting the real-time temperature and working parameters of the executing component, the problem of overprotection or underprotection caused by a fixed temperature threshold is solved; it can not only flexibly cope with different working conditions, avoid overheating shutdown of a single component, but also optimize the overall operation efficiency of the equipment by cyclically adjusting each executing component, ensuring that the equipment works safely, efficiently and continuously under high load or complex environment.

[0136] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are shown in sequence, these steps are not necessarily executed in the indicated order. Unless explicitly stated herein, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages. 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 sequential, but can be executed alternately or in turn with at least a part of other steps or steps or stages in other steps.

[0137] Based on the same inventive concept, an embodiment of the present application further provides an overheat protection device for implementing the above-mentioned overheat protection method. The implementation solution provided by this device for solving problems is similar to the implementation solution described in the above method. Therefore, the specific limitations in one or more embodiments of the overheat protection device provided below can refer to the limitations on the overheat protection method in the foregoing, and will not be repeated here.

[0138] In one embodiment, as Figure 4 shown, an overheat protection device is provided, including: a collection module 402, a temperature rise module 404, a duration module 406, and an adjustment module 408, where:

[0139] The collection module 402 is configured to collect the real-time temperature and working parameters of the execution component.

[0140] The temperature rise module 404 is configured to obtain the temperature rise rate of the execution component according to the real-time temperature and working parameters.

[0141] The duration module 406 is configured to obtain the remaining available working duration of the execution component according to the real-time temperature, temperature threshold, and temperature rise rate of the execution component.

[0142] The adjustment module 408 is configured to adjust the working intensity coefficient of the execution component based on the remaining available working duration and the remaining duration threshold.

[0143] In one embodiment, the duration module 406 includes:

[0144] A threshold acquisition module, configured to acquire the temperature threshold and the remaining duration threshold of the execution component.

[0145] A first execution module, configured to set the remaining available working duration to zero when the real-time temperature is not less than the temperature threshold.

[0146] A second execution module, configured to obtain the remaining available working duration 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.

[0147] In one embodiment, the adjustment module 408 includes:

[0148] An initial coefficient module, configured to obtain the initial working intensity coefficient and the current working intensity coefficient of the execution component.

[0149] A third execution module, configured to obtain an updated working intensity coefficient according to the remaining available working duration and the remaining duration threshold, and the updated working intensity coefficient is not greater than the initial working intensity coefficient.

[0150] In one embodiment, the overheat protection device further includes:

[0151] A first update module, configured to update the working intensity coefficient to the product of the remaining duration ratio and the current working intensity coefficient; the remaining duration ratio is the ratio of the remaining available working duration to the remaining duration threshold.

[0152] In one embodiment, the overheat protection device further includes:

[0153] A second update module, configured to adjust the working state parameters of the execution component according to the updated working intensity coefficient.

[0154] In one embodiment, the overheat protection device further includes:

[0155] A repeated acquisition module, configured to acquire the real-time temperatures and working parameters of multiple actuators.

[0156] A remaining duration module, configured to obtain the remaining available working duration of each execution component according to the temperature threshold and the temperature rise rate of the execution component.

[0157] A minimum value module, configured to select the minimum remaining available working duration of each execution component.

[0158] Each module in the above overheat protection device can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in the processor of the computer device in hardware form or be independent of it, or be stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to the above respective modules.

[0159] In one embodiment, a computer device is provided. The computer device can be a server, and its internal structure diagram can be as Figure 5As shown in the figure. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O), and a communication interface. Among them, 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. Among them, 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 external devices. 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, it implements a method for overheat protection.

[0160] Those skilled in the art can understand that Figure 5 the structure shown in the figure is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0161] In one embodiment, a computer device is further provided, including a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, the steps in the above method embodiments are implemented.

[0162] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by the processor, the steps in the above method embodiments are implemented.

[0163] In one embodiment, a computer program product is provided, including a computer program. When the computer program is executed by the processor, the steps in the above method embodiments are implemented.

[0164] 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 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 need to comply with the relevant laws, regulations, and standards of relevant countries and regions.

[0165] Those of ordinary skill in the art can understand that all or part of the processes in the above-described method embodiments can be completed by instructing relevant hardware through a computer program. 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 method embodiments as described above. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memories. 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. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., without limitation.

[0166] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, 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, it should be considered as the scope described in this specification.

[0167] The above-described embodiments merely represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A method for overheat protection, characterized in that: The method comprises: Collect the real-time temperature and working parameters of the actuators; Obtaining a temperature rise rate of the execution component according to the real-time temperature and the working parameters; Obtaining the remaining working time of the execution component according to the real-time temperature of the execution component, the temperature threshold and the temperature rise rate; Based on the remaining workable time and the remaining time threshold, the work intensity coefficient of the execution component is adjusted.

2. The method according to claim 1, characterized in that The obtaining, according to the temperature threshold of the execution component and the temperature rise rate, the remaining operable time of the execution component comprises: 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.

3. The method according to claim 1, characterized in that The adjusting the working intensity coefficient of the execution component based on the remaining working time and the remaining time threshold comprises: Obtaining an initial working intensity coefficient and a current working intensity coefficient of the execution component; An updated work intensity coefficient is obtained according to the remaining workable time and the remaining time threshold, and the updated work intensity coefficient is not greater than the initial work intensity coefficient.

4. The method according to claim 3, characterized in that 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 remaining working time to the remaining time threshold.

5. The method according to claim 3, 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: The device comprises: A collection module is used to collect the real-time temperature and working parameters of the execution components; A temperature rise module, used to obtain the temperature rise rate of the execution component according to the real-time temperature and the working parameters; A duration module, used to obtain the remaining working time of the execution component according to the temperature threshold of the execution component and the temperature rise rate; The adjustment module is used to adjust the working state parameters of the execution component based on the remaining working time and the remaining time threshold.

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

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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