Fan regulation method and system based on intelligent robot

Abstract

This application relates to the field of intelligent control technology and provides a fan control method and system based on an intelligent robot. The method includes first acquiring the target posture information of the target robot, then quickly determining multiple joint information and corresponding cooling fan information based on the target posture information, and finally generating and executing a speed increase command based on the multiple cooling fan information. This application can precisely control the cooling fans of each joint of the robot, not only maximizing heat dissipation efficiency and ensuring the intelligent robot maintains a stable temperature during high-load operation, but also significantly reducing energy consumption, achieving efficient saving of power resources, effectively balancing heat dissipation needs and energy management, improving the overall system's resource utilization and operational reliability, extending the intelligent robot's service life, and promoting continuous optimization of robot performance.

Description

Technical Field

[0001] This application relates to the technical field of intelligent control, and more specifically, to a fan control method and system based on an intelligent robot. Background Technology

[0002] Because intelligent robots can replace humans in performing repetitive, high-intensity, and dangerous tasks, their applications are becoming increasingly widespread. During the operation of intelligent robots, their internal electronic components continuously generate heat. When the temperature is too high, it can cause the electronic components to fail or their performance to degrade. Therefore, intelligent robots are usually equipped with cooling fans to ensure heat dissipation.

[0003] Currently, in the operation of intelligent robots, all cooling fans are usually operated at maximum power, resulting in a significant waste of electrical resources and low energy efficiency, which needs further improvement. Summary of the Invention

[0004] Based on this, embodiments of this application provide a fan control method and system based on an intelligent robot to solve the problem of low energy utilization efficiency in the prior art.

[0005] In a first aspect, embodiments of this application provide a fan control method based on an intelligent robot, applicable to a target robot, the target robot including multiple drive motors for driving joint movement and cooling fans for cooling the drive motors, the method including:

[0006] Obtain the target pose information of the target robot;

[0007] Based on the target posture information, multiple joint information and cooling fan information corresponding to each joint information are determined;

[0008] Based on the information from multiple cooling fans, a speed increase command is generated and executed, wherein the speed increase command is used to indicate the increase in the speed of the cooling fans.

[0009] Compared with the prior art, the beneficial effects are as follows: The fan control method based on intelligent robots provided in this application embodiment allows the terminal device to first obtain the target posture information of the target robot, then quickly determine multiple joint information and the corresponding cooling fan information based on the target posture information, and finally generate and execute a speed increase command based on the multiple cooling fan information, thereby enabling targeted control of the cooling fans of each robot joint. This ensures maximum heat dissipation effect and saves power resources to the greatest extent, effectively improving resource utilization and solving the problem of low energy efficiency to a certain extent.

[0010] Secondly, embodiments of this application provide a fan control system based on an intelligent robot, applicable to a target robot. The target robot includes multiple drive motors for driving joint movement and cooling fans for cooling the drive motors. The system includes:

[0011] Target pose information acquisition module: used to acquire the target pose information of the target robot;

[0012] The joint information determination module is used to determine multiple joint information and cooling fan information corresponding to each joint information based on the target posture information.

[0013] Speed ​​increase command generation module: used to generate and execute speed increase commands based on the information of multiple cooling fans, wherein the speed increase command is used to indicate the speed of the cooling fan information to be increased.

[0014] Thirdly, embodiments of this application provide a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method described in the first aspect above.

[0015] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the method described in the first aspect above.

[0016] It is understood that the beneficial effects of the second to fourth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0018] Figure 1 This is a schematic flowchart of a fan control method provided in an embodiment of this application;

[0019] Figure 2 This is a flowchart illustrating step S200 in a fan control method provided in an embodiment of this application;

[0020] Figure 3 This is a flowchart illustrating step S240 of a fan control method provided in an embodiment of this application;

[0021] Figure 4 This is a flowchart illustrating the process after step S240 in a fan control method provided in an embodiment of this application;

[0022] Figure 5 This is a flowchart illustrating the process after step S280 in a fan control method provided in an embodiment of this application;

[0023] Figure 6 This is a flowchart illustrating step S300 in a fan control method provided in an embodiment of this application;

[0024] Figure 7 This is a block diagram of a fan control system provided in one embodiment of this application;

[0025] Figure 8 This is a schematic diagram of a terminal device provided in an embodiment of this application. Detailed Implementation

[0026] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0027] In the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0028] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0029] To illustrate the technical solution described in this application, specific embodiments are provided below.

[0030] Please see Figure 1 , Figure 1This is a flowchart illustrating the fan control method based on an intelligent robot provided in this application embodiment. In this embodiment, the execution subject of the fan control method is a terminal device. It is understood that the types of terminal devices include, but are not limited to, mobile phones, tablets, laptops, Ultra-Mobile Personal Computers (UMPCs), netbooks, Personal Digital Assistants (PDAs), etc. This application embodiment does not impose any restrictions on the specific type of terminal device.

[0031] Please see Figure 1 The fan control method provided in this application includes, but is not limited to, the following steps:

[0032] In S100, the target pose information of the target robot is obtained.

[0033] Without loss of generality, this fan control method is applicable to a target robot that includes multiple drive motors and multiple cooling fans. The drive motors are used to drive the joints of the robot to move, while the cooling fans are used to accelerate the cooling of the drive motors by increasing airflow, thereby ensuring that the operating temperature of the drive motors remains within a safe range.

[0034] Specifically, the terminal device can first obtain the target pose information of the target robot, whereby the target pose information is used to describe the final pose specified by the target robot.

[0035] In S200, based on the target posture information, multiple joint information and the corresponding cooling fan information for each joint information are determined.

[0036] Specifically, after the terminal device acquires the target posture information, it can quickly determine multiple joint information and the corresponding cooling fan information based on the target posture information. The joint information describes the robot joints involved in the target posture information, and the cooling fan information describes the cooling fan corresponding to the drive motor associated with the robot joint.

[0037] In some possible implementations, to determine the information involving joints and cooling fans, please refer to [link / reference needed]. Figure 2 Step S200 includes, but is not limited to, the following steps:

[0038] In S210, the current posture information of the target robot is obtained.

[0039] Specifically, the terminal device can obtain the current posture information of the target robot, which is used to describe the current posture of the target robot.

[0040] In S220, motion trajectory spatial information is generated based on the current pose information and the target pose information.

[0041] Specifically, after the terminal device acquires the current posture information, it can effectively generate motion trajectory spatial information based on the current posture information and the target posture information. The motion trajectory spatial information is used to describe the spatial region corresponding to the motion trajectory of the target robot from the current posture information to the target posture information.

[0042] For example, assuming the current posture information is a sitting posture and the target posture information is a standing posture, the motion trajectory spatial information is the spatial area involved in the target robot's movement from a sitting posture to a standing posture.

[0043] In S230, target pose change group information is generated based on the current pose information and the target pose information.

[0044] Specifically, after the terminal device generates motion trajectory spatial information, it can effectively generate target posture change group information based on the current posture information and the target posture information. The target posture change group information is used to describe the data combination where the starting posture is the current posture information and the ending posture is the target posture information.

[0045] In S240, based on the target posture change group information and motion trajectory spatial information, a preset historical motion database is retrieved and processed to determine similar posture change group information.

[0046] Specifically, after the terminal device generates the target posture change group information, it can quickly determine similar posture change group information by searching the preset historical motion database based on the target posture change group information and motion trajectory spatial information.

[0047] Without loss of generality, the historical motion database includes information on multiple historical posture change groups and the corresponding historical trajectory spatial information for each historical posture change group. The starting posture of the historical posture change group is the first historical posture information, and the ending posture of the historical posture change group is the second historical posture information.

[0048] Specifically, the first historical pose information is used to describe any pose of the target robot in history, and the second historical pose information is used to describe any other pose of the target robot in history; the historical trajectory space information is used to describe the spatial region corresponding to the motion trajectory of the target robot from the first historical pose information to the second historical pose information.

[0049] It should be noted that maintenance personnel can pre-program the target robot to continuously and randomly perform various different postures, and record the specific data of each robot joint, each drive motor and each cooling fan in real time during the process, thereby using a large amount of data to build a historical motion database.

[0050] In some possible implementations, for effectively determining information on groups of similar pose changes, please refer to [link / reference]. Figure 3 Step S240 includes, but is not limited to, the following steps:

[0051] In S241, based on a preset historical motion database, multiple initial screening posture change group information are determined according to the target posture change group information.

[0052] Specifically, the terminal device can quickly determine multiple initial screening posture change groups in the historical motion database based on the target posture change group information. The initial screening posture change group information is used to describe the historical posture change group information that meets the screening criteria.

[0053] In one possible implementation, the filtering criteria are that the joint angle difference vector information between the first historical posture information and the current posture information is less than a preset joint angle difference threshold information, and the joint angle difference vector information between the second historical posture information and the target posture information is less than the joint angle difference threshold information. The specific value of the joint angle difference threshold information can be customized by the operation and maintenance personnel, such as 0.5 degrees, 1 degree or 3 degrees.

[0054] For example, the terminal device can first use a preset joint angle difference vector calculation function to calculate the joint angle difference vector information between the first historical posture information and the current posture information of a certain historical posture change group, and simultaneously calculate the joint angle difference vector information between the second historical posture information and the target posture information of the same historical posture change group. Then, it compares the two joint angle difference vector information with a preset joint angle difference threshold information. The aforementioned joint angle difference vector calculation function can be:

[0055] ,

[0056] In the formula, This provides information on the threshold for joint angle differences. The sequence number corresponds to the joints of the target robot that are in motion. This represents the total number of joints of the target robot that have undergone motion; when calculating the joint angle difference vector information between the first historical posture information and the current posture information of this historical posture change group information... For the first historical posture information in the first The joint angles of each joint. For the current pose information in the th The joint angles of each joint; when calculating the joint angle difference vector information between the second historical posture information and the target posture information of this historical posture change group information. For the second historical posture information in the first The joint angles of each joint. For target pose information in the first The joint angles of each joint.

[0057] In S242, for each initial screening posture change group information: based on the segmentation method, spatial volume difference information is generated according to the historical trajectory spatial information and motion trajectory spatial information corresponding to the initial screening posture change group information.

[0058] Specifically, after the terminal device determines multiple groups of initial screening posture change information, the terminal device can perform the following processing for each group of initial screening posture change information: based on the segmentation method, according to the historical trajectory spatial information and motion trajectory spatial information corresponding to the initial screening posture change group information, spatial volume difference information is effectively generated.

[0059] For example, the terminal device can first divide the historical trajectory spatial information corresponding to the initial screening posture change group information into multiple regular rectangles based on the segmentation method. Then, by calculating the sum of the volumes of all rectangles, the spatial volume of the historical trajectory spatial information corresponding to the initial screening posture change group information is determined. Then, the motion trajectory spatial information is divided into multiple regular rectangles. Then, by calculating the sum of the volumes of all rectangles, the spatial volume of the motion trajectory spatial information is determined. Finally, the spatial volume difference information is generated by subtracting the spatial volume of the motion trajectory spatial information from the spatial volume of the historical trajectory spatial information.

[0060] In S243, if the spatial volume difference information is less than the preset spatial volume difference threshold information, the initial screening posture change group information is determined to be similar posture change group information.

[0061] Specifically, if the spatial volume difference information is less than the preset spatial volume difference threshold information, it indicates that the target posture change group information is highly similar to the initial screening posture change group information. Therefore, the terminal device can determine that the initial screening posture change group information is similar posture change group information.

[0062] In S250, the historical heat generation information of each drive motor is determined based on the information of similar posture change groups.

[0063] Specifically, after the terminal device determines the similar posture change group information, the terminal device can use the similar posture change group information and the historical heat generation information corresponding to each drive motor. The historical heat generation information is used to describe the cumulative heat generation of the drive motor in the similar posture change group information.

[0064] In S260, historical calorific value information is compared with the preset first calorific value threshold information.

[0065] Specifically, after the terminal device determines the historical heat generation information, the terminal device can compare the historical heat generation information with the preset first heat generation threshold information. The first heat generation threshold information can be customized by the operation and maintenance personnel, such as 50 watts, 75 watts or 100 watts.

[0066] In S270, if the historical heat generation information is greater than the first heat generation threshold information, then the robot joint information corresponding to the drive motor is determined to be the joint information involved.

[0067] Specifically, if the historical heat generation information is greater than the first heat generation threshold information, it indicates that the robot joint plays a major role in this posture movement. Therefore, the terminal device can determine that the robot joint information corresponding to the drive motor is the joint information involved.

[0068] In S280, based on the target robot, the cooling fan information is determined according to the joint information involved.

[0069] Specifically, after the terminal device determines the joint information involved, it can determine the cooling fan information based on the installation design of the target robot and the joint information involved, thereby determining the cooling fan corresponding to the drive motor that drives the joint information involved.

[0070] For further improvements in overall reliability, please refer to the following descriptions of some possible implementations. Figure 4 After step S240, the method further includes, but is not limited to, the following steps:

[0071] In S2401, it is determined whether there are multiple similar pose change groups.

[0072] Specifically, the terminal device can determine whether there are multiple groups of similar posture changes.

[0073] In S2402, if there are multiple similar posture change groups, the multiple similar posture change groups are sorted according to the spatial volume difference information from smallest to largest to generate a similar posture sorting table.

[0074] Specifically, if there are multiple groups of similar posture change information, the terminal device can sort the multiple groups of similar posture change information according to the spatial volume difference information in ascending order, and generate a similar posture sorting table information. The similar posture sorting table information is used to describe the sorting table after sorting the multiple groups of similar posture change information according to the spatial volume difference information in ascending order.

[0075] In S2403, based on the similar pose sorting table information, the similar pose change group information corresponding to the smallest spatial volume difference information is determined as the final selected similar pose change group information.

[0076] Specifically, after the terminal device generates the similar posture sorting table information, the terminal device can determine the similar posture change group information corresponding to the smallest spatial volume difference information as the final selected similar posture change group information based on the similar posture sorting table information, thereby determining the historical posture change group information most similar to the target posture change group information.

[0077] Accordingly, step S250 above includes, but is not limited to, the following steps:

[0078] In S251, the historical heat generation information of each drive motor is determined based on the information of the finally selected similar posture change group.

[0079] Specifically, after the terminal device determines the final selected similar posture change group information, the terminal device can determine the historical heat generation information corresponding to each drive motor based on the final selected similar posture change group information. The specific operation process can be referred to the relevant content in step S250 above, so it will not be repeated here.

[0080] In some possible implementations, to facilitate targeted control of the cooling fans of each robot joint, ensuring both maximum heat dissipation and maximum energy conservation, please refer to [link to relevant documentation]. Figure 5 After step S280, the method further includes, but is not limited to, the following steps:

[0081] In S290, it is determined whether the historical heat generation information corresponding to the joint information is greater than the first heat generation threshold information and less than the preset second heat generation threshold information.

[0082] Specifically, the terminal device can determine whether the historical heat generation information corresponding to the joint information is greater than the first heat generation threshold information and less than the preset second heat generation threshold information, wherein the second heat generation threshold information is greater than the first heat generation threshold information.

[0083] For example, when the first heat generation threshold information is 50 watts, the second heat generation threshold information can be 120 watts; when the first heat generation threshold information is 75 watts, the second heat generation threshold information can be 145 watts; when the first heat generation threshold information is 100 watts, the second heat generation threshold information can be 170 watts.

[0084] In S291, if the historical heat generation information corresponding to the joint information is greater than the first heat generation threshold information and less than the second heat generation threshold information, then the joint information involved is determined to be secondary control joint information; otherwise, the joint information involved is determined to be core control joint information.

[0085] Specifically, if the historical heat generation information corresponding to the relevant joint information is greater than the first heat generation threshold information but less than the second heat generation threshold information, it indicates that the relevant joint information generated a significant amount of heat during the posture movement. Therefore, the terminal device can determine that the relevant joint information is secondary control joint information. Otherwise, it indicates that the relevant joint information generated an extremely large amount of heat during the posture movement, and therefore, it is determined that the relevant joint information is core control joint information. It should be noted that, as mentioned in the aforementioned steps, the historical heat generation information corresponding to the relevant joint information is greater than the first heat generation threshold information.

[0086] In the S300, an instruction to increase the fan speed is generated and executed based on information from multiple cooling fans.

[0087] Specifically, after the terminal device determines the cooling fan information, the terminal device can effectively generate and execute a speed increase command based on multiple cooling fan information. The speed increase command is used to indicate the speed of the cooling fan information to be increased, and the speed increase command includes a first control command and a second control command.

[0088] In some possible implementations, for efficiently generating and executing speed increase commands, please refer to [link to relevant documentation]. Figure 6 Step S300 includes, but is not limited to, the following steps:

[0089] In S310, the first control command is generated and executed based on the cooling fan information corresponding to the secondary control joint information.

[0090] Specifically, the terminal device can generate and execute a first control command based on the cooling fan information corresponding to the secondary control joint information, thereby increasing the speed of the cooling fan corresponding to the secondary control joint information.

[0091] In S320, a second control command is generated and executed based on the cooling fan information corresponding to the core control joint information.

[0092] Specifically, after the terminal device generates and executes the first control command, the terminal device can generate and execute the second control command based on the cooling fan information corresponding to the core control joint information, thereby increasing the speed of the cooling fan corresponding to the core control joint information. The fan speed increased by the second control command is greater than the fan speed increased by the first control command.

[0093] The implementation principle of the fan control method for intelligent robots in this application embodiment is as follows: The terminal device can first obtain the target posture information of the target robot, and then quickly determine multiple joint information and the corresponding cooling fan information based on the target posture information. Finally, based on the multiple cooling fan information, a speed increase command is generated and executed, thereby enabling targeted control of the cooling fans of each robot joint. This ensures maximum heat dissipation effect and saves power resources to the greatest extent, effectively improving resource utilization.

[0094] It should be noted that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0095] Embodiments of this application also provide a fan control system based on an intelligent robot, applicable to a target robot. The target robot includes multiple drive motors for driving joint movements and cooling fans for cooling the drive motors. For ease of explanation, only the parts relevant to this application are shown, such as... Figure 7 As shown, the system 70 includes:

[0096] Target pose information acquisition module 71: Used to acquire the target pose information of the target robot;

[0097] Joint information determination module 72: used to determine multiple joint information and cooling fan information corresponding to each joint information based on the target posture information;

[0098] Speed ​​increase command generation module 73: used to generate and execute speed increase commands based on multiple cooling fan information, wherein the speed increase command is used to indicate the increase in the speed of the cooling fan information.

[0099] Optionally, the joint information determination module 72 mentioned above includes:

[0100] Current pose information acquisition submodule: used to acquire the current pose information of the target robot;

[0101] Motion trajectory spatial information generation submodule: used to generate motion trajectory spatial information based on current posture information and target posture information. The motion trajectory spatial information describes the spatial region corresponding to the motion trajectory of the target robot from the current posture information to the target posture information.

[0102] The target pose change group information generation submodule is used to generate target pose change group information based on the current pose information and the target pose information. The target pose change group information is used to describe the data combination where the starting pose is the current pose information and the ending pose is the target pose information.

[0103] Similar posture change group information determination submodule: Based on the target posture change group information and motion trajectory spatial information, it retrieves and processes the preset historical motion database to determine similar posture change group information;

[0104] Historical heat generation information determination submodule: used to determine the historical heat generation information of each drive motor based on the similar posture change group information;

[0105] Historical calorific value comparison submodule: used to compare historical calorific value information with preset first calorific value threshold information;

[0106] The joint information determination submodule is used to determine the robot joint information corresponding to the drive motor as the joint information if the historical heat generation information is greater than the first heat generation threshold information.

[0107] Cooling Fan Information Determination Submodule: Used to determine the cooling fan information based on the target robot and the joint information involved.

[0108] Optionally, the historical motion database includes multiple historical posture change groups and corresponding historical trajectory spatial information for each historical posture change group. The starting posture of each historical posture change group is the first historical posture information, and the ending posture is the second historical posture information. The first historical posture information describes any posture of the target robot in history, the second historical posture information describes any other posture of the target robot in history, and the historical trajectory spatial information describes the spatial region corresponding to the motion trajectory of the target robot from the first historical posture information to the second historical posture information. The aforementioned similar posture change group information determination submodule includes:

[0109] The initial screening posture change group information determination unit is used to determine multiple initial screening posture change group information based on the target posture change group information and a preset historical motion database. The initial screening posture change group information describes the historical posture change group information that meets the screening conditions. The screening conditions are that the joint angle difference vector information between the first historical posture information and the current posture information is less than the preset joint angle difference threshold information, and the joint angle difference vector information between the second historical posture information and the target posture information is less than the joint angle difference threshold information.

[0110] Spatial volume difference information generation unit: used to generate spatial volume difference information for each initial screening posture change group based on the segmentation method, according to the historical trajectory spatial information and motion trajectory spatial information corresponding to the initial screening posture change group information;

[0111] Similar posture change group information determination unit: If the spatial volume difference information is less than the preset spatial volume difference threshold information, then the initial screening posture change group information is determined to be similar posture change group information.

[0112] Optionally, the system 70 also includes:

[0113] Similar posture change group information judgment module: used to determine whether there are multiple similar posture change group information;

[0114] Similar posture sorting table information generation module: If there are multiple similar posture change groups, sort the multiple similar posture change groups according to the spatial volume difference information from smallest to largest, and generate similar posture sorting table information.

[0115] Similar posture change group information determination module: Based on the similar posture sorting table information, it determines the similar posture change group information corresponding to the smallest spatial volume difference information as the final selected similar posture change group information;

[0116] Accordingly, the aforementioned initial historical calorific value determination submodule includes:

[0117] Historical heat generation information determination unit: used to determine the historical heat generation information of each drive motor based on the information of the finally selected similar posture change group.

[0118] Optionally, the speed increase command includes a first control command and a second control command; the system 70 also includes:

[0119] Determine whether the historical heat generation information corresponding to the joint information is greater than the first heat generation threshold information and less than the preset second heat generation threshold information, wherein the second heat generation threshold information is greater than the first heat generation threshold information;

[0120] If the historical heat generation information corresponding to the joint information is greater than the first heat generation threshold information but less than the second heat generation threshold information, then the joint information involved is determined to be secondary control joint information; otherwise, the joint information involved is determined to be core control joint information.

[0121] Accordingly, optionally, the above-mentioned speed increase command generation module 73 includes:

[0122] First control instruction generation submodule: used to generate and execute the first control instruction based on the cooling fan information corresponding to the secondary control joint information;

[0123] The second control instruction generation submodule is used to generate and execute a second control instruction based on the cooling fan information corresponding to the core control joint information. The fan speed increase indicated by the second control instruction is greater than the fan speed increase indicated by the first control instruction.

[0124] It should be noted that the information interaction and execution process between the above modules are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, which will not be repeated here.

[0125] This application also provides a terminal device, such as... Figure 8 As shown, the terminal device 80 in this embodiment includes: a processor 81, a memory 82, and a computer program 83 stored in the memory 82 and executable on the processor 81. When the processor 81 executes the computer program 83, it implements the steps in the above-described fan control method embodiment, for example... Figure 1 Steps S100 to S300 are shown; or, when processor 81 executes computer program 83, it implements the functions of each module in the above-described device, for example... Figure 7 The functions of modules 71 to 73 are shown.

[0126] The terminal device 80 can be a desktop computer, laptop, handheld computer, cloud server, or other computing device, and includes, but is not limited to, a processor 81 and a memory 82. Those skilled in the art will understand that... Figure 8 This is merely an example of terminal device 80 and does not constitute a limitation on terminal device 80. It may include more or fewer components than shown, or combine certain components, or different components. For example, terminal device 80 may also include input / output devices, network access devices, buses, etc.

[0127] The processor 81 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.; the general-purpose processor can be a microprocessor or any conventional processor, etc.

[0128] The memory 82 can be an internal storage unit of the terminal device 80, such as a hard disk or memory of the terminal device 80. The memory 82 can also be an external storage device of the terminal device 80, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the terminal device 80. Furthermore, the memory 82 can include both internal storage units and external storage devices of the terminal device 80. The memory 82 can also store computer program 83 and other programs and data required by the terminal device 80. The memory 82 can also be used to temporarily store data that has been output or will be output.

[0129] One embodiment of this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium can include any entity or device capable of carrying computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.

[0130] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the methods, principles and structures of this application should be covered within the scope of protection of this application.

Claims

1. A fan control method based on an intelligent robot, applicable to a target robot, the target robot comprising multiple drive motors for driving joint movement and cooling fans for cooling the drive motors, characterized in that, The method includes: Obtain the target pose information of the target robot; Based on the target posture information, multiple joint information and cooling fan information corresponding to each joint information are determined; Based on the information from multiple cooling fans, a speed increase command is generated and executed, wherein the speed increase command is used to indicate the speed of the cooling fan information to be increased; The step of determining multiple joint information and corresponding cooling fan information based on the target posture information includes: Obtain the current posture information of the target robot; Based on the current posture information and the target posture information, motion trajectory spatial information is generated, wherein the motion trajectory spatial information is used to describe the spatial region corresponding to the motion trajectory of the target robot from the current posture information to the target posture information; Based on the current posture information and the target posture information, target posture change group information is generated, wherein the target posture change group information is used to describe a data combination in which the starting posture is the current posture information and the ending posture is the target posture information; Based on the target posture change group information and motion trajectory spatial information, a preset historical motion database is searched to determine similar posture change group information. Based on the similar posture change group information, determine the historical heat generation information corresponding to each of the drive motors; Compare the historical calorific value information with the preset first calorific value threshold information; If the historical heat generation information is greater than the first heat generation threshold information, then the robot joint information corresponding to the drive motor is determined to be joint information involved. Based on the target robot, the cooling fan information is determined according to the joint information involved.

2. The method according to claim 1, characterized in that, The historical motion database includes multiple historical posture change groups and historical trajectory spatial information corresponding to each historical posture change group. The starting posture of each historical posture change group is the first historical posture information, and the ending posture of each historical posture change group is the second historical posture information. The first historical posture information is used to describe any posture of the target robot in history, and the second historical posture information is used to describe any other posture of the target robot in history. The historical trajectory spatial information is used to describe the spatial region corresponding to the motion trajectory of the target robot from the first historical posture information to the second historical posture information. The step of retrieving and processing a preset historical motion database based on the target posture change group information and motion trajectory spatial information to determine similar posture change group information includes: Based on a preset historical motion database, multiple preliminary posture change group information are determined according to the target posture change group information. The preliminary posture change group information is used to describe historical posture change group information that meets the screening conditions. The screening conditions are that the joint angle difference vector information between the first historical posture information and the current posture information is less than the preset joint angle difference threshold information, and the joint angle difference vector information between the second historical posture information and the target posture information is less than the joint angle difference threshold information. For each of the initial screening posture change groups: based on the segmentation method, spatial volume difference information is generated according to the historical trajectory spatial information and motion trajectory spatial information corresponding to the initial screening posture change group information; If the spatial volume difference information is less than the preset spatial volume difference threshold information, then the initial screening posture change group information is determined to be similar posture change group information.

3. The method according to claim 2, characterized in that, After determining similar posture change groups by retrieving information from a preset historical motion database based on the target posture change group information and motion trajectory spatial information, the method further includes: Determine whether multiple sets of similar pose change information exist; If there are multiple similar posture change groups, then the multiple similar posture change groups are sorted according to the spatial volume difference information in ascending order to generate a similar posture sorting table. Based on the similar pose sorting table information, the similar pose change group information corresponding to the smallest spatial volume difference information is determined as the final selected similar pose change group information; Accordingly, determining the historical heat generation information corresponding to each of the drive motors based on the similar posture change group information includes: Based on the information of the finally selected similar posture change groups, the historical heat generation information of each drive motor is determined.

4. The method according to claim 3, characterized in that, The speed increase command includes a first control command and a second control command; after determining the cooling fan information based on the target robot and the joint information involved, the method further includes: Determine whether the historical heat generation information corresponding to the joint information is greater than the first heat generation threshold information and less than the preset second heat generation threshold information, wherein the second heat generation threshold information is greater than the first heat generation threshold information; If the historical heat generation information corresponding to the joint information is greater than the first heat generation threshold information and less than the second heat generation threshold information, then the joint information is determined to be secondary control joint information; otherwise, the joint information is determined to be core control joint information. Accordingly, generating and executing a speed increase command based on the information of the plurality of cooling fans includes: Based on the cooling fan information corresponding to the secondary control joint information, a first control command is generated and executed. Based on the cooling fan information corresponding to the core control joint information, a second control command is generated and executed, wherein the fan speed increase indicated by the second control command is greater than the fan speed increase indicated by the first control command.

5. A fan control system based on an intelligent robot, characterized in that, The system is applicable to a target robot, which includes multiple drive motors for driving joint movements and cooling fans for dissipating heat from the drive motors. Target pose information acquisition module: used to acquire the target pose information of the target robot; The joint information determination module is used to determine multiple joint information and cooling fan information corresponding to each joint information based on the target posture information. Speed ​​increase command generation module: used to generate and execute speed increase commands based on the information of multiple cooling fans, wherein the speed increase command is used to indicate the speed of the cooling fan information to be increased; The joint information determination module includes: Current posture information acquisition submodule: used to acquire the current posture information of the target robot; Motion trajectory spatial information generation submodule: used to generate motion trajectory spatial information based on the current posture information and the target posture information, wherein the motion trajectory spatial information is used to describe the spatial region corresponding to the motion trajectory of the target robot from the current posture information to the target posture information; Target posture change group information generation submodule: used to generate target posture change group information based on the current posture information and target posture information, wherein the target posture change group information is used to describe a data combination in which the starting posture is the current posture information and the ending posture is the target posture information; Similar posture change group information determination submodule: used to retrieve and process a preset historical motion database based on the target posture change group information and motion trajectory spatial information to determine similar posture change group information; Historical heat generation information determination submodule: used to determine the historical heat generation information corresponding to each of the drive motors based on the similar posture change group information; Historical calorific value information comparison submodule: used to compare the historical calorific value information with the preset first calorific value threshold information; The joint information determination submodule is used to determine the robot joint information corresponding to the drive motor as joint information if the historical heat generation information is greater than the first heat generation threshold information. Cooling fan information determination submodule: used to determine cooling fan information based on the target robot and the joint information involved.

6. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 4.

7. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 4.

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